![Seyed Amir Tafrishi](https://profiles-cardiff.imgix.net/attachments/3927?w=200&h=200&auto=format&crop=faces&fit=crop&q=90")
Dr Seyed Amir Tafrishi
Darlithydd mewn Roboteg a Systemau Ymreolaethol
- TafrishiSA@caerdydd.ac.uk
- +44 29208 76176
- Adeiladau'r Frenhines - Adeilad y Dwyrain, Ystafell Ystafell E/3.16, 5 The Parade, Heol Casnewydd, Caerdydd, CF24 3AA
- Ar gael fel goruchwyliwr ôl-raddedig
Trosolwyg
Dr Seyed Amir Tafrishi is a Lecturer in Robotics and Autonomous Systems at the Engineering School of Cardiff University, UK. Also, He is part of the Robotics and Autonomous Intelligent Machines (RAIM) group.
Previously, He was a Specially Appointed Assistant Professor at Smart Robots Design Lab in Robotics Department, Tohoku University Japan. He worked in the Adaptable AI-enabled Robots to Create Vibrant Societies group as part of Moonshot R & D project initiated by the Japanese Government. The project was aimed at developing assistive and cooperative robots for future welfare facilities. A new shared autonomy concept under safety constraints between human and robot interaction was proposed. Also, there were other achievements in the areas of assistive-compliant actuators and safety quantification.
He received his PhD from Mechanical Engineering Department, Kyushu University, Fukuoka, Japan. He did his M.Sc. studies in Control Systems Engineering at the Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, United Kingdom.
Since 2015, he has been a visiting researcher at Autonomous Systems and Robotics Research Group, Sheffield, UK, Mechatronic Lab. at Middle East Technical University, Turkey, Fluid Mechanics Laboratory at the University of Tabriz; and the Control Engineering Lab at Kyushu University.
Note: Please refer to my webpage for more details
Cyhoeddiad
2023
- Mavinkurve, U., Kanada, A., Tafrishi, S. A., Honda, K., Nakashima, Y. and Yamamoto, M. 2023. Geared rod-driven continuum robot with woodpecker-inspired extension mechanism and IMU-based force sensing. IEEE Robotics and Automation Letters (10.1109/LRA.2023.3331650)
- Tafrishi, S. A., Svinin, M., Yamamoto, M. and Hirata, Y. 2023. A geometric motion planning for a spin-rolling sphere on a plane. Applied Mathematical Modelling 121, pp. 542-561. (10.1016/j.apm.2023.05.009)
- Dong, Z., Luces, J. V. S., Ravankar, A. A., Tafrishi, S. A. and Hirata, Y. 2023. A performance evaluation of overground gait training with a mobile body weight support system using wearable sensors. IEEE Sensors Journal 23(11), pp. 12209-12223. (10.1109/JSEN.2023.3269031)
- Revankar, A., Tafrishi, S. A., Salazar Luces, J. V., Seto, F. and Hirata, Y. 2023. CARE: cooperation of AI-robot enablers to create a vibrant society. IEEE Robotics and Automation Magazine 30(1), pp. 8-23. (10.1109/MRA.2022.3223256)
- Hirata, Y., Salazar Luces, J. V., Ravanakr, A. A. and Tafrishi, S. A. 2023. Cooperation of assistive robots to improve productivity in the nursing care field. Presented at: International Symposium on Robotics and Research ISRR 2022, Geneva, Switzerland, 1/11/2022 Presented at Billard, A., Asfour, T. and Khatib, O. eds.Proceedings of Robotics Research: ISRR 2022, Vol. 27. Springer Proceedings in Advanced Robotics Springer pp. 287–294., (10.1007/978-3-031-25555-7_19)
- Chikhalikar, A., Ankit A., R., Salazar, J., Tafrishi, S. A. and Yasuhisa, H. 2023. An object-oriented navigation strategy for service robots leveraging semantic information. Presented at: 2023 IEEE/SICE International Symposium on System Integration, Atlanta, USA, 17-20 January 20232023 IEEE/SICE International Symposium on System Integration (SII). IEEE pp. 1-6., (10.1109/SII55687.2023.10039409)
- Aoki, G., Luces, J. V. S., Tafrishi, S. A., Ravankar, A. A. and Hirata, Y. 2023. Nursing care teaching system based on mixed reality for effective caregiver-patient interaction. Presented at: 2023 IEEE/SICE International Symposium on System Integration (SII), Atlanta, GA, USA, 17-20 January 20232023 IEEE/SICE International Symposium on System Integration (SII). IEEE, (10.1109/SII55687.2023.10039419)
- Rayamane, P., Munguia-Galeano, F., Tafrishi, S. A. and Ji, Z. 2023. Towards smooth human-robot handover with a vision-based tactile sensor. Presented at: Towards Autonomous Robotic Systems (TAROS) 2023, 13-15 September 2023.
