Publications

Refereed Journals:

Bazaei, M. Moallem, “Online Neural Neural Identification of Multi-input Multi-output Systems,” IEE Proceedings: Control Theory and Applications, accepted (to appear in January 2007).
N. Abolhassani, R.V. Patel and M. Moallem, “Needle Insertion in Soft Tissue: A Survey,” Medical Engineering and Physics (Elsevier Science), accepted (July 2006).
M. Tavakoli, A. Aziminejad, R.V. Patel and M. Moallem, “Methods and Mechanisms for Contact Feedback in a Robot-Assisted Minimally Invasive Environment,” Surgical Endoscopy and Other Interventional Techniques, accepted (April 2006), Springer-Verlag, New York.
M. Moallem and J. Lu, “Application of Shape Memory Alloy Actuators for Flexure Control: Theory and Experiments,” IEEE/ASME Transactions on Mechatronics, Vol. 10, No. 5, pp. 495-501, 2005.
M. Moallem and R. Khoshbin, “A Real-Time Environment for Programming and Control of Multi-Robot Manipulators,” Industrial Robot: An International Journal, Vol. 33, No. 4, pp. 254-258, 2006.
Y.F. Chan, M. Moallem and W. Wang, “Design and Implementation of Modular FPGA-based PID Controllers,” IEEE Transactions on Industrial Electronics (accepted, December 2006).
N. Abolhassani, R. Patel, M. Moallem, "Control of Soft Tissue Deformation during Robotic Needle Insertion", Minimally Invasive Therapy and Allied Technology Journal, Vol. 15, No. 3, pp. 165-176, 2006.
M. Kermani, M. Moallem, and R.V. Patel, “Study of System Parameters and Control Design for a Flexible Manipulator using Piezoelectric Transducers” IoP Journal of Smart Materials and Structures, Vol. 14, No. 4, pp. 843-849, 2005.
M. Tavakoli, R.V. Patel, M. Moallem, "A Haptic Interface for Computer-Integrated Endoscopic Surgery and Training," Virtual Reality, Special Issue on Haptic Interfaces and Applications (Springer, London), Vol. 9, No. 2. pp. 160-176, 2006.
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, and Cybernetics, Vol. 35 , No. 6 , pp. 1214-1224, 2005.
X. Yang, M. Moallem R.V. Patel, “A Sensor-based Navigation Algorithm for a Mobile Robot using Fuzzy Logic,” International Journal of Robotics and Automation, Vol. 21, No. 2, 2006.
X. Yang, R.V. Patel, and M. Moallem, “A Fuzzy-Braitenberg Navigation Strategy for Differential Driven Mobile Robots,” Journal of Robotics and Intelligent Systems (Springer Science), accepted (May 2006).
M.R. Kermani, R.V. Patel, and M. Moallem, “Flexure Control using Piezostack Actuators: Design and Implementation,” IEEE/ASME Transactions on Mechatronics, Vol. 10, No.2, pp. 181-188, 2005.
P. Yuan, M. Moallem, and R.V. Patel, “Real-Time Scheduling of Distributed Multi-Robot Systems”, Transactions of the Canadian Society of Mechanical Engineers (CSME), Special Issue on Industrial Control and Automation, Vol. 29, No. 2, pp. 179-194, 2005.
M. Moallem, “Design and Implementation of Computer Control Software,” IEEE Control Systems Magazine, Vol. 25, No. 1, pp. 26-29, 2005.
M. Tavakoli, R.V. Patel and M. Moallem, “Haptic Interaction in Robot-Assisted Endoscopic Surgery: A Sensorized End Effector," Int. J. Medical Robotics and Computer Assisted Surgery, Vol. 1, No. 2, pp. 53-63, 2005.
H.S. Bassan, H.A. Talebi, R.V. Patel and M. Moallem, “Control of a Rigid Manipulator Mounted on a Compliant Base,” Robotica, Vol. 23, No. 2, pp. 197-206, 2005.
M. Moallem, “A Laboratory Testbed for Embedded Computer Control,” IEEE Transactions on Education, Vol. 47, No. 3, pp.340-347, 2004.
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, Vol. 12, No. 5, pp. 757-762, 2004.
M. R. Kermani, M. Moallem, R.V. Patel, “Parameter Selection and Control Design for Vibration Suppression using Piezoelectric Transducers,” Control Engineering Practice (IFAC Journal), Vol. 12, pp. 1005-1015, 2004.
M. Moallem, “Deflection Control of a Flexible Beam using Shape Memory Alloy Actuators,” Smart Materials and Structures (IoP Journal), Volume 12, Issue 6, pp. 1023 – 1027, 2003.
X-G. Wang, M. Moallem, and RV. Patel, “An Internet-Based Distributed Multiple-Telerobot System,” IEEE Transactions on Systems, Man, and Cybernetics, Part A, Vol. 33, No. 5, pp. 627-633, 2003.
M. Moallem, R.V. Patel, K. Khorasani, “Design of an Actuated Flexible Arm for Improved Vibration Properties,” Journal of Vibration and Control, Vol. 9, No. 9, pp. 1041-1056, 2003.
M. Moallem, “Electron Beam Position Monitoring and Feedback Control in Duke Free-Electron Laser Facility,” IEEE Transactions on Industrial Electronics, Vol. 49, No. 2, pp. 423-432, 2002.
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.
M. Moallem, “Distributed Real-Time Control and Data Acquisition of Free-Electron Laser Beams", IEE Computing and Control Engineering Journal, Vol. 12, No. 4, pp. 179-187, 2001.
Moallem, K. Khorasani and R.V. Patel, "Inversion-Based Sliding Control of a Flexible-Link Manipulator," International Journal of Control, Vol. 71, No. 3, pp. 477-490, 1998.
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.
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 and Automation, Vol. 13, No. 6, pp. 823-837, 1997.
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, 14(9), pp. 649-658, 1997.

