Reza Fotouhi

     Reza Fotouhi  B.Sc., M.Sc., Ph.D., P. Eng

    Professor of Mechanical Engineering

    Biography

    Education and Experience

    B.Sc., M.Sc. (Iran), M.Sc., Ph.D. (Saskatchewan), P.Eng.

    Specialization: Robotics (dynamics & control), Structural Dynamics and Vibrations, Computational Mechanics (Finite Element & Optimization), Biomechanics

    Current and Past Projects

    • Dynamics and control of mobile manipulators
    • Mechanics of the soil-tool interaction in robotic assisted farming
    • Motion and control of a 3-DOF Helicopter
    • Motion and control of a 5-DOF haptic Wand
    • Navigation and control of agricultural autonomous mobile robot
    • Optimum design of a seeding mechanism for a mobile robotic assistant farmer
    • Path planning of a robot manipulator
    • Path planning of wheeled mobile robots in indoor and outdoor settings
    • Strength of Thin-walled Jointed Connections using Finite Element Analysis
    • Fatigue strength in laser cut welding
    • Trajectory tracking and vibration suppression of elastic joint and flexible link robot manipulators
    • Path planning and speed control of mobile robots
    • Control of artificial hand (biomechanics)
    • Large Amplitude Free Vibrations of Cantilever Beams
    • Nonlinear Dynamic Analysis of a Curved Beam Structure Using Finite Element Method
    • Parameter Identification and Trajectory Following of a Two-Link Rigid Manipulator
    • Trajectory Planning and Speed Control for a Two-Link Rigid Manipulator
    • Time-optimal control of two-link manipulators

