Publications of:

 Hamid D. Taghirad

 Professor

 

Title :

Faculty Member, Department of Systems and Control

Office Address:

Faculty of  Electrical and Computer Engineering,  Room 321, P.O. Box 16315-1355

Research Interest :

Robotics, Robust and Nonlinear Control

E-mail:

Taghirad@kntu.ac.ir

Phone :

+ 98 21 8406 2321

Fax :

+ 98 21 8846 2066

Degree, From:

Ph.D. EE, McGill University, Montreal, Canada


Books:

Hamid D. Taghirad, An Introduction to Modern Control, 3rd Edition, K.N. Toosi University Publication. 2014
 Hamid D. Taghirad, Mohammad Fathi and Farina Zamani Osgouei, Robust H  Control, K.N. Toosi University Publication. 2014
 Hamid D. Taghirad, Parallel Robots: Mechanics and Control, CRC press, Taylor and Francis LLC. 2013
Hamid D. Taghirad and S. Ali Salamati, Fundamentals of Measurements in Instrumentation, K.N. Toosi University Publication. 2013
 Hamid D. Taghirad, An Introduction to Modern Control, 2nd Edition, K.N. Toosi University Publication. 2010
 Hamid D. Taghirad, An Introduction to Industrial Automation and Process Control, With Presentation of Siemens Step7 PLC, 2nd Edition, K.N. Toosi University Publication. 2009
 Hamid D. Taghirad, An Introduction to Modern Control, K.N. Toosi University Publication. 2003
 Hamid D. Taghirad, An Introduction to Industrial Automation and Process Control, K.N. Toosi University Publication. 2002

A number of hard copies of the above listed books are purchased for interested people who have difficulty to use the online purchase system. Please come to my office to get a copy if interested.


Peer-Reviewed Journal Papers:

Parallel and Cable Robots

H.D. Taghirad, A. Zarif Loloei and M. A. Khosravi,   ی ی ی: یی یی , Journal of Control, 8(3), pp 87-118, 2015.

R. Babaghasabha, M. A. Khosravi and H.D. Taghirad, Adaptive robust control of fully-constrained cable driven parallel robots, Mechatronics, 25, pp 27-36, Feb. 2015.

M. A. Khosravi and H.D. Taghirad, Robust PID control of fully-constrained cable driven parallel robots, Mechatronics, 24, pp 87-97, July 2014.

M. A. Khosravi and H.D. Taghirad, Dynamic Modeling and Control of Parallel Robots With Elastic Cables: Singular Perturbation Approach, IEEE Transactions on Robotics, 30(3), pp 694-704, June 2014.

S. A. Khalilpour, H. D. Taghirad, M. Tale Masouleh, M. Aliyari Shoorehdeli, Multi-Objective Optimization of 6-Degree-of-Freedom Cable-Driven Parallel Robot Using Kinematic Indices, Journal of Control, Vol. 7 No. 2, pp  43-55, Summer (2013). (In Persian).

A. Zarif Loloei and H.D. Taghirad, Controllable Workspace of General Cable Driven Redundant Parallel Manipulator By Fundamental Wrench, Transactions of CSME, Vol. 36, No. 3, pp 297-313, Dec 2012.

Mohammad Hossein Saadatzi, Mehdi Tale Masouleh and Hamid D. Taghirad, Workspace Analysis of 5-PRUR Parallel Mechanisms (3T2R), Elsevier Journal of Robotics and Computer Integrated Manufacturing, 28(3) 437448, June 2012.

M. A. Khosravi and H.D. Taghirad, Dynamic Analysis and Control of Cable Driven Robots with Elastic Cables, Transactions of CSME, Vol. 35, No. 4, pp 543- 577, Dec 2011.

Y. B. Bedoustani, P. Bigras, H. D. Taghirad and I. Bonev, Lagrangian Dynamics of Cable-Driven Parallel Manipulators: A Variable Mass Formulation, Transactions of CSME, Vol. 35, No. 4, pp 529-542, Dec 2011.

M.H. Saadatzi, M. T. Masouleh, Hamid D. Taghirad, C. Gosselin and P. Cardou, Geometric Analysis of the Kinematic Sensitivity of Planar Parallel Mechanisms, Transactions of CSME, Vol. 35, No. 4, pp 477- 490, Dec 2011.

H.D. Taghirad and Y.B. Bedoustani, An Analytic-Iterative Redundancy Resolution Scheme for Cable-Driven Redundant Parallel Manipulators, IEEE Transactions on Robotics, Vol 27. No. 6, pp 1137-1143, Dec. 2011.

Mohammad M. Aref, Hamid D. Taghirad and Sasan Barissi, Optimal Design of Dexterous Cable Driven Parallel Manipulators, International Journal of Robotics: Theory and Applications, 2(4) 43-51, Dec (2009).

Mir Amin Hosseini, Hamid-Reza M. Daniali and Hamid D. Taghirad, Dexterous Workspace Optimization of a Tricept Parallel Manipulator, Advanced Robotics, Vol. 25, No. 3. pp. 1697-1721, Sept. 2011.

Mehdi Tale Masouleh Clment Gosselin Mohammad Hossein Saadatzi Xianwen Kong Hamid D. Taghirad, Kinematic analysis of 5-RPUR (3T2R) parallel mechanisms, Meccanica, Online First, 15 December 2010.

H. Taghirad and M. Nahon, Dynamic Analysis of A Macro-Micro Redundantly Actuated Parallel Manipulator,  Advanced Robotics, Vol. 22 No. 3, pp  949981, Sept. 2008.

H. Taghirad and M. Nahon, Kinematic Analysis of A Macro-Micro Redundantly Actuated Parallel Manipulator, Advanced Robotics, Vol. 22,  No. 2, pp 657687, July 2008.

H. Sadjadian and H.D. Taghirad, Kinematic, Singularity and stiffness analysis of the hydraulic shoulder: a 3-dof redundant parallel manipulator, Advanced Robotics, Vol. 20, No. 7, pp. 763781, 2006.

H. Sadjadian and H.D. Taghirad, Comparison of Different Methods for Computing the forward Kinematics of a Redundant Parallel Manipulator, Journal of Intelligent and Robotic Systems, 44: 225-246, 2005.

H. Sadjadian , H.D. Taghirad and A. Fatehi, Neural Networks Approaches  for Computing the Forward Kinematics of a Redundant Parallel Manipulator, International Journal of Computational Intelligence, Vol 2, No. 1, pp 40-47, April 2005.

Mobile Robotics

A. Norouzzadeh Ravari and H.D. Taghirad, Reconstruction of B-spline curves and surfaces by adaptive group
testing
, Computer-Aided Design, 74 (1) 3244, Feb. 2016.

