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Mohammad Al Saaideh

9 accepted papers

2025

Data-Driven Fault Detection for Wafer Scanner Cable Slabs using Koopman Operators

Michael Pumphrey, Mohammad Al Saaideh, Yazan Mohammad Al-Rawashdeh, Natheer Alatawneh, Khaled Aljanaideh, Almuatazbellah M. Boker +1
IROS 2025

The reliability of precision motion systems, such as semiconductor wafer scanners, is often influenced by nonlinear dynamics originating from components such as cable slabs. This paper introduces a data-driven framework for early fault diagnosis in these systems. Koopman operator theory is employed

Cited by 0Source ↗Scholar ↗
2025

Feedback Control of a Two-Degree-of-Freedom Electromagnetic Reluctance Precision Motion System

Michael Pumphrey, Mohammad Al Saaideh, Natheer Alatawneh, Mohammad Al Janaideh
IROS 2025

This study investigates a novel Xθ actuation system driven by a reluctance actuator (RA) and two accompanying moving magnet actuators (MMAs). The system enables precise control of both translational (x) and rotational (θ) motion, offering a two-degree-of-freedom (2DOF) solution for high-precision ap

Cited by 0Source ↗Scholar ↗
2024

Automating Trophectoderm Cells Aspiration and Separation in Embryo Biopsy at the Blastocyst Stage: A Vision-Based Control Approach

Ihab Abu Ajamieh, Mohammad Al Saaideh, Mohammad Al Janaideh, James K. Mills
IROS 2024poster

Reproductive medicine has recently witnessed significant advancements, particularly in vitro fertilization (IVF). One crucial aspect of IVF involves the extraction of cellular material and its analysis to maximize the chance of successful implantation. This work highlights the development and applic…

Cited by 0Source ↗Scholar ↗
2024

Data-Driven Modeling of Cable Slab Dynamics via Neural Networks

Yazan M. Al-Rawashdeh, Mohammad Al Saaideh, Michael Pumphrey, Natheer Alatawneh, Mohammad Al Janaideh
IROS 2024poster

A novel method for analyzing the dynamics and bend geometry of a cable slab via trained neural networks is introduced. Neural networks are trained from real-time visual feedback capture via a high-speed camera during cyclic motion to track the positions of multiple markers affixed to the cable slab…

Cited by 1Source ↗Scholar ↗
2024

Model-Free Control of a Class of High-Precision Scanning Motion Systems with Piezoceramic Actuators

Yazan M. Al-Rawashdeh, Mohammad Al Saaideh, Marcel F. Heertjes, Mohammad Al Janaideh
ICRA 2024poster

To enhance the precision of coarse long-stroke motion axes, complementary short-stroke fine positioning stages are usually introduced. Being mechanically attached, the motion of the combined positioning stages needs to be controlled and synchronized. Therefore, typically suitable model-based control…

Cited by 0Source ↗Scholar ↗
2024

Position Control of a Low-Energy C-Core Reluctance Actuator in a Motion System

Mohammad Al Saaideh, Yazan M. Al-Rawashdeh, Natheer Alatawneh, Khaled Aljanaideh, Mohammad Al Janaideh
IROS 2024poster

This paper introduces a position control system for a motion stage driven by a low-energy C-core reluctance actuator. The central concept explored here is the utilization of a variable air gap to enable energy-efficient operation of the motion stage. First, we show the design and mathematical model…

Cited by 0Source ↗Scholar ↗
2023

Design and Control of a Reluctance-Based Micropositioning Stage for Scanning Motion Applications

Mohammad Al Saaideh, Natheer Alatawneh, Khaled Aljanaideh, Mohammad Al Janaideh
IROS 2023poster

This paper presents a design and characterization of a micropositioning stage driven by a reluctance actuator. The stage is constructed with a C-core reluctance actuator and four compression springs. The design of the stage is presented using a CAD model, followed by the fabrication process of the p…

Cited by 2Source ↗Scholar ↗
2023

Robust Output Feedback controller for a Serial Robotic Manipulator with Unknown Nonlinearities and External Disturbances

Mohammad Al Saaideh, Almuatazbellah M. Boker, Mohammad Al Janaideh
ICRA 2023poster

This paper presents a robust output feedback controller for a n-link serial robotic manipulator with unknown dynamics and external disturbances. First, the robotic manipulator's model is formulated with unknown dynamics, including joint coupling, nonlinearities, and external disturbances. Second, an…

Cited by 10Source ↗Scholar ↗
2023

Using Piezoceramic-Actuated Stages in Precision Long-Stroke Motion Systems: A Design Procedure

Yazan M. Al-Rawashdeh, Mohammad Al Saaideh, Mohammad Al Janaideh
IROS 2023poster

Mainly, the integration of fine positioning piezo-actuated stages in precision motion systems is considered, which results in multi-stage configurations. Mostly, in such configurations, the fine stages are attached to the coarse positioning stages- that do not meet required precision- by mechanical…

Cited by 2Source ↗Scholar ↗