    Publications

    Refereed Journal Publications
    • Armin, A., Fotouhi, R. and Szyszkowski, W. (2012). A Numerical Approach for Mechanics of Soil-tool Interaction, Soil and Tillage System, . (Submitted)
    • Heidari, S.F., Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2012). Truncation errors of assumed shape modeling for flexible-link manipulators, Imeche Journal of mechanical engineering science, , 1-18. Available online at: http://DOI:10.1177/0954406212437296 (Accepted)
    • Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2012). A New Method for Dynamic Modeling of Flexible-Link Flexible-Joint Manipulators, Transactions of ASME, Journal of Vibration and Acoustics, 134, 14503.1-11. Available online at: http://DOI:10.1115/1.4004677
    • Moazed, R. and Fotouhi, R. (2012). The influence of mechanical and laser cutting on the fatigue strengths of square hollow-section welded T-joints, ASME, Journal of Offshore Mechanics and Arctic Engineering, 134(Aug), 031401.1-12. Available online at: http://DOI:10.1115/1.4005186
    • Moazed, R., Fotouhi, R. and Szyszkowski, W. (2012). Out-of-plane behavior and FE modeling of a T-joint connection of thin-walled square tubes, Thin-walled structures, 51(Feb), 87-98. Available online at: http://doi:10.1016/j.tws.2011.09.002
    • Salmasi, H., Fotouhi, R. and Nikiforuk, P.N. (2012). A biologically-inspired controller for trajectory tracking of flexible-joint manipulators, International Journal of Robotics and Automation, 27(2), 151-162. Available online at: http://DOI:10.2316/Journal.206.2012.2.206-3390
    • Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2011). Energy-based Approach for Friction Identification of Robotic Joints, Mechatronics, 21(3), 614-624. Available online at: http://dx.doi.org/10.1016/j.mechatronics.2010.12.007
    • Vakil, M., Fotouhi, R., Nikiforuk, P.N. and Heidari, F. (2011). A study on the free vibration of flexible-link flexible-joint manipulators, Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science, 225, 614-624. Available online at: http://DOI:10.1177/0954406211399517
    • Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2011). Trajectory tracking for the end-effector of a class of flexible link manipulators, Journal of Vibration and Control, 17(1), 55-68. Available online at: http://DOI: 10.1177/1077546309350554
    • Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2010). End-effector trajectory tracking of a flexible link manipulator using integral manifold, Int. J. of Systems Science, 00(December), 1-13. Available online at: http://DOI:10.1080/00207721003710631
    • Salmasi, H., Fotouhi, R. and Nikiforuk, P.N. (2010). On the Stability of a Friction Compensation Strategy for Flexible-Joint Manipulators, Advanced Robotics, 24, 2059-2086. Available online at: http://DOI:10.1163/016918610X534268
    • Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2010). On the zeros of the transfer function of flexible link manipulators and their non-minimum phase behaviour, Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science, 224, 1-14. Available online at: http://DOI: 10.1243/09544062JMES2106
    • Moazed, R., Fotouhi, R., Szyszkowski, W. and Bitner, D.V. (2010). Welded T-joint connections of square thin-walled tubes under a multi-axial state of stress, Journal of Strain Analysis for Engineering Design, 45, 629-646. Available online at: http://DOI: 10.1243/03093247JSA609
    • Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2009). Further results on the zeros of a slewing rigid-flexible beam, CSME Transactions, 33(4), 759-780.
    • Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2009). Causal end-effector inversion of a flexible link manipulator, Mechatronics, 19, 1197-1210. Available online at: http://dx.doi.org/10.1016/j.mechatronics.2009.03.010
    • Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2009). Piece-wise causal inversion by output redefinition for a flexible link manipulator, Canadian Society of Mechanical Engineers (CSME) Transactions, 33(2), 1-22.
    • Salmasi, H., Fotouhi, R. and Nikiforuk, P.N. (2009). A manoeuvre control strategy for flexible-joint manipulators with joint dry friction, Robotica, 28, 621-635. Available online at: http://doi:10.1017/S0263574709990373
    • Moazed, R., Szyszkowski, W. and Fotouhi, R. (2009). The in-plane behaviour and FE modeling of a T-joint connection of thin-walled square tubes, Thin-Walled Structures, 47(6-7), 816-825. Available online at: http://dx.doi.org/10.1016/j.tws.2009.01.006
    • Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2009). Maneuver control of the multilink flexible manipulators, Int. Journal of Nonlinear Mechanics, 44, 831-844. Available online at: http://dx.doi.org/10.1016/j.ijnonlinmec.2009.05.008
    • Salmasi, H., Fotouhi, R. and Nikiforuk, P.N. (2009). Tip trajectory tracking of flexible-joint manipulators driven by harmonic drives, International Journal of Robotics and Automation, 24(2), 1-11. Available online at: http://www.actapress.com
    • Fotouhi, R., Salmasi, H., Dezfulian, S. and Burton, R.T. (2009). Design and Control of a Hydraulic Simulator for a Flexible-Joint Robot, Advanced Robotics, 23, 655-679. Available online at: http://DOI:10.1163/156855309X431668
    • Waheed, I. and Fotouhi, R. (2008). Trajectory and temporal planning of a wheeled mobile robot on an uneven surface, Robotica, 00, 1-18. Available online at: http://doi:10.1017/S0263574708004876
    • Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2008). A Constrained Lagrange Formulation of Multilink Planar Flexible Manipulator, ASME Journal of vibration and acoustics, 130(3), 1-16.
    • Fotouhi, R. (2007). Dynamic analysis of very flexible beams, Journal of Sound and Vibration, 305, 521-533. Available online at: http://doi:10.1016/j.jsv.2007.01.032
    Refereed Conference Proceedings
    • Heidari, F., Vakil, M. and Fotouhi, R. (2011). On the Accuracy of Assumed Mode Modeling For Flexible Manipulators, ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering (IDETC/CIE 2011), Washington, DC, USA, August 29-31, Paper No. DETC2011- 47967, 1-10 (CD Rom).
    • Vakil, R., Fotouhi, R. and Nikiforuk, P.N. (2011). Joint flexibility Versus Link flexibility for Flexible-link flexible-joint manipulators, 13th World Congress in Mechanism and Machine Science (IFTOMM2011), Guanajuato, México, June 19-25, Paper No. IMD-123, (10 pages) (CD Rom).
