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Khalifa University Robotics Institute (KURI)

Khalifa University Robotics Institute (KURI)

The Khalifa University Robotics Institute (KURI) is dedicated to establishing an internationally recognized center of excellence in Robotics research. 

KURI research is focused on three broad areas:

  • Aerial, ground and marine robotic vehicles;
  • Manufacturing automation; and
  • Biorobotics,

with applications in safety and security, manufacturing and healthcare industrial sectors.

KURI has state of the art laboratory facilities and actively collaborates with a number of leading international robotics labs and industrial partners.

Objectives 

  • To achieve international prominence for excellence in research and innovation
  • To offer high quality graduate and undergraduate educational programs
  • To develop academic partnerships with leading international institutions
  • To develop partnerships with industrial and governmental entities to facilitate knowledge transfer
  • To engage in outreach activities to promote robotics in schools and the community.
  • To promote robotics in the local and international communities through events such as competitions and conferences

Contact Us

Professor Lakmal Seneviratne

Khalifa University Robotics Institute 
Room: 129, F Building, Khalifa University Abu Dhabi, U.A.E
Email: 
Phone: +971 (0)2 401 8069

DIRECTOR

Prof. Lakmal Seneviratne

KURI Director and Professor, Mechanical Engineering

FACULTY

Prof. Jorge Dias

Professor, KURI & ECE 

Prof. Paolo Dario

Visiting Chief Researcher, Robotics and Biomedical Engineering

Dr. Cesare Stefanini

Associate Professor, Robotics and Biomedical Engineering

Dr. Dongming Gan

Assistant Professor, Robotics Institute

Dr. Nawaf al Moosa 

Assistant Professor, Electrical and Computer Engineering 

Prof. Haris Doumanidis

Professor, Mechanical Engineering, and acting Chair of the Department of Civil Engineering

RESEARCH AND SUPPORT STAFF

Dr Shafiqul Islam Dr. Tarek Taha
Dr Federico Renda Eng. Muhammad Faraz Afzal Sheikh
Jaideep Jayachandran Mr. Mahesh Kannath 
Mr. Hussam Al Hussein Mr. Jacob George
Dr. Hamza Bendemra Dr. Toufik Al Khawli

GRADUATE STUDENTS

Eng. Hend Al Tair

PhD student SWE/ECE

Khalifa Al Azeezi

PhD student

Mr. Abdullah Mohiuddin

PhD student

Ms. Yasmeen Abu-Kheil

PhD student

Mr. Mohammad Awad

PhD student

Khalifa Al Azeezi 

PhD student

Ms. Randa Al Madhoun

MSc Student

Mr. Abdullah Abduldayem

MSc Student

Mr. Abdulrahman Goain

MSc Student

Ms. Alaa Abbas

MSc. Student

Mr. Amer Salah

MSc Student

Mr. Fatima Al Khoori

MSc Student

Ms. Shaikha Faris Majeed

MSc. Student

Eng. Reem Ashour

MSc Student

PREVIOUS RESEARCHERS AND COLLABORATORS 

Dr. Amna Al Shamsi Mr. Moahmmed Al Merri
Mr Adnan Saeed  

KURI research addresses numerous interdisciplinary research challenges related to increasing the autonomy of robotic systems operating in unstructured, complex and dynamic environments. 

KURI's research is focused on three main areas: (a) Aerial, Ground and Marine vehicles; (b) Autonomous manipulation; and (c) Bio Robotics. 

KURI works on bioinspired underwater robotics, capsule medical robots, exoskeletons and their design, modeling and control for underwater operations, robotics surgery and human joint rehabilitation:

Journals

  • Kamrad Khoshhal Roudposhti, Urbano Nunes, and Jorge Dias, "Probabilistic Social Behavior Analysis by Exploring Body Motion-based Patterns”, IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI). In Press, 2016.
  • M. Sami Zitouni , J. Dias , Mohammed Al-Mualla, H. Bhaskar, Advances and Trends in Visual Crowd Analysis: A Systematic Survey and Evaluation of Crowd Modelling Techniques, Neurocomputing international journal, Elsevier [Accepted], In press, 2016.
  • BW Gu, SY Choi, YS Choi, G Cai, L Seneviratne, CT Rim, “Novel Roaming and Stationary Tethered Aerial Robots for Continuous Mobile Missions in Nuclear Power Plants” Journal of Nuclear Engineering and Technology, 2016.
  • Gan, D., Dias, J., Seneviratne, L. Unified kinematics and optimal design of a 3rRPS metamorphic parallel mechanism with a reconfigurable revolute joint (2016) Mechanism and Machine Theory, 96, pp. 239-254. 
  • D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Variable Motion/Force Transmissibility of a Metamorphic Parallel Mechanism with Reconfigurable 3T and 3R Motion”, Transactions of the ASME: Journal of Mechanisms and Robotics, 2016, in press.

Conferences 

  • F Renda, F Giorgio-Serchi, F Boyer, “A Cosserat-based formulation for elastic, axisymmetric shells with implications to the pulsed-jetting propulsion of soft-bodied aquatic vehicles” Bulletin of the American Physical Society, 2016.
  • F Boyer, F Renda, “Geometric mechanics for modelling bioinspired robots locomotion: from rigid to continuous (soft) systems” Bulletin of the American Physical Society, 2016.
  • G. Cai, A. Saeed, A. Younes, T. Taha, J. Dias, L. Seneviratne(1), “ First-Principles Modeling of A Miniature Tilt-Rotor Convertiplane in Low-Speed Operation”, AIAA Modeling and Simulation Technologies Conference, 2016. In press
  • A. Khatib, H. Al-Muhairi, J. Dias, T. Taha, and N. Werghi, “Cloud-Based Intelligent Robots for Elderly Care”, IEEE International Conference on Industrial Informatics and Computer Systems (CIICS), 2016. In press.