2022
- Ravankar, A. A., Ravankar, A., Tafrishi, S. A., Salazar Luces, J. V. and Hirata, Y. 2022. Robot path planning in narrow environments using improved roadmap sampling. Presented at: The Proceedings of JSME Annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. JSME pp. 2P2-M03., (10.1299/jsmermd.2022.2P2-M03)
- Terayama, J., Tafrishi, S. A., Ravankar, A. A., Luces, J. V. S. and Hirata, Y. 2022. Development of non-wearable walking assist robot for preventing falling accident. Presented at: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. JSME pp. 2A2-C06., (10.1299/jsmermd.2022.2A2-C06)
- Dong, Z., Salazar Luces, J. V., Ravankar, A. A., Tafrishi, S. A. and Hirata, Y. 2022. Development of an autonomous mobile robot for passive welfare object transportation. Presented at: The Proceedings of JSME Annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. pp. 2A2-B06., (10.1299/jsmermd.2022.2A2-B06)
- Aoki, G., Luces, J. V. S., Ravankar, A. A., Tafrishi, S. A. and Hirata, Y. 2022. Nursing care teaching system using mixed reality technology. Presented at: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. pp. 2P2-G07., (10.1299/jsmermd.2022.2P2-G07)
- Ravankar, A. A., Ravankar, A., Salazar Luces, J. V., Tafrishi, S. A. and Hirata, Y. 2022. Simulation-based mobile robot navigation for precision agriculture monitoring application. Presented at: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. pp. 1P1-A08., (10.1299/jsmermd.2022.1P1-A08)
- Tafrishi, S. A., Dai, X., Hirata, Y. and Burns, A. 2022. Discretization and stabilization of energy-based controller for period switching control and flexible scheduling. Presented at: 2022 American Control Conference (ACC), Atlanta, USA, 08-10 June 20222022 American Control Conference (ACC). IEEE pp. 844-849., (10.23919/ACC53348.2022.9867252)
- Tafrishi, S. A., Ravankar, A. A., Luces, J. V. S. and Hirata, Y. 2022. A novel assistive controller based on differential geometry for users of the differential-drive wheeled mobile robots. Presented at: 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, 23-27 May 20222022 International Conference on Robotics and Automation (ICRA). IEEE, (10.1109/ICRA46639.2022.9811593)
- Promsutipong, K., Luces, J. V. S., Ravankar, A. A., Tafrishi, S. A. and Hirata, Y. 2022. Immersive virtual walking system using an avatar robot. Presented at: 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, 23-27 May 20222022 International Conference on Robotics and Automation (ICRA). IEEE pp. 9325-9331., (10.1109/ICRA46639.2022.9811588)
- Hertenberg, K., Luces, J. V. S., Tafrishi, S. A., Ravankar, A. A., Hirata, Y., BookGroupAuthors, . and IEEE, . 2022. Evaluation of an avatar robot with a physically immersive telepresence. Presented at: 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021, Sanya, China, 27-31 December 20212021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. IEEE pp. 99-104., (10.1109/ROBIO54168.2021.9739326)
- Tafrishi, S. A., Ravankar, A. A., Salazar Luces, J. V. and Hirata, Y. 2022. A geometric assistive controller for the users of wheeled mobile robots without desired states. Presented at: 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO), Sanya, China, 27-31 December 20212021 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE pp. 1953-1959.
