Waleed Shaaban Abd Elsalam Mohamed

Verified @mans.edu.eg

Mechanical Power Engineering Department, Faculty of Engineering, Mansoura University
Assistant Professor

Waleed Shaaban Abd Elsalam Mohamed


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https://researchid.co/waleedsha3ban

RESEARCH, TEACHING, or OTHER INTERESTS

Energy Engineering and Power Technology, Fuel Technology, Museology
7

Scopus Publications

Scopus Publications

  • Dynamic quality aware path planning for 6 DoF robotic arms using BiRRT and metaheuristic optimization based on B spline paths
    Abdelrahman T. Elgohr, Maher Rashad, Eman M. El-Gendy, Waleed Shaaban, Mahmoud M. Saafan
    Scientific Reports, 2026
    Industrial robotic arms utilized in contemporary industrial and collaborative environments must operate within increasingly congested and dynamically restricted workspaces while adhering to rigorous standards of safety, precision, and motion quality. This paper presents a two-stage framework for path planning and optimization of a 6-DOF industrial robotic arm navigating amid randomly distributed obstacles. A collision-free reference motion is initially created by integrating B-spline geometric interpolation with a bidirectional RRT-Connect planner, augmented by short-cutting and effective joint-space collision verification for a KUKA KR 4 R600 manipulator. The baseline trajectory is subsequently enhanced through two metaheuristic optimizers: a Whale Genetic hybrid algorithm (WGA) and the Grey Wolf Optimizer (GWO). These optimizers minimize a composite objective that incorporates end-effector trajectory length, joint-level energy consumption based on established motor characteristics, and trajectory smoothness measured by joint jerk. Simulation results indicate that, while the raw Bi-RRT trajectory is geometrically efficient and energy-efficient, it demonstrates excessively high jerk. The suggested enhancements based on WGA and GWO diminish the jerk index of the original Bi-RRT solution by roughly 94–96%, resulting in relatively slight increases in trajectory length and energy, while producing dynamically smooth, collision-free trajectories that adhere to all kinematic constraints. This work presents a comprehensive, implementation-ready methodology that compares sampling-based planning, and multi-objective metaheuristic optimization to produce executable, energy-efficient, and jerk-minimized motions for industrial manipulators in intricate environments.
  • Sustainable thermodynamic innovations and energy-efficient hybrid designs in Humidification–Dehumidification (HDH) desalination: A comprehensive review
    Osama H. Hassan, Osama Abdelrehim, Mohamed S. Salem, Waleed Shaaban, Ahmed A. Hegazi
    Renewable and Sustainable Energy Reviews, 2026
  • Trust as a design principle in human–robot collaboration: a review of explainable and adaptive control
    Abdelrahman T. Elgohr, Maher Rashad, Eman M. El-Gendy, Waleed Shaaban, Mahmoud M. Saafan
    Artificial Intelligence Review, 2026
    Human–Robot Collaboration (HRC) has emerged as a fundamental element of new industrial and service systems, wherein humans and robots function within common physical and cognitive environments to achieve shared goals. In addition to traditional issues of safety and productivity, trust has become a critical element influencing cooperation efficiency, human dependence, and sustained system acceptability. This review offers a thorough and reliability-focused summary of HRC research, highlighting the significance of explainable intelligence and adaptive control in promoting trustworthy collaboration. The study initially identifies trust as a fundamental design target in HRC, delineating its dynamic, multifaceted characteristics and its impact on human decision-making and interaction behavior. A systematic review methodology is employed to analyze cutting-edge approaches across essential dimensions, including trust modeling and estimation, multimodal human state and intention recognition, explainable artificial intelligence (XAI) techniques, and adaptive and learning-based control architectures. The analysis emphasizes the role of transparency, interpretability, and context-aware adaptation in establishing trust calibration within safety-critical and dynamic collaborative environments. A cross-sectional synthesis of the literature reveals several critical gaps, including the lack of standardized trust evaluation metrics, limited integration of explainability and control adaptation, inadequate consideration of long-term trust dynamics, and insufficient validation in real-world, unstructured environments. The analysis closes by delineating potential research avenues for cohesive, human-centered HRC frameworks that effortlessly incorporate trust modeling, explainable decision-making, and adaptive control. The ideas offered seek to inform the creation of advanced collaborative robots that are safe, efficient, transparent, adaptive, and trustworthy.
