Department of Electrical and Computer Engineering
M. Moallem, Ph.D., P.Eng.
M. Moallem, Ph.D., P.Eng.
A.
Bazaei,
M. Moallem, “Online Neural Neural Identification of
Multi-input Multi-output Systems,” IEE Proceedings:
Control Theory and Applications, accepted
(February 2006).
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, accepted (January 2006).
Y.F.
Chan,
M. Moallem and W. Wang, “Design and Implementation of
Modular FPGA-based PID Controllers,” IEEE
Transactions on Industrial Electronics (under 2nd
review- favorable 1st review).
N.
Abolhassani,
R. Patel, M. Moallem, "Control of Soft Tissue
Deformation during Robotic Needle Insertion", Minimally
Invasive Therapy and Allied Technology Journal, to
be published in June 2006 issue.
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, accepted (October 2005).
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, accepted (July
2005).
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 following minor revisions (December 2005).
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.
M.
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.
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,”
13th 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.
M. Moallem, "User Interface and Data Acquisition for Beam Position Monitors in Duke Storage-Ring Facility," Duke University Free-Electron Laser Laboratory, Durham, NC, USA, 1999.
Trajectory Planning and Object Avoidance Project, Space Station Strategic Technologies in Automation and Robotics (STEAR 5), Phase II, 1998. (The contribution to this work was presented in a report to Canadian Space Agency, Vol. 2, pages 306-319, on developing an algorithm for cooperative manipulation.)
Feasibility Study Report, Control of Boom-Mounted Robotic Applications (COBRA) Project, Phase I, Canadair/Bombardier Inc, Mirabel, PQ, Canada,1997.
M. Moallem and H. Xie, "REDIESTRO II, A Seven-Axis Manipulator, Volume II, Hardware Interfacing and Layout Design," Department of Electrical & Computer Engineering, Concordia University, Montreal, Canada, 1996.