Borhan Beigzadeh

Iran University of Science and Technology · School of Mechanical Engineering

This research examines different numerical techniques for modeling ferrofluids in a non-magnetic liquid subjected to homogeneous and steady magnetic field. It particularly compares the conservative level set method with the Volume of Fluid (VOF) and Simple Coupled Level Set and Volume of Fluid (SCLSVOF) methods. By comparing these methods with expe...

Despite various proposed control schemes for uncertain bilateral teleoperation systems under time delays, optimally restricting the system's overshoot has remained an overlooked issue in this realm. For this aim, we propose two novel control architectures based on robust L 1 theory, entitled position‐based adaptive L 1 controller and transparent ad...

Image-guided surgery (IGS) has become one of the most practical, safest, and fastest procedures. One of its most crucial requirements is to have high-quality and high-speed CT images during the operation. This achievement has been realized through the O-Arm configuration. In this regard, numerous efforts have been made to correct motion artifacts c...

Based on scientific evidence, it seems that bio-magnetic systems can change the process of cancer cell death by affecting the distribution of pressure and mechanical stress in the tumor tissue. Already most of the research has been done experimentally and few mathematical modeling and numerical simulations have been done to investigate the relation...

Recent studies suggest that noninvasive imaging methods (EEG, MEG) in the human brain scalp can decode the content of visual features information (orientation, color, motion, etc.) in Visual-Working Memory (VWM). Previous work demonstrated that with the sustained low-frequency Event-Related Potential (ERP under 6 Hz) of scalp EEG distributions, it...

Controlling the teleoperation of snake-like robots is challenging due to complex nonlinear dynamics and communication delays. This research proposes an online bilateral predictive control architecture to address these issues. This control structure is established by predicting environment force and the user’s future motion. The former uses a model-...

This study aims to simulate pulsatile blood flow in the carotid artery with different stenosis severities and pulse rates. The effects of different severities of stenosis, pulse rates, and arterial wall properties on the surrounding fluid are investigated by using fluid-structure interaction (FSI) and arbitrary Lagrangian-Eulerian (ALE) methods. Ca...

People with difficulty walking due to a stroke or neurophysiological gait deficit require gait rehabilitation. Recent research indicates that the optimal speed range for gait rehabilitation of such patients is less than 0.4 m/s. The design of a novel low-speed gait rehabilitation device based on a single degree of freedom (DOF) geared five-bar mech...

Electromyography (EMG) signals are used for many different purposes, such as recording and measuring the electrical activity generated by varying the body’s skeletal muscles. Biosignals are different types of biomedical signals, like EMG signals, which can be used for the neural linkage with computers and are obtained from a particular part of the...

Background: Color perception is vital in many aspects of human behavior. It is tremendously engaged in the early stage of information processing to accelerate attention. Several studies focused on different aspects of the psychological effect of colors, which showed that color designs induce positive emotion, increased cognitive effort, and better...

In this study, we present the first passive walking model to have exact anthropomorphic physical parameters in addition to the ability to closely reproduce the dynamic gait of humans. To simulate the stance phase, we utilized knee joints with variable stiffness instead of the locking mechanism that is prevalent among passive models with knees. Addi...

Currently available haptic/teleoperation frameworks either are expensive, provide low-range haptic feedback, or lack sufficient rotational degrees of freedom. To tackle these drawbacks, this paper introduces an economical teleoperation setup, including two robots, serving as master and slave. The system is actuated by encoder-equipped DC motors, an...

This paper addresses the lack of research on the dynamical differences between male and female hand/arm models during interaction with haptic systems. A linear one-degree-of-freedom experiment is designed using the Novint Falcon robot for this aim. To compare the differences, the study analyzes the pole, stiffness, and damping of a first-order two-...

The perception of color is a fundamental cognitive feature of our psychological experience, with an essential role in many aspects of human behavior. Several studies used magnetoencephalography, functional magnetic resonance imaging, and electroencephalography (EEG) approaches to investigate color perception. Their methods includes the event-relate...