A. Norouzzadeh Ravari and H.D. Taghirad, 3D Scene and Object Classification Based on Information Complexity of Depth Data, International Journal of Robotics: Theory and Applications, 4(2) 28-35, Sept. (2015).

R. Havangi, H. D. Taghirad, M.A. Nekouei, M. Teshnelab,  A Square Root Unscented FastSLAM With Improved Proposal Distribution and Resampling, IEEE Trans. on Industrial Electronics, Vol 61, No. 5, pp 2334-2345 May, 2014.

A. Norouzzadeh Ravari and H.D. Taghirad, Loop Closure Detection By Algorithmic Information Theory: Implemented On Range And Camera Image Data, IEEE Transactions on Cybernetics, 44(10), pp 1938-1949, Oct. 2014.

R. Havangi, M.A. Nekouei, M. Teshnelab, H. D. Taghirad, An intelligent UFastSLAM with MCMC move step, Advanced Robotics, available online Feb. 5 2013.

R. Havangi, M.A. Nekouei, H. D. Taghirad, M. Teshnelab, A SLAM based on auxiliary marginalised particle filter and differential evolution, International Journal of System Sciences, available online Jan. 27 2013.

Control Systems

Elham Almodaresi, Mohammad Bozorg and Hamid D. Taghirad, Stability domains of the delay and PID coefficients for general time-delay systems, International Journal of Control, DOI: 10.1080/00207179.2015.1099166, Nov 2015.

A. Rahimabadi and H. D. Taghirad, Corner Staiblity in Nonliner Autonomous Systems, Nonlinear Dynamics, available online, Jan. 2015.

A. Shariati, H.D. Taghirad, A. Fatehi, A neutral system approach to H-infinity PD/PI controller design of processes with uncertain input delay, Journal of Process Control 24(6), 144157, June 2014.

A. Shariati, H.D. Taghirad, B. Labibi, PD Controller Design with H∞ Performance for Linear Systems with Input Delay, Amirkabir Journal: International Journal of Electrical and Electronics Engineering, Vol. 42  No. 1, pp 57-64, March 2012.

A. Shariati, H.D. Taghirad, B. Labibi, Delay-Dependent H∞ Control of Linear Systems with Uncertain Input Delay Using State-Derivative Feedback, Control Engineering and applied informatics, Vol.14, No.1, pp. 22-30, March 2012.

Hossein Beikzadeh and Hamid D. Taghirad, Robust SDRE filter design for nonlinear uncertain systems with an H performance criterion, ISA Transactions, Vol 52. No. 1, pp 146-152, Jan. 2012.

Hossein Beikzadeh and Hamid D. Taghirad, Stability Analysis of  Discrete-Time SDRE Filter in Stochastic Domain, Journal of Control, Vol. 5, No. 2. pp 1-11, summer 2011. (In Persian)

Hossein Beikzadeh, Hamid D. Taghirad, Exponential Nonlinear Observer Design based on Differential state dependent Riccati Equation, Journal of Control, Vol 4. No. 4. pp. 14-23, Winter 2011. (In Persian)

N. Poursafar, H.D.  Taghirad, and M. Haeri, Model predictive control of nonlinear discrete time systems: An LMI approach, IET Control Theory and Applications, Vol. 4, No. 10, pp. 1922-32, 2010.

A. Shariati, H.D. Taghirad, B. Labibi, A New Approach to Bounded Real Lemma Representation for Linear Neutral Systems, Journal of Control, Vol. 3 No. 4, pp  46-57, March (2010). (In Persian)

H.D. Taghirad and E. Jamei, Robust Performance Verification of IDCARC Controller for Hard Disk Drives, IEEE Transactions on Industrial Electronics, Vol. 55, No. 1, pp 448-456, Jan. 2008.

M. Tavakoli, H. D. Taghirad and M Abrishamchian, Identification of a Rotational/Translational Actuator for Model-based and Robust H Controls, International Journal of Control, Automation, and Systems, 3(3) pp 387-396, Sept. 2005.

Vision Based Robotics

Fateme Bakhshande, Hamid D. Taghirad, Visual Tracking using Kernel Projected Measurement and Log-Polar Transformation, International Journal of Robotics, Vol. 4, No. 1, 1-11 (2015).

M. Parsapour and H.D. Taghirad, Kernel-based sliding mode control for visual servoing system, IET Computer Vision, 9(3)Iss. 3, pp. 309320, Sept. 2015.

Amir Mobarhani and H. D. Taghirad, ی Ϙ ی ی یی ی ی ϐ ǘ ی ی, Sharif Journal,  Vol 30-3, No. 1, pp 115-124, Fall 2013.

H.D. Taghirad, Seyed Farokh Atashzar and Mahya Shahbazi, A Robust Solution to 3D Pose Estimation Using Composite Extended Kalman Observer and Kalman Filter,  IET Computer Vision, Vol. 6, Iss. 2, pp. 140152, 2012.

Flexible Robots

S. Ozgoli and H.D. Taghirad, Fuzzy error governor: A practical approach to counter actuator saturation on flexible joint robots, Mechatronics, 19 (2009) 9931002.

H.D. Taghirad and M.A. Khosravi, Robust stability analysis of Linear controllers in Flexible joint robots, Journal of Tabriz University, 7 (2008), 15-23 (In Persian)

S. Ozgoli and H.D. Taghirad, A Survey on the Control of Flexible Joint Robots, Asian Journal of Control, Vol. 8, No. 4, pp. 1-15, December 2006.

H.D. Taghirad and M.A. Khosravi, Robust stability analysis of composite controller synthesis for flexible joint robots, Advanced Robotics, RSJ, Vol 20, No. 2, pp 181-211, Feb. 2006.

S. Ozgoli and H.D. Taghirad, A Robust Composite Controller for Flexible Joint Robots with a Fuzzy Anti Saturation Strategy, European Journal of Scientific Research , 2 (1) pp 62-88, March 2005.

Harmonic Drives

H.D. Taghirad and P.R. Belanger, H-infinity-based robust torque control of harmonic drive systems, Journal of Dynamic Systems, Measurements, and Control, ASME Pub., 123(3) pp 338-345, Sept. 2001

H.D. Taghirad and P.R. Belanger, Intelligent built-in torque sensor of harmonic drive systems, IEEE Transactions on Instrumentation and Measurements, Vol. 48, No. 6, pp 1201-1207, Dec 1999.

H.D. Taghirad and P.R. Belanger, Modeling and parameter identification of harmonic drive systems, Journal of Dynamic Systems, Measurements, and Control, Vol. 120, No. 4, pp 439-444, ASME Pub., Dec. 1998.