2021
- Tafrishi, S. A., Svinin, M. and Yamamoto, M. 2021. Darboux-frame-based parametrization for a spin-rolling sphere on a plane: A nonlinear transformation of underactuated system to fully-actuated model. Mechanism and Machine Theory 164, article number: 104415. (10.1016/j.mechmachtheory.2021.104415)
- Mavinkurve, U. K., Tafrishi, S. A., Kanada, A., Honda, K., Nakashima, Y. and Yamamoto, M. 2021. An experimental study on energy-based control of rigid parallel series elastic actuator. Presented at: 2021 World Automation Congress (WAC), Taipei, Taiwan, 01-05 August 20212021 World Automation Congress (WAC). IEEE, (10.23919/WAC50355.2021.9559477)
- Tafrishi, S. A., Svinin, M. and Yamamoto, M. 2021. Inverse dynamics of underactuated planar manipulators without inertial coupling singularities. Multibody System Dynamics 52(4), pp. 407-429. (10.1007/s11044-021-09788-8)
- Tafrishi, S. A., Dai, X. and Kandjani, V. E. 2021. Line-Circle-Square (LCS): a multilayered geometric filter for edge-based detection. Robotics and Autonomous Systems 137, article number: 103732. (10.1016/j.robot.2021.103732)
- Mavinkurve, U. K., Tafrishi, S. A., Kanada, A. and Yamamoto, M. 2021. An energy based control for vibration suppression in a rigid parallel series elastic actuator. Presented at: 2021 IEEE/SICE International Symposium on System Integration (SII), Iwaki, Fukushima, Japan, 11-14 January 20212021 IEEE/SICE International Symposium on System Integration (SII). IEEE pp. 600-605.
- Tafrishi, S. A., Svinin, M. and Yamamoto, M. 2021. A motion estimation filter for inertial measurement unit with on-board ferromagnetic materials. IEEE Robotics and Automation Letters 6(3), pp. 4939-4946. (10.1109/LRA.2021.3067301)
2020
- Tafrishi, S. A., Svinin, M. and Yamamoto, M. 2020. Singularity-free inverse dynamics for underactuated systems with a rotating mass. Presented at: 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 31 May - 31 August 20202020 IEEE International Conference on Robotics and Automation (ICRA). IEEE pp. 3981-3987., (10.1109/ICRA40945.2020.9197306)
2019
- Babayan, M., Tabatabaee-Hosseini, P., Esmaeilzadeh Kandjani, N., Tafrishi, S. A., Jafari, M. and Esmaeilzadeh, E. 2019. Experimental investigation of flow and coherent properties of excited non-circular liquid jets. Journal of Applied Fluid Mechanics 12(5), pp. 1667-1681. (10.29252/jafm.12.05.29453)
- Tafrishi, S., Esmaeilzadeh, E., Svinin, M. and Yamamoto, M. 2019. A fluid-actuated driving mechanism for rolling robots. Presented at: 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM), Toyonoka, Japan, 03-05 July 20192019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM). IEEE, (10.1109/ICARM.2019.8833646)
- Tafrishi, S. A., Svinin, M., Esmaeilzadeh, E. and Yamamoto, M. 2019. Design, modeling, and motion analysis of a novel fluid actuated spherical rolling robot. Journal of Mechanisms And Robotics-Transactions of the ASME 11(4), article number: 41010. (10.1115/1.4043689)
- Tafrishi, S. A., Bai, Y., Svinin, M., Esmaeilzadeh, E. and Yamamoto, M. 2019. Inverse dynamics-based motion control of a fluid-actuated rolling robot. Nelineinaya Dinamika 15(4) (10.20537/nd190420)
2018
- Tafrishi, S. A. and Kandjani, V. E. 2018. Line-circle: a geometric filter for single camera edge-based object detection. Presented at: 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM), Tehran, Iran, 25-27 October 20172017 5th RSI International Conference on Robotics and Mechatronics (ICRoM). IEEE, (10.1109/ICRoM.2017.8466193)
- Esmaeilzadeh Kandjani, N., Nurelahi, S., Tafrishi, S. A. and Esmaeilzadeh, E. 2018. Numerical study of chip cooling with internal nanofluid in minichannels and external air flow over sink with laminar regimes. Micro and Nano Letters 13(8), pp. 1105-1110. (10.1049/mnl.2018.0036)
2017
- Tafrishi, S. A., Svinin, M. and Esmaeilzadeh, E. 2017. Effects of the slope on the motion of spherical RollRoller robot. Presented at: 2016 IEEE/SICE International Symposium on System Integration (SII), Sapporo, Japan, 13-15 December 20162016 IEEE/SICE International Symposium on System Integration (SII). IEEE, (10.1109/SII.2016.7844110)
Cynadleddau
- Hirata, Y., Salazar Luces, J. V., Ravanakr, A. A. and Tafrishi, S. A. 2023. Cooperation of assistive robots to improve productivity in the nursing care field. Presented at: International Symposium on Robotics and Research ISRR 2022, Geneva, Switzerland, 1/11/2022 Presented at Billard, A., Asfour, T. and Khatib, O. eds.Proceedings of Robotics Research: ISRR 2022, Vol. 27. Springer Proceedings in Advanced Robotics Springer pp. 287–294., (10.1007/978-3-031-25555-7_19)
