CSTARWestern Engineering

CSTAR publications


Selected Journal Papers by Category

ROBOTICS, HAPTICS & TELEOPERATION: MINIMALLY INVASIVE INTERVENTIONS

  1. F. Anooshahpour, P. Yadmellat, I.G. Polushin and R.V. Patel. A Motion Transmission Model for a Class of Tendon-Based Mechanisms with Application to Position Tracking of the da Vinci Instrument. IEEE/ASME Transactions on Mechatronics; vol. 24, no. 2, pp. 538-548, April 2019.
  2. M. Shahbazi, S.F. Atashzar, C. Ward, H.A. Talebi, and R.V. Patel. Multimodal Sensorimotor Integration for Expert-in-the-Loop Telerobotic Surgical Training. IEEE Transactions on Robotics, vol. 34, no. 6, pp. 1549-1564, 2018.
  3. P.S. Zarrin, A. Escoto, R. Xu, R.V. Patel, M.D. Naish, and A.L. Trejos. Development of a 2-DOF sensorized surgical grasper for grasping and axial force measurements. IEEE Sensors. Vol. 18, no. 7, pp.  2816-2826, 2018.
  4. B. Poursartip, M.E. LeBel*, R.V. Patel, M.D. Naish and A.L. Trejos. Energy-based metrics for laparoscopic skills assessment. IEEE Transactions on Biomedical Engineering, vol. 65, no. 7, pp. 1532-1542, 2018.
  5. B. Poursartip, M.E. LeBel*, L.C. McCracken, A. Escoto, R.V. Patel, M.D. Naish and A.L. Trejos. Energy-based metrics for arthroscopic skills assessment. Sensors: Special Issue on ‘Force and Pressure Based Sensing Medical Applications; 2017, vol. 17, no. 8, pp. 1-16, 1808.
  6. K. Siroen, C.D.W. Ward, A. Escoto, M.D. Naish, Y. Bureau, R.V. Patel, C.M. Schlachta*, S.M. Cristancho, and A.L. Trejos. Mastery learning—does method of learning make a difference in skill acquisition for robotic surgery? International Journal of Medical Robotics and Computer Assisted Surgery, vol. 13, no. 4, pp. 1-10, Dec. 2017.
  7. A.L. Trejos, A. Escoto, M.D. Naish, and R.V. Patel. Design and evaluation of a sterilizable force-sensing instrument for laparoscopic surgery. IEEE Sensors Journal, vol. 17, no. 13, pp. 3983–3993, July 2017.
  8. M. Khoshnam and R.V. Patel. Robotics-Assisted Control of Steerable Ablation Catheters Based on the Analysis of Tendon-Sheath Transmission Mechanisms. IEEE/ASME Transactions on Mechatronics, vol. 22, no. 3, pp. 1473-1484, June 2017.
  9. A. Naidu, M.D. Naish and R.V. Patel. A Breakthrough in Tumor Localization: Combining Tactile Sensing and Ultrasound to Improve Tumor Localization in Robotics-Assisted Minimally Invasive Surgery. IEEE Robotics and Automation Magazine, vol 24, no. 2, pp. 54-62, June 2017; received the “Best Innovation Prize”, Surgical Robot Challenge, 2015 Hamlyn Symposium on Medical Robotics, London, UK, June 2015.
  10. G-Z Yang, J. Cambias, K. Cleary, E. Daimler, J. Drake, P.E. Dupont, N. Hata, P. Kazanzides, S. Martel, R.V. Patel, V.J. Santos, and R.H. Taylor. Medical robotics—Regulatory, ethical, and legal considerations for increasing levels of autonomy. Editorial in Science Robotics, vol. 2, no. 4, March 2017. 
  11. M.E. Currie*, A. Talasaz, R. Rayman, M.W.A. Chu, B. Kiaii*, T. Peters, A.L. Trejos, and R.V. Patel. The Role of Visual and Direct Force Feedback in Robotics-Assisted Mitral Valve Annuloplasty. The Int. J. of Medical Robotics and Computer Assisted Surgery, vol. 13, no. 3, pp. 1-12, 2017.
  12. A. Naidu, R.V. Patel and M.D. Naish. Low-Cost Disposable Tactile Sensors for Palpation in Minimally Invasive Surgery. IEEE/ASME Transactions on Mechatronics. vol. 22, no. 1, pp, 127-137, Feb. 2017.
  13. A. Talasaz, A.L. Trejos, and R.V. Patel. The Role of Direct and Visual Force Feedback in Suturing using a 7-DOF Dual-Arm Teleoperated System. IEEE Transactions on Haptics, vol. 10, no. 2, pp. 276-287, 2017.
  14. N. Najmaei, A. Asadian, M.R. Kermani, and R.V. Patel. Design and Performance Evaluation of a Prototype MRF-based Haptic Interface for Medical Applications. IEEE/ASME Transactions on Mechatronics, vol. 21, no. 1, pp. 110-121, Feb. 2016.
  15. R. Xu, A. Yurkewich, and R.V. Patel. Curvature, torsion, and force sensing in continuum robots using helically wrapped FBG sensors. IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 1052–1059, 2016.
  16. M.E. Currie*, A.J. McLeod, J.T. Moore, M.W. Chu, R.V. Patel, B. Kiaii*, and T.M. Peters. Augmented Reality System for Ultrasound Guidance of Transcatheter Aortic Valve Implantation. Innovations-Technology and Techniques in Cardiothoracic and Vascular Surgery, vol. 11, no. 1, pp. 31-39, 2016.
  17. M. Khoshnam, A. Skanes, and R.V. Patel. Modeling and Estimation of Tip Contact Force for Steerable Ablation Catheters. IEEE Transactions on Biomedical Engineering; vol. 62, no. 5, pp. 1404-1415, 2015.
  18. A. Takhmar, I.G. Polushin, A. Talasaz, and R.V. Patel. Cooperative Teleoperation with Projection-Based Force Reflection for MIS. IEEE Transactions on Control Systems Technology, vol. 23, no. 4, pp. 1411-1426, July 2015.
  19. A. Azimian, M.D. Naish, B. Kiaii*, and R.V. Patel. A Chance Constrained Programming Approach to Preoperatve Planning of Robotic Cardiac Surgery Under Task-Level Uncertainty. IEEE Journal of Biomedical and Health Informatics, vol. 19, no. 2, pp. 612-622, March 2015.
  20. A.L. Trejos, K. Siroen, C.D.W. Ward, S. Hossain, M.D. Naish, and R.V. Patel, C.M. Schlachta*. Randomized control trial for evaluation of a hands-free pointer for surgical instruction during laparoscopic cholecystectomy”, Surgical Endoscopy, vol. 29, no.12, pp. 3655-3665, 2015.  
