Saeed Mansouri - Academia.edu (original) (raw)

Papers by Saeed Mansouri

2016 4th International Conference on Robotics and Mechatronics (ICROM), 2016

In this paper, two online path planning methods are presented for SURENA III humanoid robot by us... more In this paper, two online path planning methods are presented for SURENA III humanoid robot by using model predictive control scheme. The methods are general control schemes which can generate the online motions for walking of a humanoid robot. For lowering computational costs a three dimensional linear inverted pendulum model is used instead of the full dynamical model of the robot. The generated trajectories are then used for computing the zero-moment point (ZMP) of the robot and the joint torques. The resulted joint torques of the two methods are compared to torques obtained from Genetic Algorithm (GA) path planning method presented for SURENA III humanoid robot in previous studies. The comparison is made with emphasize on the knee joint since it is the joint with highest consumed torque. The results show that predictive control method reduces the knee joint torque by 13% compared to GA offline path planning method.

Journal of Medical Systems, 2018

An essential requirement for performing robotic assisted surgery on a freely beating heart is a p... more An essential requirement for performing robotic assisted surgery on a freely beating heart is a prediction algorithm which can estimate the future trajectory of the heart in the varying heart rate (HR) conditions of real surgery with a high accuracy. In this study, a hybrid amplitude modulation-(AM) and autoregressive-(AR) based algorithm was developed to enable estimating the global and local oscillations of the beating heart, raised from its major and minor physiological activities. The AM model was equipped with an estimator of the heartbeat frequency to compensate for the HR variations. The RMS of the prediction errors of the hybrid algorithm was in the range of 165-361 μm for the varying HR motion, 21% less than that of the single AM model. With the capability of providing highly accurate predictions in a wide range of HR variation, the hybrid model is promising for practical use in robotic assisted beating heart surgery. Keywords Beating heart surgery. Heart rate variability. Hybrid prediction. In vivo animal experiment This article is part of the Topical Collection on Systems-Level Quality Improvement

Journal of Intelligent & Robotic Systems, 2019

The objective of this study was to hygienically improve community-based street sales of Ready-To-... more The objective of this study was to hygienically improve community-based street sales of Ready-To-Eat (RTE) foods through the implementation of GMP (Good Manufacturing Practices) and food preservation techniques in the municipality of Cereté. Street food sales are an economic and social phenomenon, which has become a serious regional governance issue. Microbiological analyses were carried out in RTE's and on street vendors that sell them, which resulted in the absence of Staphylococcus aureus, total coliforms and fecal coliforms in the manipulators; as well as on the equipment and surfaces, there was an uncountable number of molds in the environment, which is consistent with the high exposure to climatic factors to which these street sales are exposed; the evaluated RTE's were, chorizo, cheese, Suizo (Swizz sausage meal), arepa de queso (cheese corn cakes) and empanada, finding that all complied with the permissible limits of microbial growth; except the empanada that evidenced the presence of total Coliforms and Fecal Coliforms. Fifty-two food handlers were trained by representatives of the Municipal Ministry of Health in the implementation of GMP and food preservation; in addition, compliance with the training was verified through the initial hygienic diagnosis of sanitary hygiene. The market area was found to be the one with the highest percentage of compliance (57%), while the central area was the one with the lowest percentage (33%) regarding regulations that establish at least a 60% compliance rate.

The International Journal of Medical Robotics and Computer Assisted Surgery, 2017

Background: Accurate tracking of the heart surface motion is a major requirement for robot assist... more Background: Accurate tracking of the heart surface motion is a major requirement for robot assisted beating heart surgery. Method: The feasibility of a stereo infrared tracking system for measuring the free beating heart motion was investigated by experiments on a heart motion simulator, as well as model surgery on a dog. Results: Simulator experiments revealed a high tracking accuracy (81 μm root mean square error) when the capturing times were synchronized and the tracker pointed at the target from a 100 cm distance. The animal experiment revealed the applicability of the infrared tracker with passive markers in practical heart surgery conditions. Conclusion: With the current technology, infrared tracking with passive markers might be the optimal solution for accurate, fast, and reliable tracking of heart motion during robot assisted beating heart surgery. KEYWORDS accuracy assessment, heart motion simulator, heart motion tracking, in vivo animal experiment, infrared tracker 1 | INTRODUCTION Coronary artery bypass graft (CABG) surgery is one of the most prevalent treatments in heart clinics, in which blocked areas of coronary arteries are bypassed with blood vessels from other parts of the body.

