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Hamid D. Taghirad

Hamid D. Taghirad
K. N. Toosi University of Technology

Professor
Director of Advanced Robotics and Automated Systems (ARAS)

About

404
Publications
108,207
Reads
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3,816
Citations
Introduction
Most interesting thing about ARAS research team is the wide spectrum of research interests and still the warm atmosphere lingering in our research labs, while people with the very different research backgrounds get together and benefit from sharing valuable research times, they are also very able to enjoy the variety in the team. We focus on: Surgical Robotics Autonomous robotics Cable and Parallel Robotics Dynamical Systems dynamics and control Electrical Vehicles Augmented Reality
Additional affiliations
September 1997 - present
Khaje Nasir Toosi University of Technology
Position
  • Professor
September 1997 - present
Khaje Nasir Toosi University of Technology
Position
  • Professor
Description
  • Signals and systems, linear control, modern control, industrial control, instrumentations, digital control. Nonlinear control, robust H∞ control, robotics, parallel robots, linear system theory.
Education
September 1993 - July 1997
McGill University
Field of study
  • Electrical Engineering - Robotics

Publications

Publications (404)
Conference Paper
Cable-driven parallel robots with redundant actuators are faced with the problem of loose cables, especially when the robot is deployable and controlled within the joint space. This paper aims to addresses this shortcoming by proposing a suitable robust controller which requires no expensive positioning sensors such as laser trackers. The robot’s e...
Article
Full-text available
This paper addresses the regulation problem of parallel robots by a proportional derivative plus desired gravity compensator (PD-DGC) controller. Due to inaccurate measurements, unmodeled dynamics, and vibrations specially in cable-driven robots and external disturbance in practice, the model of the robot is often plagued with kinematic and dynamic...
Preprint
Full-text available
MEMS Inertial Measurement Units (IMUs) as ubiquitous proprioceptive motion measurement devices are available on various everyday gadgets and robotic platforms. Nevertheless, the direct inference of geometrical transformations or odometry based on these data alone is a challenging task. This is due to the hard-to-model imperfections and high noise c...
Conference Paper
Full-text available
This article investigates the dynamic parameter calibration of ARAS Haptic System for EYE Surgery Training (ARASH:ASiST). ARASH:ASiST is a 3-DOF haptic device developed for intraocular surgery training. In this paper, the linear regression form of the dynamic formulation of the system with respect to its dynamic parameters is derived. Then the dyna...
Conference Paper
Despite model-based approaches are capable of providing acceptable performance, but they require complex dynamics modeling, which make them difficult to apply. To overcome this problem, a time-delay learning-based controller as a model-free approach is proposed for fully-constrained cable-driven parallel robots (CDPRs) considering the positive cabl...
Article
Full-text available
Optimal mechanical design, model-based control, and robot dynamic calibration mainly rely on the analytical formulation of robot dynamics. In this paper, the kinematics equations of a general 3-UPU translational parallel manipulator (TPM) are derived, and then, by using the principle of the virtual work theorem, the full implicit dynamic model is d...
Preprint
Stabilization of an underactuated mechanical system may be accomplished by energy shaping. Interconnection and damping assignment passivity-based control is an approach based on total energy shaping by assigning desired kinetic and potential energy to the system. This method requires solving a partial differential equation (PDE) related to he poten...
Preprint
Full-text available
Autonomous Land Vehicles (ALV) shall efficiently recognize the ground in unknown environments. A novel $\mathcal{GP}$-based method is proposed for the ground segmentation task in rough driving scenarios. A non-stationary covariance function is utilized as the kernel for the $\mathcal{GP}$. The ground surface behavior is assumed to only demonstrate...
Preprint
Full-text available
A Gaussian Process GP based ground segmentation method is proposed in this paper which is fully developed in a probabilistic framework. The proposed method tends to obtain a continuous realistic model of the ground. The LiDAR three-dimensional point cloud data is used as the sole source of the input data. The physical realities of the data are take...
Conference Paper
Full-text available
This article elaborate on the kinematic and dynamic analysis of ARASH:ASiST, "ARAS Haptic System for Eye Surgery Training", which is developed for vitrectomy eye surgery training. The mechanism selection of this system is reviewed first, in order to assist such a precise intraocular eye surgery training. Then the kinematics and dynamics analysis of...
Conference Paper
Concerning the lack of knowledge about non-linearity and uncertainties existing in the cable-driven robot models, an intelligent controller is proposed in this paper to overcome the lack of knowledge. Brain Emotional Learning is one of the bio-inspired algorithms which mimics the emotional part of the mammals’ brain. Not only does the Brain Emotion...