  21. A. Talasaz, A.L. Trejos, S. Perrault (visiting PhD student), H. Bassan, and R.V. Patel. A Dual-Arm 7-DOF Haptics-Enabled Teleoperation Test Bed for Minimally Invasive Surgery. ASME Journal of Medical Devices, vol. 8, no. 4, pp. 041004-1–041002-15, Dec. 2014; received the 2014 Best Paper Award from the ASME Journal of Medical Devices.
  22. A. Escoto, A.L. Trejos, R.V. Patel, A. Goela*, and B. Kiaii*. Anatomy-based Eligibility Measure for Robotics-assisted Bypass Surgery. Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery; vol. 9, no. 5, pp. 349–353, Sep–Oct. 2014.
  23. A.L. Trejos, R.V. Patel, R.A. Malthaner*, and C.M. Schlachta*. Development of force-based metrics for skills assessment in minimally invasive surgery. Surgical Endoscopy, vol. 28, no. 7, pp. 2106-2119, 2014.
  24. A. Asadian, R.V. Patel, and M.R. Kermani. Dynamics of Translational Friction in Needle-Tissue Interaction During Needle Insertion. Annals of Biomedical Engineering, vol. 42, no.1, pp. 72-85, 2014.
  25. A. Talasaz and R.V. Patel. Integration of Force Reflection with Tactile Sensing for Minimally Invasive Robotics-Assisted Tumor Localization. IEEE Trans. on Haptics; vol. 6, no. 2, pp. 217-228, Apr. 2013.
  26. A. Azimian, R.V. Patel, M.D. Naish and B. Kiaii*. A Semi-Infinite Programming Approach to Preoperative Planning of Robotic Cardiac Surgery Under Geometric Uncertainty. IEEE Transactions on Information Technology in BioMedicine, vol. 17, no. 1, pp. 172-182, Jan. 2013.
  27. M.E. Currie*, A.L. Trejos, R. Rayman*, M.W.A. Chu*, R.V. Patel, T.M. Peters, and B. Kiaii*. Is 3D better? Evaluating the effect of three-dimensional visualization on force application and performance time during robotics-assisted Mitral valve repair. Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery, vol. 8, no. 3, pp.199-205, May/June, 2013.
  28. C.D.W. Ward, A.L. Trejos, M.D. Naish, R.V. Patel, and C.M. Schlachta*. The WHaSP: A Wireless Hands-Free Surgical Pointer for Minimally Invasive Surgery. IEEE/ASME Transactions on Mechatronics – Focused Section on Wireless Mechatronics, vol. 17, no. 3, pp.434-442, June 2012.
  29. A. Asadian, M.R. Kermani, and R.V. Patel. A Novel Force Modeling Scheme for Needle Insertion Using Multiple Kalman Filters. IEEE Transactions on Instrumentation and Measurement, vol. 61, no. 2, pp. 429-438, 2012.
  30. A. Sadeghi Naini, R.V. Patel and A. Samani. Measurement of Lung Hyperelastic Properties Using Inverse Finite Element Approach. IEEE Transactions on Biomedical Engineering, vol. 58, pp. 2852-2859, 2011.
  31. J. Jayender, R.V. Patel, G. F. Michaud, and N. Hata. Optimal transseptal puncture location for robot-assisted left atrial catheter ablation. International Journal of Medical Robotics and Computer Assisted Surgery, vol. 7, no 2, pp. 193-201, 2011.
  32. E. Yu*, C. Lewis, A.L. Trejos, R.V. Patel, and R.A. Malthaner*. Lung cancer brachytherapy: robotics-assisted minimally invasive approach. Curr Respir Med Rev. vol. 7, no. 5, pp. 340–353, Oct. 2011.
  33. A. Sadeghi Naini, G. Pierce, T.Y. Lee, R.V. Patel, and A. Samani. CT image construction of a totally deflated lung using deformable model extrapolation. Medical Physics, vol. 38, pp. 872-883, 2011.
  34. A. Sadeghi Naini, T.Y. Lee, R.V. Patel, and A. Samani. Estimation of lung’s air volume and its variations throughout respiratory CT image sequences. IEEE Transactions on Biomedical Engineering, vol. 58, pp. 152-158, 2011.
  35. M.T. Perri, A.L. Trejos, M.D. Naish, R.V. Patel, and R.A. Malthaner*. Initial Evaluation of a Tactile/Kinesthetic Force Feedback System for Minimally Invasive Tumor Localization. IEEE/ASME Transactions in Mechatronics, vol. 15, no. 6, pp. 923-931, Dec. 2010.
  36. B.F. Yousef, R.V. Patel and M. Moallem. A manipulator for medical applications: design and control. ASME Journal of Medical Devices, vol.4, pp. 041991 (10 pages), 2010.
  37. S. Jayaraman, A.L. Trejos, M.D. Naish, A. Lyle, R.V. Patel, and C.M. Schlachta*. Toward construct validity for a novel sensorized instrument-based minimally invasive surgery (SIMIS) simulation system. Surgical Endoscopy, vol. 25, no. 5, pp. 1439-1445, Oct. 2011.
  38. A.L. Trejos, S. Jayaraman, R.V. Patel, M.D. Naish, and C.M. Schlachta*. Force sensing in natural orifice transluminal endoscopic surgery. Surgical Endoscopy, vol. 25, no. 1, pp. 186-192, Jan. 2011.
  39. A.L. Trejos, I. Ross, C. Scalesse, R.V. Patel, M.D. Naish and B. Kiaii*. Preoperative evaluation of patient anatomy to increase the success of robotics-assisted bypass surgery. Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery, vol. 5, no. 5, pp. 335-340, 2010.
  40. A. Asadian, M.R. Kermani and R.V. Patel. Robot-Assisted Needle Steering Using a Control Theoretic Approach. Journal of Intelligent and Robotic Systems, vol. 62, pp. 397-418, 2011.
  41. A. Sadeghi Naini, R.V. Patel and A. Samani. CT Enhanced Ultrasound Image of a Totally Deflated Lung for Image-guided Minimally Invasive Tumor Ablative Procedures. IEEE Transactions on Biomedical Engineering, vol. 57, pp. 2627-2630, 2010.
  42. M.T. Perri, A.L. Trejos, M.D. Naish, R.V. Patel, and R.A. Malthaner*. New Tactile Sensing System for Minimally Invasive Tumor Localization” International Journal of Medical Robotics and Computer Assisted Surgery, vol. 6, pp. 211–220, 2010.
  43. A.L. Trejos, R.V. Patel and M.D. Naish. Force Sensing and its Applications in Minimally Invasive Surgery and Therapy: A Survey. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, Special Issue on ‘Robots and Devices in Surgery, vol. 224, no. 7, pp 1435–1453, Jul. 2010. 