Multibody System Dynamics, 2018

Contact modeling plays a central role in motion planning, simulation and control of legged robots... more Contact modeling plays a central role in motion planning, simulation and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches to model the contact consider rigid and compliant premise at interaction ports. Contrary to the dynamics model of legged systems with rigid contact (without impact) which is straightforward to develop, there is no consensus among researchers to employ a standard compliant contact model. Our main goal in this paper is to study the dynamics model structure of bipedal walking systems with rigid contact and a novel compliant contact model, and to present experimental validation of both models. For the model with rigid contact, after developing the model of the articulated bodies in flight phase without any contact with environment, we apply the holonomic constraints at contact points and develop a constrained dynamics model of the robot in both single and double support phases. For the model with compliant contact, we propose a novel nonlinear contact model and simulate motion of the robot using this model. In

The International Journal of Medical Robotics and Computer Assisted Surgery, 2018

Background: An essential requirement for performing robotic assisted surgery on a freely beating ... more Background: An essential requirement for performing robotic assisted surgery on a freely beating heart is a prediction algorithm which can estimate the future heart trajectory. Method: Heart motion, respiratory volume (RV) and electrocardiogram (ECG) signal were measured from two dogs during thoracotomy surgery. A comprehensive multimodality prediction algorithm was developed, based on the multivariate autoregressive model, to incorporate the heart trajectory and cardiorespiratory data, with multiple inherent measurement rates, explicitly. Results: Experimental results indicated strong relationships between the dominant frequencies of heart motion with RV and ECG. The prediction algorithm revealed a high steady state accuracy, with the RMS errors in the range of 82 to 162 µm for a 300 sec interval, less than half of that of the best competitor. Conclusion: The proposed multimodality prediction algorithm is promising for practical use in robotic assisted beating heart surgery, considering its capability of providing highly accurate predictions in long horizons.

Iranian Journal of Science and Technology, Transactions of Mechanical Engineering, 2016

Discontinuous carbon fibre tows were recovered after solvolysis of an aeronautic type composite m... more Discontinuous carbon fibre tows were recovered after solvolysis of an aeronautic type composite made with RTM6 epoxy resin. A Sohxlet extraction method was used to quantify the organic residue on the fibre tows and showed that less than 3 wt% was remaining on the surface. The recovered tows were therefore reused directly to manufacture a plate with randomly distributed carbon fibres and then three plates with realigned carbon fibres. The latter were then characterised and tested and the results obtained were compared to the material manufactured using the same type of virgin fibres by the same method. The materials made from recycled carbon fibres showed very good properties in comparison to the virgin fibre material, despite the presence of flaws such as quality of the fibre surface after solvolysis, alignment and voids). This is the first time in the open literature that carbon fibres recovered from solvolysis were reused in this way together with characterisation of the resulting materials.

Robotica, 2015

SUMMARY In this study, a gait optimization routine is developed to generate walking patterns whic... more SUMMARY In this study, a gait optimization routine is developed to generate walking patterns which demand the lowest friction forces for implementation. The aim of this research is to fully address the question “which walking pattern demands the lowest coefficient of friction amongst all feasible patterns?”. To this end, first, the kinematic structure of the considered 31 DOF (Degrees of Freedom) humanoid robot is investigated and a closed-form dynamics model for its lower-body is developed. Then, the medium through which the walking pattern generation is conducted is presented. In this medium, after designing trajectories for the feet and the pelvis, the joint space variables are obtained, using the inverse kinematics. Finally, by employing a genetic algorithm (GA), an optimization process is conducted to generate walking patterns with the minimum Required Coefficient Of Friction (RCOF). Six parameters are adopted to parameterize the pelvis trajectory and are exploited as the desig...

