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Dr. Abdalftah Abdalftah Elbori Elbori Elbori

  • َQualifications: Doctor of Phiosophy
  • Academic Rank: Lecturer
  • School of Sciences - Azzaytuna University

Biography

Abdalftah Elbori is one of the staff members at the mathematical department of the faculty of Science. He is working as a since 2018-10-27. He teaches several subjects in his major and has several puplications in the field of his interest.

Qualifications

2 ,2018

Doctor of Phiosophy

Mathematics Modelling and Optimization of CPGs
Atilim University

9 ,2008

Master degree

Applied Mathematics and Computer Science
Heriot Watt University

6 ,2002

Bachelor Degree


Experiences

2018 - 2019

-

2008 - 2018

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2003 - 2008

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Publications

Optimization of Central Patterns Generators

The issue of how best to optimize Central Patterns Generators (CPG) for locomotion to generate motion for one leg with two degrees of freedom has inspired many researchers to explore the ways in which rhythmic patterns obtained by genetic algorithms may be utilized in uncoupled, unidirectional and bidirectional two CPGs. This paper takes as its assumption that the focus on stability analysis to decrease variation between steps brings about better results with respect to the gait locomotion, and argues that controlling the amplitude and frequency may lead to more robust results viz., stimulation for movement.
Abdalftah Elbasir Gumah Elbori1, Mehmet Turan, Kutluk Bilge Arıkan, (1-2017)
Publisher's website


Estimating Gait Patterns of One Leg by Using Central Pattern Generators

It is perhaps noteworthy in the locomotion literature of recent years that different forms of locomotion can be found by genetic algorithms using patterns formed by uncoupled, unidirectional and bidirectional two Central Pattern Generators (CPGs). This paper outlines the kinematic model of one leg with two degrees of freedom (DOF), analyzes stability and bifurcation, and pinpoints CPGs and their implementations. Specifically, this paper presents an evolutionary method of gait generation for the one leg structure. It attempts to utilize genetic algorithms with hybrid function and adapt the CPGs to robotic systems that perform one-leg movement, with the objective of figuring out optimal walking gaits.
Abdalftah Elbori, Mehmet Turan, Kutluk Bilge Arikan, (12-2017)
Publisher's website


OPTIMIZATION OF CENTRAL PATTERN GENERATORS FOR DEFINING HUMAN LOCOMOTION

This paper explores the effect of bidirectional central pattern generators (CPGs) on the fitness function using the Genetic Algorithm. It approaches this issue from two broad perspectives: the first is concerned with answering the question "Do small changes in some CPG parameters result in different walking gaits?" and the second is concerned with answering the question, "What are the underlying constraints that render the optimization of bipedal locomotion in robots feasible?" These concerns can thus be seen as leading to one general objective: to investigate how bidirectional two CPGs can best be optimized to generate effective rhythmic movement patterns. This paper, however, takes as its assumption, that unlike uncoupled and unidirectional CPGs, which result in instability, optimizing bidirectional two CPGs do not only enhance movement but also produce rhythmic patterns akin to the rhythmic patterns derived from real data that is not provided with input or any sensory feedback.
Abdalftah Elbori, Mehmet Turan, Kutluk Bilge Arikan, (7-2017)
Publisher's website


Simulation of Simple Pendulum’’ International Journal of Engineering Science Invention

This paper presents the Physics Rotational Method of the simple gravity pendulum, and it also applies Physics Direct Method to represent these equations, in addition to the numerical solutions discusses. This research investigates the relationship between angular acceleration and angle to find out different numerical solution by using simulation to see their behavior which shows in last part of this article. Keywords: Physics Rotational Method, Simple Pendulum, Numerical Solution, Simulation
Abdalftah Elbori, Ltfei Abdalsmd, (4-2017)
Publisher's website


Simulation of Double Pendulum

In this paper, the simulation of a double pendulum with numerical solutions are discussed. The double pendulums are arranged in such a way that in the static equilibrium, one of the pendulum takes the vertical position, while the second pendulum is in a horizontal position and rests on the pad. Characteristic positions and angular velocities of both pendulums, as well as their energies at each instant of time are presented. Obtained results proved to be in accordance with the motion of the real physical system. The differentiation of the double pendulum result in four first order equations mapping the movement of the system
Abdalftah Elbori, Ltfei Abdalsmd2 , (4-2017)
Publisher's website


Evaluation and Optimization of Nonlinear Central Pattern Generators for Robotic Locomotion. Journal of Control Engineering and Applied Informatics

With regard to the optimization of Central Pattern Generators (CPGs) for bipedal locomotion in robots, this paper investigates how the different cases of CPGs such as uncoupled, unidirectional, bidirectional two CPGs are used to produce rhythmic patterns for one leg with two degrees of freedom (DOF). This paper also discusses the stability analysis of CPGs and attempts to utilize genetic algorithms with the hybrid function and adapts the CPGs to robotic systems that perform one-leg movement, by utilizing the bidirectional two CPGs. The results show far greater improvement than in the other cases. CPGs not only enhance movement but also control locomotion without any sensory feedback.
Abdalftah Elbori, Mehmet Turan, Kutluk Bilge Arıkan, (9-2018)
Publisher's website


Optimization of Central Patterns Generators (CPGs)

The issue of how best to optimize Central Patterns Generators (CPG) for locomotion to generate motion for one leg with two degrees of freedom has inspired many researchers to explore the ways in which rhythmic patterns obtained by genetic algorithms may be utilized in uncoupled, unidirectional and bidirectional two CPGs. This paper takes as its assumption that the focus on stability analysis to decrease variation between steps brings about better results with respect to the gait locomotion, and argues that controlling the amplitude and frequency may lead to more robust results viz., stimulation for movement
Abdalftah Elbori , (3-2017)
Publisher's website


Optimization of Nonlinear Differential Equations for Defining One Leg Human Locomotion

This paper discusses how to optimize the Bidirectional of the central pattern generators (CPGs) to produce rhythmic patterns for human locomotion by using the enhancement Genetic Algorithm and pattern search function. It also shows how small changes in some CPG parameters in stable domain result in different walking gaits, optimizing bidirectional two CPGs in stable domain do not only enhance movement but also generate rhythmic patterns similar to the rhythmic patterns derived from real data without any input or sensory feedback.
Abdalftah Elbori, Ali Albasher Gumma Albarki, (11-2020)
Publisher's website


Bifurcation and Stability of Reaction Diffusion Equations

The abstract theory applies to examples of algebraic equations and nonlinear boundary value problems are discussed, including systems of reaction diffusion equations. The link s between bifurcation and stability showing are also investigated, the study discusses how increasing a diffusion coefficient in a reaction-diffusion system can lead to bifurcation and also to a stable solution becoming unstable.
Abdalftah Elbasir Gumah Elbori, Ali Albasher Gumma Albarki, (12-2020)
Publisher's website