  44. H. Bassan, R.V. Patel and M. Moallem. A novel manipulator for percutaneous needle insertion: Design and experimentation. IEEE/ASME Transactions on Mechatronics, vol. 14, pp. 746-761, 2009.
  45. A.L. Trejos, R.V. Patel, M.D. Naish, and C.M. Schlachta*. A sensorized instrument for skills assessment and training in minimally invasive surgery. ASME Journal of Medical Devices, vol. 3, pp. 041002-1–041002-12, Dec. 2009; (based on PhD thesis research of Trejos supervised by Patel).
  46. J. Jayender, R.V. Patel, and S. Nikumb. Robot-assisted active catheter insertion: algorithms and experiments. International Journal of Robotics Research, — Special Issue on Medical Robotics, vol. 28, no. 9, pp. 1101-1117, 2009; (based on PhD thesis research of Jayender supervised by Patel).
  47. A.L. Trejos, J. Jayender, M. Perri, M.D. Naish, R.V. Patel, and R.A. Malthaner*. Robot-assisted tactile sensing for minimally invasive tumor localization. International Journal of Robotics Research — Special Issue on Medical Robotics, vol. 28, no. 9, pp. 1118-1133, Sep. 2009.
  48. S. Jayaraman, I. Apriasz, A.L. Trejos, H. Bassan, R.V. Patel and C.M. Schlachta*. Novel hands-free pointer improves instruction efficiency in laparoscopic surgery. Surgical Innovation, vol. 16, no. 1, pp. 73–77, Mar. 2009. 
  49. N. Abolhassani and R.V. Patel. Teleoperated master-slave needle insertion. International Journal of Medical Robotics and Computer Assisted Surgery, vol. 5, pp. 398-405, 2009; (based on PhD thesis research of Abolhassani supervised by Patel).
  50. C. Nguan*, B. Miller, R.V. Patel, P. Luke*, and C.M. Schlachta*. Pre-clinical remote telesurgery trial of a da Vinci telesurgery prototype. International Journal of Medical Robotics and Computer Assisted Surgery, vol. 4, no. 4, pp. 304-309, 2008.
  51. J. Jayender, M. Azizian, and R.V. Patel. Autonomous Image-Guided Robot-Assisted Active Catheter Insertion. IEEE Transactions on Robotics, vol. 24, no. 4, pp. 858-871, August 2008.
  52. B. Yousef, R.V. Patel, and M. Moallem. An Ultrasound Probe Holder for Image-Guided Robot-Assisted Prostate Brachytherapy. ASME Journal of Medical Devices, vol. 2, no. 2,021002 (7 pages), 2008.
  53. A. Lin, A.L. Trejos, S. Mohan, H. Bassan, A. Kashigar, R.V. Patel, and R.A. Malthaner*. Electromagnetic navigation improves minimally invasive robot-assisted lung brachytherapy. Computer Aided Surgery, vol.13, no. 2, pp. 114-123, Mar. 2008.
  54. J. Ren (jointly supervised by Peters and Patel), R.V. Patel, K. McIsaac, G. Guiraudon, and T. Peters. Dynamic 3D virtual fixtures for minimally invasive beating heart procedures. IEEE Transactions on Medical Imaging; vol. 27, no. 8, pp. 1061-1070, 2008. 
  55. G. McCreery, A.L. Trejos, M.D. Naish, R.V. Patel, and R.A. Malthaner* “Feasibility of Locating Tumours in Lung via Kinesthetic Feedback. International Journal of Medical Robotics and Computer Assisted Surgery, vol. 4, no. 1, pp. 58-68, Mar. 2008.
  56. J. Jayender, R.V. Patel, and S. Nikumb. Modeling and control of Shape Memory Alloy actuators. IEEE Transactions on Control Systems Technology, vol. 16, no. 2, pp. 279-287, 2008.
  57. A.L. Trejos, R.V. Patel, I. Ross, and B. Kiaii*. Optimizing Port Placement for Robot-Assisted Minimally Invasive Cardiac Surgery. International Journal of Medical Robotics & Computer Assisted Surgery. vol. 3, no. 4, pp. 355–364, Dec. 2007.
  58. N. Abolhassani, R.V. Patel, and F. Ayazi. Minimization of needle deflection in robot-assisted percutaneous therapy. International Journal of Medical Robotics and Computer Assisted Surgery; vol. 3, pp. 140-148, 2007.
  59. A.L. Trejos, A.W. Lin, M. Pytel, R.V. Patel and R.A. Malthaner*. Robot-assisted minimally invasive lung brachytherapy. International Journal of Medical Robotics and Computer Assisted Surgery, vol. 3, no. 1, pp. 41–51, 2007.
  60. R. Rayman*, K. Croome*, N. Galbraith, R. McClure*, R. Morady, S. Peterson, S. Smith, V. Subotic, A. Van Wynsberghe, R.V. Patel, and S. Primak. Robotic telesurgery: A real-world comparison of ground- and satellite-based internet performance. Int. J. of Medical Robotics & Comp. Assisted Surgery, vol. 3, pp. 111-116, 2007.
  61. N. Abolhassani, R.V. Patel, and M. Moallem. Needle insertion in soft tissue: A survey. Medical Engineering and Physics, Journal of the Institute of Physics and Engineering in Medicine (IPEM), vol. 29, no. 4,  pp. 413-431, May 2007.
  62. M. Tavakoli, A. Aziminejad, R.V. Patel, and M. Moallem. Modalities and mechanisms for contact feedback in a robot-assisted minimally invasive environment. Surgical Endoscopy, vol. 20, no. 10, pp. 1570-1579, 2006. 
  63. N. Abolhassani, R.V. Patel, M. Moallem. Control of soft tissue deformation during robotic needle insertion", Minimally Invasive Therapy and Allied Technology, vol. 15, no. 3, pp. 165-176, 2006.
  64. M. Tavakoli, R.V. Patel, and M. Moallem. A haptic interface for computer-integrated endoscopic surgery and training. Virtual Reality (special issue on Haptic Interfaces and Applications), vol. 9, no. 2-3, pp. 160-176, 2006. 
  65. M. Tavakoli, R.V. Patel, and M. Moallem, “Haptic interaction in robot-assisted endoscopic surgery: A sensorized end effector,” International Journal of Medical Robotics and Computer Assisted Surgery, vol. 1, no. 2, pp. 53-63, 2005. 


