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Research

The Innovation in Robotics laboratory provides an environment in which professors and students can perform research directed towards the advancement of robotic technologies across an array of industries and applocations. Topics include rapid prototyping and automatic code generation, real-time control, path and trajectory planning and obstacle avoidance.

Projects

  1. Delaware County Keystone Innovation Grants (DCKIG), “An Intelligent Exoskeleton for Spinal and Lower Extremities Rehabilitation,” 2009
  2. Ben Franklin Institute & Event Media, Inc., “Analyses and Simulations for Aerial Camera System,” 2008
  3. Ben Franklin Institute & Easy Walking, Inc., “Modeling, Simulation, and Control of Human Walking,” 2008
  4. Ben Franklin Institute & Ablaze Systems, LLC, “Feasibility Study of an Aerial Robotic Transport System,” 2005
  5. DARPA & CTC’s NASEC, “Systems Engineering for Miniature Devices (SEMD) – Micro-Robotics Project,” 1999 - 2002

Journal Publications

  1. McNinch, L. C., Soltan, R. A., Muske, K. R., Ashrafiuon, H., and Peyton-Jones, J. C., “Real-time Coordinated Trajectory Planning and Obstacle Avoidance for Mobile Robots,” Journal of Automation, Mobile Robotics & Intelligent Systems, vol. 5, no. 1, January 2011, pp. 23-29.
  2. Fahimi, F., Nataraj, C., and Ashrafiuon, H., “Real Time Obstacle Avoidance for Groups of Mobile Robots,” Robotica, vol. 17, no. 2, March 2009, pp. 189-198.
  3. Ashrafiuon, H., and Jala, V. R., “Robust Control of a Class of Mechanical Systems Actuated by Shape Memory Alloys,” ASME Journal of Dynamic Systems, Measurement and Control, vol. 131, no. 1, January 2009, 011010.
  4. Nikkhah, M., Ashrafiuon, H., and Fahimi, F., “Robust Control of Underactuated Bipeds Using Sliding Modes,” Robotica, vol. 25, no. 3, May 2007, pp. 367-374.
  5. Ashrafiuon, H., Eshraghi, M., and Elahinia, M. H, “Position control of a Three-Link Shape Memory Alloy Actuated Arm,” Journal of Intelligent Material Systems and Structures, vol. 17, no. 5, May 2006, pp. 381-392.
  6. Elahinia, M. H., Ashrafiuon, H., Ahmadian, M., and Tan, H., “A Temperature-Based Controller for a Shape Memory Alloy Actuator,” ASME Journal of Vibration and Acoustics, vol. 127, no. 3, June 2005, pp. 285-291.
  7. Elahinia, M. H., Ahmadian, M., and Ashrafiuon, H., “Design of a Kalman Filter for Rotary Shape Memory Alloy Actuators,” Smart Materials and Structures, vol. 13, no. 4, August 2004, pp. 691-697.
  8. Fahimi, F., Ashrafiuon, H., and Nataraj, C., “Obstacle Avoidance for Spatial Hyper-Redundant Manipulators Using Harmonic Potential Functions and the Mode Shape Technique,” Journal of Robotic Systems, vol. 20, no. 1, January 2003, pp. 23-33.
  9. Elahinia, M.H., and Ashrafiuon, H., “Nonlinear Control of A Shape Memory Alloy Actuated Manipulator,” ASME Journal of Vibration and Acoustics, vol. 124, no. 4, October 2002, pp. 566-575.
  10. Fahimi, F., Ashrafiuon, H., and Nataraj, C., “An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-redundant Robots,” IEEE Transactions on Robotics and Automation, vol. 18, no. 1, February 2002, pp. 103-107.
  11. Asl, F. M., Ashrafiuon, H., Nataraj, C., “A General Solution for Position, Velocity and Acceleration of Planar Hyper-Redundant Manipulators,” Journal of Robotic Systems, vol. 19, no. 1, January 2002, pp. 1-12.

