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Faculty of Electrical and Computer Engineering, Department of Systems and Control |
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| K.N.Toosi U. of Tech. | Dr. Hamid D.Taghirad Homepage |
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Dr. Hamid D. Taghirad |
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Professor |
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Title : |
Faculty Member, Department of Systems and Control |
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Office Address: |
Faculty of Electrical and Computer Engineering, Room 321, P.O. Box 16315-1355 |
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Research Interest : |
Robotics, Robust and Nonlinear Control |
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E-mail: |
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Phone : |
+ 98 21 8406 2321 |
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Fax : |
+ 98 21 8846 2066 |
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Degree, From: |
Ph.D. EE, McGill University, Montreal, Canada |
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| Experience: | |||
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Cable Driven Redundant Parallel Manipulator | 2005 -Current | |
| This research area is initiated on my sabbatical leave at CIM, McGill, Canada. It consists of background project on the next generation giant telescopes (LAR). It is further continued in ARAS research group as a current R&D project to design and construct the KNTU 6DOF Cable Driven Redundant Manipulator. | |||
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Adaptive Robust Control of Hard Disk Drives | 2003 -Current | |
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Hard disk servo systems play a vital role for meeting the demand of increasingly high density and high performance hard disk drives. In order to increase the Hard Disk Capacity a very precise tip motion control of the Hard disk read/write head tip is required. In this research Adaptive robust control schemes are developed and simulated for single-stage and dual stage hard disks. In order to fulfill high performance requirements, the model considered in controller performance verification, includes most significant nonlinear effect, namely the friction and high frequency resonant, hence the simulation results are promising to work well in practice. | ||
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Simultaneous Localization and Mapping | 2006 -Current | |
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Simultaneous localization and mapping (SLAM) is a technique used by robots and autonomous vehicles to build up a map within an unknown environment while at the same time keeping track of their current position. In this line of research we are implementing some of the statistical techniques such as Kalman filters, particle filters and scan matching of range data, on the mobile robots in the Robotics Lab. | ||
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Mobile Robots for Unstructured Environment | 2003 -Current | |
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Starting with the aim of championship in the ROBOCUP Rescue contest, many different mobile robots have been designed and implemented. The robots have a rugged design with redundant measurement systems to be able to navigate in a fully unstructured environment. Master-slave control strategy for the robots are implemented, by which the visual and range sensor data are transmitted to the operator computer, for semiautomatic motion planning and control. While, many different innovations in design is continually implemented in the robots, currently intelligent control methods are added to the structure, to reduce the operator involvement in the motion planning and control. | ||
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Visual Servoing | 2007 -Current | |
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Vision guided robotics has been one of the major research issue for more than three decades. In this line of research we are concentrating on different types of visual servoing mehods, mainly image based, position based and 2 1/2D visual servoing. A 5DOF Mitsubishi manipulator is currently used for experiments. This robot is from RV-2AJ Mitsubishi series, with fully equipped servo controllers, and state-of-art programming software. | ||
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Telerobotics | 2008 -Current | |
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Telerobotics is the area of
robotics concerned with the control of robots from a
distance, chiefly using wireless connections (like
Wi-Fi,
Bluetooth, the
Deep Space Network, and similar), "tethered" connections, or
the
Internet.. Telerobotics builds on the fields of robotics,
haptics (to deliver to the user a sense of touch), dynamics,
controls, and virtual environments (for prediction, training,
and simulation). Merging these fields, we aim to create a system
with high-fidelity force feedback, giving the user a convincing
sense of
telepresence.