ROBOTICS, HAPTICS & AI: NEUROLOGICAL MOVEMENT DISORDERS

  1. M. Khosravi, S.F. Atashzar, G. Gilmore, M.S. Jog* and R.V. Patel. “Intraoperative Localization of STN During DBS Surgery Using a Data-Driven Model,” IEEE Journal of Translational Engineering in Health and Medicine, vol. 8, pp. 1-9, 2020, Art no. 2500309, doi: 10.1109/JTEHM.2020.2969152.
  2. S. Shahtalebi, S.F. Atashzar, O. Samotus, R.V. Patel, M. Jog* and A. Mohammadi.PHTNet: Characterization and Deep Mining of Involuntary Pathological Hand Tremor using Recurrent Neural Network Models. Nature: Scientific Reports. (2020) 10:2195; 19 pages.
  3. M. Bernardinis, S.F. Atashzar, M. Jog*, and R.V. Patel. Differential Temporal Perception Abilities in Parkinson’s Disease Patients Based on Timing Magnitude. Nature: Scientific Reports, 2019; 9:19638; 15 pages; (based on MESc thesis research of Bernardinis jointly supervised by Patel and Jog*).
  4. S. Shahtalebi, S.F. Atashzar, R.V. Patel, and A. Mohammadi. HMFP-DBRNN: Real-time Hand Motion Filtering and Prediction via Deep Bidirectional RNN.IEEE Robotics and Automation Letters, vol. 4, no. 2, 2019.
  5. S. Shahtalebi, S.F. Atashzar, R.V. Patel, and A. Mohammadi. WAKE: Wavelet decomposition coupled with adaptive Kalman filtering for pathological tremor extraction. Biomedical Signal Processing and Control, vol. 48, pp. 179-188, Feb, 2019.
  6. S.F. Atashzar, M. Shahbazi, and R.V. Patel. Haptics-enabled Interactive Neuro-Rehabilitation Mechatronics: Functionality, Challenges and Ongoing Research. Mechatronics, vol. 57, pp. 1-19, 2019.
  7. S.F. Atashzar, M. Shahbazi, M. Tavakoli, and R.V. Patel, A Computational Model based Study of Supervised Haptics-enabled Therapist-in-the-Loop Training for Upper-Limb Post-Stroke Robotic Rehabilitation. IEEE/ASME Transactions on Mechatronics, vol. 23, no. 2, pp. 563-574, 2018.
  8. S.F. Atashzar, M. Shahbazi, M. Tavakoli, and R.V. Patel. A Grasp-based Passivity Signature for Haptics-enabled Human-Robot Interaction: Application to Design of a New Safety Mechanism for Robotic Rehabilitation. International Journal of Robotics Research:  Special Issue on Human-Robot Interaction, vol. 36, no. 5-7, pp. 778-799, June 2017.
  9. S.F. Atashzar, M. Shahbazi, M. Tavakoli, and R.V. Patel. A Passivity-based approach for Stable Patient-Robot Interaction in Haptics-enabled Rehabilitation Systems: Modulated Time-domain Passivity Control (M-TDPC). IEEE Transactions on Control Systems Technology, vol. 25, no. 3, pp. 991-1006, May 2017.
  10. S.F. Atashzar, I.G. Polushin, and R.V. Patel. A Small-Gain Approach for Non-Passive Bilateral Telerobotic Rehabilitation: Stability Analysis and Controller Synthesis. IEEE Transactions on Robotics, vol. 33, no. 1, pp. 49-66, Feb. 2017.
  11. S.F. Atashzar, N. Jafari, M. Shahbazi, H. Janz, M. Tavakoli, R.V. Patel, and K. Adams. Telerobotics-assisted Platform for Enhancing Interaction with Physical Environments for People Living with Cerebral Palsy. Journal of Medical Robotics Research, vol. 02, 1740001 (2017) [15 pages].
  12. M. Jackman, M. Delrobaei, F. Rahimi, S.F. Atashzar, M. Shahbazi, R.V. Patel, and M. Jog*. Predicting Improvement in Writer’s Cramp Symptoms Following Botulinum Neurotoxin Injection Therapy. Tremor and Other Hyperkinetic Movements, vol. 6, 2016. 
  13. M. Shahbazi, S.F. Atashzar, M. Tavakoli and R.V. Patel. Robotics-Assisted Mirror Rehabilitation Therapy: A Therapist-in-the-Loop Assist-as-Needed Architecture. IEEE/ASME Transactions on Mechatronics, vol. 21, no. 4, pp. 1954 - 1965, 2016.
  14. S.F. Atashzar, M. Shahbazi, C.D.W. Ward, O. Samotus, M. Delrobaei, F. Rahimi, J. Lee, M. Jackman, M. Jog*, and R.V. Patel. Haptic Feedback Manipulation During Botulinium Toxin Injection Therapy for Focal Hand Dystonia Patients:  A Possible New Assistive Strategy.IEEE Transactions on Haptics: Special Issue on Haptics in Neuroscience, 2016, vol. 9, no. 4, pp. 523-535, 2016.
  15. M. Delrobaei, F. Rahimi, M. Jackman, S.F. Atashzar, M. Shahbazi, R.V. Patel, and M, Jog*. Kinematic and Kinetic Assessment of Upper Limb Movements in Patients with Writer's Cramp. Journal of NeuroEngineering and Rehabilitation, vol. 13, no.15, pp. 1-10, Feb. 2016.
  16. S.F. Atashzar, M. Shahbazi, O. Samotus, M. Tavakoli, M. Jog*, and R.V. Patel. Characterization of Upper-limb Pathological Tremors: Application to Design of an Augmented Haptic Rehabilitation System. IEEE Journal of Selected Topics in Signal Processing: Special Issue on Person-Centered Signal Processing for Assistive, Rehabilitative and Wearable Technologies. vol. 10. no. 5, pp. 888-903, Jan. 2016.