Conference Paper
Full-text available
This paper studies the two different approaches for designing an active fault tolerant controller for an octorotor in case of total loss in rotor(s) controllability. We first propose a nonlinear Thau observer for detecting faulty actuator(s). It then passes through an offline method based on control mixing redistribution and reconfiguration, and an...
Conference Paper
Full-text available
During the course of the residency, novice surgeons develop specific skills before they perform actual surgical procedures. Manual feedback and assessment in basic robotic-assisted minimally invasive surgery (RMIS) training take up much of the expert surgeons’ time, while it is very favorable to automatically feedback to all surgeons in various ski...
Article
Full-text available
Object localization has a vital role in any object detector and tracker, and therefore, has been the focus of attention by many researchers. In this article, a special training approach is proposed for a light convolutional neural network (CNN) to determine the region of interest (RoI) in an image while effectively reducing the number of probable a...
Preprint
Full-text available
In this paper, derivation of different forms of dynamic formulation of spherical parallel robots (SPRs) is investigated. These formulations include the explicit dynamic forms, linear regressor, and Slotine-Li (SL) regressor, which are required for the design and implementation of the vast majority of model-based controllers and dynamic parameters i...
Article
Interconnection and damping assignment passivity-based control (IDA-PBC) provides a general framework to stabilize underactuated mechanical systems by assigning the desired Hamiltonian to the system, which is obtained from the solution of partial differential equations. In this article, the IDA-PBC method is applied to an underactuated cable-driven...
Article
Full-text available
This paper presents a model-free robust nonlinear PD (R-NPD) controller for cable-driven parallel manipulators (CDPMs) in joint space. Generally, in various mechanical manipulators and in particular CDPMs for fast and high-precision tracking, a precise dynamic model is required. However, the dynamic model of the robot is always contaminated with un...
Article
Designing control systems with bounded input is a practical consideration since realizable physical systems are limited by the saturation of actuators. The actuators' saturation degrades the performance of the control system, and in extreme cases, the stability of the closed‐loop system may be lost. However, actuator's saturation is typically negle...
Article
Full-text available
Deriving the accurate dynamic model of robots is pivotal for robot design, control, calibration, and fault detection. To derive an accurate dynamic model of robots, all the terms affecting the robot's dynamics are necessary to be considered, and the dynamic parameters of the robot must be identified with appropriate physical insight. In this paper,...
Article
Full-text available
Finding the general solution of partial differential equations (PDEs) is essential for controller design in newly developed methods. Interconnection and damping assignment passivity based control (IDA-PBC) is one of such methods in which the solution to corresponding PDEs which are called matching equations, is needed to apply it in practice. In th...
Article
Full-text available
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is the requirement of inverse Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of parallel robots, whose dynamics formulation are derived in the task space. In this paper, an adaptive controller is pr...
Article
Full-text available
This paper examines how haptic technology, virtual reality, and artificial intelligence help to reduce the physical contact in medical training during the COVID-19 Pandemic. Notably, any mistake made by the trainees during the education process might lead to undesired complications for the patient. Therefore, training of the medical skills to the t...
Article
Uncertainties in dynamic and kinematic parameters are unavoidable components in the control of robotic manipulators. Although calibration is a well-known method to reject this issue, it is time-consuming, some parameters may be altered slowly, and therefore, it is not applicable to some special cases such as deployable cable-driven robots. This pap...
Article
Full-text available
Interconnection and damping assignment passivity-based control scheme has been used to stabilize many physical systems such as underactuated mechanical systems through total energy shaping. In this method, some partial differential equations (PDEs) related to kinetic and potential energy shaping shall be solved analytically. Finding a suitable desi...
Preprint
Full-text available
The incremental poses computed through odometry can be integrated over time to calculate the pose of a device with respect to an initial location. The resulting global pose may be used to formulate a second, consistency based, loss term in a deep odometry setting. In such cases where multiple losses are imposed on a network, the uncertainty over ea...
Conference Paper
Full-text available
Employing redundant cables to control the moving platform of cable-driven parallel robots (CDPRs) not only ensures that the cables are in tension during the robot maneuvers, but can also significantly improve the kinematic performance indices of the robot. This paper presents a new structure for planar CDPRs that use parallelogram links instead of...
Article
Full-text available
Oil spills within the marine environment are undesirable events caused by unavoidable economic activities of huge sea lane traffics. A tremendous effort has been made to tackle this problem within academia and industries; among them, the concept of autonomous vehicles for oil spill combating seems to provide a promising solution. This paper mainly...
