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 King Fahd University of Petroleum & Minerals

 Electrical Engineering Department

 

Patents

Ahmad A. Masoud, Ali A. Al-Shaikhi, "Method and System to Identify and Estimate Relaxation Frequencies for Ground Penetrating Radars", US Patent: US20160116580A1, publication date: April  28, 2016


Ahmad A. Masoud, "Method of Joint Planning and Control of a Rigid, Seprable, Non-Holonomic Mobile Robot Using a Harmonic Potential Field Approach", United State Patent No. US 2015/0168939 A1, Publication Date: June 18, 2015
 

 

Journal Publications & Book Chapters

 

·      Ahmad A. Masoud, "Nearest Neighbor-Based Rendezvous for Sparsely Connected Mobile Agents", ASME J. Dyn. Sys., Meas., Control, DECEMBER 2015, Vol. 137 No.(12) / 121002-1: 121002-18. {Video}
 

·      Ahmad A. Masoud, "A Harmonic Potetnial Field Approach for Joint Planning & Control of a Rigid, Seprable, Nonholonomic, Mobile Robot", Robotics and Autonomous Systems, Vol. 61, No. 6, June 2013, Page 593–615.  {Video}

     

·      Ahmad A. Masoud, "Motion Planning with Gamma-Harmonic Potential Fields", Aerospace and Electronic Systems, IEEE Transactions on 48 (4), 2012, pp. 2786 - 2801

·      Ahmad A. Masoud, "A Harmonic Potential Approach for Simultaneous Planning and Control of a Generic UAV Platform", From the issue "Special Volume on Unmanned Aircraft Systems" of  Journal of Intelligent & Robotic Systems: Volume 65, Issue 1 (2012), Page 153-173. {Video}


paper is also included in "Recent Developments in Unmanned Aircraft Systems", Valavanis, Kimon P. (Ed.) ISBN 978-94-007-3032-8, Springer 2012. http://www.springer.com/engineering/robotics/book/978-94-007-3032-8
 

·      Ahmad A. Masoud, "Kinodynamic Motion Planning: A Novel Type of Nonlinear, Passive Damping Forces and Advantages",  IEEE Robotics and Automation Magazine, March 2010, pp. 85-99.

 

·      Rachana A. Gupta, Ahmad A Masoud, Mo-Yuen Chow, "A Delay-tolerant, Potential field-based, Network Implementation of  an Integrated Navigation System", the IEEE Transactions on Industrial Electronics, Vol. 57, No.2, February 2010, pP. 769-783

 

·     Ahmad A. Masoud, Samer A. Al-Said, "A New Algorithm for Crack Localization in a Rotating Timoshenko Beam",  Journal of Vibration and Control.2009; 15: 1541-1561 .

 

·      Ahmad A. Masoud, "Managing the Dynamics of a Harmonic Potential Field-Guided Robot in a Cluttered Environment", IEEE Transactions on Industrial  Electronics, vol. 56, NO. 2, february 2009, pp. 488-496.

 

·      Ahmad A. Masoud, "Planning with Discrete Harmonic Potential Fields", in: Xing-Jian Jing Ed., "Mobile Robots Motion Planning: New Challanges", I-TECH, Vienna, Austeria, 2008, pp. 335-360.

 

·        Ahmad A. Masoud, "Decentralized, Self-organizing, Potential field-based Control for Individually-motivated, Mobile Agents in a Cluttered Environment: A Vector-Harmonic Potential Field Approach", IEEE Transactions on Systems, Man, & Cybernetics, Part A: systems and humans, Vol. 37, No. 3, pp. 372-390, May 2007. {Video}

 

·        Ahmad A. Masoud, "A Hybrid, PDE-ODE Control Strategy for Intercepting an Intelligent, Well-Informed Target in a Stationary, Cluttered Environment", Applied Mathematical Sciences, HIKARI Ltd, Vol. 1, 2007, no. 48, 2345-2371. {Video}

 

·        Ahmad A. Masoud, "Robust, FFT-Based, Single Carrier, Multiuser, SDPSK/DPSK Block Demodulation in the Presence of  Symbol Synchronization  Jitter", Communications in  Information and  Systems,  International Press Vol. 5, No. 3, pp. 289-304, 2005

 

·        Samer A. Masoud, Ahmad A. Masoud, " Motion Planning in the Presence of Directional and Obstacle Avoidance Constraints Using Nonlinear Anisotropic, Harmonic Potential Fields: A Physical Metaphor",  IEEE Transactions on Systems, Man, & Cybernetics, Part A: systems and humans, Vol 32, No. 6, November 2002, pp. 705-723.