    • Fotouhi, R., Salmasi, H., Waheed, I. and Vakil, M. (2010). Trajectory planning for a wheeled mobile robot and its robotic arm, ASME International Mechanical Engineering Congress & Exposition (IMECE2010), Vancouver, BC, November 12-18, Paper No. IMECE2010-40800, (10 pages) (CD Rom).
    • Moazed, R., Fotouhi, R. and Henry, J. (2010). Experimental and numerical study on the fatigue strengths of mechanical versus laser cut T-joints, ASME International Mechanical Engineering Congress & Exposition (IMECE2010), Vancouver, BC, November 12-18, Paper No. IMECE2010-40841, (10 pages) (CD Rom).
    • Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2010). Parameter Identification of a Friction Model for Robotic Joints, Proceedings of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conf, Montreal, Quebec, Aug 15-18, Paper No. DETC2010-29141, (6 pages) (CD Rom).
    • Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2010). Closed form dynamic model of flexible-link flexible-joint manipulators, CSME Forum, Victoria, BC, June 7-9, Paper No. 154, (8 pages) (CD Rom).
    • Moazed, R., Fotouhi, R. and Henry, J. (2010). Fatigue strengths of square hollow-section welded T-joints: mechanical vs. laser cutting, CSME Forum, Victoria, BC, June 7-9, Paper No. 153, (8 pages) (CD Rom).
    • Moazed, R., Fotouhi, R. and Henry, J. (2009). Behaviour of a T-Joint Connection of Thin-Walled Tubes under a Multi-Axial State of Stress, 12th International Conference on Fracture, Ottawa, Ontario, Canada, July 12-17, Paper No. 1743.1386.00, (12 pages) (CD Rom). Available online at: http://www.icf12.org
    • Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2009). Further results on the zeros of a single rigid-flexible link manipulator, CCToMM 2009 M3 Symposium, Québec City, Québec, Canada, May 28-29, Paper No. P24, (11 pages) (CD Rom).
    • Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2008). End-effector trajectory tracking of a class of flexible link manipulators, Proceedings of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conf., Brooklyn, New York, August 3-6, Paper No. DETC2008-49944, (10 pages) (CD Rom).
    • Salmasi, H., Fotouhi, R. and Nikiforuk, P.N. (2008). Vibration Control of a Flexible Link Manipulator Using Smart Structures, 17th International Federation of Automatic Control World Congress, (IFAC 2008), Seoul, Korea, July 6-11, Paper No. 3855, 11787-11792 (CD Rom). Available online at: http://www.ifac-papersonline.net/Detailed/37681.html
    • Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2008). End-effector maneuver control of multilink flexible manipulators, CSME-SCGM Forum 2008, Ottawa, Ontario, June 5-7, Paper No. 1569104685, 8-15 (CD Rom).
    • Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2007). Causal end-effector trajectory inversion of a single flexible link manipulator with non-zero initial conditions, IASTED Applied Simulation and Modeling (ASM 2007), Palma de Mallorca, Spain, August 29-31, Paper No. Paper No. 581-096, 1-7 (CD Rom).
    • Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2007). Application of the integral manifold concept for the end-effector trajectory tracking of a flexible link manipulator, American Control Conference, Marriott Marquis Hotel at Times Square, New York City, USA, July 11-13, Paper No. Paper No. 1053, 741-747 (CD Rom).
    • Vakil, M., Fotouhi, R. and Nikiforuk, P.N. (2007). Zeros of the transfer function of a rigid-flexible link manipulator, CANCAM 2007 (the 21st Canadian Congress of Applied Mechanics), Toronto, Ontario, Canada, June 3-7, Paper No. GP_75, (CD Rom).
    • Vakil, M., Fotouhi, R. and Razavi, B. (2007). Closed form solution for maximum slider velocity of a crank-slider mechanism, CANCAM 2007 (the 21st Canadian Congress of Applied Mechanics), Toronto, Ontario, Canada, June 3-7, Paper No. GP_73, (CD Rom).
    • Salmasi, H., Fotouhi, R. and Nikiforuk, P.N. (2007). Dynamic modeling of a manipulator with flexible links and flexible joints, CANCAM 2007 (the 21st Canadian Congress of Applied Mechanics), Toronto, Ontario, Canada, June 3-7, Paper No. GP_74, (CD Rom).
    • Pendar, H., Vakil, M., Fotouhi, R. and Zohoor, H. (2007). Kinematic Analysis of the Spherically Actuated Platform Manipulator, .
    • Vakil, M., Fotouhi, R. and Nikiforuk, P. (2006). On the zeros of the transfer function of a single flexible link manipulator, 17th IASTED International Conference on Modelling and Simulation, Montreal, Quebec, May 24-26, 2006, (CD Rom).
    • Vakil, M., Fotouhi, R. and Nikiforuk, P. (2006). Systematic Dynamic Modeling of Planar Flexible Link Manipulators,, CSME Forum, Kananaskis, Alberta, May 21-24, 2006, (CD Rom).
    • Vakil, M., Fotouhi, R. and Nikiforuk, P. (2006). Causal Inversion of a Single-Link Flexible-Link Manipulator via Output Planning, IEEE International Conference on Mechatronics and Automation, Niagara Falls, Ontario, July 29-August 1, 2005, (CD Rom).
    • Dezfulian, S., Burton, R.T., Fotouhi, R. and Bitner, D. (2006). Design and Control of the Angular Acceleration of a Hydraulic Rotary Actuator to Simulate a Flexible Joint Robot,, Proceedings of IMECHE 2006 ASME International Mechanical Engineering Congress and Exposition,, Chicago, Ill, USA, Nov 11-15, Paper No. Paper 14190, (CD Rom).
    • Waheed, I. and Fotouhi, R. (2006). Trajectory/Temporal Planning of an Intelligent Healthcare Wheeled Mobile Robot, Unmanned Vehicle Systems Canada Conference, Montebello, Quebec, Canada, Nov 6-10.
    • Vakil, M., Fotouhi, R. and Nikiforuk, P. (2006). On the zeros of the transfer function of a single flexible link manipulator, 17th IASTED International Conference on Modelling and Simulation, Montreal, Quebec, May 24-26, (CD Rom).
    Conference Presentations / Poster Presentations
    • Waheed, I. and Fotouhi, R. (2006). Trajectory/Temporal Planning of Mobile Robot Manipulators, Exploration Canada 2006 Workshop, Canadian Space Agency, John H. Chapman Space Centre, Longueuil (St-Hubert), Quebec, Canada, October 17-18.
    Published Book Chapter
    • Salmasi, H., Fotouhi, R. and Nikiforuk, P.N. (2007). Active Vibration Suppression of a Flexible Link Manipulator Using Piezoelectric Actuator, Computer Aided Optimum design in Engineering X, 4, Edited by Hernandez, S. and Brebbia, C.A., WIT Press, Ashurst, Southampton, UK, 199-208.