Chapter
Full-text available
In this paper, a new type of planar cable-driven parallel robot with parallelogram links is investigated. In such a design, the cables pass through multiple pulleys in order to make parallelogram links, instead of directly connecting to the moving platform. By using such configuration, one can greatly improve the robot kinematic performance without...
Article
Full-text available
Both recognition and 3D tracking of frontal dynamic objects are crucial problems in an autonomous vehicle, while depth estimation as an essential issue becomes a challenging problem using a monocular camera. Since both camera and objects are moving, the issue can be formed as a structure from motion (SFM) problem. In this paper, to elicit features...
Article
Full-text available
Large-scale deployable cable-driven robots face a lack of kinematic precision, and the cable dynamics impose considerable challenges in terms of controller design. The problem’s complexity increases because a deployable robot may not exploit expensive and highly accurate of measurement devices. Thus, it is necessary to efficiently combine the set o...
Preprint
Designing control systems with bounded input is a practical consideration since realizable physical systems are limited by the saturation of actuators. The actuators' saturation degrades the performance of the control system, and in extreme cases, the stability of the closed-loop system may be lost. However, actuator saturation is typically neglect...
Preprint
Object tracking becomes critical especially when similar objects are present in the same area. Recent state-of-the-art (SOTA) approaches are proposed based on taking a matching network with a heavy structure to distinguish the target from other objects in the area which indeed drastically downgrades the performance of the tracker in terms of speed....
Preprint
Full-text available
Object localization has a vital role in any object detector, and therefore, has been the focus of attention by many researchers. In this article, a special training approach is proposed for a light convolutional neural network (CNN) to determine the region of interest (ROI) in an image while effectively reducing the number of probable anchor boxes....
Preprint
Both recognition and 3D tracking of frontal dynamic objects are crucial problems in an autonomous vehicle, while depth estimation as an essential issue becomes a challenging problem using a monocular camera. Since both camera and objects are moving, the issue can be formed as a structure from motion (SFM) problem. In this paper, to elicit features...
Presentation
Full-text available
In this workshop, we review the design of observers for nonlinear systems. First, a review on linear observer designs is given, and the optimal Kalman filter formulation is introduced. Then the use of this design for a linearized system is given, and it is generalized to an extended Kalman filter with variable observer gain. Then the design of nonl...
Article
In this paper, we investigate the challenges of controlling the ARAS-Diamond robot for robotic-assisted eye surgery. To eliminate the system’s inherent uncertainty effects on its performance, a cascade architecture control structure is proposed in this paper. For the inner loop of this structure, two different robust controls, namely, [Formula: see...
Presentation
Full-text available
Oil spills are serious threats to the marine environment in the era of increasing environmental concern. Effective efforts have been made to tackle this problem, amongst them, the concept of using swarm robotics for Oil Spill Monitoring and Cleanup is a promising solution. Thanks to the recent progress in robotics, there are opportunities to use au...
Preprint
Interconnection and damping assignment passivity-based control scheme has been used to stabilize many physical systems such as underactuated mechanical systems through total energy shaping. In this method, some partial differential equations (PDEs) arisen by kinetic and potential energy shaping, shall be solved analytically. Finding a suitable desi...
Preprint
Full-text available
Visual odometry networks commonly use pretrained optical flow networks in order to derive the ego-motion between consecutive frames. The features extracted by these networks represent the motion of all the pixels between frames. However, due to the existence of dynamic objects and texture-less surfaces in the scene, the motion information for every...
Presentation
Full-text available
Artificial intelligence has found its permanent place among cutting-edge researches in various applications. In particular, the deep learning approaches are very promising with optimized solutions for a variety of real-world problems. Considering the enhanced computational capability to execute these algorithms on embedded systems such as NVIDIA Je...
Presentation
Full-text available
This course aims to introduce the analysis of nonlinear systems, and the common nonlinear control schemes. The course consists of system analysis and controller synthesis, with the objective to familiarize the student with the adequate analysis tools, while provide them design skills. The details of the course are as follows. Chapter 1: Introducti...
Conference Paper
Predicting scene depth from RGB images is a challenging task. Since the cameras are the most available, least restrictive and cheapest source of information for autonomous vehicles; in this work, a monocular image has been used as the only source of data to estimate the depth of the car within the frontal view. In addition to the detection of cars...
Presentation
Full-text available
Cable and parallel robotics have been gaining more attention among researchers due to their unique characteristics and applications. Simple structure, high payload capacity, agile movements, and simple structures are the main characteristics that nominate cable-robots from the other types of manipulators for many applications such as imaging, crane...