Journals

  • J. Xu, C. X. Cai, G. Cai, and Y. Zou, “Robust H-infinity controller for miniature unmanned aerial vehicles at hover using the finite frequency strategy,” IET Control Theory & Applications, in press, 2015.
  • Liu, H., Nguyen, K.C., Perdereau, V., Bimbo, J., Back, J., Godden, M., Seneviratne, L.D., Althoefer, K., Finger contact sensing and the application in dexterous hand manipulation, (2015) Autonomous Robots, 39 (1), pp. 25-41.
  • Li, M., Konstantinova, J., Secco, E.L., Jiang, A., Liu, H., Nanayakkara, T., Seneviratne, L.D., Dasgupta, P., Althoefer, K., Wurdemann, H.A., Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissue, (2015) Medical and Biological Engineering and Computing, 53 (11), pp. 1177-1186.
  • Wanninayake, I.B., Dasgupta, P., Seneviratne, L.D., Althoefer, K. Modeling and optimizing output characteristics of intensity modulated optical fiber-based displacement sensors, (2015) IEEE Transactions on Instrumentation and Measurement, (3), art. no. 6887318, pp. 758-767.
  • Deters, C., Lam, H.-K., Secco, E.L., Wurdemann, H.A., Seneviratne, L.D., Althoefer, K. Accurate bolt tightening using model-free fuzzy control for wind turbine hub bearing assembly, (2015) IEEE Transactions on Control Systems Technology, 23 (1), art. no. 6782444, pp. 1-12.
  • S. Islam, P. X. Liu, A. El Saddik J. Dias and L. D. Seneviratne , Adaptive control of bilateral shared autonomous systems with constant human-environment input under time varying delay, International Journal of Robotics and Automation, In press, 2015.
  • S. Islam, P. X. Liu, J. Dias, L. D. Seneviratne, Multiple models based adaptive control for uncertain robot manipulators, International Journal of Control, Automation, and Systems, In press, 2015.
  • D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Joint force decomposition and variation in unified inverse dynamics analysis of a metamorphic parallel mechanism”, Meccanica, 2015, 1-11, in press.
  • S. Islam, P. X. Liu, A. El Saddik, J. Dias, L. D. Seneviratne, Bilateral shared autonomous systems with symmetric and unsymmetrical time delay under passive and nonpassive input, ISA Transaction, Elsevier, vo. 54, pp. 218-228, 2015.
  • D. M. Gan, J. S. Dai, Jorge Dias, R. Umer, and L. D. Seneviratne, “Singularity-Free Workspace Aimed Optimal Design of a 2T2R Parallel Mechanism for Automated Fiber Placement”, Transactions of the ASME: Journal of Mechanisms and Robotics, 7(4), 2015, pp. 041022_1-9.
  • D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Forward Kinematics Solution Distribution and Analytic Singularity-Free Workspace of Linear-Actuated Symmetrical Spherical Parallel Manipulators”, Transactions of the ASME: Journal of Mechanisms and Robotics, 7(4), 2015, pp. 041007_1-8.
  • Y. F. Zhuang, D. M. Gan, “Unified Singularity Modeling and Reconfiguration of 3rTPS Metamorphic Parallel Mechanisms with Parallel Constraint Screws”, Advances in Mechanical Engineering, 2015, 7(1): 352797.
  • F. Renda, F Giorgio-Serchi, F. Boyer and C. Laschi “Modeling Cephalopod-inspired Pulsed-jet Locomotion for Underwater Soft Robots” Bioinspiration & Biomimetics, 10:5, 055005, 2015
  • F. Renda, F. Giorgio Serchi, F. Boyer and C. Laschi. “Structural Dynamics of a Pulsed-Jet Propulsion System for Underwater Soft Robots”. Int J Adv Robot Syst, 2015, 12:68.
  • M. Giorelli, F. Renda, M. Calisti, A. Arienti, G. Ferri, C. Laschi "Neural Network and Jacobian Method for Solving the Inverse Statics of a Cable-Driven Soft Arm With Nonconstant Curvature," in Robotics, IEEE Transactions on , vol.31, no.4, pp.823-834, Aug. 2015.
  • M Giorelli, F Renda, M Calisti, A Arienti, G Ferri and C Laschi “Learning the inverse kinetics of an octopus-like manipulator in three-dimensional space” Bioinspiration & Biomimetics, 10:3, 035006, May 2015.

Conferences 

  • B. Emran, G. Cai, J. Dias, and L. Seneviratne, “Robust adaptive control design for quadcopter payload add and drop applications”, The 34th Chinese Control Conference, July 2015.
  • Back, J., Dasgupta, P., Seneviratne, L., Althoefer, K., Liu, H. Feasibility study- novel optical soft tactile array sensing for minimally invasive surgery, (2015) IEEE International Conference on Intelligent Robots and Systems, 2015-December, art. no. 7353570, pp. 1528-1533.
  • Abu-Kheil, Y., Ciuti, G., Mura, M., Dias, J., Dario, P., Seneviratne, L.
    Vision and inertial-based image mapping for capsule endoscopy, (2015) 2015 International Conference on Information and Communication Technology Research, ICTRC 2015, art. no. 7156427, pp. 84-87.
  • S. Islam, J. Dias, , L. D. Seneviratne, Impedance Reflection Based Robust Control for Bilateral Teleoperation System with Unsymmetrical Delay, IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 16-21, 2016 , submitted
  • R. K. Ashour, S. Islam, L. D. Seneviratne and J. Dias Haptic Based Bilateral Telemanipulation of MAVs with UncertainEnvironments over Internet Communication Networks, IEEE International Conference on Robotics and Automation Stockholm, Sweden. May 16-21, 2016 , submitted
  • S. Saeed, G. Cai, A. B. Younes, S. Islam, J. Dias, L. D. Seneviratne, A Review on the Platform Design, Dynamic Modeling and Control of hybrid UAVs, IEEE International Conference on Unmanned Aircraft Systems, June 9-12, Denver, Colorado, USA, pp. 764-773, 2015.
  • S. Islam, R. K. Ashour, G. Cai, J. Dias, L. D. Seneviratne, Adaptive sliding mode control control design for quadrotor UAV, IEEE International Conference on Unmanned Aircraft Systems, June 9-12, Denver, Colorado, USA, pp. 34-39, 2015
  • S. Islam, M. Shiekh, J. Dias and L. D. Seneviratne, Robust control of quadrotor UAV, IEEE International Conference on robotics and Automation(ICRA), May 26-30, Seattle, Washington, USA, pp. 1704-1709, 2015.
  • M. Awad, R. Ashour, S. Islam, L. D. Seneviratne and J. Dias, Prametric Risk Field for Haptic Teleoperation of Unmanned Ground Vehicle, GSRC, 22-24 March, Abu Dhabi, UAE, pp. 15-21, 2015.
  • P Qi, H Liu, L Seneviratne, K Althoefer, “Design, Kinematics and Prototype of a Flexible Robot Arm With Planar Springs”, ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference.
  • R. K. Ashour, S. Islam, L. D. Seneviratne and J. Dias, Haptic Based Bilateral Shared Control and Interaction of MAVs with Uncertain Environments, GSRC, 22-24 March, pp. 1-6, Abu Dhabi, UAE, 2015.
  • D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Variable Motion/Force Transmissibility of a Metamorphic Parallel Mechanism with Reconfigurable 3T and 3R Motion”, Proceedings of the ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Boston, USA, August 2-5,
  • D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Reconfiguration and Static Joint Force Variation of a 3rRPS Metamorphic Parallel Mechanism with 3R and 1T2R Motion”, Proceedings of the IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, Beijing, China, July 20-
  • F. Renda, F Giorgio-Serchi, F. Boyer and C. Laschi "Locomotion and elastodynamics model of an underwater shell-like soft robot," in Robotics and Automation (ICRA), 2015 IEEE International Conference on, pp.1158-1165, 26-30 May 2015.
  • F. Giorgio-Serchi, F. Renda, M. Calisti, and C. Laschi “Thrust depletion at high pulsation frequencies in underactuated, soft-bodied, pulsed-jet vehicles,” in OCEANS 2015 - Genova, pp.1-6, 18-21 May 2015.
  • F. Giorgio-Serchi, F. Renda and C. Laschi “Cephalopod-inspired soft robots: design criteria and modelling frameworks”, 7th Symposium on Adaptive Motion of Animals and Machines (AMAM), Boston, MA, MIT, 21-25 June, 2015.
  • F. Boyer and F. Renda “Poincaré's equations for Cosserat shells: application to locomotion of cephalopods” Geometric Science of Information: Second International Conference, GSI 2015 Palaiseau, France, October 28–30, 2015, Proceedings.
  • F. Renda, F. Giorgio-Serchi, F. Boyer, C. Laschi, J. Dias and L. Seneviratne “A Multi-Soft-Body Dynamic Model for Underwater Soft Robotics” International Symposium on Robotics Research September 12 - 15, 2015, Sestri Levante, Italy (in press).22, 2015.
  • Al Tair, H., Taha, T., Al-Qutayri, M., and Dias, J.. Decentralized multi-agent POMDPs framework for humans-robots teamwork coordination in search and rescue. In Information and Communication Technology Research (ICTRC), 2015 International Conference on (pp. 210-213). IEEE
  • H. Al Tair, T. Taha, J. Dias, M. Al-Qutayri, “Decentralized Multi-agent POMDPs Framework for Coordinating Human-Robots Teamwork in Search and Rescue,” GSRC, 22-24 March, Abu Dhabi, UAE , 2015.