Abstract Researchers have proposed various linkage mechanisms to connect knee and ankle joints for above-knee prostheses, but most of them only offer natural walking. However, studies have shown that people assume a squatting posture during daily activities. This paper introduces a novel mechanism that connects the knee joint with the foot-ankle jo...

The product development process (PD) can be viewed as an optimization problem to minimize design loops. Nowadays, the complexity of the system components has increased due to technological progress. These complex interconnections between the different components of the system can complicate and prolong the design process. In such cases, the decisio...

The push-off phase is a critical part of initiating movement during walking, and it requires a significant amount of energy. Recent research has shown that the passive use of springs in parallel with the leg can harvest the push-off energy and reduce the total metabolic energy of walking for healthy subjects. In this study, we present the design of...

Recent studies suggest that noninvasive imaging methods (EEG, MEG) in the human brain scalp can decode the content of visual information in Visual-Working-Memory (VWM). Previous work demonstrated that with the sustained low-frequency Event-Related Potential (under 6 Hz) of scalp distributions, it is possible to decode the content of orientation inf...

Passive walkers are dynamically stable robots with a gait that resembles the human locomotion. These walkers can be studied to better understand the dynamic behavior of the human gait and design efficient active walkers and assistive devices. In this paper, we study the walking dynamics of a three-link passive walker with an asymmetrical structure...

For optimal path synthesis of a mechanism with a single degree of freedom (DOF), a powerful method called Shadow Robot Control (SRC) has been recently proposed in the literature. However, this method is restricted to synthesis problems with prescribed timing (i.e. problems in which a particular input crank angle is associated with each point of the...

Restricting transient peaks of contact force in teleoperation systems is undeniably vital, specially in critical applications such as telesurgery. This issue, however, has still remained unsolved in the literature. In order to address this problem, we propose an impedance control scheme using optimal L1 theory for teleoperation systems encompassing...

Background and objective: Magnetic drug targeting (MDT) is a promising method to improve the therapy efficiency for cardiovascular diseases (CVDs) and cancers. In MDT, therapeutic agents are bonded to superparamagnetic iron oxide nanoparticle (SPION) cores and then are guided toward the damaged tissue through a magnetic field. Fundamentally, it's v...

Owing to their nonlinear structures and dynamics, bipedal walking robots are commonly used as appropriate case studies for nonlinear modeling and control. In this study, the dynamics of a point-feet 4-link biped robot having asymmetric structure is studied. This asymmetry appears on the robot’s legs such that one leg of the robot does have an activ...

Understanding the biomechanical phenomena governing the intercellular space can be considered as an effective tool for the treatment of tumors and cancerous tissues. One of the factors that plays a significant role in the quality and efficiency of the drug delivery process to tumors and cancerous tissues as one of the influential biomechanical fact...

One of the most important problems in teleoperation systems is time delay and packet loss in the communication channel, which can affect transparency and stability. One way to overcome the time delay effects in a teleoperation system is to predict the master-side motion. In this way, when data is received in the slave side, it will be considered as...

To create a miniature shapeshifting robot capable of controlled movement, subdivision, regeneration, passage through small channels, engulfment of particles, object manipulation, and flow manipulation, a droplet of magnetically responsive ferrofluid is used. The ferrofluidic robot can achieve the aforementioned functions when both its position and...

High interstitial fluid pressure in the tumor is among the most important barriers to drug delivery. The use of the static magnetic field is one of the treatment modalities for cancers and tumors. In this study, the effect of magnetic field on pressure and magnetized interstitial fluid preservation is discussed. The simulation is solved in two-dime...

One of the methods of treating cancer is hyperthermia which is performed in several different ways. One of the recent treatment modalities is with magnetic nanoparticles. By solving momentum and continuity equations in porous media numerically, the distribution of interstitial fluid pressure and velocity is calculated using which it is possible to...

