Publications- مقالات ژورنال و کنفرانس چاپ شده

  • For More update information about my recent publications please refer to my academic homepage:

  •                                               https://asatid.tabrizu.ac.ir/en/pages/publishes.aspx?aminzadeh  
  • A. Aminzadeh Ghavifekr, S. Pezeshki, A. Arjmandi, “Evaluation of Three Nonlinear Control Methods to Reject the Constant Bounded Disturbance for Robotic Manipulators”, Majlesi Journal of Mechatronic Systems,Vol. 1, no.2 , pp. 128-134, 2012.
  • A. Aminzadeh Ghavifekr, A. Arjmandi, K. Sehat, “Evaluation of Particle Swarm Optimization and Adaptive Genetic Algorithm for Motion Planning in Minimally Invasive Surgery”, Majlesi Journal of Mechatronic Systems,Vol. 1, no.2 , pp. 67-74, 2012.
  • A. Aminzadeh Ghavifekr, M. Badamchizadeh, Gh. Alizadeh“Designing a Controller for Optimal Steering of Nonholonomic Laparoscopic Robotic Manipulators”, Journal of Electrical Engineering-University of Tabriz.(In Persian)
  • A. Aminzadeh Ghavifekr, S. Ghaemi, R. Behinfaraz , “A Modified Biogeography Based Optimization (BBO) Algorithm for Time Optimal Motion Planning of 5 DOF PC-based Gryphon Robot”, International Journal of Engineering worksVol1, Issue 2, pp 38-44.
  • A. Aminzadeh Ghavifekr, Amir R. Ghiasi, Mohammad A. Badamchizadeh, Farzad Hashemzadeh, and Paolo Fiorini. “Stability analysis of the linear discrete teleoperation systems with stochastic sampling and data dropout.” European Journal of Control ۴۱ (۲۰۱۸): ۶۳-۷۱٫
  • A. Aminzadeh Ghavifekr, Amir Rikhtehgar Ghiasi, and Mohammad Ali Badamchizadeh. “Discrete-time control of bilateral teleoperation systems: a review.” Robotica ۳۶, no. 4 (2018): 552-569.
  • A. Aminzadeh Ghavifekr, Amir Rikhtehgar Ghiasi, and Mohammad Ali Badamchizadeh. F. Hashemzadeh “Exponential Stability Analysis of Discrete Linear Teleoperation Systems with Nonuniform Sampling .” Iranian Journal of Electrical and Computer Engineering (IJECE), 2017,pp 84-95.(In Persian)
  • A. Aminzadeh Ghavifekr, Amir Rikhtehgar Ghiasi, and Mohammad Ali Badamchizadeh. ” Evaluation of Three Different Null Space Joint Velocities For a Redundant 5-Bar Linkage Manipulator .” International Journal of Electrical, Electronics and Data Communication.2016.
  • A. Aminzadeh Ghavifekr, Amir Rikhtehgar Ghiasi, and Mohammad Ali Badamchizadeh. F. Hashemzadeh “Passivity Analysis of Discrete-time Counterparts of the Bilateral Controlled Teleoperation Systems.” International Journal of Electrical, Electronics and Data Communication.2018
  1.   Aminzadeh Ghavifekr,M.A. Badamchizadeh,  G. Alizadeh, A. Arjmandi,“Designing Inverse Dynamic Controller with Integral Action for Motion Planning of Surgical Robot in the Presence of Measurable Disturbances” , Submitted to 21th IEEE International Conference on Electrical Engineering, ICEE2013.
  • A.R. Ghiasi, A. Aminzadeh Ghavifekr, S.M. Sajadi, “Designing Nonlinear Adaptive Control for the Grasper of Laparoscopic Robots”, ۲۰th IEEE International Conference on Electrical Engineering, ICEE2012.(In Persian)
  • A. Aminzadeh Ghavifekr, S. Pezeshki, A. Arjmandi, “Evaluation of Three Nonlinear Control Methods to      Reject the Constant Bounded Disturbance for Robotic Manipulators”۲th Isfahan’s Electrical Engineering    National Conference.
  • A. Aminzadeh Ghavifekr, A. Arjmandi, K. Sehat, “Evaluation of Particle Swarm Optimization and Adaptive Genetic Algorithm for Motion Planning in Minimally Invasive Surgery”, ۲th Isfahan’s Electrical Engineering National Conference.
  • S.M. Sajadi, S.H. Mahdioun, A. Aminzadeh Ghavifekr , “Design of Mechanical Structure and Tracking Control System for 5 DOF Surgical Robot ”, ۲۱th IEEE International Conference on Electrical Engineering, ICEE2013.
  • S. Pezeshki, A. Aminzadeh Ghavifekr, S. Badalkhani, “An Improved Fuzzy Algorithm Using Sliding Mode Concept in Controlling Overhead Crane System”۲th Isfahan’s Electrical Engineering National Conference.
  • Ghiasi, A. R., A. A. Ghavifekr, Y. Shabbouei Hagh, and H. SeyedGholami. “Designing adaptive robust extended Kalman filter based on Lyapunov-based controller for robotics manipulators.” In Modeling, Simulation, and Applied Optimization (ICMSAO), 2015 6th International Conference on, pp. 1-6. IEEE, 2015
  1. Aminzadeh Ghavifekr,A. R. Ghiasi, Y. Shabbouyi, M. Golmohammadi “Design of Tracking Control System for Motion Planning of 5 DOF PC-based Gryphon Robot, 2nd International Conference on Mathematical Sciences (ICMS 2014), 9 -11 July 2014, Istanbul, Turkey.
  2. Aminzadeh Ghavifekr,A. R. Ghiasi, M. Kankashvar “System Identification of Practical Rotary Inverted Pendulum based on Hybrid Algorithm of PSO and Adaptive Genetic Operation , ۲nd International Conference on Mathematical Sciences (ICMS 2014), 9 -11 July 2014, Istanbul, Turkey
  • Evaluation of Three Nonlinear Control Methods to Reject the Constant Bounded Disturbance for Robotic Manipulators                                                           