Presentation
Full-text available
An effective measure to prevent the spread of the deadly coronavirus is to collect information on the subject whereabouts through the last few days of testing positive. The localization information of the subjects can be gathered by their smart-phone and surveillance camers. In this presentation, the overall structure of the proposed localization s...
Presentation
Full-text available
ARAS Research group established in 1997 and is proud of its 22+ years of brilliant contributions to the advancement of academic education and research in the field of robotics. We are currently conducting research in four different themes. Parallel and Cable Robotics, Surgical Robotics, Autonomous Robotics, and Dynamical Systems analysis and Contro...
Preprint
Full-text available
Human Activity Recognition (HAR) is a challenging problem that needs advanced solutions than using handcrafted features to achieve a desirable performance. Deep learning has been proposed as a solution to obtain more accurate HAR systems being robust against noise. In this paper, we introduce ARC-Net and propose the utilization of capsules to fuse...
Preprint
Full-text available
The need for the solution of Partial Differential Equations (PDEs) is crucial in some controller design methods, such as Interconnection and Damping Assignment Passivity Based Control (IDA-PBC). In this paper, the PDEs generated in the process of such control scheme is transformed to some Pfaffian differential equations. Furthermore, it is shown th...
Article
Full-text available
In this study, a force reflection control structure is developed for the surgery training haptic system. In the surgery training haptic system, the surgical operation is cooperatively performed by a trainer and a trainee. The participation of each surgeon in the operation is established through their own haptic consoles. Although the operation is p...
Conference Paper
Full-text available
Due to their simple and inexpensive structures, suspended cable driven parallel robots are suitable choices for many real-world applications. However, only when the accurate kinematic parameters are available, can we control the robot to the best of its abilities. This is specially a stringent requirement for fast deployable cable driven robots. Wi...
Conference Paper
Full-text available
In this paper, an impedance controller with switching parameters for a dual-user haptic training system is introduced. The trainer and the trainee are connected through their haptic consoles, and the trainee performs the surgical procedure on the environment. The trainer can intervene in the procedure by pressing a mechanical pedal; thus, the contr...
Preprint
Full-text available
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of parallel robots, whose dynamic equations are written directly in the task space. In this paper, an adaptive control...
Research
Full-text available
Course Contents: This course aims to introduce the fundamentals of mechanics and control of robotic manipulators. For this the required mathematics is introduced, concepts like manipulator Kinematics and Dynamics are elaborated, and different approaches to derive them are explained. Jacobian, singularity and redundancy is introduced next, and diffe...
Research
Full-text available
Course Contents: In this course the kinematics, dynamics analysis and control of parallel manipulators are studied in detail. The main emphasis of the course is the mechanics of complex structured robots such as parallel manipulators. Comprehensive kinematics and dynamic analysis of parallel manipulators is presented, and the control topologies for...
Research
Full-text available
Course Contents: In this course the kinematics, dynamics analysis and control of parallel manipulators are studied in detail. The main emphasis of the course is the mechanics of complex structured robots such as parallel manipulators. Comprehensive kinematics and dynamic analysis of parallel manipulators is presented, and the control topologies for...
Research
Full-text available
Course Contents: In this course the kinematics, dynamics analysis and control of parallel manipulators are studied in detail. The main emphasis of the course is the mechanics of complex structured robots such as parallel manipulators. Comprehensive kinematics and dynamic analysis of parallel manipulators is presented, and the control topologies for...
Research
Full-text available
Instrumentations Course Contents: This course aims to introduce the fundamentals of measurements and instrumentation systems. In this course the student learn how to choose the correct method of sensing, the requires sensor and transducer for a particular application, in addition to the conditioning circuit required to accomplish an instrumentation...
Research
Full-text available
Instrumentations Course Contents: This course aims to introduce the fundamentals of measurements and instrumentation systems. In this course the student learn how to choose the correct method of sensing, the requires sensor and transducer for a particular application, in addition to the conditioning circuit required to accomplish an instrumentation...
Research
Full-text available
Instrumentations Course Contents: This course aims to introduce the fundamentals of measurements and instrumentation systems. In this course the student learn how to choose the correct method of sensing, the requires sensor and transducer for a particular application, in addition to the conditioning circuit required to accomplish an instrumentation...
Research
Full-text available
Course Contents: In this course the kinematics, dynamics analysis and control of parallel manipulators are studied in detail. The main emphasis of the course is the mechanics of complex structured robots such as parallel manipulators. Comprehensive kinematics and dynamic analysis of parallel manipulators is presented, and the control topologies for...