- Chikhalikar, A., Ankit A., R., Salazar, J., Tafrishi, S. A. and Yasuhisa, H. 2023. An object-oriented navigation strategy for service robots leveraging semantic information. Presented at: 2023 IEEE/SICE International Symposium on System Integration, Atlanta, USA, 17-20 January 20232023 IEEE/SICE International Symposium on System Integration (SII). IEEE pp. 1-6., (10.1109/SII55687.2023.10039409)
- Aoki, G., Luces, J. V. S., Tafrishi, S. A., Ravankar, A. A. and Hirata, Y. 2023. Nursing care teaching system based on mixed reality for effective caregiver-patient interaction. Presented at: 2023 IEEE/SICE International Symposium on System Integration (SII), Atlanta, GA, USA, 17-20 January 20232023 IEEE/SICE International Symposium on System Integration (SII). IEEE, (10.1109/SII55687.2023.10039419)
- Rayamane, P., Munguia-Galeano, F., Tafrishi, S. A. and Ji, Z. 2023. Towards smooth human-robot handover with a vision-based tactile sensor. Presented at: Towards Autonomous Robotic Systems (TAROS) 2023, 13-15 September 2023.
- Ravankar, A. A., Ravankar, A., Tafrishi, S. A., Salazar Luces, J. V. and Hirata, Y. 2022. Robot path planning in narrow environments using improved roadmap sampling. Presented at: The Proceedings of JSME Annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. JSME pp. 2P2-M03., (10.1299/jsmermd.2022.2P2-M03)
- Terayama, J., Tafrishi, S. A., Ravankar, A. A., Luces, J. V. S. and Hirata, Y. 2022. Development of non-wearable walking assist robot for preventing falling accident. Presented at: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. JSME pp. 2A2-C06., (10.1299/jsmermd.2022.2A2-C06)
- Dong, Z., Salazar Luces, J. V., Ravankar, A. A., Tafrishi, S. A. and Hirata, Y. 2022. Development of an autonomous mobile robot for passive welfare object transportation. Presented at: The Proceedings of JSME Annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. pp. 2A2-B06., (10.1299/jsmermd.2022.2A2-B06)
- Aoki, G., Luces, J. V. S., Ravankar, A. A., Tafrishi, S. A. and Hirata, Y. 2022. Nursing care teaching system using mixed reality technology. Presented at: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. pp. 2P2-G07., (10.1299/jsmermd.2022.2P2-G07)
- Ravankar, A. A., Ravankar, A., Salazar Luces, J. V., Tafrishi, S. A. and Hirata, Y. 2022. Simulation-based mobile robot navigation for precision agriculture monitoring application. Presented at: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. pp. 1P1-A08., (10.1299/jsmermd.2022.1P1-A08)
- Tafrishi, S. A., Dai, X., Hirata, Y. and Burns, A. 2022. Discretization and stabilization of energy-based controller for period switching control and flexible scheduling. Presented at: 2022 American Control Conference (ACC), Atlanta, USA, 08-10 June 20222022 American Control Conference (ACC). IEEE pp. 844-849., (10.23919/ACC53348.2022.9867252)
- Tafrishi, S. A., Ravankar, A. A., Luces, J. V. S. and Hirata, Y. 2022. A novel assistive controller based on differential geometry for users of the differential-drive wheeled mobile robots. Presented at: 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, 23-27 May 20222022 International Conference on Robotics and Automation (ICRA). IEEE, (10.1109/ICRA46639.2022.9811593)
- Promsutipong, K., Luces, J. V. S., Ravankar, A. A., Tafrishi, S. A. and Hirata, Y. 2022. Immersive virtual walking system using an avatar robot. Presented at: 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, 23-27 May 20222022 International Conference on Robotics and Automation (ICRA). IEEE pp. 9325-9331., (10.1109/ICRA46639.2022.9811588)
- Hertenberg, K., Luces, J. V. S., Tafrishi, S. A., Ravankar, A. A., Hirata, Y., BookGroupAuthors, . and IEEE, . 2022. Evaluation of an avatar robot with a physically immersive telepresence. Presented at: 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021, Sanya, China, 27-31 December 20212021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. IEEE pp. 99-104., (10.1109/ROBIO54168.2021.9739326)
- Tafrishi, S. A., Ravankar, A. A., Salazar Luces, J. V. and Hirata, Y. 2022. A geometric assistive controller for the users of wheeled mobile robots without desired states. Presented at: 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO), Sanya, China, 27-31 December 20212021 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE pp. 1953-1959.
