Electrical and Computer EngineeringWestern Engineering

Publications

Most of the fundamental ideas of science are essentially simple, and may, as a rule, be expressed in a language comprehensible to everyone.
Albert Einstein

Book & Book Chapters

  • M.R. Kermani , M. Moallem, R.V. Patel, “Applied Vibration Suppression Using Piezoelectric Materials”, Nova Science Publishers, NY, USA, 2008,
    ISBN: 1-60021-896-2.
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book cover

  • N. Najmaei, M.R. Kermani , “Pre-Collision Planning and Control for Physical Human-Robot Interactions”, in Book “New Development of Manufacturing Robotic Systems and Automation”, D. Zhang, Z. Gao, Eds., Bentham Science, ISBN: 978-1-60805-281-3.

Patent

  • A. Shafer, M.R. Kermani, “Magneto-Rheological Clutch with Sensors Measuring Electromagnetic Field Strength”, Canada CA2776800 and United States US20130047772 Patent.

Refereed Journal Papers

  1. P. Yadmellat, M.R. Kermani “ Adaptive Control of a Hysteretic Magneto-Rheological Robot Actuator ”, IEEE/ASME Transaction on Mechatronics , in press.
  2. N. Najmaei, A. Asadain, M.R. Kermani, R.V. Patel “ Design and Performance Evaluation of a Prototype MRF-based Haptic Interface for Medical Applications ”, IEEE/ASME Transaction on Mechatronics , in press.
  3. P. Yadmellat, M.R. Kermani “ Study of Limit Cycle in Antagonistically Coupled Magneto-Rheological Actuators ”, Control Engineering Practice , 35, pp. 92-101, 2015.
  4. N. Najmaei, M.R. Kermani, R.V. Patel “Suitability of Small-Scale Magneto-Rheological Fluid Based Clutches in Haptic Interfaces for Improved Performance ”, IEEE/ASME Transaction on Mechatronics , 20(4), pp. 1863-1874, 2015
  5. W. Li, P. Yadmellat, M.R. Kermani, “Linearized Torque Actuation using FPGA-Controlled Magneto-Rheological Actuators ”, IEEE/ASME Transaction on Mechatronics , 19(5), pp. 1716-1723, 2014
  6. P. Yadmellat, M.R. Kermani, “Adaptive Modeling of a Magneto-Rheological Clutch ”, IEEE/ASME Transaction on Mechatronics , 19(5), pp. 1716-1723, 2014.
  7. P. Yadmellat, A. Shafer, M.R. Kermani, “Design and Development of a Single-Motor, Two-DOF, Safe Manipulator ”, IEEE/ASME Transaction on Mechatronics , 19(4), pp. 1384-1391, 2014.
  8. A. Asadian, R.V. Patel, M.R. Kermani, “Dynamics of Translational Friction in Needle-Tissue Interaction During Needle Insertion”, Annals of Biomedical Engineering, Springer , 42(1), pp. 73-85, 2014.
  9. A. Asadian, M.R. Kermani, R.V. Patel, “A Novel Force Modelling Scheme in Needle Insertion Using Asynchronous Kalman Filtering”, IEEE Transactions on Instrumentation and Measurement, 61(2), pp. 429-438, 2012.
  10. A. Shafer, M.R. Kermani, “On the Feasibility and Suitability of MR and ER Based Actuators in Human Friendly Manipulators”, IEEE/ASME Transaction on Mechatronics, 16(6), pp. 1703-1082, 2011.
  11. N. Najmaei, M.R. Kermani, “Applications of Artificial Intelligence in Safe Human-Robot Interactions” IEEE Transactions on System, Man, and Cybernetics-Part B, 41(2), pp. 448-459, 2011.
  12. A. Asadian, M.R. Kermani, R.V. Patel “Robot-Assisted Needle Steering using a Control Theoretic Approach”, Journal of Intelligent and Robotic Systems, Springer, 62(3), pp. 397-418, 2011.
  13. N. Najmaei, M.R. Kermani, “A New Sensory System for Modeling and Tracking Humans within Industrial Work Cells”, IEEE Transactions on Instrumentation and Measurement, in press, 60(4), pp. 1227-1236, 2011.
  14. N. Najmaei, M.R. Kermani, “On-line Path Modifications for Safe Robot Operations”, Journal of Behavioral Robotics, Springer, 1(2), pp. 130-140, 2010.
  15. N. Najmaei, M.R. Kermani, “Superquadric Danger Evaluation for Human-Safe Robotic Systems”, ASME Journal of Mechanisms and Robotics, 2(4), pp. 81-89, 2010.
  16. M.R. Kermani , “Model Comparisons of a Partially Strengthened Flexible Beam”, Journal of Modelling and Simulations, 30(4), pp. 462-471, 2010.
  17. M.R. Kermani , “Analytic Modal Analyses of a Partially Strengthened Timoshenko Beam”, IEEE Transactions on Control Systems Technology, 18(4), pp. 850-858, 2010.
  18. M.R. Kermani , R.V. Patel, M. Moallem, “Multimode Control of a Large-Scale Robotic Manipulator”, IEEE Transactions on Robotics, 23(6), pp. 1264-1270, 2007.
  19. M.R. Kermani , R.V. Patel, M. Moallem, “Friction Identification and Compensation in Robotic Manipulators”, IEEE Transactions on Instrumentation and Measurement, 56(6), pp. 2346-2353, 2007.
  20. M.R. Kermani , R.V. Patel, M. Moallem, “Flexure Control using Piezostack Actuators: Design and Implementation,” IEEE-ASME Transactions on Mechatronics-Focused Section on Smart Materials and Structures, 10(2), pp. 181-188, 2005.
  21. M.R. Kermani , R.V. Patel, M. Moallem, “Study of System Parameters and Control Design for a Flexible Manipulator using Piezoelectric Transducers”, Institute of Physics Journal, 14(4), pp. 843-849, 2005.
  22. M.R. Kermani , M. Moallem, R.V. Patel, “Parameter Selection and Control Design for Vibration Suppression using Piezoelectric Transducers,” Control Engineering Practice, Elsevier, 12(8), pp. 1005-1015, 2004.
  23. M. Moallem, M.R. Kermani , R.V. Patel, M. Ostojic, “Flexure Control of a Positioning System using Piezoelectric Transducers,” IEEE Transactions on Control Systems Technology , 12(5), pp. 757-762, 2004.