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Flexible Joint Manipulators | 1998 -2007 | |
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This line of research has been
continued for several years and includes the following separate
contributions on the
Design and implementation of modern control
schemes for Flexible Joint Robot: o Robust Control of flexible-joint manipulator; singular perturbation model of fast and slow dynamics, robust composite control synthesis and stability analysis of the system. o Composite-H∞ Controller Synthesis for Flexible Joint Robots. o Composite-QFT Controller Synthesis for Flexible Joint Robots. o Nonlinear H∞ Controller Synthesis for Flexible Joint Robots. o A survey on flexible joint robot modeling and controller design methods. o Supervisory control loop to avoid actuator saturation in flexible joint manipulators. o H-Infinity Controller Design for A Flexible Joint Robot with Phase Uncertainty |
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High Precision Parallel Shoulder Manipulator | 2001 -2006 | |
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This mechanism is
borrowing its design ideas from biological manipulators particularly the
biological shoulder. The interesting features of this mechanism and its
similarity to human shoulder have made its design unique, which can
serve as a basis for a good experimental setup for parallel robot
research. A thorough analysis and controller synthesis on this
mechanism is accomplished which can be listed as:
o Neural Networks Approaches for Computing the Forward Kinematics of a Redundant Parallel Manipulator. o Kinematic Analysis of the Hydraulic Shoulder: A 3-DOF Redundant Parallel Manipulator, o Singularity and stiffness analysis of the hydraulic shoulder: a 3-dof redundant parallel manipulator. o Position controller synthesis for the redundant hydraulic shoulder manipulator. o Impedance Control of the Hydraulic Shoulder: A 3-DOF Parallel Manipulator. o Design and implementation of hydraulic robot shoulder control card |
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Cybernetic Robotics | 2003 -2008 | |
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In the physical sciences, neuro cybernetics is the study of communication and automatic control systems in mutual relation to machines and living organisms. The underlying mathematical descriptions are control theory, extended for complex systems, and mean field theory for neural networks and neural field theory. Exemplary applications of walking and human arm control and further reading can be found here. Neuro cybernetics is a sub-discipline of biocybernetics. In this research neuro-cybernetic signal (EMG) are aquired and classified in order to command artificial arm prosthesis. | ||
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Intelligent Pig | 2001-2003 | |
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A Pipeline inspection gauge or pig in the pipeline industry is a tool that is sent down a pipeline and propelled by the pressure of the product in the pipeline itself. It is the chief device used in pigging. | ||
| Industrial: | |||
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Advanced Robotics and Automated Systems (ARAS) | 1997-now | |
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· Design and implementation of a 4DOF piston-casting industrial robot (Casting Robot, D&A 101). · Design and implementation of an automatic radial welding robot for pipes (Welding Robot, D&A 110). · Design and implementation of an Robotic Cell, D&A 401, including a 4DOF servo robot, a 5DOF robot, an indexing table and a quality control unit. · Design and implementation of a Electronic Board Assembly, D&A 301 for electronic boards. · Design and implementation of a Automatic Quality Control Machine, D&A 310 including ultrasonic, Eddy current flaw detection units and dimension testing with sub-micron accuracy. · Design and implementation of an Automatic Casting Machine, D&A 201 for gravity molding of Aluminum pistons. · Development of Statistical Process Control (SPC Software, D&A 320) for online implementation on piston pin quality control line. · Design of a Washing Robot of Street Electric Lights. · Control Logic Analysis of Nekka and Shazand Power plants, Control Logic, D&A 410. |
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| ► | Robotics Lab, K. N. Toosi U. of Tech. | 1997-now | |
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· Magnetic levitation system (Maglev) analysis, design and implementation of a lab scale prototype, linear and nonlinear control implementation. · Rotational/transnational proof mass (RTAC); analysis of the capture phenomena in dual-spin spacecrafts, design and implementation of a lab scale prototype, parametric identification, and robust control implementation. · Position control of a SCARA robot; dynamic modeling and identification, PC-based linear and nonlinear control design and implementation. · Impedance control of a flight simulator yoke; analysis design and implementation of linear, fuzzy and robust controllers for impedance regulation. · Robust Control of active suspension system with hydraulic actuators. · Lyapunov based vector control of permanent magnet sensorless synchronous motor. · Failure detection in a Power plant heat exchanger using Kalman filter theory. · Modelling, simulation and temperature GPC control synthesis of a solar power plant. · Development of powerful simulators for robot dynamics generation and graphical simulation (ARAS-ROBOSIM). · Design of Power electronic and PLC based control systems for industrial application. · Development of Web-based monitoring and control of industrial plants, and Fieldbus technology. · Determination of angular velocity from shaft encoder data using electronic hardware and Kalman Filter estimation. |
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| ► | Robotics Lab, Center for Intelligent Machines (CIM) |
1993-1997 |
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Robust torque control of harmonic drive systems; intelligent built-in torque sensor development for harmonic drives, modeling of system compliance and friction, and parameter identification, system simulation and experimental validation, design and implementation of robust torque controller using H¥ theory and model-based friction compensation. |
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International Submarine Engineering Ltd, BC, Canada |
1995-1996 |
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Subcontract job to STEAR project; modeling, parameter identification and
robust torque control of a robot joint actuated with harmonic drive. |
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| ► | Ambulatory Robotics Lab, CIM |
1991-1993 |
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| ► | Teaching Experience: | 1997-now | |
| Undergraduate Courses: | |||
| Signal and system, linear control, modern control, industrial control, measurement and instrumentation, digital control, and nonlinear control at K.N. Toosi U. of Tech. Robotics and Control engineering at McGill University.2005 and 1997. | |||
| Graduate Courses | |||
| Nonlinear control, robust control, robotics, parallel robotics, advanced industrial control, advanced instrumentation, advanced dynamics, linear system theory and digital control at K.N. Toosi U. of Tech. | |||
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Conference Tutorials: |
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Copyright © Dr. Hamid D. Taghirad |
| K.N. Toosi University of Technology | |
| Last Updated Wednesday November 30, 2011 |