  • A real-time smart energy management system for greenhouses using a hybrid optimization algorithm: Experimental implementation for efficient and sustainable operation
    Mohamed W. Haggag, Asmaa H. Rabie, Islam Ismael, Waleed Shaaban
    Computers and Electrical Engineering, 2026
  • Enhancement of Dye Separation Performance of Eco-Friendly Cellulose Acetate-Based Membranes
    Omneya A. Koriem, Alaa Mostafa Kamel, Waleed Shaaban, Marwa F. Elkady
    Sustainability Switzerland, 2022
    Many reasons have caused a worldwide water stress problem. Thus, the recycling of wastewater streams has been extensively studied. In this work, eco-friendly mixed matrix membranes (MMMs) were fabricated, characterized, and tested for the removal of two separate dyes from simulated waste streams. The environmentally friendly nano activated carbon (NAC) was extracted from water hyacinth to be impregnated as a membrane nano-filler to enhance the neat membrane performance. The extracted NAC was further studied and characterized. Cellulose acetate (CA)-based membranes were obtained by phase inversion and electrospinning mechanisms. All four synthesized blank and MMMs were characterized via scanning electron microscope (SEM) and contact angle to study their structure and hydrophilic nature, respectively. However, the membrane with optimum performance was further characterized using Fourier transfer infrared (FTIR) and X-ray diffraction (XRD). The four prepared cast and electro-spun, blank, and mixed matrix CA-based membranes showed an acceptable performance in the removal and selectivity of methylene blue (MB) dye over Congo red (CR) dye with a removal percentage ranging from 31 to 70% depending on the membrane used. It was found that the CA/NAC hybrid nanofiber membrane possessed the highest removal efficiency for MB, where the dye concentration declined from 10 to 2.92 mg/L. In contrast, the cast blank CA membrane showed the least removal percentage among the synthesized membranes with only 30% removal. As a result, this paper suggests the use of the CA/NAC hybrid membrane as an alternative and cost-effective solution for MB dye removal.
  • Response surface modeling and optimization of heterogeneous methanolysis of beef tallow
    Onyeka S. Okwundu, Ahmed H. El-Shazly, Marwa F. Elkady, Waleed M. Shaaban
    Aip Conference Proceedings, 2019
    Yield of fatty acid methyl ester (FAME) from methanolysis/transesterification reaction is influenced by 5 notable factors: reaction time, temperature, methanol to lipid ratio, catalyst concentration and extent of phase mixing. The aim of this paper is to investigate the optimum conditions for biodiesel production by methanolysis of beef tallow over chicken eggshell derived CaO catalyst, via a 3-level 5-factor modeling using response surface methodology (RSM). Transesterification was performed in 46 duplicated experimental runs. FAME yield was maximized with statistically adequate predictive quadratic model. Interactive parametric effects were studied. An optimum FAME yield of 95.94% was achieved with catalyst concentration of 5.42 wt.%, at 63 °C, methanol to fat ratio of 16.39 mole/mole, reaction time of 3.38 hours and stirring speed of 1300 rpm. The optimally produced biodiesel met European standard. At the established optimum process conditions, the heterogeneous catalyst recoverability, reusability and regeneration ability (RRR) were assessed. Only 85.36% of initial catalyst mass was recovered after 5 catalysis cycles, with resulting biodiesel FAME contents > 96.5% and FAME yields > 80% for each cycle. Regeneration by calcination restored the catalyst's activity. For modeling and optimization studies, choice of factor range is paramount and no factor should be neglected before modeling.
  • Biodiesel production from jatropha oil in a closed system
    W. Shaaban, A. H. El-Shazly, M. F. Elkady, M. Ohshima
    Matec Web of Conferences, 2016
    The use of biodiesel as an alternative fuel is becoming increasingly popular nowadays due to global energy shortage. The interest in using Jatropha as a non-edible oil feedstock is rapidly growing. Biodiesel produced from crude Jatropha oil with NaOH as a catalyst is investigated. Transesterification by methanol is carried out in a closed vessel as a batch system. Factors affecting the process which included the reaction temperature and pressure, reaction time, the molar ratio of methanol to oil and catalyst amount are investigated. The maximum conversion ratio of methyl ester yield of 97.7% was recorded under the conditions of 65 °C, 1% (by mass) NaOH of the oil mass and 6:1 methanol to oil ratio.