IEEE Robotics and Automation Letters

Volume 4: Dynamics, Control and Uncertainty, Parts A and B, 2012

ABSTRACT

Stability and performance are two main issues in motion of bipeds. To ensure stability, motion of... more Stability and performance are two main issues in motion of bipeds. To ensure stability, motion of a biped needs to follow specific pattern to comply with certain stability criterion such as zero moment point. Actuator torques limitation is also a serious restriction on motion path. Indeed, the velocity of the robot during each step is bounded with robot's physical limitations. The motion path of the robot is designed considering environmental conditions and robot's tasks. Therefore, online trajectory planning is one of the most important problems in this field. In this paper a neural network based algorithm for stable path generation is introduced which can be used online to generate path for a biped carrying different payloads. The neural network is trained based on optimum paths generated by a genetic algorithm for different values of payload mass, while considering actuator limits as optimization constraints.

Fast motion of bipeds is an interesting subject for researchers. It is well known that for a spec... more Fast motion of bipeds is an interesting subject for researchers. It is well known that for a specified biped, with certain physical parameters and actuation capability, change of kinematic parameters of motion may change the speed of motion. Among such parameters is the share of single support phase (SSP) in one complete step. This work presents a parameter study in which a phase-plane analysis for minimum time motion of a biped is used to find maximum speed of biped for different values of SSP share in one step. A frame work is given for minimum time solution which fulfills zero moment point criteria for stability and friction condition for slippage prevention in addition to some kinematic constraints which guarantees normal pattern for walking. Parameter study is done through numerical simulation using the introduced algorithm.

Volume 4: Dynamics, Control and Uncertainty, Parts A and B, 2012

ABSTRACT

2010 IEEE International Conference on Robotics and Biomimetics, 2010

Stability and performance are two main issues in motion of bipeds. To ensure stability, motion of... more Stability and performance are two main issues in motion of bipeds. To ensure stability, motion of a biped need to follow specific pattern to comply with certain stability criterion such as zero moment point. However, there are infinity many patterns of motion, i.e. different paths, which may ensure stability, so one might think of achieving better performance by choosing proper parameters of motion. Among different parameters which have a great influence on quality of motion we, in this paper, studied the effect of step size and step period, considering saturation limits of actuators. The study not only shed some light on the relation between these parameters with actuator demand which can be used in design process, but also it can help to find the maximum achievable velocity of a biped and to plan a robust pattern of motion.

2016 4th International Conference on Robotics and Mechatronics (ICROM), 2016

In this paper, two online path planning methods are presented for SURENA III humanoid robot by us... more In this paper, two online path planning methods are presented for SURENA III humanoid robot by using model predictive control scheme. The methods are general control schemes which can generate the online motions for walking of a humanoid robot. For lowering computational costs a three dimensional linear inverted pendulum model is used instead of the full dynamical model of the robot. The generated trajectories are then used for computing the zero-moment point (ZMP) of the robot and the joint torques. The resulted joint torques of the two methods are compared to torques obtained from Genetic Algorithm (GA) path planning method presented for SURENA III humanoid robot in previous studies. The comparison is made with emphasize on the knee joint since it is the joint with highest consumed torque. The results show that predictive control method reduces the knee joint torque by 13% compared to GA offline path planning method.

Journal of Medical Systems, 2018

An essential requirement for performing robotic assisted surgery on a freely beating heart is a p... more An essential requirement for performing robotic assisted surgery on a freely beating heart is a prediction algorithm which can estimate the future trajectory of the heart in the varying heart rate (HR) conditions of real surgery with a high accuracy. In this study, a hybrid amplitude modulation-(AM) and autoregressive-(AR) based algorithm was developed to enable estimating the global and local oscillations of the beating heart, raised from its major and minor physiological activities. The AM model was equipped with an estimator of the heartbeat frequency to compensate for the HR variations. The RMS of the prediction errors of the hybrid algorithm was in the range of 165-361 μm for the varying HR motion, 21% less than that of the single AM model. With the capability of providing highly accurate predictions in a wide range of HR variation, the hybrid model is promising for practical use in robotic assisted beating heart surgery. Keywords Beating heart surgery. Heart rate variability. Hybrid prediction. In vivo animal experiment This article is part of the Topical Collection on Systems-Level Quality Improvement