Journals 

  • G. Cai, J. Dias, and L. Seneviratne, “A survey of small-scale unmanned aerial vehicles: recent advances and future development trends,” Unmanned Systems, Vol. 2, No. 2, pp. 175-199, 2014
  • Li, M., Luo, S., Nanayakkara, T., Seneviratne, L.D., Dasgupta, P., Althoefer, K. Multi-fingered haptic palpation using pneumatic feedback actuators, (2014) Sensors and Actuators, A: Physical, 218, pp. 132-141.
  • D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Constraint-Plane-Based Synthesis and Topology Variation of A Class of Metamorphic Parallel Mechanisms”, Journal of Mechanical Science and Technology, 28(10), 2014, pp. 4179-4191
  • Wanninayake, I.B., Dasgupta, P., Seneviratne, L.D., Althoefer, K.Modeling and Optimizing Output Characteristics of Intensity Modulated Optical Fiber-Based Displacement Sensors, (2014) IEEE Transactions on Instrumentation and Measurement, . Article in Press.
  • M Li, S Sareh, M Ridzuan, LD Seneviratne, P Dasgupta, “Multi-fingered palpation using pseudo-haptic feedback”, Article,  vol3, pg:8, The Hamlyn Symposium on Medical Robotics, 2014
  • Li, M., Liu, H., Jiang, A., Seneviratne, L.D., Dasgupta, P., Althoefer, K., Wurdemann, H. Intra-operative tumour localisation in robot-assisted minimally invasive surgery: A review, (2014) Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, 228 (5), pp. 509-522. 
  • Liu, H., Sangpradit, K., Li, M., Dasgupta, P., Althoefer, K., Seneviratne, L.D. Inverse finite-element modeling for tissue parameter identification using a rolling indentation probe, (2014) Medical and Biological Engineering and Computing, 52 (1), pp. 17-28. 
  • Ataollahi, A., Fallah, A.S., Seneviratne, L.D., Dasgupta, P., Althoefer, K. Novel force sensing approach employing prismatic-tip optical fiber inside an orthoplanar spring structure, (2014) IEEE/ASME Transactions on Mechatronics, 19 (1), art. no. 6353932, pp. 121-130. 
  • Qi, P., Liu, H., Seneviratne, L., Althoefer, K. Towards kinematic modeling of a multi-DOF tendon driven robotic catheter (2014) Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2014, pp. 3009-3012. 
  • Li, M., Ranzani, T., Sareh, S., Seneviratne, L.D., Dasgupta, P., Wurdemann, H.A., Althoefer, K.Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators, (2014) Smart Materials and Structures, 23 (9), art. no. 095007, 
  • Xie, H., Jiang, A., Wurdemann, H.A., Liu, H., Seneviratne, L.D., Althoefer, K.Magnetic resonance-compatible tactile force sensor using fiber optics and vision sensor, (2014) IEEE Sensors Journal, 14 (3), art. no. 6600735, pp. 829-838. 
  • Song, X., Liu, H., Althoefer, K., Nanayakkara, T., Seneviratne, L.D.Efficient break-away friction ratio and slip prediction based on haptic surface exploration, (2014) IEEE Transactions on Robotics, 30 (1), art. no. 6595565, pp. 203-219. 
  • S. Islam, P. X. Liu, A. El Saddik, Nonlinear adaptive control scheme for bilateral teleoperation systems with symmetrical and unsymmetrical time varying delay, International Journal of System Science, vol. 46, no. 16, pp. 2928-2938, 2014.
  • S Islam, XP Liu, A El Saddik, L Seneviratne, J Dias, Control schemes for passive teleoperation systems over wide area communication networks with time varying delay, International Journal of Automation and Computing 11 (1), 100-108, 2014.
  • S. Islam, P. X. Liu, A. El Saddik, M. Faraz, L. D. Seneviratne and J. Dias, Robust adaptive control of quadrotor unmanned aerial vehicle with uncertainty, Robotica, to appear, 2014.
  • D. R. Faria, P. Trindade, J. Lobo, J. Dias - "Knowledge-based Reasoning from Human Grasp Demonstrations for Robot Grasp Synthesis". Robotics and Autonomous Systems, ISSN 0921-8890, 2014.
  • J. F. Ferreira and J. Dias - "Attentional Mechanisms for Socially Interactive Robots - A Survey". IEEE Transactions on Autonomous Mental Development, Special Issue on Behavior Understanding and Developmental Robotics:1-18, 2014.
  • Liu, Hongbin; Sangpradit, Kiattisak; Li, Min; Dasgupta, Prokar; Althoefer, Kaspar; Seneviratne, Lakmal D, Inverse finite-element modeling for tissue parameter identification using a rolling indentation probe. In: Medical & Biological Engineering & Computing, Vol. 52, No. 1, 01.2014, p. 17-28.
  • Xie, H., Liu, H., Seneviratne, L.D., Althoefer, K. An optical tactile array probe head for tissue palpation during minimally invasive surgery, (2014) IEEE Sensors Journal, 14 (9), art. no. 6824810, pp. 3283-3291. 
  • A Ataollahi, AS Fallah, LD Seneviratne, P Dasgupta, K Althoefer, Novel Force Sensing Approach Employing Prismatic-Tip Optical Fiber Inside an Orthoplanar Spring Structure, IEEE/ASME Transactions on Mechatronics, Volume:19 ,  Issue: 1, 1083-4435, 2014.
  • H Xie, A Jiang, H Wurdemann, H Liu, L Seneviratne, K Althoefer, Magnetic Resonance-Compatible Tactile Force Sensor using Fiber Optics and Vision Sensor, IEEE Sensors Journal, Volume14,  Issue 3, page 829-838, 2014.
  • Karimoddini, H. Lin, X. Dong, G. Cai, F. Lin, B. M. Chen, and T. H. Lee, “Hybrid modeling and control of the regulation layer of unmanned helicopters,” IEEE Control System Technology, in press.