H.D. Taghirad and P.R. Belanger, Torque ripple and misalignment torque compensation for the built-in torque sensor of harmonic drive systems, IEEE Transactions on Instrumentation and Measurements, Vol. 47, No. 01, pp 309-315, Feb. 1998.

Active Suspension

H.D. Taghirad and E. Esmailzadeh, Automobile passenger comfort assured through LQR/LQG active suspension, Journal of Vibration and Control, 1999.

E. Esmailzadeh and H.D. Taghirad, Active vehicle suspensions with optimal state-feedback control, International Journal of Modeling and simulation, vol 18, No. 3, pp 228-238, 1998.

E. Esmailzadeh and H.D. Taghirad, State-feedback control for passenger ride dynamics, Transactions of the Canadian Society for Mechanical Engineering, 19(4):495-508, Dec. 1995.

Others

Soheil Kianzad, Soheil O. Karkouti, and Hamid D. Taghirad, Force Control of Intelligent Laparoscopic Forceps, Journal of Medical Imaging and Health Informatics, Vol. 1, 284289, 2011.

M. I. Glavinovic, P. Gooria, F. Aristizabal, H. D.Taghirad, Parametric spectral analysis of nonstationary fluctuations of excitatory synaptic currents, Biological Cybernetics, Vol. 98, pp 145169, Feb. 2008.


Peer-Reviewed Conference Publication

P. Agand, H. D. Taghirad and A. Molaei, Vision-based kinematic calibration of spherical robots, in the proceedings of the Third RSI International Conference on Robotics and Mechatronics (ICRoM 2015), Tarbiat Modares University. Tehran, Oct. 2015.

E. Abedloo, S. Gholami and H. D. Taghirad, Eye-RHAS manipulator: From kinematics to trajectory control, in the proceedings of the Third RSI International Conference on Robotics and Mechatronics (ICRoM 2015), Tarbiat Modares University. Tehran, Oct. 2015.

S. Gharatappeh, M. Ghorbani, M. Keshmiri and H. D. Taghirad, Modified fast-SLAM for 2D mapping and 3D localization, in the proceedings of the Third RSI International Conference on Robotics and Mechatronics (ICRoM 2015), Tarbiat Modares University. Tehran, Oct. 2015.

A. Khorasani, S. Gholami and H. D. Taghirad, Optimization of KNTU Delta robot for pick and place application, in the proceedings of the Third RSI International Conference on Robotics and Mechatronics (ICRoM 2015), Tarbiat Modares University. Tehran, Oct. 2015.

A. Norouzzadeh Ravari and H. D. Taghirad, Loop closure detection by compressed sensing for exploration of mobile robots in outdoor environments, in the proceedings of the Third RSI International Conference on Robotics and Mechatronics (ICRoM 2015), Tarbiat Modares University. Tehran, Oct. 2015.

A. Molaei, E. Abedloo, H.D. Taghirad and Z. Marvi, Kinematic and workspace analysis of DIAMOND: An innovative eye surgery robot, in the proceedings of the 23rd Iranian Conference on Electrical Engineering (ICEE'15), Sharif U. of Technology,Tehran, May 2015.

M. Rostami and H.D. Taghirad, Region of convergence expansion of a robust model predictive controller, in the proceedings of the 23rd Iranian Conference on Electrical Engineering (ICEE'15), Sharif U. of Technology,Tehran, May 2015.

R. Talaei Shahir and H. D. Taghirad, An Improved Optimization Method for iSAM2, in the proceedings of the Second RSI International Conference on Robotics and Mechatronics (ICRoM 2014), K. N. Toosi U. of Tech. Tehran, Oct. 2014.

M. A. Athari and H. D. Taghirad, An Online Implementation of Robust RGB-D SLAM , in the proceedings of the Second RSI International Conference on Robotics and Mechatronics (ICRoM 2014), K. N. Toosi U. of Tech. Tehran, Oct. 2014.

S. Khosravi, A. Arjmandi, and H. D. Taghirad, Sliding Impedance Control for Improving Transparency in Telesurgery, in the proceedings of the Second RSI International Conference on Robotics and Mechatronics (ICRoM 2014), K. N. Toosi U. of Tech. Tehran, Oct. 2014.

A. Norouzzadeh Ravari and H. D. Taghirad, Transformation Invariant 3D Object Recognition Based On Information Complexity, in the proceedings of the Second RSI International Conference on Robotics and Mechatronics (ICRoM 2014), K. N. Toosi U. of Tech. Tehran, Oct. 2014.

A. Sharifi and H. D. Taghirad, Online Time-Optimal Trajectory Planning in Dynamic Workspace of Cable Suspended Robots, in the proceedings of the Second RSI International Conference on Robotics and Mechatronics (ICRoM 2014), K. N. Toosi U. of Tech. Tehran, Oct. 2014.

E. Abedloo, A. Molaei and H. D. Taghirad, Closed-Form Dynamic Formulation of Spherical Parallel Manipulators by Gibbs-Appell Method,  in the proceedings of the Second RSI International Conference on Robotics and Mechatronics (ICRoM 2014), K. N. Toosi U. of Tech. Tehran, Oct. 2014.

F. Sabahi, M. A. Khosavi and H. D. Taghirad, Implementation of Analytic Iterative Redundancy Resolution Technique on KNTU Cable Robot,  in the proceedings of the Second RSI International Conference on Robotics and Mechatronics (ICRoM 2014), K. N. Toosi U. of Tech. Tehran, Oct. 2014.

M. A. Khosravi and H.D. Taghirad, Dynamic Analysis and Control of Fully-Constrained Cable Robots with Elastic Cables: Variable Stiffness Formulation in Cable Driven Parallel Robots, Springer, the proceedings of the Second International Conference on Cable Robots, Stuttgart, Germany, pp 160-177, Sept. 2014.

R. Babaghasabha, M. A. Khosravi and H.D. Taghirad, Adaptive Control of KNTU Planar Cable-Driven Parallel Robot with Uncertainties in Dynamic and Kinematic Parameters, in Cable Driven Parallel Robots, Springer, the proceedings of the Second International Conference on Cable Robots, Stuttgart, Germany, pp 145-159, Sept. 2014.

M. A. Khosavi and H. D. Taghirad, A Positive Tensions PID Controller for a Planar Cable Robot: An Experimental Study, in the proceedings of the First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM 2013), Sharif University of Technology, Tehran, Feb. 2013.

M. A. Khosavi and H. D. Taghirad, Robust PID Control of CableDriven Robots with Elastic Cables, in the proceedings of the First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM 2013), Sharif University of Technology, Tehran, Feb. 2013.

M. Parsapour, S. Rayatdoost, H. D. Taghirad, Position Based Sliding Mode Control for Visual Servoing System, in the proceedings of the First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM 2013), Sharif University of Technology, Tehran, Feb. 2013.