ABSTRACT:

In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking controllers. The goal is improving the accuracy of tracking procedure for a robot manipulator to track a specified reference signal in the presence of constant bounded disturbances. Inverse dynamics controller, improved Lyapunov-based controller with integral action and discontinuous Lyapunov-based controller are three schemes that are evaluated in this paper. Third one is a novel controller that achieves trajectory following without requiring exact knowledge of the nonlinear dynamics. Based on the disturbance rejection scheme, tracking controllers are constructed which are asymptotically stabilizing in the sense of Lyapunov. Furthermore the closed loop system has strong disturbance rejection property. It is shown that how under proper assumptions, the proposed schemes succeed in achieving disturbance rejection at the input of a nonlinear system. Computer simulation results given for a two degree of freedom manipulator with a large payload and fast maneuver, demonstrate that accurate trajectory tracking can be achieved by using the proposed controllers.

Download: {filelink=49}

  • Evaluation of Particle Swarm Optimization and Adaptive Genetic Algorithm for Motion Planning in Minimally Invasive Surgery  

ABSTRACT:

This paper evaluates Adaptive Genetic Algorithm (AGA) and Particle Swarm Optimization (PSO) to find a time optimal quadratic polynomial trajectory of an anthropomorphic manipulator. This robot that is used in minimally invasive surgery (MIS) must achieve motions under the constraints of displacement, velocity, acceleration and jerk of each joint. The modeling and resolution of the constraints are presented. PSO and different selection methods of the genetic algorithm are evaluated and compared in order to define the best one according to convergence speed and optimal time. These methods can solve the premature convergence and slow convergence problems in MIS. Simulation and experimental results for the grasper of a compact laparoscopic surgical robot prototype system validate the algorithms.

Download: {filelink=50}

  • Mechanical Design, Fabrication and Tracking Control of 5 DOF Surgical Robot Using Improved Lyapunov Based Control Method with Uncertainty Observer

Abstract:

Using intelligent surgical instruments that are controlled by robots would be an effective step in development of telesurgical systems. Indeed in these systems the surgeon’s skill and intelligence are combined with the robot’s precision, repeatability and its reach ability to the sensitive points those are not within reach of the surgeon.

In this paper, the tracking control problem for 5 DOF surgical robot which is affected by tremor of surgeons’ hand is considered. Mechanical modeling and dynamic analysis of a robotic arm in slave subsystem of a telesurgery system will be discussed and the reasons for selecting the appropriate materials for different parts of robot will be explained. It would be required this robot, which will do the main part of the surgery, be controlled based on the uncertain properties of the tissues of patients body.

Improved Lyapunov Based control method with uncertainty observer is applied to improve the accuracy of tracking procedure for a surgical manipulator to track a specified reference signal in the presence of tremor that is modeled as constant bounded disturbance. Based on the disturbance rejection scheme, tracking controllers are constructed which are asymptotically stabilizing in the sense of Lyapunov. The control strategy was implemented using a PC interface. Computer simulation results demonstrate that accurate trajectory tracking can be achieved by using the proposed controllers.