Conferences 

  • G. Cai, Hind Al Mehairi, Hanan Al-Hosani, Jorge Dias, Lakmal Seneviratne, “Frequency-domain flight dynamics model identification of MAVs - miniature quad-rotor aerial vehicles”, Proceedings of the 2014 International Conference on Intelligent Robots and Systems, pp. 3376 – 3381, 2014.
  • D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, Unified Kinematics Analysis and Analytic Singularity-Free Workspace of a Metamorphic Parallel Mechanism with Controllable Rotation Center, Proceedings of the ASME 2014 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Buffalo, USA, August 17-20, 2014.
  • Li M, Ranzani T, Sareh S, Seneviratne L, Dasgupta P, Wurdemann H and Althoefer K 2014 Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators Smart Mater. Struct. 23 095007
  • Wanninayake, I.B., Seneviratne, L.D., Althoefer, K. Estimation of tissue stiffness using a prototype of air-float stiffness probe (2014) Proceedings - IEEE International Conference on Robotics and Automation, art. no. 6907039, pp. 1426-1431.
  • Back, J., Bimbo, J., Noh, Y., Seneviratne, L., Althoefer, K., Liu, H. Control a contact sensing finger for surface haptic exploration (2014) Proceedings - IEEE International Conference on Robotics and Automation, art. no. 6907251, pp. 2736-2741.
  • Sareh, S., Jiang, A., Faragasso, A., Noh, Y., Nanayakkara, T., Dasgupta, P., Seneviratne, L.D., Wurdemann, H.A., Althoefer, K. Bio-inspired tactile sensor sleeve for surgical soft manipulators (2014) Proceedings - IEEE International Conference on Robotics and Automation, art. no. 6907043, pp. 1454-1459.
  • Qi, P., Qiu, C., Liu, H., Dai, J.S., Seneviratne, L., Althoefer, K. A novel continuum-style robot with multilayer compliant modules (2014) IEEE International Conference on Intelligent Robots and Systems, art. no. 6943002, pp. 3175-3180.
  • Li, M., Ridzuan, M.B., Sareh, S., Seneviratne, L.D., Dasgupta, P., Althoefer, K. Pseudo-haptics for rigid tool/soft surface interaction feedback in virtual environments, (2014) Mechatronics, 24 (8), pp. 1092-1100.
  • Qi, P., Liu, H., Seneviratne, L., Althoefer, K. Towards kinematic modeling of a multi-DOF tendon driven robotic catheter (2014) 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014, art. no. 6944256, pp. 3009-3012.
  • Li, M., Faragasso, A., Konstantinova, J., Aminzadeh, V., Seneviratne, L.D., Dasgupta, P., Althoefer, K. A novel tumor localization method using haptic palpation based on soft tissue probing data, (2014) Proceedings - IEEE International Conference on Robotics and Automation, art. no. 6907468, pp. 4188-4193.
  • D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Joint Force Decomposition and Variation in Unified Inverse Dynamics Analysis of a Metamorphic Parallel Mechanism”, The 2014 Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Tianjin, China, July 7-8, 2014.
  • Bashar El-Khasawneh, Abdulla AlAli, Anas AlAzzam, D. M. Gan, Mohammad Abu Tayeh, “A Novel 5 Degrees-of-Freedom Hybrid Serial-Parallel Kinematics Manipulator (Two-3PRR): Inverse and Forward Kinematics”, The 2014 Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Tianjin, China, July 7-8, 2014.
  • S. Islam, D. Seneviratne and J. Dias, Adaptive tracking control of quadrotor robot vehicle, In Proc IEEE/ASME International Conference on Advanced Intelligent Mechatronics, July 8-11, Besançon, France, 2014.

Journal 

  • D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Unified Kinematics and Singularity Analysis of A Metamorphic Parallel Mechanism with Bifurcated Motion”, Transactions of the ASME: Journal of Mechanisms and Robotics, 5(3), 2013, pp. 041104_1-11.
  • D. M. Gan, N. G. Tsagarakis, J. S. Dai, D. G. Caldwell, L. D. Seneviratne, “Stiffness Design for a Spatial 3-DOF Compliant Manipulator Based on Impact Configuration Decomposition”, Transactions of the ASME: Journal of Mechanisms and Robotics, 5(1), 2013, pp. 011002(1-10).
  • M Li, J Konstantinova, V Aminzadeh, T Nanayakkara , “Real-time visual stiffness feedback for soft tissue palpation in a telemanipulation environment, Proc. Hamlyn Symp, Pg: 77-78, 2013.
  • D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Reconfigurability and Unified Kinematics Modeling of a 3rTPS Metamorphic Parallel Mechanism with Perpendicular Constraint Screws”, Robotics and Computer Integrated Manufacturing, Vol. 29, Issue 4, 2013, pp. 121-128.
  • D. M. Gan, J. S. Dai, “Geometry Constraint and Branch Motion Evolution of 3-PUP Parallel Mechanisms with Bifurcated Motion”, Mechanism and Machine Theory, 61, 2013, 168-183.
  • Wanninayake, I.B., Dasgupta, P., Seneviratne, L.D., Althoefer, K. Air-float palpation probe for tissue abnormality identification during minimally invasive surgery (2013) IEEE Transactions on Biomedical Engineering, 60 (10), art. no. 6517529, pp. 2735-2744. 
  • Polygerinos, P., Seneviratne, L.D., Razavi, R., Schaeffter, T., Althoefer, K. Triaxial catheter-tip force sensor for MRI-guided cardiac procedures (2013) IEEE/ASME Transactions on Mechatronics, 18 (1), art. no. 6133334, pp. 386-396. 