 

·        Samer A. Masoud Ahmad A. Masoud, "Constrained Motion Control Using Vector Potential Fields", The IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans. May 2000, Vol. 30, No.3, pp.251-272. 

 

·        Ahmad A. Masoud, Mohammed Bayoumi, "Using Local Structure for the Reliable Removal of Noise from the Output of the LoG Edge Detector", IEEE Transactions on Systems, Man, & Cybernetics, Vol. 25, No.2, February 1995. pp. 328-337 

 

·        Ahmad A. Masoud, "Comments on Frequency Determination of Weak Sinusoids Buried in Noise", IEEE Transactions on Instrumentation and Measurements, Vol.37, Sep. 88, No.3, PP. 473-475.

 
 

Conference Publications

 

·    Masoud, Ahmad A.; Al-Shaikhi, Ali, "Time-sensitive, sensor-based, joint planning and control of mobile robots in cluttered spaces: A harmonic potential approach", Decision and Control (CDC), 2015 IEEE 54th Annual Conference on, 15-18 Dec. 2015,Osaka, Japan, pp. 2761 - 2766 DOI: 10.1109/CDC.2015.7402634

·    Ahmad A. Masoud, Mohanad Ahmed, Ali Al-Shaikhi,, "Servo-level, Sensor-based Navigation Using Harmonic Potential Fields", 2015 European Control Conference (ECC) July 15-17, 2015. Linz, Austria, pp.3002 - 3007

·    Ahmad A. Masoud, Mohanad Ahmed, Ali Al-Shaikhi,, "Self-contained, Ultrasonic Sensor-based Mobility Generation for Differential Drive UGVs", 2015 American Control Conference Palmer House Hilton July 1-3, 2015. Chicago, IL, USA, pp. 2427-2432

·    Ahmad A. Masoud, "A Decentralized, Convergent, Nearest Neighbor, Spatial Consensus, Control Protocol", 2014 American Control Conference (ACC) June 4-6, 2014. Portland, Oregon, USA, pp. 4683-4689

·    Ahmad A. Masoud, “A Harmonic Potential Field Approach for Planning Motion of a UAV in a Cluttered Environment with a Drift Field”, to appear in the 50th IEEE Conference on Decision and Control and European Control Conference, December 12-15, 2011 Hilton Orlando Bonnet Creek Hotel Orlando (FL), USA

·    Ahmad A. Masoud, "A Virtual Velocity Attractor, Harmonic Potential Approach for Joint planning and control of a UAV", 2011 American Control Conference - ACC2011 San Francisco, California, USA June 29 - July 1, 2011

·    Ahmad A. Masoud, “A Decentralized, Harmonic, Potential Field-based Controller for Steering Dynamic Agents in a Cluttered Environment”, 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, July 6-9, 2010, Montréal, Canada

·    Ahmad A. Masoud, "A Harmonic Potential Field Approach with a Probabilistic Space Descriptor for Planning in Non-divisible Environments.", 2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan, pp. 3774-3779.

·    Ahmad A. Masoud, "A Harmonic Potential Field Approach for Navigating a Rigid, Nonholonomic Robot in a Cluttered Environment", 2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan, 3993-3999. {Video}

·        Ahmad Masoud, “A Discrete Harmonic Potential Approach to Motion Planning on A Weighted Graph”,  the 2008 American Control Conference (ACC 2008), Seattle - Washington, pp.807-812.

·       Ahmad A. Masoud, "Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening Forces", Proceedings of the 45th IEEE Conference on Decision & Control Manchester Grand Hyatt Hotel San Diego, CA, USA, December 13-15, 2006, pp. 6167-6172.

