Featured Projects | Khaled HAMIDI

Kenobot: A Self-Driving Robotic Platform

Mon, 06 Jan 2025 00:00:00 +0000

Overview

Kenobot is an integrated robotic platform engineered as a commercial solution for autonomous navigation and robotics development. The platform’s design is flexible and scalable, making it suitable for a wide range of applications, from internal logistics to advanced research.

Dual-Layer Control Architecture

Kenobot utilizes a two-tier control architecture for high performance and reliability:

High-Level Control: A Raspberry Pi 5 computer processes complex sensor data, implements autonomous navigation algorithms, and manages the system.
Low-Level Control: An Arduino Mega board provides precise control of motors and actuators, and reads raw data from low-level sensors, ensuring a fast and stable response.

A key feature of Kenobot is its ability to navigate accurately in indoor environments where GPS signals are unavailable. The platform uses advanced algorithms like SLAM (Simultaneous Localization and Mapping) with data from sensors such as LIDAR and cameras to independently determine its location and map its surroundings.

Communication System

The platform supports a bidirectional wireless communication system for exchanging data and commands between the robot and a control station. The receiver unit connects to a computer via a USB port for monitoring and control.

Virtual Development Features

To enable developers to test algorithms and applications safely, each platform is equipped with virtual dummy features. This virtual environment simulates various tasks and payloads without requiring physical hardware, accelerating the development cycle and reducing risks.

Potential Applications

Security and Surveillance: Conducting autonomous patrols in designated areas.
Research and Development: A robust testbed for AI and robotics algorithms.

Autonomous Robot with Longitudinal Control

Thu, 18 Jan 2024 00:00:00 +0000

About the Project

An autonomous robot I designed and built entirely from scratch — from the mechanical frame to the control algorithm. Its key feature is a longitudinal control system based on a hybrid FLC-PID architecture, enabling independent navigation with precise speed and acceleration control.

Highlights

FLC-PID System: Combines fuzzy logic with PID for smooth, adaptive speed control.
Built from scratch: Frame design, component selection, wiring, and programming all done manually.
Dual validation: Simulated in MATLAB/Simulink, then deployed on Raspberry Pi hardware.
Real-time response: The robot adapts its behavior based on live sensor readings.

Qlink: Serial Command API for Arduino

Tue, 10 Jan 2023 00:00:00 +0000

Overview

Qlink is a powerful yet lightweight serial command API designed for Arduino, Raspberry Pi, PC, and other embedded systems. It streamlines communication between devices by providing a simple framework for registering and handling commands sent over a serial connection. With support for multiple parameter types (INT, FLOAT, STRING, LONG), Qlink is the ideal solution for controlling your Arduino projects from external applications written in Python, C#, or from a simple serial monitor.

Key Features

Dynamic Command System: Easily define and register custom commands with a clean macro-based syntax (DEF and REG).
Multi-Type Parameter Support: Natively parse integer, float, string, and long arguments from incoming serial commands.
Simplified Responses: Send formatted strings back to the host device with a single link.response() call.
Lightweight & Efficient: Designed for microcontrollers, Qlink has a minimal footprint and processes commands in real-time.
Cross-Platform Control: Enables seamless control of Arduino from a PC (Windows/Linux), Mac, or Raspberry Pi.

Common Use Cases

Controlling robots or CNC machines from a desktop application.
Sending sensor data from Arduino to a Python script for logging or analysis.
Creating interactive prototypes that respond to commands from a serial terminal.
Configuring device settings (e.g., LED brightness, motor speed) on the fly without reprogramming.

Code Example: Simple Blink Control

The following example demonstrates how to control the built-in LED on an Arduino board using a DELAY command sent over serial.

#include <Qlink.h>

int blinkInterval = 1000; // Default blink interval
Qlink link(Serial); // Initialize Qlink on the hardware serial port

// Define the "DELAY" command, which accepts one integer argument
DEF(DELAY, INT) {
 blinkInterval = Convert(Args[0], int);
 link.response("Blink interval updated to %d ms", blinkInterval);
}

void setup() {
 Serial.begin(9600);
 pinMode(LED_BUILTIN, OUTPUT);
 REG(link, DELAY); // Register the DELAY command
}

void loop() {
 link.loop(); // Continuously listen for incoming commands

 // Blink the LED at the current interval
 digitalWrite(LED_BUILTIN, HIGH);
 delay(blinkInterval);
 digitalWrite(LED_BUILTIN, LOW);
 delay(blinkInterval);
}

To use this, you would simply send a command like DELAY 500 from your serial monitor or application, and the LED blink rate would instantly update.

Featured Projects | Khaled HAMIDI

Kenobot: A Self-Driving Robotic Platform

Overview

Dual-Layer Control Architecture

GPS-Denied Autonomous Navigation

Communication System

Virtual Development Features

Potential Applications

Autonomous Robot with Longitudinal Control

About the Project

Highlights

Qlink: Serial Command API for Arduino

Overview

Key Features

Common Use Cases

Code Example: Simple Blink Control