S. A. Khalilpour, A. Zarif, H. D. Taghirad and M. Tale Masouleh, Kinematic Performance Indices Analyzed on Four Planar Cable Robots via Interval Analysis, in the proceedings of the First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM 2013), Sharif University of Technology, Tehran, Feb. 2013.

A. Mobarhani and H. D. Taghirad, , in the proceedings of the First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM 2013), Sharif University of Technology, Tehran, Feb. 2013.

A. Norouzzadeh Ravari and H. D. Taghirad, Unsupervised 3D Object Classification From Range Image Data By Algorithmic Information Theory, in the proceedings of the First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM 2013), Sharif University of Technology, Tehran, Feb. 2013.

F. Bakhshandeh, H. D. Taghirad, Visual Tracking in Four Degrees of Freedom using Kernel Projected Measurement, in the proceedings of the First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM 2013), Sharif University of Technology, Tehran, Feb. 2013.

F. Adib Yaghmaie, A. Mobarhani, H. D. Taghirad, A New Method for Mobile Robot Navigation in Dynamic Environment: Escaping Algorithm, in the proceedings of the First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM 2013), Sharif University of Technology, Tehran, Feb. 2013.

N. Marhemati, H. Taghirad and K. Khossousi, Monte Carlo Sampling of Non-Gaussian Proposal Distribution in Feature-Based RBPF-SLAM, in the proceedings of Australasian Conference on Robotics and Automation ACRA'12, Wellington, New Zealand, Dec. 2012.

H. Soltani, H.D. Taghirad, and A. Norouzzadeh Ravari, Stereo-based visual navigation of mobile robots in unknown environments, in the proceedings of the 20th Iranian Conference on Electrical Engineering (ICEE), pp 946 - 951, Tehran, May 2012.

F. Adib Yaghmaie, F. Bakhshande and H. D. Taghirad, Feedback error learning control of trajectory tracking of nonholonomic mobile robot, in the proceedings of the 20th Iranian Conference on Electrical Engineering (ICEE), pp 889 - 893, Tehran, May 2012.

M. A. Khosravi and H.D. Taghirad, Experimental Performance of Robust PID Controller on a Planar Cable Robot, in Cable Driven Parallel Robots, Springer, the proceedings of the First International Conference on Cable Robot, Stuttgart, Germany, pp 337-352, Sept. 2012.

S. A. Khalilpour, A. Zarif, H. D. Taghirad and M. Tale Masouleh, Feasible Kinematic Sensitivity in Cable Robots Based on Interval Analysis, in Cable Driven Parallel Robots, Springer, the proceedings of the First International Conference on Cable Robot, Stuttgart, Germany, pp 233-249, Sept. 2012.

A. Mobarhani, Sh. Nazari, A. H.  Tamjidi and  Hamid Taghirad, Histogram Based Frontier Exploration, in the proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, USA, Sept. 2011.

A. Vafaei, M. A. Khosravi and Hamid D. Taghirad, Modeling and Control of Cable Driven Parallel Manipulators with Elastic Cables: Singular Perturbation Theory, in the proceedings of ICIRA'12, Aachen, Germany, Dec. 2011.

M.H. Saadatzi, M. T. Masouleh, Hamid D. Taghirad, C. Gosselin and M. Teshnelab, Multi-Objective Scale Independent Optimization of 3-RPR Parallel Mechanisms, in the proceedings of IFTOMM'11, Guanajuato, Mexico, June, 2011.

M. Azadegan, S. Ozgoli and H.D. Taghirad, Delay-Independent Robust Stability Analysis of Teleoperation, in the proceedings of CCDC 2011, China, May 2011.

M. Ataollahi and H.D. Taghirad, Adaptive Robust Controller Design for Non-Minimum Phase systems, in the proceedings of TOK'11, Izmir, Turkey, Sept. 2011.

M. M. Share Pasand and H.D. Taghirad, Robust Internal Model Control For Impulse Elimination of Singular Systems, in the proceedings of TOK'11, Izmir, Turkey, Sept. 2011.

M.H. Saadatzi, M. T. Masouleh, Hamid D. Taghirad, C. Gosselin and P. Cardou, On the Optimum Design of 3-RPR Parallel Mechanisms, in the proceedings of ICEE'11, Tehran, Iran, May 2011.

M. Ataollahi, H. H. Eghrari and H.D. Taghirad, Adaptive Robust Backstepping Control Design for A Non-minimum Phase Model of Hard Disk Drives, in the proceedings of ICEE'11, Tehran, Iran, May 2011.

M. A. Khosravi and H.D. Taghirad, Modelling and Control of Fully Constrained Cable Driven Robots with Flexible Cables, in the proceedings of ICEE'11, Tehran, Iran, May 2011.

A. A. Salamati, H.D. Taghirad and A. Chaibakhsh, Design of gain scheduling controller for two-valve turbine system, in the proceedings of ICEE'11, Tehran, Iran, May 2011.

M.H. Saadatzi, M. T. Masouleh, Hamid D. Taghirad, C. Gosselin and P. Cardou, Geometric Analysis of the Kinematic Sensitivity of Planar Parallel Mechanisms, in the proceedings of CCToMM M3 Symposium, Montreal, Canada, July 2011.

M. A. Khosravi and H.D. Taghirad, Dynamic Analysis and Control of Cable Driven Robots Considering Elasticity in Cables, in the proceedings of CCToMM M3 Symposium, Montreal, Canada, July 2011.

Yousef B. Bedoustani, Pascal Bigras, Hamid D. Taghirad and Ilian Bonev, Lagrangian Dynamics of Cable-Driven Parallel Manipulators: A Variable Mass Formulation, in the proceedings of CCToMM M3 Symposium, Montreal, Canada, July 2011.

A. Zarif Loloei and H.D. Taghirad, Controllable Workspace of General Cable Driven Redundant Parallel Manipulator Based on Fundamental Wrench, in the proceedings of CCToMM M3 Symposium, Montreal, Canada, July 2011.

B. Fallahi and H.D. Taghirad, Analytical Passivity Analysis for Wave-based Teleoperation with Improved Trajectory Tracking, in the proceedings of CCToMM M3 Symposium, Montreal, Canada, July 2011.

M. Azadegan, S. Ozgoli and H.D. Taghirad, Delay-Independent Robust Stability Analysis of  Internet-Based Tele-operation, in the proceedings of International Symposium on Computer Networks and Distributed Systems (CNDS), February 23-24, Tehran, 2011.

R. Oftadeh, M.M. Aref, and H.D. Taghirad, Explicit Dynamics Formulation of StewartGough Platform: A Newton-Euler Approach, in the proceedings of IEEE IROS 10, Taiwan, Oct. 2010.