- Mavinkurve, U. K., Tafrishi, S. A., Kanada, A., Honda, K., Nakashima, Y. and Yamamoto, M. 2021. An experimental study on energy-based control of rigid parallel series elastic actuator. Presented at: 2021 World Automation Congress (WAC), Taipei, Taiwan, 01-05 August 20212021 World Automation Congress (WAC). IEEE, (10.23919/WAC50355.2021.9559477)
- Mavinkurve, U. K., Tafrishi, S. A., Kanada, A. and Yamamoto, M. 2021. An energy based control for vibration suppression in a rigid parallel series elastic actuator. Presented at: 2021 IEEE/SICE International Symposium on System Integration (SII), Iwaki, Fukushima, Japan, 11-14 January 20212021 IEEE/SICE International Symposium on System Integration (SII). IEEE pp. 600-605.
- Tafrishi, S. A., Svinin, M. and Yamamoto, M. 2020. Singularity-free inverse dynamics for underactuated systems with a rotating mass. Presented at: 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 31 May - 31 August 20202020 IEEE International Conference on Robotics and Automation (ICRA). IEEE pp. 3981-3987., (10.1109/ICRA40945.2020.9197306)
- Tafrishi, S., Esmaeilzadeh, E., Svinin, M. and Yamamoto, M. 2019. A fluid-actuated driving mechanism for rolling robots. Presented at: 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM), Toyonoka, Japan, 03-05 July 20192019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM). IEEE, (10.1109/ICARM.2019.8833646)
- Tafrishi, S. A. and Kandjani, V. E. 2018. Line-circle: a geometric filter for single camera edge-based object detection. Presented at: 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM), Tehran, Iran, 25-27 October 20172017 5th RSI International Conference on Robotics and Mechatronics (ICRoM). IEEE, (10.1109/ICRoM.2017.8466193)
- Tafrishi, S. A., Svinin, M. and Esmaeilzadeh, E. 2017. Effects of the slope on the motion of spherical RollRoller robot. Presented at: 2016 IEEE/SICE International Symposium on System Integration (SII), Sapporo, Japan, 13-15 December 20162016 IEEE/SICE International Symposium on System Integration (SII). IEEE, (10.1109/SII.2016.7844110)
Erthyglau
- Mavinkurve, U., Kanada, A., Tafrishi, S. A., Honda, K., Nakashima, Y. and Yamamoto, M. 2023. Geared rod-driven continuum robot with woodpecker-inspired extension mechanism and IMU-based force sensing. IEEE Robotics and Automation Letters (10.1109/LRA.2023.3331650)
- Tafrishi, S. A., Svinin, M., Yamamoto, M. and Hirata, Y. 2023. A geometric motion planning for a spin-rolling sphere on a plane. Applied Mathematical Modelling 121, pp. 542-561. (10.1016/j.apm.2023.05.009)
- Dong, Z., Luces, J. V. S., Ravankar, A. A., Tafrishi, S. A. and Hirata, Y. 2023. A performance evaluation of overground gait training with a mobile body weight support system using wearable sensors. IEEE Sensors Journal 23(11), pp. 12209-12223. (10.1109/JSEN.2023.3269031)
- Revankar, A., Tafrishi, S. A., Salazar Luces, J. V., Seto, F. and Hirata, Y. 2023. CARE: cooperation of AI-robot enablers to create a vibrant society. IEEE Robotics and Automation Magazine 30(1), pp. 8-23. (10.1109/MRA.2022.3223256)
- Tafrishi, S. A., Svinin, M. and Yamamoto, M. 2021. Darboux-frame-based parametrization for a spin-rolling sphere on a plane: A nonlinear transformation of underactuated system to fully-actuated model. Mechanism and Machine Theory 164, article number: 104415. (10.1016/j.mechmachtheory.2021.104415)