·        Rachana Ashok Gupta, Ahmad A Masoud, Mo-Yuen Chow, "A Network based, Delay-tolerant, Integrated Navigation System for a differential drive UGV using Harmonic Potential Field", Proceedings of the 45th IEEE Conference on Decision & Control Manchester Grand Hyatt Hotel San Diego, CA, USA, December 13-15, 2006, pp. 1870-1875.

·        Ahmad A. Masoud, "Managing the Dynamics of a Potential Field-Guided Robot in a Cluttered Environment",  The 9th International Workshop on Advanced Motion Control March 27-29, 2006

·        Ahmad A. Masoud, “A Hybrid PDE-ODE Controller for Intercepting an Intelligent, Well-informed Target in a Stationary, Cluttered Environment”, 44th IEEE Conference on Decision and Control, Seville-Spain, December 12-15, 2005.

·        Samer Charifa, Ahmad Masoud, "A Solids Mechanics-Inspired, Sensor-based  Motion Planner", Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.  Aug. 29-31, 2005, Toronto, Canada Page(s):221 - 226

·        Ahamd A. Masoud “Solving the Narrow Corridor Problem in Potential Field-Guided Autonomous Robots”, the 2005 IEEE International Conference On Robotics and Automation, April 18-22, 2005, Barcelona, Spain, pp. 2920-2925.

·        Ahmad A. Masoud, "An Informationally-Open, Organizationally-Closed Control Structure for Navigating a Robot in an Unknown, Stationary Environment" 2003 IEEE International Symposium on Intelligent Control, October 5-8, 2003, Houston, Texas, USA,  pp. 614-619. .

·        Ahmad A. Masoud, "Evasion of Multiple, Intelligent Pursuers in a Stationary, Cluttered Environment Using a Poisson Potential Field", sent to: the 2003 IEEE International Conference on Robotics and Automation (ICRA 2003), May 12-17, 2003, Taipei, Taiwan, pp. 4234-4239.

·        Ahmad A. Masoud, "Evasion of Multiple, Intelligent Pursuers in a Stationary, Cluttered Environment: A Harmonic Potential Field Approach", 2002 IEEE International Symposium on Intelligent Control (ISIC), 27-30 October 2002, Vancouver, British Columbia, Canada, pp. 654-659 .

·        Ahmad A. Masoud, Samer A. Masoud, "Motion Planning in the Presence of Directional and Obstacle Avoidance Constraints Using Nonlinear Anisotropic, Harmonic Potential Fields", the IEEE International Conference on Robotics and Automation, San Francisco, CA, April 24-28, 2000, pp. 2944-2951.

·        Ahmad A. Masoud, Aziz G. Qureshi, "Robust, FFT-based, Block Demodulation In the presence of Symbol Synchronization Jitter, Using Symmetric, Differential, Phase Shift, Keying (SDPSK)", 1999 IEEE International Conference on Communication, June 5-11, 1999, Vancouver B.C., Canada, pp. 1278-1284.

·        Ahmad A. Masoud, Samer A. Masoud, "A Self-Organizing, Hybrid, PDE-ODE Structure for Motion Control in Informationally-deprived Situations", The 37th IEEE Conference on Decision and Control, Tampa Florida, Dec. 16-18, 1998, pp. 2535-2540.

·        Ahmad A. Masoud, Samer A. Masoud, "A Modified, Hybrid, PDE-ODE Controller with Integrated Directional and Region Avoidance Constraints", The 37th IEEE Conference on Decision and Control, Tampa Florida, Dec. 16-18, 1998, 2021-2022.

·        Ahmad A. Masoud, Samer A. Masoud, "Evolutionary Action Maps for Navigating a Robot in an Unknown, Multidimensional, Stationary Environment, Part II: Implementation and Results", the 1997 IEEE International Conference on Robotics and Automation, April 21-27, Albuquerque, New Mexico, USA, pp. 2090-2096. {Video}

·        Ahmad A. Masoud, "A Decentralized, Evolutionary, Hybrid Controller for Directing Traffic Along Two-Way Streets", The 35th IEEE Conference on Decision and Control, Kobe, Japan, 1996, pp. 4419-4424.