Books/Monographs and Book Chapters:

M. Moallem, R.V. Patel and K. Khorasani, Flexible-Link Robot Manipulators: Control Techniques and Structural Design, Springer-Verlag, London, 2000 (ISBN 1-85233-333-2).
M. Kermani, M. Moallem and R.V. Patel, Vibration Suppression using Piezoelectric Materials, Nova Science Publishers, Inc., NY, USA: In Press (contract agreement signed in January 2006).
Book Chapter: M. Moallem, Networking Multiple Robots for Cooperative Manipulation, in Industrial Robots: From Design to Applications, accepted October 2006.

Refereed Conference Proceedings

M. Moallem and R. Khoshbin, “An Environment for Programming and Control of Multi-Robot Manipulators,” IEEE Conference on Mechatronics, pp. 587-591, Budapest, Hungary, 2006.
I. Payo, V. Feliu and M. Moallem, “Force Control of a Single-link Flexible Arm,” IEEE Conference on Mechatronics, pp. 392-397, Budapest, Hungary, 2006.
A. Aziminejad, M. Moallem and R.V. Patel, “A Study of Transparency in Wave-based Teleoperation,” IEEE Conference on Mechatronics, pp. 575-580, Budapest, Hungary, 2006.
M.R. Kermani, R.V. Patel, M. Moallem, “Multi-Directional Stabilization of A Large-Scale Robotic Manipulator”, IEEE International Conference on Robotics and Automation, Orlando, FL, 2006.
M. Tavakoli, A. Aziminejad, R.V. Patel, M. Moallem, “Multi-Sensory Force/Deformation Cues for Stiffness Characterization in Soft-Tissue Palpation,” IEEE Engineering in Medicine and Biology Conference, pp. 837-840, New York, NY, 2006.
M. Tavakoli, A. Aziminejad, R.V. Patel, M. Moallem, “Tool/Tissue Interaction Feedback Modalities in Robot-Assisted Lump Localization” IEEE Engineering in Medicine and Biology Conference, pp. 3854-3857, New York, NY, 2006.
M. Tavakoli, R.V. Patel and M. Moallem, “Bilateral Control of a Teleoperator for Soft Tissue Palpation: Design and Experiments,” IEEE International Conference on Robotics and Automation, pp. 3280-3285, Orlando, FL., 2006.
M. Tavakoli, R.V. Patel and M. Moallem, “Adaptive Inverse Dynamics Control of a PHANToM Haptic Device,” IEEE International Conference on Robotics and Automation, pp. 4354-4356, Orlando, FL, 2006.
A. Mesbah Nejad, M. Moallem, “A Neural Network-based Impedance Controller For a Redundantly Actuated Closed-Chain Robot Manipulator,” International Federation of Automatic Control (IFAC) World Congress, Praha, Czech Republic, July 2005.
M. Moallem, J. Lu, “Nonlinear Flexure Control using Shape Memory Alloy Actuators,” International Federation of Automatic Control (IFAC) World Congress, Praha, Czech Republic, July 2005.
M. Kermani, R.V. Patel and M. Moallem, “A High Authority Piezoelectric Stack Actuator for Structurally Flexible Mechanisms,” IEEE Int. Conference on Robotics and Automation, Barcelona, Spain, April 2005.
F. Tavakkoli Attar, R.V. Patel, M. Moallem, “HIVED: A System for Haptic Interaction and Visualization of Elastic Deformation,” Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoeprator Systems (World Haptics), Pisa, Italy, March 2005.
X. Yang, M. Moallem, R. Patel, “A Fuzzy Logic-based Reactive Navigation Algorithm for Mobile Robots," IEEE Conference on Control Applications, Toronto, Canada, August 2005.
X. Yang, M. Moallem, R. Patel, “Motion Planning for Mobile Robots using a Fuzzy Layered Goal-Oriented Approach," IEEE Conference on Control Applications, Toronto, Canada, August 2005.
M.R. Kermani, R. Patel, M. Moallem, “Friction Identification and Compensation in Robotic Manipulators," IEEE Conference on Control Applications, Toronto, Canada, August 2005.
P. Yuan, M. Moallem, R. Patel, “A Feedback Scheduling Algorithm for Real Time Control Systems," IEEE Conference on Control Applications, Toronto, Canada, August 2005.
M. Tavakoli, R. Patel, M. Moallem, “Robotic Suturing Forces in the Presence of Haptic Feedback and Sensory Substitution," IEEE Conference on Control Applications,Toronto, Canada, August 2005.