- Tafrishi, S. A., Svinin, M. and Yamamoto, M. 2021. Inverse dynamics of underactuated planar manipulators without inertial coupling singularities. Multibody System Dynamics 52(4), pp. 407-429. (10.1007/s11044-021-09788-8)
- Tafrishi, S. A., Dai, X. and Kandjani, V. E. 2021. Line-Circle-Square (LCS): a multilayered geometric filter for edge-based detection. Robotics and Autonomous Systems 137, article number: 103732. (10.1016/j.robot.2021.103732)
- Tafrishi, S. A., Svinin, M. and Yamamoto, M. 2021. A motion estimation filter for inertial measurement unit with on-board ferromagnetic materials. IEEE Robotics and Automation Letters 6(3), pp. 4939-4946. (10.1109/LRA.2021.3067301)
- Babayan, M., Tabatabaee-Hosseini, P., Esmaeilzadeh Kandjani, N., Tafrishi, S. A., Jafari, M. and Esmaeilzadeh, E. 2019. Experimental investigation of flow and coherent properties of excited non-circular liquid jets. Journal of Applied Fluid Mechanics 12(5), pp. 1667-1681. (10.29252/jafm.12.05.29453)
- Tafrishi, S. A., Svinin, M., Esmaeilzadeh, E. and Yamamoto, M. 2019. Design, modeling, and motion analysis of a novel fluid actuated spherical rolling robot. Journal of Mechanisms And Robotics-Transactions of the ASME 11(4), article number: 41010. (10.1115/1.4043689)
- Tafrishi, S. A., Bai, Y., Svinin, M., Esmaeilzadeh, E. and Yamamoto, M. 2019. Inverse dynamics-based motion control of a fluid-actuated rolling robot. Nelineinaya Dinamika 15(4) (10.20537/nd190420)
- Esmaeilzadeh Kandjani, N., Nurelahi, S., Tafrishi, S. A. and Esmaeilzadeh, E. 2018. Numerical study of chip cooling with internal nanofluid in minichannels and external air flow over sink with laminar regimes. Micro and Nano Letters 13(8), pp. 1105-1110. (10.1049/mnl.2018.0036)
Ymchwil
Research Summary
The central theme of our research is bridging the gap between motion control theory and advanced actuators for designing state-of-art robots. The research studies focus on exploiting the physics of advanced mechanisms for real-world applications.
Our research motivation is inspired by studies in mathematical theories on geometric mechanics, variable impedance, estimation, control theory and shared autonomy etc. In parallel, we develop new mechanisms and control theories for applications for human assistance and advanced mobile robots.
We are currently exploring the development of reconfigurable rolling robots, agile grasping mechanisms and underactuated compliant actuators. Applications of these studies are not limited to human assistance, hybrid mobile robots, and industrial applications.
Research Interests
Robotics, mechanism design, underactuated systems, dexterous manipulation, motion planning, geometric mechanics, assistive robots, nonlinear control
Previous Researches
A new "CARE" framework on welfare with cooperative robots under safety and shared autonomy
How to quantify the safety of human motion using a single IMU
An assistive geometric controller without any desired configuration for operating with mobile robots
Can attaching ferromagnetic materials improve the motion estimation of IMU sensors?