 

R. Oftadeh, M.M. Aref, and H.D. Taghirad, Forward Kinematic Analysis of A Planar Cable Driven Redundant Parallel Manipulator Using Force Sensors, in the proceedings of IEEE IROS 10, Taiwan, Oct. 2010.

 

M.M. Masouleh, C. Gosselin, M.H. Saadatzi and H.D. Taghirad, A Geometric Constructive Approach for the Workspace Analysis of Symmetrical 5-PRUR Parallel Mechanisms (3T2R), in the Proceedings of the ASME International Design Engineering Technical Conferences, IDETC 2010, Montreal, Canada, Aug. 2010.

 

Y. B. Bedoustani and H.D. Taghirad, Iterative-Analytic Redundancy Resolution Scheme for a Cable-Driven Redundant Parallel Manipulator,  in the proceedings of IEEE/ASME AIM 10, Montreal, Canada, July 2010.

 

A. Shariati, H.D. Taghirad and B. Labibi, Delay-Dependent H Control of Linear Systems with Time-Varying Delays Using Proportional-Derivative State Feedback, in the proceedings of IEEE MED CCA, Morocco, June 2010.

 

B. Beigzadeh, H. Khaloozadeh and H.D. Taghirad, A Solution for finite-time optimal control of nonlinear systems, in the proceedings of Iranian Conference on Electrical Engineering, ICEE 10, Isfahan, 2010.

 

M.M. Share Pasand, A. Aliyari Sh. and H.D. Taghirad, Unknown Input-Proportional Integral Observer for Singular Systems: Application to fault detection, in the proceedings of Iranian Conference on Electrical Engineering, ICEE 10, Isfahan, 2010.

 

M.M. Masouleh, C. Gosselin, M.H. Saadatzi and H.D. Taghirad, Forward Kinematic Problem and Constant Orientation Workspace of a 5-RPRRR (3T2R) Parallel Mechanisms, in the proceedings of Iranian Conference on Electrical Engineering, ICEE 10, Isfahan, 2010. (In persian)

 

A. Vafaei, M.M. Aref, and H.D. Taghirad, Integrated Controller For An OverConstrained Cable driven parallel manipulator: KNTU CDRP, in the proceedings of IEEE ICRA 10, USA, May 2010.

 

A. Shariati, H.D. Taghirad, B. Labibi, Delay-Dependent H-infinity Control of Linear System with Input Delay Using Composite State-Derivative Feedback in the proceedings of 4th Int. Symposium on Communications, Control and Signal Processing, ISCCSP 2010, Limassol, Cyprus, March 2010.

 

Hossein Beikzadeh, Hamid D. Taghirad, Robust H-infinity Filtering for Nonlinear Uncertain Systems Using State-Dependent Riccati Equation Technique, in the proceedings of IEEE CDC 09, Shanghai, China, Dec. 2009.

 

Hossein Beikzadeh, Hamid D. Taghirad, Stability Analysis of the Discrete-Time Difference SDRE State Estimator in a Noisy Environment, in the proceedings of IEEE ICCA 09, Christchurch, New-Zealand, Dec. 2009.

 

A. Farahani and  Hamid D. Taghirad, Visual Servoing By Artificial Neural Networks, in the proceedings of Iranian Conference on Industrial Automation, Sharif University of Technology, Tehran, Iran, Oct. 2009. (in persian)

 

Hossein Beikzadeh, Hamid D. Taghirad,  Nonlinear Sensorless Speed Control of PM Synchronous Motor via an SDRE Observer-Controller Combination,  in the proceedings of 4th IEEE Conference on Industrial Electronics and Applications, ICIEA 2009.  pp. 3570-75, 25-27 May 2009.

 

Amir Hossein Tamjidi, Hamid Taghirad, Ali Aghamohammadi, On the Consistency of EKF-SLAM: Focusing on the Observation Models, in the proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, USA, 2009.

 

E. Mihankhah, H.D. Taghirad, A. Kalantari, E. Aboosaeedan, H. Semsarilar, Line Matching Localization and Map Building with Least Square, in the proceedings of IEEE/ASME AIM 09, Singapore, 2009.

 

Azadeh Zarif Loloei, Mohamad M. Aref, and Hamid D. Taghirad, Wrench Feasible Workspace Analysis of Cable-Driven Parallel Manipulators Using LMI Approach, in the proceedings of IEEE/ASME AIM 09, Singapore, 2009.

 

A. Shariati, H.D. Taghirad, B. Labibi, Delay-Dependent Stabilization of Linear Input-Delayed Systems with Composite State-Derivative Feedback: Constant and Time-Varying Delays, in the proceedings of Iranian Conference on Electrical Engineering, ICEE 09, Tehran, 2009.

 

M. M. Aref, R. Oftadeh, H.R. Taghirad,, Kinematics and Jacobian Analysis of the KNTU CDRPM: A Cable Driven Redundant Parallel Manipulator, in the proceedings of Iranian Conference on Electrical Engineering, ICEE 09, Tehran, 2009.

 

Amir Hossein Tamjidi, Hamid Taghirad, Mina Marhemati, Consistensy Analysis of EKF-SLAM and proposing a new method to have a more consistent with low computational cost , in the proceedings of Iranian Conference on Electrical Engineering, ICEE 09, Tehran, 2009 (In persian).

 

Sh. Nazari, Sh. Kiaei, A.H. Tamjidi and H. D. Taghirad, Design and implementation of simultaneous trajectory planning and mapping for a mobile robot in an unstructured environment , in the proceedings of Iranian Conference on Electrical Engineering, ICEE 09, Tehran, 2009, (In Persian).

 

A. R. Norouzzadeh Ravari, H. D. Taghirad, A. H. Tamjidi, Vision-Based Fuzzy Navigation of Mobile Robots in Grassland Environments, in the proceedings of IEEE/ASME AIM 09, Singapore, 2009.

 

E. Mihankhah, A. Kalantari, H. D. Taghirad, S. A. A. Moosavian, and E. Aboosaeedan, Autonomous Staircase Detection and Stair Climbing for a Tracked Mobile Robot using Fuzzy Controller, in the proceedings IEEE ROBIO 09, Thailand, Feb. 2009.

 

A. Norouzzadeh and H. D. Taghirad, A novel hybrid Fuzzy-PID controller for tracking control of robot manipulators, in the proceedings IEEE ROBIO 09, Thailand, Feb. 2009.

 

A. H. Tamjidi, A. A. Aghamohammadi, H. D. Taghirad, LFR and Vision Data Fusion for SLAM, 5th Iranian conference on Machine Vision and Image Processing, Nov. 2008. (In Persian)

 

Y. Babazedeh, H. D. Taghirad and M. M. Aref, Dynamics Analysis of a Redundant Parallel Manipulator Driven by Elastic Cables, in the proceedings of  the IEEE 10th International Conference on Control, Automation, Robotics & Vision, ICARCV 2008, Dec. 2008, Hanoi, Vietnam.

