Dr. Mohammed S. Saleh was born in Diyala, Iraq. He received his B.Sc. Degree in Electrical Engineering from the Military Engineering Collage, Baghdad, Iraq, in 1989.In 1998, He received Master Degree in Control and Automation Engineering form Military Engineering Collage, Baghdad, Iraq. in 2012, He received PhD Degree in Control and Automation Engineering from the University of Technology, Baghdad, Iraq
EDUCATION
control system, measurement device, electronic circuit, digital electronic, analog electronic
RESEARCH INTERESTS
Neural Control System, Fuzzy Logic Control Systems, Enhanced Fuzzy (Fuzzy Type II) control system and Robot Control System.
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Scopus Publications
Scopus Publications
Design of Fractional–PID Controller Based on Grey Wolf Optimization for Robotic Manipulator Ahmed A. Oglah, Mohammed S. Saleh, Abidaoun H. Shallal Tikrit Journal of Engineering Sciences, 2025 To overcome the tracking issue with robot manipulators, a modern control strategy is suggested. In this method, the system, controlled by a Fractional-order PID controller strategy, is initially modeled using information that is only partially known. A wolf grey optimization has been used to find the optimum time response, fine-tuning for variable parameter gains, which are then added to the resultant controller to approximate the ignored dynamics and modeling flaws. The suggested method is systematic and draws on principles of stabilizing joint control from well-known nonlinear dynamics. In the final step, the simulation results were acceptable and compared with several control strategies. The results obtained a superior response with a minimum execution time compared to others. FOPID based on GWO is introduced to derive the adaptation laws for variable good parameters. Computer simulation using the PUMAROBOT 560 (PR560) has been employed to demonstrate the effectiveness of the proposed controller.
Optimal Mobile Robot Navigation for Obstacle Avoidance Based on ANFIS Controller Mohamed S. Saleh, Yousif Ismail Al Mashhadany, Maather Alshaibi, Ferdous Majeed Ameen, Sameer Algburi Journal of Robotics and Control Jrc, 2025 Over the past 20 years, there has been a lot of research done on the movement control issue of an automated wheeled movable robot. This paper suggests navigation and collision avoidance in a new setting by utilizing the sensor-based steering angle control method, the Adaptive Neuro-Fuzzy Inference System (ANFIS) controller has already been introduced for the safety of navigation of single and multiple movable robots in cluttered surrounding areas. The front, right, and left obstruction distances have been measured using the sharp infrared reported significant and the ultrasonic distance finder sensor. This paper proposes navigating and collision avoidance in a unique environment. It uses the sensor-based angle of steering control approach. The acute ultraviolet detected is significant, and an ultrasound distance finder sensor was utilized to determine front, right, and left jump distances. In this study, a multi-layer ANFIS controller is used, with two levels for movement and the others for hurdle avoidance. The proposed ANFIS controller must be tested using a Matlab simulation. In six separate test situations, six obstacles in the surrounding region are used in a simulation, and then the robot can reach the objective without collisions in the shortest course.