Refereed Conference Papers

  1. A. Shafer, M.R. Kermani , “Development of High Performance Intrinsically Safe 3-DOF Robot”, IEEE International Conference on Robotics and Automation, ICRA 14, Hong Kong, China, 2014.
  2. V. Sotoudehnejad, M.R. Kermani , “Velocity-Based Variable Thresholds for Improving Collision Detection in Manipulators”, IEEE International Conference on Robotics and Automation, ICRA 14, Hong Kong, China, 2014.
  3. N. Najamei, P. Yadmellat, M.R. Kermani , R.V. Patel “Application of Magneto-Rheological Fluid Based Clutches for Improved Performance in Haptic Interfaces”, IEEE International Conference on Robotics and Automation, ICRA 14, Hong Kong, China, 2014.
  4. W. Li, P. Yadmellat, M.R. Kermani , “Design Optimization and Comparison of Magneto-Rheological Actuators”, IEEE International Conference on Robotics and Automation, ICRA 14, Hong Kong, China, 2014.
  5. W. Li, P. Yadmellat, M.R. Kermani , “Linear Torque Actuation Using FPGA-Controlled Magneto-Rheological Actuators”, IEEE International Conference on Robotics and Automation, ICRA 14, Hong Kong, China, 2014.
  6. P. Yadmellat, M.R. Kermani , “Study of Limit Cycle in Antagonistically Coupled Magneto-Rheological Actuators”, IEEE International Conference on Robotics and Automation, ICRA 14, Hong Kong, China, 2014.
  7. P. Yadmellat, M.R. Kermani , “Adaptive Hysteresis Compensation for a Magneto-Rheological Robot Actuator”, IEEE International Conference on Intelligent Robots and Systems, IROS 13, Tokyo, Japan, 2013.
  8. P. Yadmellat, A. Shafer, M.R. Kermani , “Design and Development of a Safe Robot Manipulator Using a New Actuation Concept”, IEEE International Conference on Robotics and Automation, ICRA 13, Karlsruhe, Germany, 2013.
  9. V. Sotoudehnejad, A. Takhmar, M.R. Kermani , I. Polushin, “Counteracting Modeling Inaccuracies in Torque Observer-Based Collision Detection using Time-Variant Thresholds”, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 12, Vilamoura, Portugal, 2012.
  10. A. Asadian, R.V. Patel, M.R. Kermani , “Compensation for Relative Velocity between Needle and Soft Tissue for Friction Modeling in Needle Insertion”, IEEE Engineering in Medicine and Biology Society, EMBC 12, San Diego, CA, USA, 2012.
  11. P. Yadmellat, M.R. Kermani , “Adaptive Modeling of a Fully Hysteretic Magneto-Rheological Clutch”, IEEE International Conference on Robotics and Automation, ICRA 12, St. Paul, MN, USA, 2012.
  12. P. Yadmellat, M.R. Kermani , “Output Torque Modeling of a Magneto-Rheological Based Actuator”, 18th IFAC World Congress, Milan, Italy, 2011.
  13. A. Asadian, M.R. Kermani , R.V. Patel, “An Analytical Model for Deflection of Flexible Needles During Needle Insertion”, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 11, San Francisco, CA, USA, 2011.
  14. A. Shafer, M.R. Kermani , “Design and Validation of a Magneto-Rheological Clutch for Practical Control Applications in Human-Friendly Manipulation”, IEEE International Conference on Robotics and Automation, ICRA 11, Shanghai, China, 2011.
  15. N. Najmaei, M.R. Kermani , “An Accurate and Computationally Efficient Method for Whole-Body Human Modelling with Applications in HRI”, IEEE International Conference on Robotics and Automation, ICRA 11, Shanghai, China, 2011.
  16. A. Asadian, R.V. Patel, M.R. Kermani , “A Distributed Model for Needle-Tissue Friction in Percutaneous Interventions”, IEEE International Conference on Robotics and Automation, ICRA 11, Shanghai, China, 2011.