ROBOTICS & HAPTICS: DESIGN, SENSING AND CONTROL

  1. M. Shahbazi, S.F. Atashzar, and R.V. Patel, A Systematic Review of Multilateral Teleoperation Systems. IEEE Transactions on Haptics, vol. 11, no. 3, pp. 338-356, 2018.
  2. A. Usova, I.G. Polushin, and R.V. Patel. Scattering-Based Stabilization of Non-Planar Conic Systems. Automatica, Vol. 93, pp. 1-11, 2018.
  3. P. Yadmellat and R.V. Patel. Frequency response analysis of magneto-rheological clutch designsJournal of Intelligent Material Systems and Structures, vol. 29, no. 5, pp. 905-923, 2017.
  4. N. Najmaei, M.R. Kermani, and R.V. Patel. Suitability of Small-Scale Magneto-Rheological Fluid Based Clutches in Haptic Interfaces for Improved Performance. IEEE/ASME Transactions on Mechatronics, vol. 20, no. 4, pp. 1863-1974, 2015.
  5. M. Shahbazi, S.F. Atashzar, H.A. Talebi, and R.V. Patel. Novel Cooperative Teleoperation Framework: Multi-Master/Single-Slave System. IEEE/ASME Transactions on Mechatronics, vol. 20, no. 4, pp. pp. 1668-1679, 2015.
  6. I.G. Polushin, A. Takhmar, and R.V. Patel. Projection-Based Force Reflection Algorithms with Frequency Separation for Bilateral Teleoperation. IEEE/ASME Transactions on Mechatronics, vol. 20, no. 1, pp. 143-154, 2015.
  7. I.G. Polushin, S.N. Dashkovskiy, A. Takhmar, and R.V. Patel. A Small Gain Framework for Networked Cooperative Force-Reflecting Teleoperation. Automatica, vol 49, no, 2, pp. 338-348, 2013.
  8. M. Tavakoli, A. Aziminejad, R.V. Patel, and M. Moallem. Discrete-Time Bilateral Teleoperation: Modeling and Stability Analysis. IET Control Theory & Applications, vol. 2, no. 6, pp. 496-512, 2008.
  9. A. Aziminejad, M. Tavakoli, R.V. Patel, and M. Moallem. Stability and performance in delayed bilateral teleoperation: Theory and experiments. IFAC Journal on Control Engineering Practice, vol. 16, no.11, pp. 1329-1343, 2008.
  10. A. Aziminejad, M. Tavakoli, R.V. Patel, and M. Moallem. Transparent time-delayed bilateral teleoperation using wave variables. IEEE Transactions on Control Systems, Technology; vol. 16, no. 3, pp. 548-555, 2008.
  11. J. Ren, K. McIsaac, and R.V. Patel. Modified Newton's Method Applied to Potential Field Based Navigation for Nonholonomic Robots in Dynamic Environments. Robotica, vol. 26, no.1, pp. 117-127, 2008.
  12. M.R. Kermani, R.V. Patel, and M. Moallem. Friction identification and compensation in robotic manipulators. IEEE Transactions on Instrumentation and Measurement; vol. 56, no. 6, pp. 2346-2353, 2007.
  13. M. Tavakoli, A. Aziminejad, R.V. Patel, and M. Moallem. High-fidelity bilateral teleoperation systems and the effect of multimodal haptics. IEEE Transactions on Systems, Man and Cybernetics – Part B, vol. 37, pp. 1512-1528, Dec. 2007.
  14. J. Ren, R.V. Patel, K. McIsaac, and T. Peters. A potential field model using generalized sigmoid functions. IEEE Transactions on Systems, Man, and Cybernetics – Part B, vol. 37, no. 2, pp. 477-484, April 2007.
  15. X, Yang, R.V. Patel, and M, Moallem. A fuzzy Braitenberg navigation strategy for differential-drive mobile robots. Journal of Intelligent and Robotic Systems, vol. 47, no. 1, 2006.
  16. J. Ren, K. McIsaac, and R.V. Patel. Modified Newton’s method applied to potential field based navigation for mobile robots. IEEE Transactions on Robotics, vol. 22, no. 2, pp. 384-391, 2006.
  17. X. Yang, M. Moallem, and R.V. Patel. A sensor-based navigation algorithm for a mobile robot using fuzzy logic. International Journal of Robotics & Automation (Special Issue on ‘Agents Meet Robots’), vol. 21, no. 2, 2006. 
  18. J. Ren, K. McIsaac, and R.V. Patel. "A framework for agent-based nonholonomic robot team navigation and coordination. International Journal of Robotics & Automation (Special Issue on ‘Agents Meet Robots’), vol. 21, no. 2, 2006. 
  19. X. Yang, M. Moallem, and R.V. Patel. A layered goal-oriented fuzzy motion planning strategy for mobile robot navigation. IEEE Transactions on Systems, Man, & Cybernetics, Part B, vol. 35, no. 6, 1214-1224, 2005. 
  20. P. Yuan, M. Moallem, and R.V. Patel, “Real-time scheduling of distributed multi-robot systems”, Transactions of the Canadian Society for Mechanical Engineering (Special Issue on Industrial Control and Automation), vol. 29, pp. 179-194, 2005. 
  21. J. Pan and R.V. Patel, “Reconfigurable distributed real-time processing for multi-robot control: Design, implementation and experimentation,” Robotica, vol 22, pp. 661-679, 2004. 
  22. S.E. Thompson and R.V. Patel, “Formulation of joint trajectories for industrial robots using B-splines,” IEEE Transactions on Industrial Electronics, vol. IE-34, pp. 192–199, 1987.
  23. X-G. Wang, M. Moallem, and R.V. Patel, “An internet-based distributed multiple-telerobot system”, IEEE Transactions on Systems, Man, & Cybernetics, Part A, vol. 33, pp. 627-633, 2003. 
  24. R.V. Dantu, N.J. Dimopoulos, R.V. Patel, and A. J. Al-Khalili, “Depth perception using blurring and its application in VLSI wafer probing,” Machine Vision and Applications, vol. 5, pp. 35–45, 1992. 
  25. R.V. Dantu, N.J. Dimopoulos, R.V. Patel, and A.J. Al-Khalili, “Micro-manipulator vision for wafer probing,” IEEE Transactions on Semiconductor Manufacturing, vol. SM-2, pp. 114–117, 1989. 
  26. C.A. Balafoutis and R.V. Patel, “Linearized robot models in joint and Cartesian spaces,” Transactions of the Canadian Society of Mechanical Engineering, vol. 13, pp. 103–112, 1989. 
  27. C.A. Balafoutis and R.V. Patel, “Efficient computation of manipulator inertia matrices and the direct dynamics problem,” IEEE Transactions on Systems, Man and Cybernetics, vol. SMC-19, pp. 1313–1321, 1989. 
  28. C.A. Balafoutis, R.V. Patel, and P. Misra, “Efficient modeling and computation of manipulator dynamics using orthogonal Cartesian tensors,” IEEE Journal of Robotics & Automation, vol. RA-4, pp. 665–676, 1988. 
  29. S.E. Thompson and R.V. Patel, “Formulation of joint trajectories for industrial robots using B-splines,” IEEE Transactions on Industrial Electronics, vol. IE-34, pp. 192–199, 1987.
  30. C.A. Balafoutis, P. Misra, and R.V. Patel, “Recursive evaluation of linearized dynamic robot models,” IEEE Journal of Robotics and Automation, vol. RA-2, pp. 146–155, 1986.