·        Ahmad A. Masoud, "A Hybrid, Self-Organizing Controller for Multi-agent, Motion Planning in a Stationary Environment", 1996 CCA/ISIC /CACSD, IEEE International Symposium on Intelligent Control, Dearborn, Michigan, USA, Sept. 15-18, 1996, pp. 13-19.

·        Ahmad A. Masoud, "Using Hybrid Vector-Harmonic Potential Fields for Multi-robot, Multi-target Navigation in a Stationary Environment", 1996 IEEE International Conference on Robotics and Automation, April 22-28, 1996, Minneapolis, Minnesota, pp.3564-3571.

·        Ahmad A. Masoud, Samer A. Masoud, Mohamed M. Bayoumi, "Robot Navigation Using a Pressure Generated Mechanical Stress Field, The Biharmonic Potential Approach", The 1994 IEEE International Conference on Robotics and Automation, May 8-13, 1994 San Diego, California, pp. 124-129.

·        Ahmad A. Masoud, Mohammed Bayoumi, "Constraining the Motion of a Robot Manipulator Using the Vector Potential Approach" ,1993 IEEE Regional Conference on Aerospace Control Systems, Westlake Village, CA, May 25-27, 1993, pp. 493-497.

·        Ahmad A. Masoud, Mohammed Bayoumi, "Robot Navigation Using the Vector Potential Approach", 1993 IEEE International Conference on Robotics & Automation, Atlanta, Georgia, May 2-7,1993, pp.1-(805-811).

·        Ahmad A. Masoud, Mohammed Bayoumi, "Using Local Information for the Reliable Removal of Noise from the Output of the LoG Edge Detector", 1993 IEEE International Symposium on Circuits and Systems, Chicago, Illinois, May 3-6, 1993, pp. 551-554.

·        Ahmad A. Masoud, Mohammed Bayoumi, "Using Local Structure for the Reliable Removal of Noise from the Output of the LoG Edge Detector", 1993 IEEE Winter Workshop on Nonlinear Digital Signal Processing. Tampere, Finland, Jan. 17-20,1993, pp. 2.2 (3.1-3.6).

·        M. Bennamoun, A. Masoud, M. Ramsay, M. Bayoumi, "Avoidance of Unknown Obstacles Using Proximity Fields", The IEEE International Workshop on Intelligent Robots and Systems, (IROS91), Osaka, Japan, Nov. 3-5,1991, pp.435-440. 

·        Ahmad A. Masoud, Mohamed Bennamoun, Mohamed Bayoumi, "An M-D Robust Edge Detector", IEEE Workshop on Visual Signal Processing and Communication, VSPC" 91 June 6-7, Taiwan, 1991, pp. 222-225.

·        Ahmad A. Masoud, Moustafa M. Fahmy, "Multidimensional FIR Filter Design Using the WKS Sampling Theorem", IEEE International Conference on Acoustics, Speech, and Signal processing, ICASSP/90 April 3-6, Albuquerque New Mexico USA, 1990, pp.2021-2024.

·        Ahmad A. Masoud, "A New Technique for the Design of Finite Precision M-D FIR Digital Filters", IEEE International Symposium on Circuits and Systems, ISCAS/90 May 1-3, New Orleans Louisiana USA, 1990, pp.2450-2453.

·        Ahmad Masoud, "A Statistical Rule for Estimating the Number and Parameters of Sinusoids in a Background of Additive White Guassian Noise (AWGN)", IEEE Instrumentation and Measurements Technology Conference, IMTC/89 April 25-27, Washington D.C. USA, 1989, pp.320-324.

·        Ahmad A. Masoud, "A Quadratic Form Controller for Controlling an N-Degree of Freedom Robotics Arm Manipulator", IEEE International Workshop on Advance Motion Control, March 29-31, Yokohama Japan, 1990, pp. 251-256.

 

 
 
 
 
 
 
 
 
 
 
 
 
 

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