Research
Full-text available
Course Contents: This course aims to introduce the basic concept of industrial automation and modeling and control of industrial process. The course is divided into two parts, namely industrial automation and process modeling and control. The first part of the course covers modeling of industrial processes through physical principles, and also iden...
Research
Full-text available
Course Contents: This course aims to introduce the basic concept of industrial automation and modeling and control of industrial process. The course is divided into two parts, namely industrial automation and process modeling and control. The first part of the course covers modeling of industrial processes through physical principles, and also iden...
Research
Full-text available
Course Contents: In this course the kinematics, dynamics analysis and control of parallel manipulators are studied in detail. The main emphasis of the course is the mechanics of complex structured robots such as parallel manipulators. Comprehensive kinematics and dynamic analysis of parallel manipulators is presented, and the control topologies for...
Research
Full-text available
Course Contents: This course aims to introduce the concept of digital control system. In this course, the sampled-data and digital control system are introduced, and data sampling and reconstruction modeling and theorems are elaborated. Discrete time difference equation and Z transform transfer functions are used for system representation, and stat...
Research
Full-text available
Course Contents: This course aims to introduce the basic concept of industrial automation and modeling and control of industrial process. The course is divided into two parts, namely industrial automation and process modeling and control. The first part of the course covers modeling of industrial processes through physical principles, and also iden...
Research
Full-text available
Instrumentations Course Contents: This course aims to introduce the fundamentals of measurements and instrumentation systems. In this course the student learn how to choose the correct method of sensing, the requires sensor and transducer for a particular application, in addition to the conditioning circuit required to accomplish an instrumentation...
Research
Full-text available
Course Contents: This course aims to introduce the fundamentals of mechanics and control of robotic manipulators. For this the required mathematics is introduced, concepts like manipulator Kinematics and Dynamics are elaborated, and different approaches to derive them are explained. Jacobian, singularity and redundancy is introduced next, and diffe...
Research
Full-text available
Course Contents: This course aims to introduce the fundamentals of mechanics and control of robotic manipulators. For this the required mathematics is introduced, concepts like manipulator Kinematics and Dynamics are elaborated, and different approaches to derive them are explained. Jacobian, singularity and redundancy is introduced next, and diffe...
Research
Full-text available
Course Contents: This course aims to introduce the fundamentals of mechanics and control of robotic manipulators. For this the required mathematics is introduced, concepts like manipulator Kinematics and Dynamics are elaborated, and different approaches to derive them are explained. Jacobian, singularity and redundancy is introduced next, and diffe...
Research
Full-text available
Course Contents: This course aims to introduce the fundamentals of mechanics and control of robotic manipulators. For this the required mathematics is introduced, concepts like manipulator Kinematics and Dynamics are elaborated, and different approaches to derive them are explained. Jacobian, singularity and redundancy is introduced next, and diffe...
Research
Full-text available
Course Contents: This course aims to introduce the state space methods in modeling and feedback control of linear time invariant systems. The concepts induced in this framework such as controllability, stabilzability, observability and detectability is defined and elaborated in this course. Next the system transformation, stability and realization...
Research
Full-text available
Course Contents: This course aims to introduce the state space methods in modeling and feedback control of linear time invariant systems. The concepts induced in this framework such as controllability, stabilzability, observability and detectability is defined and elaborated in this course. Next the system transformation, stability and realization...
Research
Full-text available
Course Contents: This course aims to introduce the state space methods in modeling and feedback control of linear time invariant systems. The concepts induced in this framework such as controllability, stabilzability, observability and detectability is defined and elaborated in this course. Next the system transformation, stability and realization...
Research
Full-text available
Course Contents: This course aims to introduce the state space methods in modeling and feedback control of linear time invariant systems. The concepts induced in this framework such as controllability, stabilzability, observability and detectability is defined and elaborated in this course. Next the system transformation, stability and realization...
Research
Full-text available
This course aims to introduce the state space methods in modeling and feedback control of linear time invariant systems. The concepts induced in this framework such as controllability, stabilzability, observability and detectability is defined and elaborated in this course. Next the system transformation, stability and realization and state control...
Research
Full-text available
Course Contents: This course aims to introduce the state space methods in modeling and feedback control of linear time invariant systems. The concepts induced in this framework such as controllability, stabilzability, observability and detectability is defined and elaborated in this course. Next the system transformation, stability and realization...
Research
Full-text available