6 papers
Rethinking Penetration Testing for AI-Enabled Systems: From Resource Compromise to Behavioral Objective Violation
Mohammad Allahbakhsh, Mohammad Hassan Bahari, Moslem Attar-Raouf
Penetration testing traditionally evaluates whether adversaries can exploit weaknesses in software, infrastructure, configurations, or operational controls to achieve security-rele…
All-Electric Heavy-Duty Robotic Manipulator: Actuator Configuration Optimization and Sensorless Control
Mohammad Bahari, Amir Hossein Barjini, Pauli Mustalahti +1
This paper presents a unified framework that integrates modeling, optimization, and sensorless control of an all-electric heavy-duty robotic manipulator (HDRM) driven by electromec…
All-Electric Heavy-Duty Robotic Manipulator: Surrogate-Enhanced Modeling and Adaptive Modular Control
Amir Hossein Barjini, Mohammad Bahari, Mahdi Hejrati +1
This paper presents a unified system-level modeling and control framework for an all-electric heavy-duty robotic manipulator (HDRM) driven by electromechanical linear actuators (EM…
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…
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…