  17. M.H. Araghi, M.R. Kermani , “Computer-Aided System Design for Educational Purposes: An Autonomous Self-Balancing Two-Wheeled Inverted Pendulum Robot”, 24th Canadian Conference on Electrical and Computer Engineering, Niagara Falls, ON, Canada, 2011.
  18. A. Asadian, M.R. Kermani, R.V. Patel, “A Compact Dynamic Force Model for Needle-Tissue Interaction”, IEEE Engineering in Medicine and Biology Society, EMBC 10, Buenos Aires, Argentina, 2010.
  19. N. Najmaei, S. Lele, M.R. Kermani, R. Sobot, “Human Factors for Robot Safety Assessment”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 10, Montreal, QC, Canada, 2010.
  20. A. Asadian, M.R. Kermani, R.V. Patel “Accelerated Needle Steering Using Partitioned Value Iteration”, American Control Conference, ACC 10, Baltimore, MD, USA, 2010.
  21. N. Najmaei, M.R. Kermani , “Prediction-Based Reactive Control Strategy for Human-Robot Interactions”, IEEE International Conference on Robotics and Automation, ICRA 10, Anchorage, Alaska, USA, 2010.
  22. A. Shafer, M.R. Kermani , “On the Feasibility and Suitability of MR and ER Based Actuators in Human Friendly Manipulators”, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 09, St. Louis, MO, USA, 2009.
  23. N. Najmaei, M.R. Kermani , “Superquadric Obstacle Modeling and a Danger Evaluation Method with Application in Safe Planning for Human-Safe Robots”, IEEE International Conference on Technologies for Practical Robot Applications, TePRA 09, Boston, MA, USA, 2009.
  24. N. Najmaei, M.R. Kermani , “Obstacle Avoidance for Manipulators Using New Artificial Potentials and Sensory Systems”, International Association of Science and Technology for Development, IASTED 09, Boston, MA, USA, 2009.
  25. M.R. Kermani , R.V. Patel, M. Moallem, “Multi-Directional Stabilization of A Large-Scale Robotic Manipulator”, IEEE International Conference on Robotics and Automation, ICRA 06, Orlando, FL, USA 2006.
  26. M.R. Kermani , R.V. Patel, M. Moallem, “Friction identification in robotic manipulators: case studies”, IEEE International Conference on Control Applications, Toronto, Canada, 2005.
  27. M.R. Kermani , R.V. Patel, M. Moallem, “A High Authority Piezoelectric Stack Actuator for Structurally Flexible Mechanisms”, IEEE International Conference on Robotics and Automation, ICRA 05, Barcelona, Spain, 2005.
  28. M.R. Kermani , R.V. Patel, M. Moallem, “Tracking Control Of a Flexible Manipulator Using Piezoelectric Transducers", 3rd IFAC symposium on Mechatronic systems, Sydney, Australia, 2004.
  29. M.R. Kermani , R.V. Patel, M. Moallem, “Active Vibration Control in a Macro-Manipulator using Strengthened Piezoelectric Actuators”, IEEE International Conference on Robotics and Automation, ICRA 04, New Orleans, USA, 2004.
  30. M.R. Kermani , M. Wong, R.V. Patel, M. Moallem, M. Ostojic, “Friction Compensation in Low and High-Reversal-Velocity Manipulators”, IEEE International Conference on Robotics and Automation, ICRA 04, New Orleans, USA, 2004.
  31. M. Moallem, M.R. Kermani , R.V. Patel, M. Ostojic, “Control of a Positioning System with Structural Flexibility using Piezoelectric Transducers,”, IEEE Conference on Decision and Control, Maui, HI, USA, 2003.
  32. M.R. Kermani , M. Moallem, R.V. Patel, “Real-Time Active Control of Vibrations in a Flexible Beam”, 2nd IFAC symposium on Mechatronic Systems, Berkeley, CA, USA, 2002.
  33. M.R. Kermani , M. Moallem, R. V. Patel, “Optimizing Performance of Piezoelectric Actuators for Active Vibration Control,”, IEEE International Conference on Robotics and Automation, ICRA 02, Washington DC, USA, 2002.