Journal of Intelligent & Robotic Systems, 2019

The objective of this study was to hygienically improve community-based street sales of Ready-To-... more The objective of this study was to hygienically improve community-based street sales of Ready-To-Eat (RTE) foods through the implementation of GMP (Good Manufacturing Practices) and food preservation techniques in the municipality of Cereté. Street food sales are an economic and social phenomenon, which has become a serious regional governance issue. Microbiological analyses were carried out in RTE's and on street vendors that sell them, which resulted in the absence of Staphylococcus aureus, total coliforms and fecal coliforms in the manipulators; as well as on the equipment and surfaces, there was an uncountable number of molds in the environment, which is consistent with the high exposure to climatic factors to which these street sales are exposed; the evaluated RTE's were, chorizo, cheese, Suizo (Swizz sausage meal), arepa de queso (cheese corn cakes) and empanada, finding that all complied with the permissible limits of microbial growth; except the empanada that evidenced the presence of total Coliforms and Fecal Coliforms. Fifty-two food handlers were trained by representatives of the Municipal Ministry of Health in the implementation of GMP and food preservation; in addition, compliance with the training was verified through the initial hygienic diagnosis of sanitary hygiene. The market area was found to be the one with the highest percentage of compliance (57%), while the central area was the one with the lowest percentage (33%) regarding regulations that establish at least a 60% compliance rate.

The International Journal of Medical Robotics and Computer Assisted Surgery, 2017

Background: Accurate tracking of the heart surface motion is a major requirement for robot assist... more Background: Accurate tracking of the heart surface motion is a major requirement for robot assisted beating heart surgery. Method: The feasibility of a stereo infrared tracking system for measuring the free beating heart motion was investigated by experiments on a heart motion simulator, as well as model surgery on a dog. Results: Simulator experiments revealed a high tracking accuracy (81 μm root mean square error) when the capturing times were synchronized and the tracker pointed at the target from a 100 cm distance. The animal experiment revealed the applicability of the infrared tracker with passive markers in practical heart surgery conditions. Conclusion: With the current technology, infrared tracking with passive markers might be the optimal solution for accurate, fast, and reliable tracking of heart motion during robot assisted beating heart surgery. KEYWORDS accuracy assessment, heart motion simulator, heart motion tracking, in vivo animal experiment, infrared tracker 1 | INTRODUCTION Coronary artery bypass graft (CABG) surgery is one of the most prevalent treatments in heart clinics, in which blocked areas of coronary arteries are bypassed with blood vessels from other parts of the body.

Multibody System Dynamics, 2018

Contact modeling plays a central role in motion planning, simulation and control of legged robots... more Contact modeling plays a central role in motion planning, simulation and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches to model the contact consider rigid and compliant premise at interaction ports. Contrary to the dynamics model of legged systems with rigid contact (without impact) which is straightforward to develop, there is no consensus among researchers to employ a standard compliant contact model. Our main goal in this paper is to study the dynamics model structure of bipedal walking systems with rigid contact and a novel compliant contact model, and to present experimental validation of both models. For the model with rigid contact, after developing the model of the articulated bodies in flight phase without any contact with environment, we apply the holonomic constraints at contact points and develop a constrained dynamics model of the robot in both single and double support phases. For the model with compliant contact, we propose a novel nonlinear contact model and simulate motion of the robot using this model. In

The International Journal of Medical Robotics and Computer Assisted Surgery, 2018

Background: An essential requirement for performing robotic assisted surgery on a freely beating ... more Background: An essential requirement for performing robotic assisted surgery on a freely beating heart is a prediction algorithm which can estimate the future heart trajectory. Method: Heart motion, respiratory volume (RV) and electrocardiogram (ECG) signal were measured from two dogs during thoracotomy surgery. A comprehensive multimodality prediction algorithm was developed, based on the multivariate autoregressive model, to incorporate the heart trajectory and cardiorespiratory data, with multiple inherent measurement rates, explicitly. Results: Experimental results indicated strong relationships between the dominant frequencies of heart motion with RV and ECG. The prediction algorithm revealed a high steady state accuracy, with the RMS errors in the range of 82 to 162 µm for a 300 sec interval, less than half of that of the best competitor. Conclusion: The proposed multimodality prediction algorithm is promising for practical use in robotic assisted beating heart surgery, considering its capability of providing highly accurate predictions in long horizons.