Needle steering is a technology for guiding needles around sensitive internal obstacles in minimally invasive surgery. Traditional techniques apply rotation at the base of a needle with an asymmetric tip, enabling steering through the redirection of radial forces. Magnetic steering of catheters and continuum manipulators is another technology that...

Objective To investigate the dependability of a thermal gadget connecting to a smartphone. Comparing the exact temperature of damaged tissue with adjacent parts of the limb and to evaluate the changes in thermal conductivity of hard-to-heal wounds in patients with a diabetic foot ulcer (DFU). Methods Potential candidates were divided into three gr...

An online operator position prediction approach based on artificial neural network for teleoperation systems is proposed in this paper, which predicts future position of operator's hand based on current available data. The neural network gathers inputs for some time at the beginning of the operation, then is trained, and is finally exploited throug...

The Present article aims to design a piezoelectric micropump using a combinational form of microvalves with sufficient diodicity in low-pressure gradients. The goal is to enhance the capability of piezoelectric micropumps with Tesla-type valves in order to deliver insulin. Tesla-type valves are in the category of passive valves which have sufficien...

We have enhanced the performance of lithographically patterned microchannels on paper and tailored it to a do it yourself method by examining the impact of each microfabrication step on surface properties. Modification of photoresist spreading, baking, exposure and developing steps improved paper and channels quality and decreased fabrication costs...

The parametric optimization techniques have been widely employed to predict human gait trajectories; however, their applications to reveal the other aspects of gait are questionable. The aim of this study is to investigate whether or not the gait prediction model is able to justify the movement trajectories for the higher average velocities. A plan...

Asymptotically stable control of biped robots, especially based on reproducing passive periodic motions, have become of interest nowadays. In this paper, firstly, a three-dimensional (3D) stable passive biped walker which is a compass gait one with flat feet, compliant ankles and particular arrangement of moments of inertia has been presented. Then...

Model-mediated teleoperation is a predictive control approach to controlling haptic teleoperation systems whereby the environment force is virtually located on master side in order to increase the stability and transparency of the system. This promising approach, however, resulted in new challenges. One pivotal challenge is the model jump effect, w...

Prediction of muscle activations based on optimization procedures mostly leads to a prohibitive computational effort. To overcome this problem, an optimization framework by reformulation of the so-called method of extended inverse dynamics (EID) was developed. A planar, seven-segment model with sixteen muscle groups was used to represent human neur...

In the present work, the original dental air turbine handpieces were disassembled and their parts were modeled using reverse engineering. Then, simulation of dental cartridge was performed and the effect of different parameters the turbine impeller designs including impeller diameter and blade shape can have major impacts on the torque and performa...

Background: Stenting has been proposed as an effective treatment to restore blood flow in obstructed arteries by plaques. Although several modified designs for stents have been suggested, most designs have the risk of disturbing blood flow. Objective: The main objective is to propose a stent design to attain a uniform lumen section after stent d...

The use of artificial neural network in conjunction with artificial bee colony algorithm is proposed as a method for performance and emissions optimization of an SI engine. The case study here involves the oxygen enriched combustion of an SI engine fueled with hydrous ethanol and gasoline. In this study, the engine was considered as a black box and...

Background and objective: Analysis of glomeruli geometry is important in histopathological evaluation of renal microscopic images. Due to the shape and size disparity of even glomeruli of same kidney, automatic detection of these renal objects is not an easy task. Although manual measurements are time consuming and at times are not very accurate,...

As one of the promising innovasive methods of drug delivery, magnetic drug targeting (MDT) ideally contains three main steps to treat localized diseases; chemically attaching drugs to magnetic nano particles and their injection to a proper local blood stream, control and steering the cluster of particles in the arterial network with a proper extern...

One of the main clinical applications of the needles is its practical usage in the femoral vein catheterization. Annually more than two million peoples in the United States are exposed to femoral vein catheterization. How to use the input needles into the femoral vein has a key role in the sense of pain in post-injection and possible injuries, such...

