197 citations · 820 across the 24 of their papers we have counts for
24 papers
Hadamard--Tetrahedral Symmetric Spacetime and Clifford-Like Factorizations of Dirac and Maxwell Operators
Farhad Aghili
A symmetric representation of Minkowski spacetime is constructed by combining a normalized fourth-order Hadamard transformation with an imaginary temporal coordinate. The resulting…
Impedance Control for Manipulators Handling Heavy Payloads
Farhad Aghili
Attaching a heavy payload to the wrist force/moment (F/M) sensor of a manipulator can cause conventional impedance controllers to fail in establishing the desired impedance due to…
Adaptive Visual Servoing for On-Orbit Servicing
Farhad Aghili
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic s…
Autonomous Robots for Active Removal of Orbital Debris
Farhad Aghili
This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into accoun…
Coordination Control of Free-Flyer Manipulators
Farhad Aghili
This paper presents a method for guiding a robot manipulator to capture and bring a tumbling satellite to a state of rest. The proposed approach includes developing a coordination…
Automated Rendezvous & Docking Using 3D Vision
Farhad Aghili
The robustness and accuracy of a vision system for motion estimation of a tumbling target satellite are enhanced by an adaptive Kalman filter. This allows a vision-guided robot to…
Control and Simulation of Motion of Constrained Multibody Systems Based on Projection Matrix Formulation
Farhad Aghili
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main ad…
Hybrid Simulator for Space Docking and Robotic Proximity Operations
Farhad Aghili
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operati…
Six-DOF Spacecraft Dynamics Simulator For Testing Translation and Attitude Control
Farhad Aghili
This paper presents a method to control a manipulator system grasping a rigid-body payload so that the motion of the combined system in consequence of externally applied forces to…
Adaptive Machine Learning for Cooperative Manipulators
Farhad Aghili
The problem of self-tuning control of cooperative manipulators forming a closed kinematic chain in the presence of an inaccurate kinematics model is addressed using adaptive machin…
Adaptive Visual Servo Control for Autonomous Robots
Farhad Aghili
This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the v…
Robust 3D Vision for Autonomous Robots
Farhad Aghili
This paper presents a fault-tolerant 3D vision system for autonomous robotic operation. In particular, pose estimation of space objects is achieved using 3D vision data in an integ…
Lidar SLAM for Autonomous Driving Vehicles
Farhad Aghili
This paper presents Lidar-based Simultaneous Localization and Mapping (SLAM) for autonomous driving vehicles. Fusing data from landmark sensors and a strap-down Inertial Measuremen…
Autonomous Driving Vehicles Using Adaptive Learning Method for Data Fusion
Farhad Aghili
This paper presents an adaptive learning method for data fusion in autonomous driving vehicles. The localization is based on the integration of Inertial Measurement Unit (IMU) with…
Machine Learning for LiDAR-Based Navigation System
Farhad Aghili
This paper presents a robust 6-DOF relative navigation by combining the iterative closet point (ICP) registration algorithm and a noise-adaptive Kalman filter (AKF) in a closed-loo…
Optimal Control of Legged-Robots Subject to Friction Cone Constraints
Farhad Aghili
A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb frictio…
Analytic Continuation of Divergent Integrals
Farhad Aghili
In this work, we investigate the improper integral of the monomial \(μ(s) = \int_1^{\infty} x^{-s} \,dx \) as a continuous analogue of the infinite series representation of the Rie…
Energy Efficient Control of Electric Motors
Farhad Aghili
This paper presents development of an optimal feedback linearization control (OFLC) for interior permanent magnet (PM) synchronous machines operating in a non steady-sate operating…
Non-Minimal Systems with Switching Topology: Dynamics and Controls
Farhad Aghili
This paper presents a non-minimal order dynamics model for many analysis, simulation, and control problems of constrained mechanical systems with switching topology by making use o…
Frictional Impacts in Multibody Systems
Farhad Aghili
A unifying slipping and sticking frictional impact model for multibody systems in contact with a frictional surface is presented. It is shown that the model can lead to energetic c…
Nonsmooth Mechanics Based on Linear Projection Operator
Farhad Aghili
This paper presents a unifying dynamics formulation for nonsmooth multibody systems (MBSs) subject to changing topology and multiple impacts based on linear projection operator. An…
Analytical Mechanics With Quasi-Velocities
Farhad Aghili
This paper presents a formulation of Lagrangian dynamics of constrained mechanical systems in terms of reduced quasi-velocities and quasi-forces that can be used for simulation, an…
Divergent Integrals of Certain Analytical Functions In the Sense of Zeta Regularization
Farhad Aghili
In this paper we extend the Zeta function regularization technique, which gives a meaningful solution to divergent power series, in order to assign finite values to divergent integ…
Analytical Solution to Improper Integral of Divergent Power Functions Using The Riemann Zeta Function
Farhad Aghili, Siamak Tafazoli
This paper presents an analytical closed-form solution to improper integral , where . The solution technique is based on splitting the improp…