Conference 

  • F. Lin, K. Z. Y. Ang, F. Wang, B. M. Chen, T. H. Lee, B. Yang, M. Dong, X. Dong, J. Cui, S. K. Phang, B. Wang, D. Luo, K. Peng, G. Cai, S. Zhao, M. Yin and K. Li, Development of an unmanned coaxial rotorcraft for the DARPA UAVForge Challenge, Unmanned Systems 1, (2), 211-245, 2013.
  • Ataollahi, Asghar; Karim, Rashed; Soleiman Fallah, Arash; Rhode, Kawal; Razavi, Reza; Seneviratne, Lakmal; Schaeffter, Tobias; Althoefer, Kaspar, 3-DOF MR-Compatible Multi-Segment Cardiac Catheter Steering Mechanism. In: IEEE Transactions on Biomedical Engineering, Vol. PP, No. 99, 06.08.2013, p. 1.
  • Polygerinos, Panagiotis; Seneviratne, Lakmal; Razavi, Reza; Schaeffter, Tobias; Althoefer, Kaspar, Triaxial Catheter-Tip Force Sensor for MRI-Guided Cardiac Procedures. In: IEEE ASME TRANSACTIONS ON MECHATRONICS, Vol. 18, No. 1, N/A, 02.2013, p. 386 - 396 .
  • Xie, H., Liu, H., Luo, S., Seneviratne, L.D., Althoefer, K. Fiber optics tactile array probe for tissue palpation during minimally invasive surgery (2013) IEEE International Conference on Intelligent Robots and Systems, art. no. 6696714, pp. 2539-2544.
  • Bimbo, J., Seneviratne, L.D., Althoefer, K., Liu, H.
    Combining touch and vision for the estimation of an object's pose during manipulation
    (2013) IEEE International Conference on Intelligent Robots and Systems, art. no. 6696931, pp. 4021-4026.
  • Wanninayake, Indika; Dasgupta, Prokar; Seneviratne, Lakmal; Althoefer, Kaspar, Air-float Palpation Probe for Tissue Abnormality Identification During Minimally Invasive Surgery.In: IEEE Transactions on Biomedical Engineering, Vol. 60, No. 10, N/A, 2013, p. 2735-2744.
  • Ataollahi, Asghar; Soleiman Fallah, Arash; Seneviratne, Lakmal; Dasgupta, Prokar; Althoefer, Kaspar, Novel Force Sensing Approach Employing Prismatic-Tip Optical Fiber Inside an Orthoplanar Spring Structure. In: IEEE ASME TRANSACTIONS ON MECHATRONICS, Vol. PP, No. 99, 2013.
  • P. Drews, P. Nuñez, R. Rocha, M. Campos, J. Dias - "Novelty Detection and Segmentation based on Gaussian Mixture Models: a Case Study in 3D Robotic Laser Mapping". Robotics and Autonomous Systems, 61 (12), pp. 1696-1709, Elsevier, December 2013.
  • K. Khoshhal and J. Dias - "Probabilistic Human Interaction Understanding - Exploring Relationship Between Human Body Motion and the Environmental Context". Pattern Recognition Letters, Volume 34, Issue 7, Pages 820-830, May 2013.
  • J. F. Ferreira, J. Lobo, P. Bessière, M. Castelo-Branco, J. Dias - "A Bayesian Framework for Active Artificial Perception" - IEEE Transactions on Cybernetics (Systems Man and Cybernetics, part B), vol.43, no.2, pp.699-711, April 2013.
  • Amna AlDahak, Lakmal Seneviratne, and Jorge Dias, “Mapping for unknown environment using triangulated maps,” in IEEE International Conference on Systems, Man & Cybernetics, October 2013.
  • Amna AlDahak, Lakmal Seneviratne, and Jorge Dias, “Frontier-based exploration for unknown environments using incremental triangulation,” in IEEE International Symposium Safety, Security and Rescue Robotics, October 2013
  • D. M. Gan, G. Cai, J. Dias, L. D. Seneviratne - "Attitude Control of Quad-Rotor UAVs Using an Intuitive Kinematics Model". In proceedings of 2013 IEEE International Conference on Electronics, Circuits, and Systems (ICECS 2013), December 8-11 2013, Abu Dhabi, UAE.
  • Li, M., Luo, S., Seneviratne, L.D., Nanayakkara, T., Althoefer, K., Dasgupta, P. Haptics for multi-fingered palpation (2013) Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013, art. no. 6722466, pp. 4184-4189.
  • Deters, C., Secco, E.L., Wuerdemann, H.A., Lam, H.K., Seneviratne, L.D., Althoefer, K. Model-free fuzzy tightening control for bolt/nut joint connections of wind turbine hubs. (2013) Proceedings - IEEE International Conference on Robotics and Automation, art. no. 6630587, pp. 270-276.
  • Searle, T.C., Althoefer, K., Seneviratne, L., Liu, H. An optical curvature sensor for flexible manipulators (2013) Proceedings - IEEE International Conference on Robotics and Automation, art. no. 6631203, pp. 4415-4420.
  • H. Hussein, T. Caldeira, D. M. Gan, J. Dias, L. D. Seneviratne - "Object Shape Perception in Blind Robot Grasping Using a Wrist Force/Torque Sensor". In proceedings of 2013 IEEE International Conference on Electronics, Circuits, and Systems (ICECS 2013), December 8-11 2013, Abu Dhabi, UAE.
  • R. K. Ashour, S. Islam, L. D. Seneviratne and J. Dias, Internet based bilateral teleoperation of quadrotor flying vehicle, Presented in Proc. IEEE ICECS, December 8-11, UAE, 2013.
  • Deters, Christian; Secco, Emanuele; Wurdemann, Helge A.; Lam, Hak-Keung; Seneviratne, Lakmal; Althoefer, Kaspar, Model-free Fuzzy Tightening Control for Bolt/Nut Joint Connections of Wind Turbine Hubs. 2013 IEEE International Conference on Robotics and Automation (ICRA). Vol. N/A N/A. ed. IEEE, 2013. p. 270-276.
  • TC Searle, K Althoefer, L Seneviratne, H Liu, An optical curvature sensor for flexible manipulators, 2013 IEEE International Conference on Robotics and Automation (ICRA), 4415-4420, 2013.
  • C Deters, EL Secco, HA Wuerdemann, HK Lam, LD Seneviratne, Model-free fuzzy tightening control for bolt/nut joint connections of wind turbine hubs, 2013 IEEE International Conference on Robotics and Automation (ICRA), 270-276, 2013
  • Mohammad B., Elgabra H., Ashour R., Saleh H., “Portable Wireless Biomedical Temperature Monitoring System: Architecture and Implementation”, International Conference on Innovations in Information Technology (IIT’13), Institute of Electrical and Electronics Engineers, Al Ain, United Arab Emirates, March, 2013.
  • Ashour R., Otrok H., Al-Hammadi Y., “Draining the Battery of Android Smart-Phones¨, Secure Abu Dhabi 2013, March, 2013.
  • J Bimbo, LD Seneviratne, K Althoefer, H Liu, Combining touch and vision for the estimation of an object's pose during manipulation, 2013 IEEE/RSJ International on Intelligent Robots and Systems (IROS).
  • H Xie, H Liu, S Luo, LD Seneviratne, K Althoefer, Fiber optics tactile array probe for tissue palpation during minimally invasive surgery, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
  • L. Santos, J. Sales, P. J. Sanz, J. Dias and J. C. García - "Cognitive Skills Models: Towards Increasing Autonomy in Underwater Intervention Missions". In Cognitive Robotics Systems (CRS) Workshop at IROS 2013.
  • J. Sales, L. Santos, P. J. Sanz, J. Dias and J. C. García - "Increasing the Autonomy Levels for Underwater Intervention Missions by using Learning and Probabilistic Techniques". In Robot 2013: First Iberian Robotics Conference, in Madrid, Spain, November, 2013.
  • K. Khoshhal, J. Dias - "Improved Semantic-based Human Interaction Understanding Using Context-based knowledge". 2013 IEEE International Conference on Systems, Man, and Cybernetics (IEEE SMC 2013), Manchester, United Kingdom, October, 2013.
  • L. Santos, J. Sousa and J. Dias - "Vision-based Laban Motion Signatures for Person Identification". In 2nd Workshop on Recognition and Action for Scene Understanding (REACTS), satellite event of the 15th International Conference of Computer Analysis of Images and Patterns (CAIP), 2013.
  • J. Quintas, P. Menezes, J. Dias - "Context-based perception and understanding of human intentions". 2013 IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2013), Gyeongju, Korea, August, 2013.
  • João Quintas, Paulo Menezes, Jorge Dias - "Context-aware cooperation between human and robotic teams in catastrophic incidents". 2013 IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2013), Gyeongju, Korea, August, 2013.
  • H. Aliakbarpour, K. Palaniappan and J. Dias - "Geometric exploration of virtual planes in a fusion-based 3D data registration framework". Proc. SPIE 8747, Geospatial InfoFusion III, 87470C, June 13, 2013.
  • D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, "Controllable Rotation Workspace of a Metamorphic Parallel Mechanism”, Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Portland, USA, August 4-7, 2013.
  • D. M. Gan, Jorge Dias, and L. D. Seneviratne, "Unified Inverse Dynamics of Variable Topologies of a Metamorphic Parallel Mechanism Using Screw Theory”, Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Portland, USA, August 4-7, 2013.
  • Tiago Caldeira, Lakmal Seneviratne, and Jorge Dias, Indoor Exploration Using a μUAV and a Spherical Geometry Based Visual System, L.M. Camarinha-Matos, S. Tomic, and
  • Graça (Eds.): DoCEIS 2013, IFIP AICT 394, pp. 200–209, 2013.
  • AlDahak, L. Seneviratne, J. Dias - "Mapping for Unknown Environment Using Incremental Triangulation". ICRA 2013 Workshop on Combining Task and Motion Planning, IEEE International Conference on Robotics and Automation, Karlsruhe, May, 2013
  • J. F. Ferreira and J. Dias - "Hierarchical Log-Spherical Inference Grid – An Unconventional Approach to Robotic Perception and Action". UARACIN – Workshop on Unconventional Approaches to Robotics, Automation and Control Inspired by Nature, 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), May 6th-10th, 2013.
  • R. Martins, J. F. Ferreira, J. Dias - "Touch attention Bayesian models for robotic active haptic exploration". In 2nd Workshop on Recognition and Action for Scene Understanding (REACTS) 2013, York, UK, 30 August, 2013.
  • P. Catré, A. Marques, J. Quintas, J. Dias - "TICE-Healthy: A Dynamic Extensible Personal Health Record". in HEALTHINF2013, Barcelona, Spain, February, 2013.

