Publications

2024

Ran Jiao, Wenjie Liu, Ramy Rashad, Jianfeng Li, Mingjie Dong, Stefano Stramigioli (2024) A novel robotic system enabling multiple bilateral upper limb rehabilitation training via an admittance controller and force field, Mechatronics 97, p. 103112, url, doi:https://doi.org/10.1016/j.mechatronics.2023.103112

2023

Andrea Brugnoli, Ramy Rashad, Yi Zhang, Stefano Stramigioli (2023) Finite element hybridization of port-Hamiltonian systems, arXiv, arXiv, doi:10.48550/arXiv.2302.06239

Ramy Rashad, Andrea Brugnoli, Federico Califano, Erwin Luesink, Stefano Stramigioli (2023) Intrinsic Nonlinear Elasticity: An Exterior Calculus Formulation, Journal of Nonlinear Science 33(5), p. 84, doi:10.1007/s00332-023-09945-7

Federico Califano, Ramy Rashad, Cristian Secchi, Stefano Stramigioli (2023) On the Use of Energy Tanks for Robotic Systems, Human-Friendly Robotics 2022, Pablo Borja, Cosimo Della Santina, Luka Peternel, Elena Torta (ed.), p. 174-188, Cham: Springer International Publishing, doi:10.1007/978-3-031-22731-8_13

2022

F. Califano, R. Rashad, S. Stramigioli (2022) A differential geometric description of thermodynamics in continuum mechanics with application to Fourier-Navier-Stokes fluids, Physics of Fluids 34(10), AIP Publishing LLC, doi:10.1063/5.0119517

Youngsuk Hong, Ramy Rashad, Soocheol Noh, Taeyoon Lee, Stefano Stramigioli, Frank C. Park (2022) A geometric formulation of multirotor aerial vehicle dynamics, Nonlinear Dynamics 107(1), p. 495-513, Springer Netherlands, doi:10.1007/s11071-021-07042-6

Andrea Brugnoli, Ramy Rashad, Stefano Stramigioli (2022) Dual field structure-preserving discretization of port-Hamiltonian systems using finite element exterior calculus, Journal of Computational Physics 471, p. 111601, Elsevier Inc., doi:10.1016/j.jcp.2022.111601

Federico Califano, Ramy Rashad, Frederic P Schuller, Stefano Stramigioli (2022) Energetic decomposition of distributed systems with moving material domains: The port-Hamiltonian model of fluid-structure interaction, Journal of Geometry and Physics 175, p. 104477, Elsevier, doi:10.1016/j.geomphys.2022.104477

Ramy Rashad, Davide Bicego, Jelle Zult, Santiago Sanchez-Escalonilla, Ran Jiao, Antonio Franchi, Stefano Stramigioli (2022) Energy Aware Impedance Control of a Flying End-Effector in the Port-Hamiltonian Framework, IEEE Transactions on Robotics 38(6), p. 3936-3955, IEEE, doi:10.1109/TRO.2022.3183532

2021

Federico Califano, Ramy Rashad, Alexander Dijkshoorn, Luuk Groot Koerkamp, Riccardo Sneep, Andrea Brugnoli, Stefano Stramigioli (2021) Decoding and realising flapping flight with port-Hamiltonian system theory, Annual Reviews in Control 51(March), p. 37-46, Elsevier Ltd, doi:10.1016/j.arcontrol.2021.03.009

Ramy Rashad, Federico Califano, Andrea Brugnoli, Frederic P. Schuller, Stefano Stramigioli (2021) Exterior and vector calculus views of incompressible Navier-Stokes port-Hamiltonian models, IFAC-PapersOnLine 54(19), p. 173-179, Elsevier Ltd, doi:10.1016/j.ifacol.2021.11.074

Federico Califano, Ramy Rashad, Frederic P. Schuller, Stefano Stramigioli (2021) Geometric and energy-aware decomposition of the Navier-Stokes equations: A port-Hamiltonian approach, Physics of Fluids 33(4), AIP Publishing LLC, doi:10.1063/5.0048359

Andrea Brugnoli, Ramy Rashad, Federico Califano, Stefano Stramigioli, Denis Matignon (2021) Mixed finite elements for port-Hamiltonian models of von Kármán beams, IFAC-PapersOnLine 54(19), p. 186-191, Elsevier Ltd, doi:10.1016/j.ifacol.2021.11.076

Ran Jiao, Ramy Rashad, Davide Bicego, Wusheng Chou, Stefano Stramigioli (2021) Observer-based Geometric Impedance Control of a Fully-Actuated Hexarotor for Physical Sliding Interaction with Unknown Generic Surfaces, Journal of Intelligent and Robotic Systems: Theory and Applications 102(4), Journal of Intelligent & Robotic Systems, doi:10.1007/s10846-021-01434-x

Ramy Rashad, Federico Califano, Frederic P. Schuller, Stefano Stramigioli (2021) Port-Hamiltonian modeling of ideal fluid flow: Part I. Foundations and kinetic energy, Journal of Geometry and Physics 164, p. 104201, Elsevier B.V., doi:10.1016/j.geomphys.2021.104201

Ramy Rashad, Federico Califano, Frederic P. Schuller, Stefano Stramigioli (2021) Port-Hamiltonian modeling of ideal fluid flow: Part II. Compressible and incompressible flow, Journal of Geometry and Physics 164, p. 104199, Elsevier B.V., doi:10.1016/j.geomphys.2021.104199