The concept of Iranian traditional musical modes, namely DASTGÄH, is the basis for the traditional music system. The concept introduces seven DASTGÄHs. It is not an easy process to distinguish these modes and such practice is commonly performed by an experienced person in this field. Apparently, applying artificial intelligence to do such classific...

Polymethylmethacrylate (PMMA)-based cements are widely used to secure orthopaedic implants and prostheses. However, the lack of strong adhesion between the prosthesis and hosting bone has prompted studies in which bone compatible fillers are incorporated into the bone cement matrix. Hydroxyapatite (HA)-incorporated PMMA polymer is one of the useful...

Passive dynamic walking usually refers to a kind of walking where a biped walker is able to walk downhill, without any actuation or control, just due to the gravity. Although most of works done in this regard have concentrated on passive walking along a straight line, in this paper we extend this concept to a more general case of locomotion, i.e. t...

The problem of relative motion control of spacecraft rendezvous process on elliptical orbit is considered in this paper. Due to the presence of nonlinear dynamics and external disturbances, two robust controllers are developed based on sliding mode control theory. The first one is an optimal sliding mode controller; in which optimal control theory...

Exoskeleton robots are categorized as rehabilitating and assisting robots which could be applied in other applications such as power augmentation systems, haptic systems, and virtual reality. Considering the increasing number of old people and those who suffer from physical weakness and some kinds of disabilities, the need of exploiting the rehabil...

Since holonomic wheeled mechanisms are used in narrow and crowded areas, designing a cognitive ergonomic interface for navigating these mechanisms is a challenging issue in robotics. In this paper, a novel holonomic mechanism with four omnidirectional wheels is firstly presented with the aim of increasing the maneuverability of holonomic wheeled ro...

Abdominal aortic aneurysm (AAA) is a degenerative disease defined as the abnormal ballooning of the abdominal aorta (AA) wall which is usually caused by atherosclerosis. The aneurysm grows larger and eventually ruptures if it is not diagnosed and treated. Aneurysms occur mostly in the aorta, the main artery of the chest and abdomen. The aorta carri...

In this paper, we construct a framework for studying dynamic non-prehensile manipulation systems during which multi-link manipulators can manipulate multibody objects. The multibody object is multilink, with some actuators in the joints, which complicates the manipulation process, because the control of the object configuration cannot be decoupled...

Passive dynamic walking originally was introduced to describe some natural stable periodic gaits in straight walking. However, in this research, we have extended this notion to curved walking, wherein some novel three-dimensional (3D) periodic gaits with natural stability have been realized. For this aim, the simplest bipedal walking model, i.e. a...

The ability to turn is an essential feature for biped walkers to move around obstacles. This study is aimed at extending passive walking concept for curved walking and turning to generate more natural and effective motion. Hence three-dimensional (3D) motion of rimless spoked-wheel as the simplest walking model on a slope surface and about a genera...

The ability to move along curved paths is an essential feature for biped walkers to move around obstacles. This study is aimed at extending passive walking concept for curved walking and turning to generate more natural and effective motion. Hence three-dimensional (3D) motion of a rimless spoked-wheel, as the simplest walking model, about a genera...

Since holonomic wheeled mechanisms are used in narrow and crowded areas, designing a cognitive ergonomic interface for navigating these mechanisms is a challenging issue in robotics. In this paper, a novel holonomic mechanism with four omnidirectional wheels is firstly presented with the aim of increasing the maneuverability of holonomic wheeled ro...

This study aimed to establish a three-dimensional (3D) finite element model for variation of loading direction to identify its effects on the stress distribution generated around an implant and surrounding jawbone under biomechanical consideration. Twenty one 3D finite element cases containing the endosseous titanium implant in type II bone under t...

This study aimed to evaluate the stress distribution in an implant and supporting bone with different implant materials, bone qualities, and loading protocols using a three-dimensional (3D) finite element analysis. Finite element (FE) analyses were executed on two types of dental implant materials in two different bone qualities. FE models were sub...