Download: {filelink=51}

  • Designing a Controller for Optimal Steering of  Nonholonomic Laparoscopic Robotic Manipulators

    ABSTRACT:

    Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot, achieving the goals like precise tracking, stability and disturbance rejection is very important and this makes selecting a suitable controller to be one of the most important issues in these systems.  In this paper, first the stages of modeling and simulating of laparoscopic robot will be discussed and the reasons for selecting the appropriate materials for different parts of it will be explained. Then the problem of nonholonomic trajectory planning and conditions for proposed pfaffian constraint to be holonomic or nonholonomic will be studied. With regard to the nonholonomic structure of explained robot, using the Ritz estimation, a controller for optimal steering of grasper, regarding the transmitted commands of surgeon will be designed. This part of the robot, which performs the main part of the surgery, be controlled based on the uncertain properties of the tissues of patients body. Simulation results validate the efficiency of the proposed method for steering and controlling of the robot.

    Download: {filelink=14}

  • Discontinuous Lyapunov-Based Controller Method to Reject the Constant Bounded Tremor of Surgical Robots

ABSTRACT:

In this paper, the tracking control problem for surgical robots which are affected by tremor of surgeons’ hand is considered. Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot, achieving the goals like precise tracking, stability and disturbance rejection is very important and this makes selecting a suitable controller to be one of the most important issues in these systems.  In this paper, first the stages of modeling and simulating of laparoscopic robot will be discussed and the reasons for selecting the appropriate materials for different parts of it will be explained. It would be required this robot, which will do the main part of the surgery, be controlled based on the uncertain properties of the tissues of patients body.

Three control schemes are applied to improve the accuracy of tracking procedure for a surgical manipulator to track a specified reference signal in the presence of tremor that is modeled as constant bounded disturbance. Inverse dynamics controller with an integral action, improved Lyapunov-based controller with uncertainty observer and discontinuous Lyapunov-based controller are three schemes that are evaluated in this paper. Third one is a novel controller that achieves trajectory tracking without requiring exact knowledge of the uncertainty. Like other sliding-mode type controllers, this controller suffers from chattering effect. A corresponding saturated controller will be used to overcome this problem.

 Based on the disturbance rejection scheme, tracking controllers are constructed which are asymptotically stabilizing in the sense of Lyapunov. It is shown that how under proper assumptions; the selected schemes succeed in achieving disturbance rejection at the input of a nonlinear system. Computer simulation results demonstrate that accurate trajectory tracking can be achieved by using the proposed controllers.

Download: {filelink=52}

  

Workshops:

 

*Workshop has presented on Design and developmental of surgical robots and Telesurgery Systems at ICCIA 2011.

Download: {filelink=58}

 

*Workshop has presented on Design and developmental of  Telesurgery Systems at 5th Iranian Conference on E-Health and ICT Application in Medical Scince.

Download: {filelink=59}

 

*Workshop has presented on Haptic and virtual reality at IEEC 2012.

Download: {filelink=60}

 

 

  • Designing Inverse Dynamic Controller with Integral Action for Motion Planning of Surgical Robot in the Presence of Measurable Disturbances
    Download: {filelink=4}
  • Improving Disturbance Rejection Performance Based on Discontinuous Lyapunov-based Controller for Robotic Manipulators
    Download: {filelink=5}
  • Designing Nonlinear Adaptive Control for the Grasper of Laparoscopic Robots
    Download: {filelink=6}
  • Design of Mechanical Structure and Tracking Control System for 5 DOF Surgical Robot
  • Evaluation of Genetic Algorithm Selection Methods for Motion Planning in Trajectory of Telerobot
    Download: {filelink=8}
  • An Improved Fuzzy Algorithm Using Sliding Mode Concept in Controlling Overhead Crane System
    Download: {filelink=9}
    • Design of Mechanical Structure and Tracking Control System for 5 DOF Surgical Robot
         Download: {filelink=13}  
    • Evaluation of Genetic Algorithm Selection Methods for Motion Planning in Minimally Invasive Surgery                                                                                                                     Download: {filelink=54}                                                                                                                                                       
    •  کنترل سیستم های رباتیک برای کاربرد های پزشکی ، رویکردی نو در سیستم های پزشکی از راه دور
             Download: {filelink=55}
    • طراحي كنترل كننده مقاوم غير خطي براي سيستم جراحي از راه دور
             Download: {filelink=56}
               طراحي كنترل كننده تطبيقي غير خطي براي گرسپر ربات لاپاراسکوپی                                                            

Books

  • “Teleoperation Systems”(Compilation in Persian)
  • “Application of Matlab in Teleoperation Systems”(Compilation In Persian)
  • “Introduction to Latex”(Compilation In Persian)
  • “A Systematic Approach to Solve Nonlinear Control Problems”(Compilation In Persian)
    کتاب حل مسائل کنترل غیرخطی- حل مسائل کنترل غیرخطی حسن خلیل- حل مسائل اسلاتین
     
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