ROBOTICS: FLEXIBLE, REDUNDANT AND MOBILE

  1. R.V. Patel, H.A. Talebi, J. Jayender, and F. Shadpey. A Robust Position and Force Control Strategy for 7-DOF Redundant Manipulators. IEEE/ASME Transactions on Mechatronics, vol. 14, no. 5, pp. 575-589, 2009. 
  2. J. Jayender, R.V. Patel, and S. Nikumb. Modeling and control of Shape Memory Alloy actuators. IEEE Transactions on Control Systems Technology, vol. 16, no. 2, pp. 279-287, 2008.
  3. M.R. Kermani, R.V. Patel, and M. Moallem. Multi-mode control of a large-scale robotic manipulator. IEEE Transactions on Robotics, vol. 27, no. 6, pp. 1264-1270, 2007.
  4. F. Abdollahi, H.A. Talebi, and R.V. Patel. A stable neural network-based observer with application to flexible-joint manipulators. IEEE Transactions on Neural Networks, vol. 17, no. 1, pp. 118-129, 2006.
  5. M. Kermani, M. Moallem, and R.V. Patel. Study of system parameters and control design for a flexible manipulator using piezoelectric transducers. Institute of Physics Journal of Smart Materials and Structures, vol. 14, pp. 843-849, 2005.
  6. R.V. Patel, F. Shadpey, F. Ranjbaran, and J. Angeles. A collision-avoidance scheme for redundant manipulators: Theory and experiments. Journal of Robotic Systems, vol. 22, pp. 737-757, 2005.
  7. M. Kermani, R.V. Patel, and M. Moallem. Flexture control using piezostack actuators: Design and implementation. IEEE/ASME Transactions on Mechatronics; , vol. 10, no.2, pp. 181-188, 2005. 
  8. H.A. Talebi, R.V. Patel, and K. Khorasani, “A neural network controller for a nonlinear non-minimum phase system with application to a flexible-link manipulator,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 127, no. 2, pp. 289-294, 2005.
  9. H. Bassan, H.A. Talebi, R.V. Patel, and M. Moallem, “Control of a rigid manipulator mounted on a compliant base,” Robotica, vol. 23, pp. 197-206, 2005.
  10. M. Moallem, M. Kermani, R.V. Patel, and M.Ostojic, “Flexure control of a positioning system using piezoelectric transducers,” IEEE Transactions on Control Systems Technology, vol. 12, no. 5, pp. 757-762, 2004.
  11. M. Kermani, M. Moallem, and R.V. Patel, “Parameter selection and control design for vibration suppression using piezoelectric transducers”, Control Engineering Practice, vol. 12, no. 8, pp. 1005-1015, 2004. 
  12. M. Moallem, R.V. Patel, and K. Khorasani, "Design of an actuated flexible arm for improved vibration properties”, Journal of Vibration and Control; vol. 9, pp. 1041-1056, 2003.
  13. X.P. Cheng and R.V. Patel, “Neural network based tracking control of a flexible macro-micro manipulator system”, Neural Networks, vol. 16, pp. 271-286, 2003.
  14. H.A. Talebi, K. Khorasani, and R.V. Patel, “Tracking control of a flexible-link manipulator using neural networks: Experimental results,” Robotica, vol. 20, pp. 417-427, 2002. 
  15. M. Moallem, R.V. Patel, and K. Khorasani, "Nonlinear tip-position tracking control of a flexible-link manipulator: Theory and experiments", Automatica, vol. 37, pp.1825-1834, 2001.
  16. H.A. Talebi, R.V. Patel, and H. Asmer, "Neural network based dynamic modeling of flexible-link manipulators with application to the SSRMS", Journal of Robotic Systems, vol. 17, no. 7, pp. 385-401, 2000.
  17. H.P. Xie, S. Kalaycioglu, and R.V. Patel, "Control of residual vibrations in flexible manipulators with application to the Shuttle Remote Manipulator System", International Journal of Robotics and Automation, vol. 15, no. 2, pp. 68-77, 2000.
  18. A. Yazdizadeh, K. Khorasani, and R.V. Patel, “Identification of a two-link flexible manipulator using adaptive time-delay neural networks,” IEEE Transactions on Systems, Man, and Cybernetics, Part B, vol. 30, no. 1, pp. 165-172, Feb. 2000.
  19. Z. Lin and R.V. Patel, “Cartesian control of redundant flexible-joint manipulators,” International Journal of Robotics and Automation, vol. 13, no. 3, pp. 76-86, 1998. 
  20. H.A. Talebi, K. Khorasani, and R.V. Patel, “Neural network based control schemes for flexible-link manipulators: Simulations and experiments,” Neural Networks, Special Issue on Neural Control and Robotics: Biology and Technology, vol. 11, no. 7-8, pp. 1357-1377, October/November 1998. 
  21. M. Moallem, K. Khorasani, and R.V. Patel, “An inverse dynamics sliding control technique for flexible multi-link manipulators,” International J. Control, vol. 71, no. 3, pp. 477-490, 1998. (based on PhD thesis research of Moallem jointly supervised by Patel and Khorasani).
  22. M.J. Yazdanpanah, K. Khorasani, and R.V. Patel, “Uncertainty compensation for a flexible-link manipulator using nonlinear control,” International Journal of Control, vol. 69, no. 6, pp. 753-771, 1998. 
  23. M. Moallem, K. Khorasani, and R.V. Patel, “Optimum structure design for improving the dynamics of flexible-link manipulators,” International Journal of Robotics and Automation, vol. 13, no. 4, pp. 125-131, 1998.
  24. M. Moallem, R.V. Patel, and K. Khorasani, “An inverse dynamics control strategy for tip position tracking of flexible multi-link manipulators,” Journal of Robotic Systems, vol. 14, no. 9, pp. 649-658, September 1997. 
  25. M. Moallem  K. Khorasani, and R.V. Patel, “An integral manifold approach for tip position tracking of flexible multi-link manipulators,” IEEE Transactions on Robotics & Automation, vol. 13, no. 6, pp. 823-837, December 1997.
  26. H. Geniele, R.V. Patel, and K. Khorasani, “End-point control of a flexible-link manipulator: Theory and experiments,” IEEE Transactions on Control Systems Technology, vol. 5, no. 6, pp. 556-570, November 1997. 
  27. V. Zeman, R.V. Patel, and K. Khorasani, “Control of a flexible-joint robot using neural networks,” IEEE Transactions on Control Systems Technology, vol. 5, no. 4, pp. 453-462, July 1997.
  28. F. Ranjbaran, J. Angeles, M.A. Gonzalez-Palacios, and R.V. Patel, “The mechanical design of REDIESTRO, a seven-axes manipulator with kinematic isotropy,” Journal of Intelligent and Robotic Systems, vol. 14, pp. 21–41, 1995. 
  29. Z. Lin, R.V. Patel, and C.A. Balafoutis, “Impact reduction for redundant manipulators using augmented impedance control,” Journal of Robotic Systems, vol. 12, pp. 301–313, 1995. 
  30. R.A. Al-Ashoor, R.V. Patel, and K. Khorasani, “Robust adaptive controller design and stability analysis for flexible-joint manipulators,” IEEE Transactions on Systems, Man, and Cybernetics, vol. 23, pp. 589–602, 1993. 
  31. R.A. Al-Ashoor, K. Khorasani, R.V. Patel, and A. Al-Khalili, “Robust adaptive controller design for flexible-joint manipulators,” Journal of Robotics and Computer Integrated Manufacturing, vol. 9, pp. 101-112, 1992.