F. Tavakkoli Attar, R.V. Patel, M. Moallem, “Haptic Interaction and Visualization of Elastic Deformations,” 13^th Conference on Medicine Meets Virtual Reality Conference, Long each, CA, 2005.
M. Tavakoli, R.V. Patel and M. Moallem, “Haptic Feedback and Sensory Substitution during Telemanipulated Suturing,” Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoeprator Systems (World Haptics), Pisa, Italy, March 2005.
Y.F. Chan, M. Moallem and W. Wang, “Implementation of PID Control Algorithm Using FPGA Technology,” 43rd IEEE Conference on Decision and Control, Paradise Island, Bahamas, December 2004.
A. Mesbah Nejad, M. Madani, M. Moallem and R.V. Patel, “Design and Optimization of a Closed-Chain Mechanism For Constrained Position and Force Control,” 3rd IFAC Symposium on Mechatronic Systems, Sydney, Australia, September 2004.
M. R. Kermani, M. Moallem and R. V. Patel, “Tracking Control of a Flexible Manipulator using Piezoelectric Transducers,” 3rd IFAC Symposium on Mechatronic Systems, Sydney, Australia, 2004.
X. Yang, R.V. Patel and M. Moallem, “A Fuzzy-Braitenberg Navigation Strategy for Differential Drive Mobile Robots,” 3rd IFAC Symposium on Mechatronic Systems, Sydney, Australia, September 2004.
N. Abolhassani, R.V. Patel and M. Moallem, “Trajectory Generation for Robotic Needle Insertion in Soft Tissue,” International Conference of the IEEE Engineering in Medicine and Biology, San Francisco, CA, September 2004.
M. Moallem, “An Educational Testbed for Design and Implementation of Computer Control Software," American Control Conference, Boston, MA, 2004.
H.S. Bassan, H.A. Talebi, R.V. Patel and M. Moallem, “Real-Time Vibration Control of an Industrial Manipulator Mounted on a Compliant Base,” American Control Conference, Boston, MA, 2004.
M. Moallem and R.V. Patel, “Utilization of Smart Transduction Devices for Flexure Control,” World Automation Congress, Seville, Spain, June 2004 (invited paper).
N. Abolhassani, R.V. Patel and M. Moallem, “Experimental Study of Robotic Needle Insertion in Soft Tissue,” International Congress on Computer Assisted Radiology and Surgery (CARS), Chicago, IL, June 2004.
M. Moallem and J. Lu, “Experimental Results for Nonlinear Flexure Control using Shape Memory Alloy Actuators," IEEE International Conference on Robotics and Automation, pp. 3653–3658, New Orleans, LA, 2004.
P. Yuan, M. Moallem and R.V. Patel, “A Real-Time Task-Oriented Scheduling Algorithm for Distributed Multi-Robot System," IEEE International Conference on Robotics and Automation, pp. 2562–2567, New Orleans, LA, 2004.
M. Tavakoli, R.V. Patel and M. Moallem, “Design Issues in a Haptics-Based Master-Slave System for Minimally Invasive Surgery," IEEE International Conference on Robotics and Automation, pp. 371–376, New Orleans, LA, 2004.
M.R. Kermani, M. Wong, R.V. Patel and M. Moallem, “Friction Compensation in Low and High-Reversal-Velocity Manipulators," IEEE International Conference on Robotics and Automation, pp. 4320-4325, New Orleans, LA, 2004.
M.R. Kermani, R.V. Patel and M. Moallem, “Active Vibration Control in a Macro-Manipulator using Strengthened Piezoelectric Actuators," IEEE International Conference on Robotics and Automation, pp. 5232-5237, New Orleans, LA, 2004.
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, 2003.
X. Yang, M. Moallem, R.V. Patel, “An Improved Fuzzy Logic-based Navigation System for Mobile Robots,”IEEE/RSJ Int. Conference on Intelligent Robots and Systems, Las Vegas, NV, 2003.
M. Tavakoli, R.V. Patel, M. Moallem, “A Force Reflective Master-Slave System for Minimally Invasive Surgery,”IEEE/RSJ Int. Conference on Intelligent Robots and Systems, Las Vegas, NV, 2003.
X. Yang, M. Moallem, R.V. Patel, “A Novel Intelligent Technique for Mobile Robot Navigation,” IEEE Conference on Control Applications, Istanbul, Turkey, June 2003.
K-P Kang, M. Moallem, R.V. Patel, “Embedded Controller Design for an Active Damper System,” IEEE Conference on Control Applications, Istanbul, Turkey, June 2003.
