16 citations · 116 across the 50 of their papers we have counts for
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Combining Deep Reinforcement Learning with a Jerk-Bounded Trajectory Generator for Kinematically Constrained Motion Planning
Seyed Adel Alizadeh Kolagar, Mehdi Heydari Shahna, Jouni Mattila
Deep reinforcement learning (DRL) is emerging as a promising method for adaptive robotic motion and complex task automation, effectively addressing the limitations of traditional c…
Energy-Cautious Designation of Kinematic Parameters for a Sustainable Parallel-Serial Heavy-Duty Manipulator Driven by Electromechanical Linear Actuator
Alvaro Paz, Mohammad Bahari, Jouni Mattila
Electrification, a key strategy in combating climate change, is transforming industries, and off-highway machines (OHM) will be next to transition from combustion engines and hydra…
System-Level Performance Metrics Sensitivity of an Electrified Heavy-Duty Mobile Manipulator
Mohammad Bahari, Alvaro Paz, Jouni Mattila
The shift to electric and hybrid powertrains in vehicular systems has propelled advancements in mobile robotics and autonomous vehicles. This paper examines the sensitivity of key…
Robust Model-Free Control Framework with Safety Constraints for a Fully Electric Linear Actuator System
Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila
This paper introduces a novel model-free control strategy for a complex multi-stage gearbox electromechanical linear actuator (EMLA) system, driven by a permanent magnet synchronou…
System-Level Efficient Performance of EMLA-Driven Heavy-Duty Manipulators via Bilevel Optimization Framework with a Leader--Follower Scenario
Mohammad Bahari, Alvaro Paz, Mehdi Heydari Shahna +1
The global push for sustainability and energy efficiency is driving significant advancements across various industries, including the development of electrified solutions for heavy…
Model-Free Generic Robust Control for Servo-Driven Actuation Mechanisms with Layered Insight into Energy Conversions
Mehdi Heydari Shahna, Jouni Mattila
To advance theoretical solutions and address limitations in modeling complex servo-driven actuation systems experiencing high non-linearity and load disturbances, this paper aims t…
Robust Sensor-Limited Control with Safe Input-Output Constraints for Hydraulic In-Wheel Motor Drive Mobility Systems
Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila
In-wheel drive (IWD) systems enhance the responsiveness, traction, and maintenance efficiency of vehicles by enabling each wheel to operate independently. This paper proposes a nov…
Impact-Resilient Orchestrated Robust Controller for Heavy-duty Hydraulic Manipulators
Mahdi Hejrati, Jouni Mattila
Heavy-duty operations, typically performed using heavy-duty hydraulic manipulators (HHMs), are susceptible to environmental contact due to tracking errors or sudden environmental c…
Analytical Forward Dynamics Modeling of Linearly Actuated Heavy-Duty Parallel-Serial Manipulators
Paz Alvaro, Jouni Mattila
This paper presents a new geometric and recursive algorithm for analytically computing the forward dynamics of heavy-duty parallel-serial mechanisms. Our solution relies on express…
Integrating DeepRL with Robust Low-Level Control in Robotic Manipulators for Non-Repetitive Reaching Tasks
Mehdi Heydari Shahna, Seyed Adel Alizadeh Kolagar, Jouni Mattila
In robotics, contemporary strategies are learning-based, characterized by a complex black-box nature and a lack of interpretability, which may pose challenges in ensuring stability…