CONTROL SYSTEMS: COMPUTATIONAL ISSUES AND APPLICATIONS

  1. G. Singh, M. Zaheer-uddin, and R.V. Patel, "Adaptive control of multivariable thermal processes in HVAC systems," Energy Conversion and Management, vol. 41, pp. 1671-1685, 2000. 
  2. M.J. Yazdanpanah, K. Khorasani, and R.V. Patel, “On the estimate of the domain of validity of nonlinear control,” International Journal of Control, special issue on “Breakthroughs in the Control of Nonlinear Systems'', vol. 72, no. 12, pp. 1097-1105, August 1999. 
  3. K.G. Narendra, K.Khorasani, V.K.Sood and R.V. Patel, "Intelligent current controller for an HVDC transmission link", IEEE Trans. on Power Systems, vol.13, no. 3, pp 1076-1083, 1998. 
  4. K.G. Narendra, V.K. Sood, K. Khorasani and R.V. Patel, "Application of radial basis function neural networks for fault diagnosis in HVDC system", IEEE Transactions on Power Systems, vol. 13, no. 1, pp 177-183, February 1998. 
  5. P. Misra, G. Gu, and R.V. Patel, “Computation of simple and group factors of multivariate polynomials,” Circuits, Systems, & Signal Processing, vol. 16, no. 4, pp. 455-473, 1997.
  6. K.G. Narendra, V.K. Sood, K. Khorasani, and R.V. Patel, “Investigation into an artificial neural network based online current controller for an HVDC transmission link,” IEEE Transactions on Power Systems, vol. 12, no. 4, pp. 1425-1431, November 1997.
  7. M. Zaheer-uddin and R.V. Patel, “Optimal tracking control of multi-zone indoor environmental spaces,” ASME Journal of Dynamic Systems, Measurement and Control, vol. 117, pp. 292–303, 1995. 
  8. M. Zaheer-uddin, S.A.K. Al-Assadi, and R.V. Patel, “Decentralized preview control for multiple disturbance rejection in HVAC systems,” IFAC Journal on Control Engineering Practice, vol. 2, pp. 989–1000, 1994. 
  9. V. Sood, N. Kandil, R.V. Patel, and K. Khorasani, “Comparative evaluation of neural network based and PI current controllers for HVDC transmission systems,” IEEE Transactions on Power Electronics, vol. 9, no. 3, pp. 288–295, May 1994. 
  10. R.V. Patel, Z. Lin, and P. Misra, “Computation of stable invariant subspaces of Hamiltonian matrices,” SIAM J. on Matrix Analysis and Applications, vol. 15, pp. 284–298, 1994. 
  11. M. Zaheer-uddin, R.V. Patel, and S.A.K. Al-Assadi, “Design of decentralized robust controllers for multi-zone space heating systems.,” IEEE Transactions on Control Systems Technology, vol. 1, pp. 246–261, 1993. 
  12. R.V. Patel, “On computing the eigenvalues of a symplectic pencil,” Linear Algebra and its Applications; Special Issue on “Numerical Linear Algebra Methods in Control, Signals and Systems”, vol. 188,189, pp. 591–611, 1993. 
  13. M. Zaheer-uddin and R.V. Patel, “The design and implementation of a sub-optimal controller for space heating,” Transactions of the ASHRAE, vol. 99, Part 1, pp. 554–564, 1993. 
  14. N. Kandil, V. Sood, K. Khorasani, and R.V. Patel, “Fault identification in an AC-DC transmission system using neural networks,” IEEE Transactions on Power Systems, vol. PS-7, pp. 812–819, 1992. 
  15. R.V. Patel and P. Misra, “Numerical computation of decentralized fixed modes,” Automatica, vol. 27, pp. 375–382, 1991. 
  16. P. Misra and R.V. Patel, “Computation of minimal order realizations of generalized state-space systems,” Circuits, Systems and Signal Processing, vol. 8, pp. 49–70, 1989. 
  17. P. Misra and R.V. Patel, “Numerical algorithms for eigenvalue assignment by constant and dynamic output feedback,” IEEE Transactions on Automatic Control, vol. AC-34, pp. 579–588, 1989. 
  18. P. Misra and R.V. Patel, “A determinant identity and its application in evaluating frequency response matrices,” SIAM Journal on Matrix Analysis and Applications, vol. 9, pp. 248–255, 1988. 
  19. P. Misra and R.V. Patel, “Computation of transfer function matrices of linear multivariable systems,” Automatica, vol. 23, pp. 635–640, 1987.
  20. R.V. Patel, “On blocking zeros in linear multivariable systems,” IEEE Transactions on Automatic Control, vol. AC-31, pp. 239–241, 1986. 
  21. R.V. Patel and P. Misra, “Numerical algorithms for eigenvalue assignment by state feedback,” Proc. IEEE, Special Section on Computer-Aided Design of Control Systems: Systems and Algorithms, vol. 72, pp. 1755–1764, 1984.
  22. R.V. Patel and M. Toda, “Bounds on performance of nonstationary continuous-time filters under modeling uncertainty,” Automatica, vol. 20, pp. 117–120, 1984. 
  23. R.V. Patel, “Computation of matrix fraction descriptions of linear time-invariant systems,” IEEE Transactions on Automatic Control, vol. AC-26, pp. 148–161, 1981. 
  24. M. Toda and R.V. Patel, “Bounds on estimation errors of discrete-time filters under modeling uncertainty,” IEEE Transactions on Automatic Control, vol. AC-25, pp. 1115–1121, 1980. 
  25. M. Toda and R.V. Patel, “Algorithms for adaptive stochastic control for a class of linear systems,” Journal of Mathematical Analysis and Applications, vol. 72, pp. 122–149, 1979. 
  26. M. Toda and R.V. Patel, “Performance bounds for continuous-time filters in the presence of modeling errors,” IEEE Transactions on Aerospace and Electronic Systems, vol. AES-14, pp. 912–919, 1978. 
  27. R.V. Patel and M. Toda, “On norm bounds for algebraic Riccati and Lyapunov equations,” IEEE Transactions on Automatic Control, vol. AC-23, pp. 87–88, 1978. 
  28. R.V. Patel, M. Toda, and B. Sridhar, “Robustness of linear quadratic state feedback designs in the presence of system uncertainty,” IEEE Transactions on Automatic Control, vol. AC-22, pp. 945–949, 1977. 
  29. R.V. Patel, V. Sinswat, and F. Fallside, “A method for computing the zeros of transfer functions in linear systems,” International Journal of Systems Science, vol. 8, pp. 241–249, 1977. 
  30. R.V. Patel, “On computing the invariant zeros of multivariable systems,” International Journal of Control, vol. 24, pp. 145–146, 1976. 
  31. R.V. Patel, “On output feedback pole assignability,” International Journal of Control, vol. 20, pp. 955–959, 1974. 
  32. R.V. Patel, “On the computation of numerators of transfer functions of linear systems,” IEEE Transactions on Automatic Control, vol. AC-18, pp. 400–401, 1973.

Selected Conference Papers by Category

ROBOTICS, HAPTICS & TELEOPERATION: MINIMALLY INVASIVE INTERVENTIONS

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ROBOTICS, HAPTICS & AI: NEUROLOGICAL MOVEMENT DISORDERS

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ROBOTICS & HAPTICS: DESIGN, SENSING AND CONTROL

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ROBOTICS: FLEXIBLE, REDUNDANT AND MOBILE

