Mohammad Salehizadeh

Verified

Mohammad verified their affiliation via an institutional email.

Learn more

Verified

Mohammad verified their affiliation via an institutional email.

Learn more

• Doctor of Engineering
• Researcher at Stanford University

This paper presents a new method to control multiple micro-scale magnetic agents operating in close proximity to each other for applications in microrobotics. Controlling multiple magnetic microrobots close to each other is difficult due to magnetic interactions between the agents, and here we seek to control those interactions for the creation of...

In this paper, the linear quadratic Gaussian (LQG) control method is used to tackle the problem of mode-squeezing in optomechanical sensors. Coherent-feedback quantum control is synthesized by incorporating both shot noise and back-action noise to attenuate the output noise well below the shot noise level. The effectiveness of the proposed control...

In this paper, a controller is designed for robust stabilization of a quantum optics system subject to critical uncertainties and technical limitations such as laser noise and detector imprecision. This problem is formulated in the framework of robust H∞ control design. A Coherent feedback quantum control is developed by incorporating both shot noi...

Precise statistics play a key role in the management of systems and processes. For instance, having knowledge about size distribution of stone fragments in a mining factory can allow suitable choosing of the diameter of a sieve or designing of a better crusher, hence optimizing the production line. This paper describes and compares three image-base...

The Galen Surgical Robot is an admittance controlled collaborative robot that can enhance the performance of surgeons in microsurgery by sharing the load of instruments, preventing hand tremor and improving precision. In mastoidectomy, contacting the temporal bone of the skull and drilling with the robot can be challenging due to potential instabil...

We propose a robotics method to independently control the position of multiple magnetic microrobots (agents) through their local magnetic interactions in close proximity. Utilizing a rapidly-exploring random tree (RRT) planner, we generate a trajectory which is then followed by an optimization-based controller (OBC), while avoiding obstacles. The m...

My PhD dissertation takes an innovative approach to using the fundamental tools of robotics and control to solve the underactuated control problem of multiple magnetic microrobots for biomedical applications. The ability to use a team of microrobots to run a task can offer many advantages. However, the integration of on-board powering and sensing c...

This article presents a method to independently control the position of multiple microscale magnetic robots in three dimensions, operating in close proximity to each other. Having multiple magnetic microrobots work together in close proximity is difficult due to magnetic interactions between the robots, and here we aim to control those interactions...

For further details refer to: https://ieeexplore.ieee.org/document/8860954

Flexible magnetic small-scale robots use patterned magnetization to achieve fast transformation into complex three-dimensional (3D) shapes and thereby achieve locomotion capabilities and functions. These capabilities address current challenges for microrobots in drug delivery, object manipulation, and minimally invasive procedures. However, possibl...

This paper introduces new strategy for motion control of two spinning magnetic agents based on the magnetic-fluidic interactions. The approach relies on balance between magnetic attraction and hydrodynamic repulsion forces created by fluidic vortices around pairs of microagents, which allows the control on inter-agent pair heading and spacing. The...

This paper overviews two different approaches in individually addressing multiple motions for small-scale magnetic systems where the controlling signals are provided through a generic quasistatic homogeneous magnetic field. The first approach relies on direct independent magnetic actuation of multiple DOFs to make dexterous microdevices. The second...

Untethered mobile microgrippers exhibit flexibility and agility in small and constrained environments as precise and accurate robotic end-effectors, with promising potential applications in cell manipulation and microassembly. Here, we propose the first scheme to independently and simultaneously position two microgrippers on a horizontal plane for...

The generation of microparticles with non-spherical morphologies has generated extensive interest because of their enhanced physical properties that can increase their performance in a wide variety of clinical and industrial applications. A flow lithographic technique based on stop flow lithography (SFL) recently shows the ability to fabricate part...

This paper presents a new optimization-based method to control three micro-scale magnetic agents operating in close proximity to each other for applications in microrobotics. Controlling multiple magnetic microrobots close to each other is difficult due to magnetic interactions between the agents, and here we seek to control those interactions for...

This paper presents a new method to control multiple micro-scale magnetic agents operating in close proximity to each other for applications in microrobotics. Controlling multiple magnetic microrobots close to each other is difficult due to magnetic interactions between the agents, and here we seek to control those interactions for the creation of...

This paper presents an algorithm to identify the full configuration of a wired transmission line from its frequency response. It is assumed that the line can have up to two bridged taps. Each bridged tap divides the main line to two segments, and with two bridged taps there will be at most three segments in the main line. Furthermore, each segment...