 

Sh. Dadashi and H. D. Taghirad, H-Infinity Controller Design for A Flexible Joint Robot with Phase Uncertainty, in the proceedings of 39th International Symposium of Robotics, Seoul, Korea, Oct. 2008.

 

M. M. Aref, P. Gholami, H. D. Taghirad, Dynamic and Sensitivity Analysis of KNTU CDRPM: A Cable Driven Redundant Parallel Manipulator, in the proceedings of IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, China, Oct. 2008.

 

S. Barisi and H. D. Taghirad, Task Based Optimal Geometric Design and Positioning of Serial Manipulators, in the proceedings of IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, China, Oct. 2008.

 

A. A. Aghamohammadi, A. H. Tamjidi, H. D. Taghirad, A Solution for SLAM through Augmenting Vision and Range Information, in the proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2008, Nice, France, Sept. 2008. 

 

P. Gholami , M. M. Aref , H. D. Taghirad, On the Control of the KNTU CDRPM: A Cable Driven Redundant Parallel Manipulator, in the proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2008, Nice, France, Sept. 2008.

 

M. M. Aref and Hamid D. Taghirad, Geometrical Workspace Analysis of a Cable-Driven Redundant Parallel Manipulator: KNTU CDRPM, in the proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2008, Nice, France, Sept. 2008.

 

A. A. Aghamohammadi, A. H. Tamjidi, H. D. Taghirad, LSLAM: SLAM Based on the LRF Information As the Only Data Source, in the proceedings of 17th IFAC World Congress, Korea, July 2008.

 

P. Gholami , M. M. Aref , H. D. Taghirad, Dynamic Analysis of the KNTU CDRPM: A Cable Driven Redundant Parallel Manipulator, in the proceedings of 16th Int. Iranian Conference on Electrical Engineering, May 2008, Tehran.

 

H. Taghirad and P. Sheykholeslam, Adaptive Robust Controller Design for Dual-Stage Hard Disk Drives, In the proceedings of the IEEE conference on Advanced Intelligent Mechatronics, Zurich, Switzerland, Sept 2007.

 

H. Taghirad and M. Nahon, Forward Kinematics of A MacroMicro Parallel Manipulator, In the proceedings of the IEEE conference on Advanced Intelligent Mechatronics, Zurich, Switzerland, Sept 2007.

 

H. Taghirad and M. Nahon, Jacobian Analysis of A MacroMicro Parallel Manipulator, In the proceedings of the IEEE conference on Advanced Intelligent Mechatronics, Zurich, Switzerland, Sept 2007.

 

H. Taghirad and M. Nahon, Dynamic Analysis of A Redundantly Actuated Parallel Manipulator: A Virtual Work Approach, In the proceedings of the15th Int. Iranian Conference on Electrical Engineering, pp54-60, May 2007, Tehran.

 

H. Taghirad and P. Sheykholeslam, IDCARC Controller Design For Dual-Stage Hard Disk Drives, In the proceedings of the15th Int. Iranian Conference on Electrical Engineering, pp 13-20, May 2007, Tehran.

 

H. Sadjadian and H.D. Taghirad, Position controller synthesis for the redundant hydraulic shoulder manipulator, in the proceedings of the 15th Int. Iranian Conference on Electrical Engineering, pp 48-53, May 2007, Tehran.

 

H. Sadjadian and H.D. Taghirad, Impedance Control of the Hydraulic Shoulder: A 3-DOF Parallel Manipulator, IEEE International Conference on Robotics and Biomimetics, pp 526-531, China, Dec. 2006.

 

R. Adlgostar, H. Azimian and H. D. Taghirad, Robust H, H2/HController for Rotational/Translational Actuator (RTAC), IEEE International Conference on Control Applications, pp 705-710,Germany, Oct. 2006.

 

F. Bagheri, S. Purazarm, and H. D. Taghirad, Nonparametric Identification and Robust H Controller Synthesis for a Rotational/Translational Actuator, IEEE International Conference on Control Applications, pp 715-719,Germany, Oct. 2006.

 

A. Jazayeri, A. Fatehi, A. and H.D. Taghirad, Mobile Robot Navigation in an Unknown Environment, 9th IEEE International Workshop on Advanced Motion Control, pp 295 299, March 2006.

 

A. Bayat, H.D. Taghirad and S.S. Motaghian, A New Wavelet Based Algorithm for Real Time Visual Tracking, 5th International Conference for Upcoming Engineers (ICUE 2006), Canada, May 2006.

 

S. Ozgoli and H.D. Taghirad, Designing and Implementation of Mixed H2/H Controller for Flexible Joint Robot to Encounter Actuator Saturation, 14th Int. Iranian Conference on Electrical Engineering, May 2006, Tehran.

 

S. Ozgoli, A. Moradian and H.D. Taghirad, Design and Implementation of Controller for Flexible Joint Robot with a Fuzzy Supervisor to remedy Actuator Satration, Iranian Int. Conference on Mechanical Engineering, May 2006, Isfahan.

 

H. Sadjadian and H.D. Taghirad, Kinematic and Singularity Analysis of the Hydraulic Shoulder: A 3-DOF Redundant Parallel Manipulator, The International Conference on Informatics in Control, Automation and Robotics, pp 125-131, Barcelona, Spain, Sept. 05.

 

S. Ozgoli and H.D. Taghirad, Robust Stability Analysis of FJR Composite Control with Saturating Actuators, IEEE Conference on Control Application, pp 1188-1193, Toronto, Canada, Sept. 2005.

 

H.D. Taghirad and H. Rahimi, Composite QFT Controller Design for Flexible Joint Robots, IEEE Conference on Control Application, pp 583-588, Toronto, Canada, Sept. 2005.

 

Taghirad and M. Shaterian, Nonlinear H Controller Design for Flexible Joint Robots, IEEE Conference on Control Application, pp 1391-1396, Toronto, Canada, Sept. 2005.

 

H. Sadjadian and H.D. Taghirad, Kinematic Analysis of the Hydraulic Shoulder: A 3-DOF Redundant Parallel Manipulator, in proceedings of IEEE International Conference on Mechatronics and Automation, pp 1442-46, Aug.2005, Niagara Falls, Canada.

 

S. Ozgoli and H.D. Taghirad, Robust Stability Analysis of FJR Composite Controller with a Supervisory Loop, IEEE International Conference on Intelligent and Robotic Systems, IROS05, Vol 3. pp 2247-2252, Canada, 2005.