Journal 

  • G. Cai, B. M. Chen, T. H. Lee and K.-Y. Lum, “Comprehensive nonlinear modeling of a miniature unmanned helicopter,” Journal of American Helicopter Society, Vol. 57, No. 1, pp. 012004-1~13, January 2012.
  • J. F. Ferreira, C. Tsiourti, J. Dias - Learning emergent behaviours for a hierarchical Bayesian framework for active robotic perception - In Cognitive Processing journal, Vol. 13, Issue 1, Page 155-159, Springer, 2012
  • J. F. Ferreira, M. Castelo-Branco, J. Dias - "A hierarchical Bayesian framework for multimodal active perception". Adaptive Behavior, 20(3):172-190, June 2012.
  • *Jorge Dias, A Sahbani, L Seneviratne, S Zeghloul and J Zhang, "Autonomous Grasping", Robotics and Autonomous Systems: Special Issue on Autonomous Grasping, 60 (3), 323-325, 2012
  • *H.K. Lam and L.D. Seneviratne, Fuzzy Control of Nonlinear Systems using Parameter-Dependent Polynomial Fuzzy Model, IET Control Theory & Applications, In Press, 2012
  • *Xiaojing Song, Kaspar Althoefer and Lakmal D Seneviratne, Slip Estimation for Tele-operated Ground Vehicles using an Optical Flow Technique and Nonlinear Observers, IMechE Transaction, In Press, 2012
  • *Panagiotis Polygerinos, Lakmal D. Seneviratne  and Kaspar Althoefer, Triaxial Catheter-Tip Force Sensor for MRI-Guided Cardiac Procedures,  IEEE/ASME Transactions on Mechatronics , In Press, 2012
  • *P Puangmali, H Liu, L D Seneviratne, P Dasgupta, K Althoefer, Miniature 3-Axis Distal Force Sensor for Minimally Invasive Surgical Palpation, IEEE/ASME Transactions on Mechatronics, In Press, 2012
  • L. Almeida, P. Menezes, J. Dias, "Augmented reality framework for the socialization between elderly people", peer reviewed chapter in "Handbook of Research on ICTs for Healthcare and Social Services: Developments and Applications", Isabel Maria Miranda & Maria Manuela Cruz-Cunha (Eds.), IGI Global, 2012. 
  • D. R. Faria, R. Martins, J. Lobo, J. Dias - "Extracting Data from Human Manipulation of Objects Towards Improving Autonomous Robotic Grasping" - Robotics and Autonomous Systems, Elsevier: Special Issue on Autonomous Grasping, Volume 60, Issue 3, Pages 396-410, 2012.
  • H. Aliakbarpour, J. Dias, "3D Reconstruction based on Multiple Virtual Planes by Using Fusion-based Camera Network". Journal of Computer Vision (IET), ISSN: 1751-9632, 2012.
  • J. Prado, C. Simplício, N. F. Lori and J. Dias - "Visuo-Auditory Multimodal Emotional Structure to Improve Human-Robot-Interaction". International Journal of Social Robotics, Volume 4, p. 29-51, ISSN: 1875-4791, 2012.
  • S. Islam, P. X. Liu and A. El Saddik, Convergence analysis for a class of nonlinear bilateral teleoperation systems with time varying communication delay: theory and experiment, IEEE Transactions on Industrial Electronics, Accepted 2012.
  • S. Islam and P. X. Liu, Adaptive iterative learning control for robot manipulators using Lyapunov-based switching, Robotica, to appear, 2012.
  • *N. Dominici, U. Keller, H. Vallery, L. Friedli, R. van den Brand, M. L. Starkey, P. Musienko, R. Riener, and G. Courtine, “Novel robotic interface to evaluate, enable, and train locomotion and balance after neuromotor disorders,” accepted as Technical Report in Nature Medicine, 2012.
  • *A. Schuck, R. Labruy`ere, H. Vallery, R. Riener, and A. Duschau-Wicke, “Feasibility and effects of patient-cooperative robot-aided gait training applied in a 4-week pilot trial,” Accepted for publication in the Journal of NeuroEngineering and Rehabilitation, 2012.
  • *M. P. Vitello, M. Fritschi, and M. O. Ernst, Immersive Multimodal Interactive Presence, ch. Active Movement Reduces the Tactile Discrimination Performance, pp. 7–34. Springer Series on Touch and Haptic Systems, Springer Berlin/Heidelberg, 2012.DOI:10.1007/978-1-4471-2754-3
  • F. Renda, M. Cianchetti, M. Giorelli, A. Arienti and C. Laschi “A 3D Steady State Model of a Tendon-Driven Continuum Soft Manipulator Inspired by Octopus Arm” Bioinspiration & Biomimetics, 7 (2012), 025006.