DESIGN AND KINEMATIC INVESTIGATION OF AN ACTUATED PROSTHETIC ANKLE DURING WALKING Mohammed Ismael Hameed, Ahmed Abdul Hussein Ali, Mohammed S. Saleh Eastern European Journal of Enterprise Technologies, 2022 Due to the varied needs of persons who have lost a lower limb in their everyday lives, ankle-foot prosthetic technology is continually evolving. Numerous prosthetic ankles have been created in recent years to restore the ankle function of lower limb amputees. Most ankle foot prostheses, on the other hand, are passive, such as the solid ankle cushion heel and the energy storage and release foot (ESAR). The solid ankle foot can only provide steady vertical support during ambulation; however, the ESAR foot can store energy and gradually release it throughout human walking periods, hence increasing the walking pace of amputees. The aim of this work is to describe the design and manufacture of an actuated ankle-foot prosthesis. The main benefit of powered ankles is that they are capable of mimicking natural stride, particularly in steep or uneven terrain conditions. The primary objective is to establish two degrees of freedom of ankle rotation in two planes, plantar flexion and dorsiflexion in the sagittal plane, besides inversion and eversion in the frontal plane. As software can improve the gait stability, an automatic modifiable transmission arrangement was prepared for delivering the current design motions in the sagittal plane based on empirical collected biomechanical data related to passive prosthetic normal gait circumstances. However, the ankle rolling in the frontal plane was guided mechanically by means of mono leaf spring. The majority of the ankle mechanical components are made of 7075-T6 aluminum alloy and are integrated onto ESAR carbon fiber laminated foot. For a unilateral above-knee amputee, the ankle function at self-selected walking was assessed, achieving maximum results of 10° inversion, 10° eversion, 12° plantar flexion and 18° dorsiflexion ankle angles. Also, the patient gait experiment in a normal cadence showed an improvement in plantar flexion behavior for the powered ankle in contrast with the passive ankle
Modeling, identification and control of inverse kinematic of PUMA robots Lafta Esmaeel Jumaa Alkurawy, Mohammed S. Saleh, Khalid A. Humood International Journal on Engineering Applications, 2020 The inverse kinematics solution of robotic manipulator based on Neural Network is presented in this paper. The problem in robotics manipulators is Inverse kinematics for PUMA robotics. The structure of joint for the manipulator is not easy if traditional solutions such as algebraic, geometric, and iterative are inadequate. The proposed method yields precise and multiple solutions and it is suitable and comfortable for real – time applications. The neural network is used to solve the inverse kinematics for the arm of robotics 6-dof. This approach is essential to calculate the end-effector in space Cartesian for each joint. The identification will be done in each joint for PUMA by neural network and PID controller will be applied on each joint to get the response; then, the reference input is done by tuning the values of coefficients of PID.
Modelling and Simulation Speed Control of DC Motor using PSIM Z S Al-Sagar, M S Saleh, K G Mohammed, A Z Sameen Iop Conference Series Materials Science and Engineering, 2020 Speed control DC motor (SCDCM) methods are widely used in power electronic circuits. This paper presents various SCDCM methods such as armature voltage control, the results show when armature voltage increases, the speed of the motor increases and when the armature voltage decreases, the motor speed decreases. However, in field resistance methods, when the field resistance increases the speed increases and when field resistance decreases the speed is reduced. While in feedback control when using feedback SCDCM method, two blocks have been used, the first block includes reference speed of motor and the second block includes the added value of speed to reference speed of motor. Power simulation (PSIM) is used to design and simulate the DC motor speed control circuits.
Modeling and identification of human heart system Lafta E. J. Alkurawy, Mohammed S. Saleh, Ibraheem S. Fatah, Adham H. Saleh International Journal on Engineering Applications, 2019 In this paper, for human heart problems, a mathematical model has been developed. There are more or fewer applications of physical analog with mathematical modeling of the heart, the modeling of heart by electromechanical, state-space. In this paper, the Physical models of the heart can affect the data of real physiological focused on the actual tests present. A new technique for mathematical modeling of heart of human is described as a hydro electromechanical system. The human heart is described focusing on three systems: electrical analysis, hydraulic mechanism, and mechanical variables. In the hydro model based on mechanical developed by using Laplace transforms after converting the mechanical system to an electrical system and simulation are carried out by using Matlab and the results are agreeable with the waveform of the ECG. The components of electrical analysis have been exploited in order to put on the purposes of physiological the human heart. The parameters of the electrical circuit have been transferred from the model of hydraulic mechanism and medical physiological parameters. The results of the model are close to true parameters. The identification of this model is applied with recursive least squares (RLS) in order to compare the mathematical model.
Design and implementation of type-2 fuzzy logic controllers for the posture of manipulator robot tip Mohammed Zeki Al-Faiz, Mohammed Selman Saleh International Review of Automatic Control, 2015 Uncertainty is an inherent part in controllers for real world applications. In this paper fuzzy logic controllers in two structure type-1 (FLCT1) and type-2 (FLCT2) are proposed, the FLCT2 introduce with three terms and with five terms to use as controller for the tip manipulator robot. We compare the performance of the manipulator robot with the FLCT1 and FLCT2, with five and three term membership functions. The controllers were used to control a PM DC motor model in a closed loop real time system. The results showed that there was statistical difference between the type-1 and type-2 controllers. It was also found that a type-2 three term controller was as good as a type-1five term or type-2 five term controller.