S. Ozgoli and H.D. Taghirad, Robust Controller for Flexible Joint Robot Using H2/H and Mixed Sensitivity Approaches, Int. Iranian Conference on Mechanical Engineering, June 2005, Isfahan.

H.D. Taghirad and M. Shaterian, Nonlinear H controller synthesis for flexible joint robots, 13th Int. Iranian Conference on Electrical Engineering, Vol 3. pp 397-402,  May 2005, Zanjan.

H.D. Taghirad and H. Rahimi, QFT controller synthesis for a nonlinear flexible joint robot, 13th Int. Iranian Conference on Electrical Engineering, Vol 3. pp 403-408,  May 2005, Zanjan.

S. Ozgoli and H.D. Taghirad, Robust control of flexible joint robots with a supervisory control loop to remedy actuator saturation, 13th  Int. Iranian Conference on Electrical Engineering, Vol 3. pp 349-355,  May 2005, Zanjan.

H.D. Taghirad and S. Mahyad, Neuro-musceleton model of below-elbow-arm and a new control topology for its cybernetic prosthesis, 13th Int. Iranian Conference on Electrical Engineering, Vol 3. pp183-188,  May 2005, Zanjan.

S. Ozgoli, and H.D. Taghirad, Using Fuzzy Logic to Remedy Actuator Saturation in a Composite Controller for Flexible Joint Robot, 5th Iranian Conf. On Fuzzy Systems, April 2004, Tehran, Iran.

A. Saidi and H.D. Taghirad, Multivariable Generalized Predictive Temperature Controller Design For Yazd Solar Power Plant, in the proceedings of the 29th Annual Conf. of the Solar Energy Society of Canada, Aug. 2004.

A. Shariati, H.D. Taghirad, and A. Fatehi, Decentralized Robust H∞ Controller design for a half-car active suspension system, IEE Control 2004 Int. Conference, PP 216-220, Sept. 2004, U.K.

S. Ozgoli and H.D. Taghirad, Design of Composite Control for Flexible Joint Robots with Saturating Actuators, IEEE Conference on Mechatronics and Robotics, pp 483-488, Sept. 2004, Aachen, Germany.

H. Sadjadian and H.D. Taghirad, Numerical Methods for Computing the Forward Kinematics of a Redundant Parallel Manipulator, IEEE Conference on Mechatronics and Robotics, pp 557-562, Sept. 2004, Aachen, Germany.

H.D. Taghirad and E. Jamei, Adaptive Robust Controller Synthesis for Hard Disk Servo Systems, IEEE IROS04, 2:1154-1159, Oct 2004, Japan.

H.D. Taghirad and M.A. Khosravi, A Robust Linear Controller for  Flexible Joint Manipulators, IEEE IROS04, 3: 2936-2941, Oct 2004, Japan.

S. Ozgoli, and H.D. Taghirad, Using Fuzzy Logic to Remedy Actuator Saturation in a Composite Controller for Flexible Joint Robot, 5th Iranian Conf. On Fuzzy Systems, pp 75-82, April 2004, Tehran, Iran.

S. Ozgoli, and H.D. Taghirad, Fuzzy Logic Supervisory Loop to Remedy Actuator Saturation Drawbacks, ICSE2003, 16th Int. Conf. on System Engineering, March 2004, U.K.

H.D. Taghirad and M.A. Khosravi, A Robust Linear Controller for  Flexible Joint Manipulators, In the Proceedings of  the  12th International Conference on Electrical Engineering, pp 280-285, May 2004, Mashad.

H. Sadjadian and H.D. Taghirad, A Quasi-Closed Solution Method for Computing the Forward Kinematics of a Redundant Parallel Manipulator,  In the Proceedings of  the  12th International Conference on Electrical Engineering, pp 292-297, May 2004, Mashad.

H.D. Taghirad and E. Jamei, Adaptive robust control for hard disk servo system, In the Proceedings of  the  12th International Conference on Electrical Engineering, pp 13-18, May 2004, Mashad.

H.D. Taghirad and s. Gholampour, Robust position control of hydraulic robotic shoulder, In the Proceedings of  the  12th International Conference on Electrical Engineering, pp 286-291, May 2004, Mashad.

S. Ozgoli and H.D. Taghirad, Supervisory control loop to avoid actuator saturation,  in the proceedings of  5th Conference on Intelligent systems, Oct. 2003, Mashad.

H.D. Taghirad and M.A. Khosravi, Design and simulation of robust composite controllers for flexible joint robots, in the proceedings of  IEEE International Conference on Robotics and Automation, 3:3108-3113, Sept 2003.

M. Tavakoli, H. D. Taghirad and M. Abrishamchian, Parametric and Nonparametric Identification and Robust Control of a Rotational/Translational Actuator, In Proceedings of The Fourth International Conference on Control and Automation (ICCA'03), pp. 765-769, June 2003, Montreal, Canada.

H.D. Taghirad and A. Saidi, Modelling, simulation and temperature control synthesis of Yazd solar power plant,  in the proceeding of 17th  International power system conference, Tehran, Oct 2002, Vol 3, pp 239-246.

H.D. Taghirad and A. Shariati, H∞ control of active suspension system for car model with hydraulic actuators,  in the proceeding of 12th  International conference of Electrical Engineering, Shiraz, May 2003, Vol 3, pp 60-67.

H.D. Taghirad, M.M. Tafreshi and M.R. Eskandari, Failure detection in a Power plant heat exchanger using Kalman filter theory, in the proceeding of 12th  International conference of Electrical Engineering, Shiraz, May 2003, Vol 3, pp 44-51.

H.D. Taghirad and M.A. Khosravi, Stability analysis and robust composite controller synthesis for flexible joint robots, IEEE International Conference on Intelligent and Robotic Systems, IROS02, pp2067-2072, Lausanne, Switzerland, 2002.

H.D. Taghirad and GH. Bakhshi, Composite-H∞ Controller Synthesis for Flexible Joint Robots,  IEEE International Conference on Intelligent and Robotic Systems, IROS02, pp2073-2078, Lausanne, Switzerland, 2002.

H.D. Taghirad, N. Abedi, and E. Noohi, A New Vector Control Method for Sensorless Permanent Magnet Synchronous Motor Without Velocity Estimator, in the proceeding of the IEEE International Workshop on Motion Control, Slovenia, July 2002.

H.D. Taghirad and H. Memarzadeh and M. Younesi, Design and implementation of Electronic system and computer control of a $ DOF Robot D&A 401, in the proceeding of 11th International conference of Electrical Engineering, Tabriz, 2002.

H.D. Taghirad and E. Noohi, A New Lyapunov based control method for Vector Control of Permanent Magnet Synchronous Motor, in the proceeding of 11th International conference of Electrical Engineering, Tabriz, 2002.