Iranian Journal of Science and Technology, Transactions of Mechanical Engineering, 2016

Discontinuous carbon fibre tows were recovered after solvolysis of an aeronautic type composite m... more Discontinuous carbon fibre tows were recovered after solvolysis of an aeronautic type composite made with RTM6 epoxy resin. A Sohxlet extraction method was used to quantify the organic residue on the fibre tows and showed that less than 3 wt% was remaining on the surface. The recovered tows were therefore reused directly to manufacture a plate with randomly distributed carbon fibres and then three plates with realigned carbon fibres. The latter were then characterised and tested and the results obtained were compared to the material manufactured using the same type of virgin fibres by the same method. The materials made from recycled carbon fibres showed very good properties in comparison to the virgin fibre material, despite the presence of flaws such as quality of the fibre surface after solvolysis, alignment and voids). This is the first time in the open literature that carbon fibres recovered from solvolysis were reused in this way together with characterisation of the resulting materials.

Robotica, 2015

SUMMARY In this study, a gait optimization routine is developed to generate walking patterns whic... more SUMMARY In this study, a gait optimization routine is developed to generate walking patterns which demand the lowest friction forces for implementation. The aim of this research is to fully address the question “which walking pattern demands the lowest coefficient of friction amongst all feasible patterns?”. To this end, first, the kinematic structure of the considered 31 DOF (Degrees of Freedom) humanoid robot is investigated and a closed-form dynamics model for its lower-body is developed. Then, the medium through which the walking pattern generation is conducted is presented. In this medium, after designing trajectories for the feet and the pelvis, the joint space variables are obtained, using the inverse kinematics. Finally, by employing a genetic algorithm (GA), an optimization process is conducted to generate walking patterns with the minimum Required Coefficient Of Friction (RCOF). Six parameters are adopted to parameterize the pelvis trajectory and are exploited as the desig...

IEEE Robotics and Automation Letters

Volume 4: Dynamics, Control and Uncertainty, Parts A and B, 2012

ABSTRACT

Stability and performance are two main issues in motion of bipeds. To ensure stability, motion of... more Stability and performance are two main issues in motion of bipeds. To ensure stability, motion of a biped needs to follow specific pattern to comply with certain stability criterion such as zero moment point. Actuator torques limitation is also a serious restriction on motion path. Indeed, the velocity of the robot during each step is bounded with robot's physical limitations. The motion path of the robot is designed considering environmental conditions and robot's tasks. Therefore, online trajectory planning is one of the most important problems in this field. In this paper a neural network based algorithm for stable path generation is introduced which can be used online to generate path for a biped carrying different payloads. The neural network is trained based on optimum paths generated by a genetic algorithm for different values of payload mass, while considering actuator limits as optimization constraints.

Fast motion of bipeds is an interesting subject for researchers. It is well known that for a spec... more Fast motion of bipeds is an interesting subject for researchers. It is well known that for a specified biped, with certain physical parameters and actuation capability, change of kinematic parameters of motion may change the speed of motion. Among such parameters is the share of single support phase (SSP) in one complete step. This work presents a parameter study in which a phase-plane analysis for minimum time motion of a biped is used to find maximum speed of biped for different values of SSP share in one step. A frame work is given for minimum time solution which fulfills zero moment point criteria for stability and friction condition for slippage prevention in addition to some kinematic constraints which guarantees normal pattern for walking. Parameter study is done through numerical simulation using the introduced algorithm.

Volume 4: Dynamics, Control and Uncertainty, Parts A and B, 2012

ABSTRACT

2010 IEEE International Conference on Robotics and Biomimetics, 2010

Stability and performance are two main issues in motion of bipeds. To ensure stability, motion of... more Stability and performance are two main issues in motion of bipeds. To ensure stability, motion of a biped need to follow specific pattern to comply with certain stability criterion such as zero moment point. However, there are infinity many patterns of motion, i.e. different paths, which may ensure stability, so one might think of achieving better performance by choosing proper parameters of motion. Among different parameters which have a great influence on quality of motion we, in this paper, studied the effect of step size and step period, considering saturation limits of actuators. The study not only shed some light on the relation between these parameters with actuator demand which can be used in design process, but also it can help to find the maximum achievable velocity of a biped and to plan a robust pattern of motion.