M. R. Kermani, M. Moallem, R.V. Patel, “Real-Time Active Control of Vibrations in a Flexible Beam,” Proc. of the 2nd IFAC Conference on Mechatronic Systems, Berkeley, CA, U.S.A., December 2002.
M. R. Kermani, M. Moallem, R. V. Patel, “Optimizing Performance of Piezoelectric Actuators for Active Vibration Control,” IEEE International Conference on Robotics and Automation, Washington DC, pp. 2375-2380, May 2002.
M. Moallem, “Nonlinear Position Control of a Flexible Beam using Shape Memory Alloy Actuators,” International Federation of Automatic Control (IFAC) World Congress, Barcelona, Spain, July 2002.
M. Moallem, "Attenuation of Disturbances for an Algebraic System," American Control Conference, pp. 1444-1448, Arlington, VA, 2001.
M. Moallem, R.V. Patel, "Optimal Placement of Smart Actuators for Vibration Control of a Flexible Manipulator,” American Control Conference, pp. 941-946, Arlington, VA, 2001.
X. Wang, M. Moallem, R.V. Patel, “Distributed Multiple Hypotheses Testing with Serial Distributed Decision Fusion”, IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp. 549-554, Banff, Alberta, 2001.
M. Moallem, R.V. Patel, ‘Vibration Control of Flexible-link Manipulators,” IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp. 23-28, Banff, Alberta, 2001.
X-G. Wang, H.C. Shen, and M. Moallem, “Statistical Modeling and Design Issues of a Crossbeam Sensor,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Mauii, Hawaii, 2001.
M. Moallem, "Real-Time Position Control of Free-Electron Laser Beams: Theory and Experiments," IEEE International Conference on Control Applications, Anchorage, Alaska, September 2000.
M. Moallem, R.V. Patel and K. Khorasani, "Optimization of an Actuated Flexible Arm for Improved Control Properties," IEEE International Conference on Control Applications, Anchorage, Alaska, pp. 709-714, September 2000.
M. Moallem, R.V. Patel, "Sliding-Mode Impedance Control of a Redundant Dual-Arm System," World Automation Congress, Maui, Hawaii, June 2000.
M. Moallem, R.V. Patel, "A Vibration Control Strategy for a Boom-Mounted Robotic System for High-Speed Positioning," IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyongju, Korea, October 1999.
P. Wang, N. Hower,V. Litvinenko, M. Moallem, O. Oakeley, "Beam Position Monitors for Duke FEL Storage Ring," IEEE Particle Accelerator Conference, New York, NY, pp. 2098-2101, 1999.
M. Moallem, R.V. Patel and K. Khorasani, "Experimental Results for Nonlinear Decoupling Control of Flexible Multi-Link Manipulators," IEEE International Conference on Robotics and Automation, Albuquerque, NM, pp. 3142-3147, 1997.
M. Moallem, K. Khorasani and R.V. Patel, "Inverse Dynamics Sliding Control of Flexible Multi-Link Manipulators," American Control Conference, Albuquerque, NM, 5 pages on CDROM Proceedings, 1997.
M. Moallem, R.V. Patel and K. Khorasani, "An Observer-Based Inverse Dynamics Control Strategy for Flexible Link Manipulators," International Conference on Decision and Control, Kobe, Japan, pp. 4112-4117, 1996.
M. Moallem, R.V. Patel and K. Khorasani, "An Inverse Dynamics Control Strategy for Tip Position Tracking of Flexible Multi-Link Manipulators," International Federation of Automatic Control (IFAC) World Congress, San Francisco, CA, Vol. A, pp. 85-90, 1996.
M. Moallem, K. Khorasani and R.V. Patel, "Tip Position Tracking of Flexible Multi-Link Manipulators: An Integral Manifold Approach," IEEE International Conference on Robotics and Automation, Minneapolis, MN, pp. 2432-2437, 1996.
M. Moallem, R.V. Patel and K. Khorasani, "Optimum Structure Design for Flexible-Link Manipulators," IEEE International Conference on Robotics and Automation, Minneapolis, MN, pp. 798-803, 1996.

Patents

· M. Tavakoli, R.V. Patel and M. Moallem, “Force Reflective Robotic Control System and Minimally Invasive Surgical Device”, U.S. Provisional Patent Application #60/513,581, October 2003.