The present study deals with optimization of hydraulic efficiency and shaft fatigue life of a micro cross-flow hydraulic turbine. A micro cross-flow turbine (KTP-B60) with shaft fatigue failure was considered as a case study. Numerical flow simulations were performed using a 3Dtwo phase flow solver, and the results have shown a good agreement with...

In this study, we deal with passive dynamic object manipulation. During passive dynamic object manipulation, a passive object is manipulated using passive manipulators. Like other passive robotic systems, there are no actuators in these systems. The object follows a path and travels along it under the effect of its own weight, as well as, the inter...

This study proposes the quasi-linear viscoelastic (QLV) model to characterize the time dependent mechanical behavior of poly (vinyl alcohol) (PVA) sponges. The PVA sponges have implications in many viscoelastic soft tissues, including cartilage, liver, and kidney as an implant. However, a critical barrier to the use of the PVA sponge as tissue repl...

Object manipulation is a main category of robotics. In traditional form of manipulation problems, the main goal is to grasp an object using an articulated hand (usually with fingers) attached to a manipulator and then manipulate it with the corresponding manipulator. In such problems, one deals with complicated mathematical formulation to model the...

Object manipulation is a main category of robotics. In traditional form of manipulation problems, the main goal is to grasp an object using an articulated hand (usually with fingers) attached to a manipulator and then manipulate it with the corresponding manipulator. In such problems, one deals with complicated mathematical formulation to model the...

In this work, we study a kind of manipulation process during which we deal with active objects. An active object is a concept covering a variety of objects that are not rigid and need to be controlled during the manipulation process. Here, we use a multi-link mechanism with active motors (actuator) as the object and a series of simple planar manipu...

In this work, we introduce a category of dynamic manipulation processes, namely passive dynamic object manipulation, according to which an object is manipulated passively. Specifically, we study passive dynamic manipulation here. We define the main concept, discuss the challenges, and talk about the future directions. Like other passive robotic sys...

In this paper, we study passivity in dynamic manipulation of active objects. Active object is a concept covering a variety of objects, which are not rigid and need to be controlled during manipulation process. In this work, we use multi-link mechanisms with sufficient actuators to be controlled as object and a series of simple 1-DoF passive manipul...

In this paper, we aim at an integrated approach to Dynamic Biped Walking (DBW) and Dynamic Object Manipulation (DOM) at an abstract level. To this end, we offer a unified and abstract concept with a dual interpretation as a DOM and as a DBW system. We validate the proposed approach by using a set of simulations on an illustrative case study and sho...

Dynamic manipulation of polygonal objects by an array of one degree of freedom arms is studied from kinematics and planning points of view. In the studied manipulation method, an object is manipulated to its goal configuration by a sequence of juggles.A kinematic model of an object throwing task is driven and a method for object manipulation by a s...

In this study, we explore the possibility of dynamic object manipulation of objects using a series of manipulators. Here, two three-active-link manipulators have been considered and the generality of the idea to a series of manipulator is developed easily. So without any gripper, and in an unstable grasp manner, we try to throw an object by a manip...

In this paper, we try to show that it is possible to deal with biped locomotion as a dynamic object manipulation problem. We show that during locomotion, a biped locomotion can be seen as manipulating of upper part of biped robot using a leg, which now plays the role of a manipulator. So the whole locomotion process can be seen as a dynamic manipul...

In this paper, we analyze a dynamic object manipulation (DOM) problem; throwing upward and catching a disc using two planar manipulators. The manipulators control the disc xy position dynamically and use its angular movement as a free parameter. We use a simple model for the system. Each manipulator has three links and three active joints. In addit...

In this paper, we try to interpret “Duality of Dynamic Locomotion and Dynamic Object Manipulation”. Since our main goal in this paper is to offer the duality concept and to validate it with a case study, we deal with the problem in a simple and abstract system. As a case study, we describe the duality between the problem of 2D dynamic object manipu...