Conference 

  • C. Christophorou, P. Alvito, P. Andreou, E. Christodoulou, Jorge Dias - "SocialRobot: Elderly home Care and socialization". In the Ambient Assisted Living (AAL) Forum 2012, Eindhoven, September, 2012
  • D. R. Faria, J. Lobo, Jorge Dias - "Identifying Objects from Hand Configurations during In-hand Exploration". In 2012 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2012), Hamburg, September, 2012.
  • J. Quintas, L. Almeida, M. Brito, G. Quintela, P. Menezes, Jorge Dias - Context-based understanding of interaction intentions - in Proceedings of 21st IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2012), Paris, France - 9-13 September 2012 (accepted)
  • K. Roudposhti, Jorge Dias - "Interrelation Analysis for Interpersonal Behaviour Understanding in Social Context". In 10th IFAC Symposium on Robot Control (SYROCO 2012), Dubrovnik, Croatia, September, 2012.
  • D. R. Faria, R. Martins, J. Lobo, Jorge Dias - "A Probabilistic Framework to Detect Suitable Grasping Regions on Objects". In 10th IFAC Symposium on Robot Control (SYROCO 2012), Dubrovnik, Croatia, September, 2012.
  • *Hussam AlHussein, D. M. Gan, Jorge Dias and L. D. Seneviratne, “Unified Kinematics Modeling of Variable Topologies of a 3(rT)PS Metamorphic Parallel Mechanism”, Proceedings of the 2012 IEEE International Conference on Mechatronics and Automation, Chendu, China, August 5-8, 2012.
  • K. Roudposhti, L. Santos, H. Aliakbarpour, Jorge Dias - "Parameterizing Interpersonal Behaviour with Laban Movement Analysis - A Bayesian Approach". in 3rd International Workshop on Socially Intelligent Surveillance and Monitoring (SISM2012) in CVPR2012, in Providence, Rhode Island, USA, June, 2012.
  • G. Macesanu, S. Grigorescu, J. F. Ferreira, Jorge Dias, F. Moldoveanu - "Real Time Facial Features Tracking using an Active Vision System". In Proceedings of 13th International Conference on Optimization of Electrical and Electronic Equipment (OPTIM 2012), Brasov, Romania, May 24-26, 2012.
  • S. Islam, P. X. Liu and A. El Saddik,  Adaptive force reflecting teleoperation for passive teleoperation under time delay, Submitted to Proc. 2012 IEEE IECON, Montreal, Canada, October 25-28.
  • *D. M. Gan, J. S. Dai, and L. D. Seneviratne, “Reconfiguration and Unified Kinematics Analysis of A Metamorphic Parallel Mechanism with Bifurcated Motion”, Proceedings of the ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Chicago, USA, August 12-15, 2012.
  • S. Islam, P. X. Liu and A. El Saddik, Remote measurement-based control system for smart transmission grid, Accepted for presentation in Proc. 2012 IEEE international Conference on Smart Grid Engineering, August 27-29, Oshawa, Canada.
  • *D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Reconfiguration and Actuation Scheme of 3rTPS Metamorphic Parallel Mechanisms with Parallel Constraint Screws”, Proceedings of the Second ASME/IEEE International Conference on Reconfigurable Mechanisms and Robots, Tianjin, China, July 8-11, 2012.
  • S. Islam, P. X. Liu and A. El Saddik, Nonpassive teleoperation systems with time varying delay, Accepted for presentation In Proc. 2012 IEEE International Conference on Virtual Environments, Human-Computer Interfaces and Measurement Systems, 2-4 July, Tianjin, China.
  • S. Islam, P. X. Liu and A. El Saddik, Modeling and control analysis of electric vehicles with an application to electric scooter, Accepted for publication in IEEE International Conference on Computational  Intelligence for Measurement Systems and applications (CIMSA), July 2-July 4, Tianjin, China, 2012.
  • *D. M. Gan, L. D. Seneviratne, and Jorge Dias, “Design and Analytical Kinematics of a Robot Wrist Based on a Parallel Mechanism”, Proceedings of the The 14th International Symposium on Robotics and Applications, Puerto Vallarta, Mexico, June 24-28, 2012.
  • R. Martins, D. R. Faria, J. Dias - "Representation framework of perceived object softness characteristics for active robotic hand exploration". In Proceedings of 7th ACM/IEEE International Conference on Human Robot Interaction (HRI2012) - Workshop on Advances in Tactile Sensing and Touch based Human-Robot Interaction, Boston, USA, March 5-8, 2012.
  • S. Islam, P. X. Liu and A. El Saddik, Hybrid bilateral teleoperation systems under time varying transmission delay, Accepted for presentation in Proc. 2012 IEEE Instrumentation and Measurement Technology Conference, May 13-16, Graz, Austria.
  • S. Islam, P. X. Liu and A. El Saddik, Wide-area measurement-based smart grid control system under time varying delay, Accepted for presentation In Proc. 2012 IEEE International Instrumentation Measurement and Technology Conference, May 13-16, Graz, Austria.
  • S. Islam, Observer-based nonlinear adaptive control design for power systems, Accepted for presentation in Proc. 2012 IEEE CCECE, April 29-May 2, Montreal, Quebec, Canada.
  • D. Li and H. Vallery, “Gyroscopic Assistance for Human Balance,” in Proceedings of the 12th International Workshop on Advanced Motion Control (AMC), Sarajevo, Bosnia and Herzegowina, March 2012.
  • L. Almeida, P. Menezes and J. Dias - "On-Line 3D Body Modelling for Augmented Reality". GRAPP 2012 - International Conference on Computer Graphics Theory and Applications, Rome, Italy, February 24-26, 2012.
  • J. Hosseini, D. R. Faria, J. Lobo, J. Dias, "Probabilistic Classification of Grasping Behaviors using Visuo-haptic Perception". In Proceedings of the 3rd Doctoral Conference on Computing, Electrical and Industrial Systems (DoCEIS'12), Costa da Caparica, Lisbon, Portugal, February, 2012.
  • P. Freitas, P. Menezes, J. Dias, "Online Topological Mapping of a Sparse Camera Network". In Proceedings of the 3rd Doctoral Conference on Computing, Electrical and Industrial Systems (DoCEIS'12), Costa da Caparica, Lisbon, Portugal, February, 2012.
  • F. Wang, S. K. Phang, J. Cui, G. Cai, B. M. Chen, and T. H. Lee, “Nonlinear Model of a Miniature Fixed-Pitch Coaxial UAV,” To be presented at the 2012 American Control Conference, Montreal, Canada, 2012.
  • M. Cianchetti, F. Renda, A. Licofonte and C. Laschi “Sensorization of continuum soft robots for Reconstructing their spatial configuration” IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS, June 2012 .
  • F. Renda, C. Laschi “A General Mechanical Model for Tendon-Driven Continuum Manipulators” Proc. of IEEE Int. Conf. Robot. Autom., San Paul, Minnesota, May 2012.
  • M. Calisti; A. Arienti; F. Renda; G. Levy; B. Hochner ; B. Mazzolai; P. Dario; C. Laschi “Design and development of a soft robot with crawling and grasping capabilities” Proc. of IEEE Int. Conf. Robot. Autom., San Paul, Minnesota, May 2012.
  • M. Giorelli, F. Renda, M. Calisti, A. Arienti, G. Ferri and C. Laschi “A Two Dimensional Inverse Kinetics Model of a Cable Driven Manipulator Inspired by the Octopus Arm”, Proc. of IEEE Int. Conf. Robot. Autom., San Paul, Minnesota, May 2012
  • M. Giorelli, F. Renda, A. Arienti, M. Calisti, M. Cianchetti, G. Ferri and C Laschi “Inverse and direct model of a continuum manipulator inspired by the octopus arm” Living Machine 2012: The International Conference on Biomimetic and Biohybrid Systems, July 2012.
  • F. Renda, M. Giorelli, A. Arienti, M. Calisti, M. Cianchetti, G. Ferri and C Laschi “Direct and inverse model of a cable-driven continuum manipulator” Terzo congresso gruppo nazionale di bioingegneria, Roma Giugno 2012.

Journal 

  • Sangpradit, K., Liu, H., Dasgupta, P., Althoefer, K., Seneviratne, L.D. Finite-element modeling of soft tissue rolling indentation, (2011) IEEE Transactions on Biomedical Engineering, 58 (12 PART 1), art. no. 5692821, pp. 3319-3327.
  • Liu, H., Li, J., Song, X., Seneviratne, L.D., Althoefer, K. Rolling indentation probe for tissue abnormality identification during minimally invasive surgery, (2011) IEEE Transactions on Robotics, 27 (3), art. no. 5746537, pp. 450-460. 
  • Polygerinos, P., Seneviratne, L.D., Althoefer, K. Modeling of light intensity-modulated fiber-optic displacement sensors (2011) IEEE Transactions on Instrumentation and Measurement, 60 (4), art. no. 5613937, pp. 1408-1415. 
  • Polygerinos, P., Ataollahi, A., Schaeffter, T., Razavi, R., Seneviratne, L.D., Althoefer, K. MRI-compatible intensity-modulated force sensor for cardiac catheterization procedures, (2011) IEEE Transactions on Biomedical Engineering, 58 (3 PART 1), pp. 721-726. 