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CONTROL SYSTEMS: COMPUTATIONAL ISSUES AND APPLICATIONS

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Book Chapters

  1. S.F. Atashzar, M.D. Naish, R.V. Patel, “Active Sensorimotor Augmentation in Robotics-Assisted Surgical Systems,” in ‘Mixed and Augmented Reality in Medicine’, (Editors: T.M. Peters, C.A. Linte and Z. Yaniv), Taylor & Francis, 2018, 24 pages, 1-24.
  2. S.F. Atashzar and R.V. Patel, “Teleoperation for Minimally Invasive Robotics-Assisted Surgery,” in ‘Minimally Invasive Surgical Robotics’ (Editor: R.V. Patel), Vol. 1 of the Encyclopedia of Medical Robotics (Editor-in-Chief: J.P. Desai), World Scientific Publishing Company, Singapore, 2017.
  3. A.L. Trejos, M. Shahbazi and R.V. Patel, “Training and Skills Assessment for Robotics-Assisted Minimally Invasive Surgery,” in ‘Minimally Invasive Surgical Robotics’ (Editor: R.V. Patel), Vol. 1 of the Encyclopedia of Medical Robotics (Editor-in-Chief: J.P. Desai), World Scientific Publishing Company, Singapore, 2017.
  4. M.D. Naish, R.V. Patel, A.L. Trejos, M.T. Perri, and R.A. Malthaner*, “Robotic Techniques for Minimally Invasive Tumor Localization,” in Surgical Robotics Systems, Applications and Visions, J. Rosen, B. Hannaford, and R. Satava (eds.), Springer, New York, 2011.
  5. A.J. Laub, R.V. Patel and P.M. Van Dooren, “Numerical and computational issues in linear control and system theory,” in The Controls Handbook (W.S. Levine, ed.), Second Edition, Boca Raton, FL: CRC Press, 2010. 
  6. M. Tavakoli and R.V. Patel, “Haptics in Telerobotic Systems for Minimally Invasive Surgery,” invited book chapter for the book: “Telesurgery”, Springer-Verlag, 2007.
  7. A. Lin, A.L. Trejos, R.V. Patel, and R. Malthaner*, “Robotic Cancer Therapy and Thoracic Surgery: Robot-Assisted Minimally-Invasive Brachytherapy for Lung Cancer,” invited book chapter for the book: “Telesurgery”, Springer-Verlag, 2007.
  8. A.J. Laub, R.V. Patel and P.M. Van Dooren, “Numerical and computational issues in linear control and system theory,” in The Controls Handbook (W.S. Levine, ed.), Boca Raton, FL: CRC Press, 1995. 
  9. R.V. Patel, “Numerical issues in computing the stable deflating subspace of a symplectic pencil,” in Recent Advances in Computer-Aided Control Systems Engineering (M. Jamshidi and C.J. Herget, eds.), New York: Elsevier Science Publishers, 1992. 
  10. R.V. Patel and Z. Lin, “Trajectory Planning,” in Encyclopedia of Robotics (R.C. Dorf and S.Y. Nof, eds.), New York: John Wiley & Sons, 1988. 
  11. R.V. Patel, “The minimal design problem in multivariable system theory,” in Encyclopedia of Systems and Control (M.G. Singh, ed.), Oxford: Pergamon Press, 1987. 
  12. R.V. Patel and P. Misra, “A numerical algorithm for eigenvalue assignment by output feedback,” in Computational and Combinatorial Methods in Systems Theory (C.I. Byrnes and A. Lindquist, eds.), pp. 37–50, New York: North Holland, 1986. 
  13. R.V. Patel, “Algorithms for eigenvalue assignment in multivariable systems,” in Advances in Computer-Aided Control Systems Engineering (M. Jamshidi and C.J. Herget, eds.), pp. 315–345, New York: North Holland, 1985. 
  14. R.V. Patel, “A condensed form for linear systems over principal ideal domains,” in Linear Algebra and its Role in Systems Theory (B.N. Datta, ed.), pp. 323–338, AMS Contemporary Mathematics, vol. 47, 1985. 
  15. F. Fallside, R.V. Patel, and H. Seraji, “Review of a pole-zero assignment design method,” in Control System Design by Pole-Zero Assignment (F. Fallside, ed.), pp. 43–50, London: Academic Press, 1977. 
  16. R.V. Patel, “Multivariable zeros and their properties,” in Control System Design by Pole-Zero Assignment (F. Fallside, ed.), pp. 145–165, London: Academic Press, 1977. 

 

Books/Monographs

  1. R.V. Patel (Editor), “Minimally Invasive Surgical Robotics,” Vol. 1 (of 4 volumes), Encyclopedia of Medical Robotics (Editor-in-Chief: J. Desai), World Scientific Publishing Company, Singapore, 2017.
  2. R.V. Patel and F. Shadpey, Control of Redundant Robot Manipulators: Theory and Experiments, vol 315 in the Springer-Verlag Series: “Lecture Notes in Control and Information Sciences”, 2005; 205 pages.
  3. H.A. Talebi, F. Abdollahi, R.V. Patel, and K. Khorasani, Neural Network Based State Estimation of Nonlinear Systems: Application to Fault Detection and Isolation, vol. 395 in the Springer-Verlag Series: “Lecture Notes in Control and Information Sciences”, 2010; 154 pages.
  4. M. Tavakoli, R.V. Patel, M. Moallem, A. Aziminejad, Haptics-Based Systems for Robot-Assisted Surgery and Telesurgery: Design, Control, and Experimentation, World Scientific Publishers in the series "New Frontiers in Robotics”, 2008; 158 pages. 
  5. M. Kermani, M. Moallem, and R.V. Patel, Vibration Suppression using Piezoelectric Materials, Nova Science Publishers, NY, 2008, 176 pages.
  6. H.A. Talebi, R.V. Patel, and K. Khorasani, Control of Flexible-Link Manipulators using Neural Networks, vol. 261 in the Springer-Verlag Series: “Lecture Notes in Control and Information Sciences”; 2001; 142 pages.
  7. M. Moallem, R.V. Patel, and K. Khorasani, Flexible-Link Robot Manipulators: Control Techniques and Structural Design, vol. 257 in the Springer-Verlag Series: “Lecture Notes in Control and Information Sciences”, 2000; 159 pages.
  8. R.V. Patel, A.J. Laub and P. Van Dooren (Editors), Numerical Linear Algebra Techniques for Systems and Control, Reprint Book Series, IEEE Press, New York, under the sponsorship of the IEEE Control Systems Society, 1994; 724 pages. 
  9. C.A. Balafoutis and R.V. Patel, Dynamic Analysis of Robot Manipulators: A Cartesian Tensor Approach, in the Kluwer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors, T. Kanade (Consulting Editor), Kluwer Academic Publishers, Boston, MA, 1992; 292 pages. 
  10. R.V. Patel and N. Munro, Multivariable System Theory and Design, Pergamon Press, Oxford, 1982; 374 pages.

 

Patents

  1. R.V. Patel, V. Mehrabi and S.F. Atashzar, Motorized Rehabilitation Device, PCT Application, No. PCT/CA2017/051240, filed October 18, 2017
  2. C.M. Schlachta*, R.V. Patel, A.L. Trejos, and M.D. Naish, Hands-Free Pointer System, United States Patent 9,798,381, issued: October 24, 2017; (PCT Application PCT/CA2009/001667); licensed to Synaptive Medical Inc., Toronto.
  3. C.M. Schlachta*, R.V. Patel, A.L. Trejos and M.D. Naish, Hands-Free Pointer System, China Patent ZL200980154807, issued: July 2, 2014.
  4. R.V. Patel, J. Jayender, and S. Nikumb, Catheter, and System for Controlling Same, United States Patent 8,961,433; issued: February 24, 2015.

The following notation is used to indicate the specific status of the HQP at the time the research reported in the publications was conducted: