Trepo - Selaus tekijän mukaan "M. Aref, Mohammad"

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    • Adaptive Feedback in Local Coordinates for Real-time Vision-Based Motion Control Over Long Distances 

      M. Aref, Mohammad; Astola, Pekka; Vihonen, Juho; Tabus, Ioan; Ghabcheloo, Reza; Mattila, Jouni
      IOP conference series : materials science and engineering (IOP Publishing Ltd., 2018)
      conferenceObject
      We studied the differences in noise-effects, depth-correlated behavior of sensors, and errors caused by mapping between coordinate systems in robotic applications of machine vision. In particular, the highly range-dependent ...

    • Application of simultaneous localization and mapping for large-scale manipulators in unknown environments 

      Mäkinen, Petri; M. Aref, Mohammad; Mattila, Jouni; Launis, Sirpa
      IEEE International Conference on Cybernetics and Intelligent Systems (IEEE, 2019)
      conferenceObject
      In this paper, we study the application of simultaneous localization and mapping (SLAM) for estimating the tool center point (TCP) 6 degrees-of-freedom (DOF) pose of a large-scale hydraulic manipulator without a priori ...

    • Automated calibration of planar cable-driven parallel manipulators by reinforcement learning in joint space 

      M. Aref, Mohammad; Mattila, Jouni (IEEE, 04.03.2019)
      conferenceObject
      Benefiting from modularity, cable-driven parallel robots (CDPRs) are capable of being reconfigurable by changes in their attachment points and, therefore, significant changes in their kinematic structures. Due to their ...

    • Eye-in-Hand Manipulation for Remote Handling: Experimental Setup 

      Niu, Longchuan; Suominen, Olli; M. Aref, Mohammad; Mattila, Jouni; Ruiz, Emilio; Esque, Salvador (IOP Publishing Ltd., 2018)
      conferenceObject
      A prototype for eye-in-hand manipulation in the context of remote handling in the fusion power plant ITER is presented in this paper. The setup consists of an industrial robot manipulator with a modified open control ...

    • Nonlinear model predictive control of a heavy-duty hydraulic bulldozer blade 

      Mononen, Teemu; M. Aref, Mohammad; Mattila, Jouni
      IEEE International Conference on Cybernetics and Intelligent Systems (IEEE, 2019)
      conferenceObject
      In this paper, we present a study on nonlinear model predictive control (NMPC) of a bulldozer blade actuated by hydraulic cylinders. We design the controller in the manipulator joint space to track the desired joint angle ...

    • Vision-Based Macro-Micro Mobile Manipulation 

      M. Aref, Mohammad
      Tampere University of Technology. Publication : 1568 (Tampere University of Technology, 2018)
      Artikkeliväitöskirja
      Increasing demand for robots with broader applications has created many challenges for the commercialization of recent achievements in the fields of robotics and perception. This research focuses on formulating a solution ...