Conference 

  • Li, J., Liu, H., Althoefer, K., Seneviratne, L.D. A stiffness probe for soft tissue abnormality identification during laparoscopic surgery, (2012) World Automation Congress Proceedings, art. no. 6320931, . 
  • Li, J., Liu, H., Althoefer, K., Seneviratne, L.D. A stiffness probe based on force and vision sensing for soft tissue diagnosis, (2012) Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, art. no. 6346088, pp. 944-947.
  • Gan, D., Seneviratne, L., Dias, J. Design and analytical kinematics of a robot wrist based on a parallel mechanism, (2012) World Automation Congress Proceedings, art. no. 6320881, . 
  • Sargeant, R., Liu, H., Seneviratne, L.D., Althoefer, K. An optical multi-axial force/torque sensor for dexterous grasping and manipulation, (2012) IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, art. no. 6343043, pp. 144-149. 
  • Gan, D., Dai, J.S., Dias, J., Seneviratne, L. Reconfiguration and actuation scheme of 3rTPS metamorphic parallel mechanisms with parallel constraint screws, (2012) Advances in Reconfigurable Mechanisms and Robots I, pp. 259-268. 
  • Li, J., Zirjakova, J., Yao, W., Althoefer, K., Dasgupta, P., Seneviratne, L.D. A passive robotic platform for three-dimensional scanning of ex vivo soft tissue, (2012) Advances in Reconfigurable Mechanisms and Robots I, pp. 477-485. 
  • Gan, D., Dai, J.S., Seneviratne, L.D. Reconfiguration and unified kinematics analysis of a metamorphic parallel mechanism with bifurcated motion, (2012) Proceedings of the ASME Design Engineering Technical Conference, 4 (PARTS A AND B), pp. 977-985. 
  • AlHussein, H., Gan, D., Dias, J., Seneviratne, L. Unified kinematics modeling of variable topologies of a 3rTPS metamorphic parallel mechanism, (2012) 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012, art. no. 6282344, pp. 40-45. 
  • Wanninayake, I.B., Seneviratne, L.D., Althoefer, K. Novel indentation depth measuring system for stiffness characterization in soft tissue palpation, (2012) Proceedings - IEEE International Conference on Robotics and Automation, art. no. 6225127, pp. 4648-4653. 
  • Sargeant, R., Seneviratne, L.D., Althoefer, K. An investigation of the use of linear polarizers to measure force and torque in optical 6-DOF force/torque sensors for dexterous manipulators, (2012) Proceedings - IEEE International Conference on Robotics and Automation, art. no. 6225067, pp. 1422-1427. 
  • Li, M., Liu, H., Li, J., Seneviratne, L.D., Althoefer, K. Tissue stiffness simulation and abnormality localization using pseudo-haptic feedback, (2012) Proceedings - IEEE International Conference on Robotics and Automation, art. no. 6225143, pp. 5359-5364.
  • Seekur Junior with Manipulator  
  • Mitsubishi Industrial Manipulator with 6 Dof and payload of 6 KG
  • PTI Phoenix Visualyeze Indoor Motion Capture Systems with active markers.
  • Seabotix vLBV300
  • Marine Pool and wave tank
  • Unmanned Aerial Vehicles from Asctec and various other manufacturers as well as home built systems.
  • Pioneer Robots
  • Nao Humanoid Robots
  • Acceleglove 
  • Cybergloves
  • 3D Printing facilities
  • 3D Scanning facilities
  • TEA MAX8040 table CNC machine
  • Dedicated Robot Lab facilities
      • Automated Nutplate Installation in Aerospace Manufacturing, PI: Prof. Jorge Dias, Co-PIs: Prof. Cesare Stefanini, Dr. Dongming Gan. 4 Million AED. 1/1/2016 – 31/12/2017
      • A Parallel Drilling Robotic System in Aerospace Manufacturing, PI: Dr. Dongming Gan. Co-PI: Prof. Cesare Stefanini, 2 Million AED. 1/1/2016 – 31/12/2017, KU-Strata industrial project
      • A Semi-Autonomous Mobile Robotic C4ISR System for Urban Search and Rescue. PI: Dr. Hassan Obaid Al-Muhairi. Co-PI: Prof. Jorge Dias. Co-PI: Prof. Lakmal Seneviratne. Investigators: Dr. Tarek Taha, Hend Al-Tair, Reem Al Ashour. 1600K AED, 1/1/2016 – 31/12/2017, ICT -Research Fund.
      • Intelligent Unmanned Aerial Vehicles for Inspecting Indoor Complex Aero-Structures, PI: Dr. Guowei Cai, Co-PIs: Dr. Tarek Taha, Dr. Hassan Al-Muhairi, Dr. Young-ji Byon, Dr. Ahmad Younes, 348K AED, Jan 01, 2016 -- Dec 31, 2017, ADEC
      • Bionic Implantable Sphincter for Urological Incontinence, PI: Dr. Cesare Stefanini, Co-PIs: Dr. Kinda Khalaf, Dr. Ahsan Habib Khandoker, Dr. Tim McGloughlin, Dr. Khamran Khan, Dr. Waleed A Hassen. 200K AED, 1/1/2016 – 31/12/2016 , KUIRF - 1
      • Automated Underwater Manufacturing and Inspection PI: Prof. Haris Doumanidis. Award Category: New Investigator Award. Priority Area: Energy and the Environment. 200k AED, 1/1/2016 – 31/12/2016, KUIRF – L1
      • Hamama: context-aware cloud-based robot assistance for informal care, PI: Dr. Hassan Obaid Al-Muhairi. Co-PI: Prof. Jorge Dias. Investigators: Dr. Tarek Taha, Dr. Naoufel Werghi. 200K AED, 1/1/2015 – 31/12/2015. KUIRF – L1
      • INERVIS4ERC – INERtial-VISion Based Image Mapping For Non-Invasive Endoscopic Robotic Capsules, PI: Prof. Jorge Dias. Co-PI: Prof. Lakmal Seneviratne. Investigators: Prof Paolo Dario, Dr. Gastone Ciuti. 200K AED, 1/1/2015 – 31/12/2015, KUIRF – L1
      • Shared Autonomous Mobile Manipulation Using a Compliant Exoskeleton, PI: Dr. Dongming Gan, Co-PI: Prof. Andrzej Stefan Sluzek, 1/9/2014 – 31/12/2016.
      • Multi-Robot Cooperation for Mapping and Intervention in Hazardous Environments PI: Dr. Guowei Cai, Co-PIs: Dr. Jorge Dias. 2 Million AED, Jan 01, 2014 -- Dec 31, 2015, KUIRF – L2
      • Persistent Surveillance of Critical Infrastructure Using Multiple Unmanned Aerial Vehicles. PI: Dr. Guowei Cai, Dr. David Hyunchul Shim Co-PIs: Dr. Jorge Dias, Dr. Lakmal Seneviratne, Dr. Shafiqul Islam, Dr. Han-Lim Choi 370K AED, Jan 01, 2013 -- Dec 31, 2013, KU – KAIST
      • Reconfigurable Exoskeleton for Wrist-Ankle Rehabilitation With Motion Intention Based Control. PI at KU: Dr. Dongming Gan, PI at KAIST: Dr. In Gwun Jang. 224K AED, 1/5/2013 – 31/12/2013, KU – KAIST
      • Design and Fabrication of a 5-DOF Hybrid Parallel/Serical Kinematics Machine Tool, PI: Dr. Bashar S. El-Khasawneh, Co-PIs: Dr. Anas AlAzzam, Dr. Dongming Gan, 200k AED, 1/1/2013 – 31/12/2013, KUIRF – L1
      • Automation of Composite Manufacturing Processes for Aerospace Structures, PI: Dr. Rehan Umer, Co-PI: Dr. Dongming Gan, 390k AED, 1/1/2013 – 31/12/2014, KUIRF – L1

Mohamed Bin Zayed International Robotics Challenge

The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) is an international robotics competition, to be held every two years with total prize and team sponsorship of USD 5 Million.

Robotics has the potential to have an impact that is as transformative as the internet, with robotics technology poised to fuel a broad range of next-generation products and applications in a diverse array of fields.

Robotic competitions in the past few decades have been a catalyst that has accelerated the rate of technological advancements in the field of robotics and autonomous systems. Read more on the competition website

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KURI is always looking for motivated and skilled people to join our research team.

Please contact us for details regarding our latest opportunities. 

KURI provides a range of undergraduate and graduate academic programs with specialization in robotics:

Mohamed Bin Zayed International Robotics Challenge

The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) is an international robotics competition, to be held every two years with total prize and team sponsorship of USD 5 Million.

Robotics has the potential to have an impact that is as transformative as the internet, with robotics technology poised to fuel a broad range of next-generation products and applications in a diverse array of fields.

Robotic competitions in the past few decades have been a catalyst that has accelerated the rate of technological advancements in the field of robotics and autonomous systems. Read more on the official competition website.