2020

Ramy Rashad, Jelmer Goerres, Ronald Aarts, Johan B.C. Engelen, Stefano Stramigioli (2020) Fully Actuated Multirotor UAVs: A Literature Review, IEEE Robotics and Automation Magazine 27(3), p. 97-107, IEEE, doi:10.1109/MRA.2019.2955964

Ramy Rashad, Davide Bicego, Ran Jiao, Santiago Sanchez-Escalonilla, Stefano Stramigioli (2020) Towards vision-based impedance control for the contact inspection of unknown generically-shaped surfaces with a fully-actuated UAV, IEEE International Conference on Intelligent Robots and Systems(143081), p. 1605-1612, doi:10.1109/IROS45743.2020.9341203

Ramy Rashad, Federico Califano, Arjan J van der Schaft, Stefano Stramigioli (2020) Twenty years of distributed port-Hamiltonian systems: a literature review, IMA Journal of Mathematical Control and Information 37(4), p. 1400-1422, Oxford University Press, doi:10.1093/imamci/dnaa018

2019

B. Sirmacek, R. Rashad, P. Radl (2019) Autonomous uav-based 3d-reconstruction of structures for aerial physical interaction, International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives 42(2/W13), p. 601-605, doi:10.5194/isprs-archives-XLII-2-W13-601-2019

A. Khattab, R. Rashad, J.B.C. Engelen, S. Stramigioli (2019) Bayesian-Optimized Impedance Control of an Aerial Robot for Safe Physical Interaction with the Environment, 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019, doi:10.1109/SSRR.2019.8848967

Ramy Rashad, Johan B. C. Engelen, Stefano Stramigioli (2019) Energy Tank-Based Wrench/Impedance Control of a Fully-Actuated Hexarotor: A Geometric Port-Hamiltonian Approach, 2019 International Conference on Robotics and Automation (ICRA) 2019-May, p. 6418-6424, IEEE, doi:10.1109/ICRA.2019.8793939

Ramy Rashad, Federico Califano, Stefano Stramigioli (2019) Port-Hamiltonian Passivity-Based Control on SE(3) of a Fully Actuated UAV for Aerial Physical Interaction Near-Hovering, IEEE Robotics and Automation Letters 4(4), p. 4378-4385, doi:10.1109/LRA.2019.2932864

2018

Ahmed Aboudonia, Ramy Rashad, Ayman El-Badawy (2018) Composite Hierarchical Anti-Disturbance Control of a Quadrotor UAV in the Presence of Matched and Mismatched Disturbances, Journal of Intelligent and Robotic Systems: Theory and Applications 90(1-2), p. 201-216, Journal of Intelligent & Robotic Systems, doi:10.1007/s10846-017-0662-y

2017

Ahmed Aboudonia, Ayman El-Badawy, Ramy Rashad (2017) Active anti-disturbance control of a quadrotor unmanned aerial vehicle using the command-filtering backstepping approach, Nonlinear Dynamics 90(1), p. 581-597, Springer Netherlands, doi:10.1007/s11071-017-3683-y

Ramy Rashad, Petra Kuipers, Johan Engelen, Stefano Stramigioli (2017) Design, Modeling, and Geometric Control on SE(3) of a Fully-Actuated Hexarotor for Aerial Interaction, arXiv(3), doi:10.48550/arXiv.1709.05398

Ramy Rashad, Ayman El-Badawy, Ahmed Aboudonia (2017) Sliding mode disturbance observer-based control of a twin rotor MIMO system, ISA Transactions 69, p. 166-174, Elsevier Ltd, doi:10.1016/j.isatra.2017.04.013

2016

Ramy Rashad, Ahmed Aboudonia, Ayman El-Badawy (2016) A novel disturbance observer-based backstepping controller with command filtered compensation for a MIMO system, Journal of the Franklin Institute 353(16), p. 4039-4061, Elsevier, doi:10.1016/j.jfranklin.2016.07.017

Ahmed Aboudonia, Ayman El-Badawy, Ramy Rashad (2016) Disturbance observer-based feedback linearization control of an unmanned quadrotor helicopter, Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering 230(9), p. 877-891, doi:10.1177/0959651816656951

2015

Ramy Rashad, Ahmed Aboudonia, Ayman El-Badawy (2015) Backstepping trajectory tracking control of a quadrotor with disturbance rejection, 2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings, IEEE, doi:10.1109/ICAT.2015.7340523

Ahmed Aboudonia, Ramy Rashad, Ayman El-Badawy (2015) Time domain disturbance observer based control of a quadrotor unmanned aerial vehicle, 2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings, p. 6-11, IEEE, doi:10.1109/ICAT.2015.7340501

Ayman El-Badawy, Ramy Rashad (2015) Ultrasonic Rangefinder Spikes Rejection Using Discrete Wavelet Transform: Application to UAV, Journal of Sensor Technology 05(02), p. 45-53, Scientific Research Publishing, doi:10.4236/jst.2015.52005

PhD Thesis
Energy-based Modeling and Control of Interactive Aerial Robots: A Geometric Port-Hamiltonian Approach, University of Twente, The Netherlands (2021). doi:10.3990/1.9789036551137
MSc Thesis
Robust Model Reference Adaptive Control of a Quadrotor Unmanned Aerial Vehicle, German University in Cairo, Egypt (2015). pdf:[URL]
BSc Thesis
Dynamic trajectory tracking of a car-like robot, German University in Cairo, Egypt & Julius-Maximilians – University Weurzburg, Germany (2012). pdf:[URL]