H.D. Taghirad, A. Ghaffari, S.A.A. Moosavian and M. Khalkhali, Design and implementation of the computer control system of casting Robot D&A 101, in the proceeding of 10 International Conference of Mechanical Engineering, Tehran, June 2002.

S.A.A. Moosavian, H.D. Taghirad and K. Pornazar, Mechanical Design and implementation of  casting Robot D&A 101, in the proceeding of 10 International Conference of Mechanical Engineering, Tehran, June 2002.

S.A.A. Moosavian, H.D. Taghirad and M. Bahrami, Control system design of Welding Robot D&A 110, in the proceeding of 10 International Conference of Mechanical Engineering, Tehran, June 2002.

H.D. Taghirad and M.A. Khosravi, Stability analysis and robust PID design for flexible joint manipulators, Proceedings of the 31st International Symposium on Robotics, Vol 1, pp 144-149, May 2000, Montreal, Canada.

A. Khaki Sedigh, H.D. Taghirad, I. Roshanfar and V. Olfati, Simulation and cascade integration of GPS and INS, International Conference on Navigation and Control, Tehran, Oct 2000.

H.D. Taghirad, A. Khaki Sedigh and H. Mohammadi, Modeling and Identification of INS, International Conference on Navigation and Control, Tehran, Oct 2000.

H.D. Taghirad and S. Afshar, Linear identification and PID controller design and implementation on a SCARA robot, Proceedings of 8th International Conference on Electrical Engineering, May 2000, Isfahan.

H.D. Taghirad and M.A. Khosravi, Stability analysis of robust PID controller for flexible joint manipulators, Proceedings of 8th International Conference on Electrical Engineering, May 2000, Isfahan.

H.D. Taghirad and M.A. Khosravi, Robust PID controller Design for flexible joint manipulators, Proceedings of 8th International Conference on Electrical Engineering, May 2000, Isfahan.

M. Khalkhali and H.D. Taghirad, Impedance control of a flight simulator yoke, Proceedings of 8th International Conference on Electrical Engineering, May 2000, Isfahan.

A.A. Javadifard, A. Ghafari, and H.D. Taghirad, Dynamics and control of a 4DOF casting robot, in the proceedings of the 3rd IMACS/IEEE International Multiconference on Circuits, System, Communication and Computers, 1998, Greece.

H.D. Taghirad and P.R. Belanger, Kalman filter torque sensing technique for harmonic drives, Proceedings of the 3rd International Conference on Industrial Automation, Vol 1, pp 13.1-13.4, June 1998, Montreal, Canada.

H.D. Taghirad, M. Abrishamchian and R. Ghabcheloo, Electromagnetic levitation system: An experimental approach, Proceedings of the 7th international Conference on Electrical Engineering, Power System Vol, pp 19-26, May 1998, Tehran.

M. Abrishamchian, H.D. Taghirad, S.M.A. Tavakoli, Identification for control of a rotational/translational actuator, Proceedings of the 7th international Conference on Elecrtical Engineering, Control Vol, pp 69-76, May 1998, Tehran.

H.D. Taghirad and P.R. Belanger, Robust friction compensation for harmonic drive system, Proceedings of IEEE international Conference on Control Application, pp 547-551, 1997, Trieste, Italy.

H.D. Taghirad and P.R. Belanger, H∞-based robust torque control of harmonic drive systems, Proceedings of IEEE international Conference on Control Application, pp 990-994, 1997, Trieste, Italy.

H.D. Taghirad and P.R. Belanger, Friction Compensation and H∞-Based Torque Control of Harmonic Drive Systems, Proceedings of International Conference on Mechanical Engineering, pp 761-766, Tehran.

H.D. Taghirad and P.R. Belanger, A Nonlinear Model For Harmonic Drive Friction and Compliance, Proceedings of International Conference on Mechanical Engineering, pp767-772, Tehran.

H.D. Taghirad, A. Helmy and P.R. Belanger, Intelligent built-in torque sensor for harmonic drive systems, Proceeding of the 1997 IEEE Instrumentation and Measurements Conference, 2:969-974, May 1997.

H.D. Taghirad and P.R. Belanger, Intelligent torque sensing and robust torque control of harmonic drive under free-motion, In Proceedings of the IEEE International Conference on Robotics and Automation, 2:1749-54, April 1997.

H.D. Taghirad and P.R. Belanger, Robust torque control of harmonic drive under constrained-motion, In Proceedings of the IEEE International Conference on Robotics and Automation, 1:248-253, April 1997.

H.D. Taghirad and P.R. Belanger, An experimental study on modeling and identification of harmonic drive systems, In Proceedings of the 35th IEEE Conference on Decision and Control, 3:4725:30, Dec. 1996.

H.D. Taghirad and E. Esmailzadeh, Passenger ride-comfort through observer based control, In Proceedings of the 15th ASME biennial Conference on Mechanical Vibration and Noise, Sept. 1995.

H.D. Taghirad and E. Esmailzadeh, Ride comfort and roll characteristics of tandem-axeled truck, In the proceedings of the 1995 SAE International Truck and Bus Meeting and Exposition, 1:1-8, Nov. 1995.

H.D. Taghirad and E. Esmailzadeh, State-feedback control for passenger ride dynamic, In Proceedings of the CSME Forum 1994, 2:822-834, June 1994.

H.D. Taghirad, P. Gregorio and Martin Buehler, Design, modeling and control of a hopping robot, In Proceedings of the International Conference on Intelligent Robots and systems, 3:1778-1785, July 1993.

H.D. Taghirad and E. Esmailzadeh, Road vehicle dynamics and tandem axle road trucks, In Proceedings of the Canadian Multidisciplinary Road Safety Conference, 1:365-374, June 1993.


Technical Report and Theses

H.D. Taghirad, Robust torque control of harmonic drive systems, Ph.D. Thesis, McGill University, March 1997.

H.D. Taghirad, On the robust H-infinity-Based torque control of harmonic drive systems, CIM Technical Report, CIM-TR-97-07, 1997. 

H.D. Taghirad, Application of Kalman filter for intelligent built-in torque sensor of harmonic drives, CIM Technical Report, CIM-TR-97-06, 1997.

H.D. Taghirad, On the modeling and identification of harmonic drive systems, CIM Technical Report, CIM-TR-97-02, 1997

H.D. Taghirad, P.R. Belanger and A. Helmy, An experimental study on harmonic drives, Technical Report Submitted to the International Submarine Engineering Ltd., Port Coquitlam, BC, Canada, 1996.

H.D. Taghirad, Analysis, design, and control of a hopping robot, Master Thesis, McGill University, 1993.

H.D. Taghirad and A.H. Behravesh, Modeling and computer simulation of vehicle suspension system, B.Eng. Thesis, Sharif University of Technology, 1989.