    Research Grants

    2011-2012

    • Principal Investigator, Applied networked control systems laboratory, CFI-12882, IOF.
    • Principal Investigator, Developing robotics assisted technology for competitive farming, President's NSERC, Internal.
    • Principal Investigator, Developing robotics assisted technology for farming, CNH Canada, CRD.
    • Principal Investigator, Developing robotics assisted technology for farming, NSERC, CRD.
    • Principal Investigator, Experimental mobile robotic research in agriculture, CFI-26203, IOF.

    2010-2011

    • Principal Investigator, Dynamics, control, and path planning of flexible manipulators and mobile robots, NSERC, Discovery Grant.
    • Principal Investigator, Experimental mobile robotic research in agriculture, Saskatchewan Science Fund, Matching CFI - research infrastructure.
    • Principal Investigator, Experimental research lab in Robotics Motion and Control, CFI, IOF.

    2009-2010

    • Principal Investigator, Dynamics, control, and path planning of flexible manipulators and mobile robots, NSERC, Discovery Grant.
    • Principal Investigator, Experimental mobile robotic research in agriculture, CFI, Leaders Opportunity Fund - research infrastructure.
    • Principal Investigator, Experimental research lab in Robotics Motion and Control, CFI, IOF.
    • Principal Investigator, Navigation of a Mobile Robot/manipulator in indoor Setting, NSERC, Summer student award.