Conference Proceedings

  1. Ashrafiuon, H., Grosh, K., Burke, K. J., and Bommer, K., “An Intelligent Exoskeleton for Lower Limb Rehabilitation,” ASME IDETC, DETC2010-28022, Aug. 15 – 18, 2010, Montreal, Quebec, Canada.
  2. McNinch, L.C., Soltan, R. A., Muske, K.R., Ashrafiuon, H., and Peyton Jones, J.C., “Application of a Coordinated Trajectory Planning and Real-time Obstacle Avoidance Algorithm,” American Control Conference, June 30 – July 2, 2010, Baltimore, MD, pp. 3824 – 3829.
  3. McNinch, L. C., Soltan, R. A., Muske, K. R., Ashrafiuon, H., and Peyton Jones, J. C., “An Experimental Mobile Robot Platform for Autonomous Systems Research and Education,” IASTED International Conference on Robotics and Applications, pp. 413-418, Nov. 2 – 4, 2009.
  4. Nikkhah, M., Ashrafiuon, H., and Dougherty, E. J., “Motion Control and Design of an Aerial Robotic System,” ASME IDETC, Sept. 10-13, 2006, Philadelphia, PA, DETC2006-99510.
  5. Jala, V. R., and Ashrafiuon, H., “Robust Control of a Class of Mechanical Systems Actuated by Shape Memory Alloys,” Proceedings of the American Control Conference, June 14-16, 2006, Minneapolis, MN, pp. 5923-5928.
  6. Nikkhah, M., Ashrafiuon, H., and Fahimi, F., “Sliding Mode Control of Underactuated Biped Robots,” Proceedings of the ASME IMECE, Nov. 5-11, 2005, Orlando, FL, paper no. IMECE2005-79362.
  7. Ashrafiuon, H., and Reddy, J. V., “Variable Structure control of a Three-Link SMA- Actuated Robot,” Proceedings of the ASME DETC, Sept. 24 – 28, 2005, Long Beach, CA, paper no. DETC2005-84868.
  8. Eshraghi, M., Ashrafiuon, H., and Elahinia, M. H., “Variable Structure control of a Three-Link SMA- Actuated Robot,” Proceedings of the ASME DETC, Sept. 28 – Oct. 2, 2004, Salt Lake City, Utah, paper no. DETC2004-57024.
  9. Fahimi, F., Nataraj, C., and Ashrafiuon, H., “Real Time Obstacle Avoidance for Groups of Mobile Robots,” Proceedings of the ASME IMECE, Nov. 13-19, 2004, Anaheim, CA, paper IMECE2004-60525.
  10. Elahinia, M. H., Ashrafiuon, H., Ahmadian, M., and Inman, D. J., 2003, “Application of the Extended Kalman Filter to Control of a Shape Memory Alloy Arm,” Proceedings of the ASME IMECE, Nov. 15-21, 2003, Washington, DC, paper no. IMECE2003-42013.
  11. Elahinia, M. H., Ashrafiuon, H., Ahmadian, M., and Baumann, W. T., 2003, “Design of Extended Kalman Filter for a Shape Memory Alloy Actuated Manipulator,” Proceedings of the ASME DETC, Sept. 2-6, 2003, Chicago, ILL, paper no. DETC2003/VIB-48504.
  12. Fahimi, F., Ashrafiuon, H., and Nataraj, C., 2002, “Inverse Kinematic Solution for Universal-Jointed Hyper-Redundant Robots,” Proceedings of the 2002 ASME DETC/CIE, Montreal, Canada, paper no. DETC2002/ MECH-34228.
  13. Elahinia, M. H., and Ashrafiuon, H., 2002, “Nonlinear Control of a Shape Memory Alloy Actuated Manipulator,” Proceedings of ASME DETC/CIE, Montreal, Canada, paper DETC2002/MECH-34229.
  14. Fahimi, F., Ashrafiuon, H., and Nataraj, C., 2001, “Obstacle Avoidance for 2D Hyper-Redundant Manipulators Using Harmonic Potential Functions and the Mode Shape Technique,” Proceedings of the 2001 ASME DETC, Pittsburgh, PA, paper no. DETC2001/VIB-21527.