Path planning of spin-rolling sphere on different manifolds
Geometric filter for object detection and tracking
Addysgu
- EN4062 / ENT794, Advanced Robotics, semester gwanwyn, 2023 - presennol
- EN3062, Roboteg a Phrosesu Delweddau, semester yr Hydref, 2023 - presennol
Bywgraffiad
Addysg
- 2021, PhD mewn Peirianneg Fecanyddol, Roboteg a Rheolaeth Fawr, Prifysgol Kyushu, Fukuoka, Japan
- 2018, Myfyriwr Ymchwil, Peirianneg Fecanyddol, Prifysgol Kyushu, Fukuoka, Japan
- 2014, M.Sc. yn Peirianneg Systemau Rheoli, Prifysgol Sheffield, Sheffield, Y Deyrnas Unedig
- 2013, B.Sc. mewn Peirianneg Drydanol, Islamaidd Prifysgol Azad Tabriz, Tabriz, Iran
Aelodaethau proffesiynol
Aelodaeth
- Sefydliad y Peirianwyr Trydanol ac Electroneg (IEEE), Aelod, 2017-presennol,
- Gweithwyr Proffesiynol Ifanc IEEE, Aelod, 2018-presennol,
- Cymdeithas Roboteg ac Awtomeiddio IEEE, Aelod, 2018-presennol,
Gwasanaethau
- Cyd-drefnydd Sesiwn,"Roboteg ac AI ar gyfer Awtomeiddio Cartref, Gofal Iechyd, ac Amgylchynol 2023
- Symposiwm Rhyngwladol IEEE / SICE ar Integreiddiadau Systemau (SII), 2023, Atlanta, UDA
- Cyd-gadeirydd sesiwn,"Nonlinear Systems I", Cynhadledd Rheoli America 2022 (ACC), Rhithwir, 2022, Atlanta, UDA
- Safonwr Sesiwn (MC), "Sesiwn Poster Rhithwir", Cynhadledd Llywyddion Prifysgol 8th Almaeneg-Japaneaidd HeKKSaGOn, 2021, Prifysgol Tohoku, Sendai, Japan
Safleoedd academaidd blaenorol
- 2022 - Darlithydd Presennol, Ysgol Peirianneg, Prifysgol Caerdydd, Caerdydd, DU
- 2021 - 2022 Athro Cynorthwyol a Benodir yn arbennig, Smart Robots Design Lab, Prifysgol Tohoku, Sendai, Japan
- Cynorthwy-ydd Ymchwil 2018 - 2021, Lab Peirianneg Rheoli, Prifysgol Kyushu, Fukuoka, Japan
- 2016- 2017 Cynorthwy-ydd Ymchwil, Adran Peirianneg Fecanyddol, Prifysgol Tabriz, Tabriz, Iran
- 2015 - 2016 Ymweld Ymchwilydd, Adran Peirianneg Fecanyddol, Prifysgol Dechnegol y Dwyrain Canol, Ankara, Twrci
- 2014 - 2015 Grŵp Ymchwil Ymchwilio, Systemau Ymreolaethol a Roboteg, Prifysgol Sheffield, Sheffield, Y Deyrnas Unedig
Pwyllgorau ac adolygu
Peer-Reviewed Journals
- IEEE Robotics and Automation Letters (RA-L)
- IEEE/ASME Transactions on Mechatronics
- Multibody System Dynamics, Springer
- International Journal of Control, Automation, and Systems
- Part C: Journal of Mechanical Engineering Science, Sage
Peer-Reviewed Conferences
- International Conference on Robotics and Automation (ICRA), 2017-2023
- The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021-2023
- IEEE/SICE International Symposium on System Integration (SII) 2016-2023
- IFAC World Congress 2023.
- IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), 2019
- IEEE RSI International Conference on Robotics and Mechatronics (ICRoM) 2017.
Meysydd goruchwyliaeth
Er bod gen i ddiddordeb mewn pynciau amrywiol mewn roboteg a pheirianneg reoli, fy mhrosiectau ymchwil prif ffrwd presennol yw:
- Dylunio, cynllunio cynnig a rheoli actuators cydymffurfio datblygedig ar gyfer robotiaid,
- Strategaethau ar gyfer rhyngweithio dynol-robot am gymorth,
- Mecanweithiau locomotion uwch ar gyfer robotiaid symudol,
- Cynllunio a rheoli ar gyfer tasgau deinamig, nonprehensile, a thrin hybrid,
- Dylunio a rheoli mecanweithiau gafael ystwyth,
- Cynllunio cynnig a dylunio robotiaid rholio reconfigurable,
- Strategaethau rheoli uwch sy'n seiliedig ar ynni ar gyfer robotiaid tanweithredol,
Mae yna bynciau ymchwil rhyngddisgyblaethol a sylfaenol sydd hefyd yn ddiddordeb gennyf mewn gweithio arnynt, e.e. diogelwch mewn HRI, ymreolaeth a rennir, cynllunio cynnig gan fecaneg geometrig, systemau nonholonomig ac ati...
Goruchwyliaeth gyfredol
Qingmeng Wen
Arddangoswr Graddedig
Themâu ymchwil
Arbenigeddau
- Peirianneg rheoli, mecatroneg a roboteg
- Dylunio caledwedd a phensaernïaeth Mecatroneg
- Peirianneg rheoli
- Roboteg deallus
- Robotiaid a thechnoleg gynorthwyol