    2008-2009

    • Principal Investigator, Dynamics, control, and path planning of flexible manipulators and mobile robots, NSERC, Discovery Grant.
    • Principal Investigator, Experimental research lab in Robotics Motion and Control, CFI, IOF.
    • Principal Investigator, Fatigue Strength in Laser Cut welding, CNH, CRD.
    • Principal Investigator, Fatigue Strength in Laser Cut welding, NSERC, CRD.
    • Principal Investigator, Navigation of a Mobile Robot/manipulator in indoor Setting, NSERC, Summer student award.

    2007-2008

    • Principal Investigator, Dynamics, control, and path planning of flexible manipulators and mobile robots, NSERC, Discovery Grant.
    • Principal Investigator, Experimental research lab in Robotics Motion and Control, CFI, IOF.
    • Principal Investigator, Fatigue Strength in Laser Cut welding, CNH, CRD.
    • Principal Investigator, Fatigue Strength in Laser Cut welding, NSERC, CRD.
    • Principal Investigator, motion and control of mobile robot and manipulators, NSERC, Summer student award.
    • Principal Investigator, Summer student award, USTEP, Student assistant.

    Teaching

    2011-2012

    • ME318.3 - Mechanical Engineering Laboratory I
    • ME318.3 - Mechanical Engineering Laboratory I
    • ME352.3 - Engineering Analysis III
    • ME493.3 - Advanced Mechanical Design
    • ME495.6 - Industrial Design Project
    • ME898.3 - Robotics
    • ME994 - Master Research
    • ME996 - Ph.D. Research

    2010-2011

    • ME318.3 - Mechanical Engineering Laboratory I
    • ME318.3 - Mechanical Engineering Laboratory I
    • ME352.3 - Engineering Analysis III
    • ME495.6 - Industrial Design Project
    • ME497.3 - Acoustics and Vibrations in Design
    • ME840.3 - Theory of inelastic behavior
    • ME854.3 - Mechanical Vibrations
    • ME994 - Master Research
    • ME996 - Ph.D. Research

    2009-2010

    • ME314.3 - Machine Design I
    • ME318.3 - Mechanical Engineering Laboratory I
    • ME318.3 - Mechanical Engineering Laboratory I
    • ME495.6 - Industrial Design Project
    • ME498.3 - Acoustics and Vibrations in Design
    • ME854.3 - Mechanical Vibrations
    • ME898.3 - Special Topics: Robotics
    • ME996 - Ph.D. Research

    2007-2008

    • ME314.3 - Machine Design I Fall
    • ME314.3 - Machine Design I Winter
    • ME318.3 - Mechanical Engineering Laboratory I; (L1 laboratory)
    • ME318.3 - Mechanical Engineering Laboratory I; (S1
    • ME493.3 - Machine Design II
    • ME495.6 - Industrial Design Project
    • ME840.3 - Inelastic Behavior Theory

    Research Projects

    2011-2012

    • Dynamics and control of mobile manipulators
    • Mechanics of the soil-tool interaction in robotic assisted farming
    • Motion and control of a 3-DOF Helicopter
    • Motion and control of a 5-DOF haptic Wand
    • Navigation and control of agricultural autonomous mobile robot
    • Optimum design of a seeding mechanism for a mobile robotic assistant farmer
    • Path planning of a robot manipulator
    • Path planning of wheeled mobile robots in indoor and outdoor settings
    • Strength of Thin-walled Jointed Connections using Finite Element Analysis
    • Trajectory tracking and vibration suppression of flexible link robot manipulators

    2010-2011

    • Dynamics and control of mobile manipulators
    • Fatigue strength of HSS t-joints
    • Path planning of wheeled mobile robots in indoor and outdoor settings
    • Trajectory tracking and vibration suppression of elastic joint robot manipulators
    • Trajectory tracking and vibration suppression of flexible link robot manipulators

    2009-2010

    • Dynamics and control of mobile manipulators
    • Fatigue strength in laser cut welding
    • Path planning of wheeled mobile robots in indoor and outdoor settings
    • Trajectory tracking and vibration suppression of elastic joint robot manipulators
    • Trajectory tracking and vibration suppression of flexible link robot manipulators

    2008-2009

    • Fatigue strength in laser cut welding
    • Trajectory planning and adaptive control for two-link rigid manipulators
    • Trajectory tracking and vibration suppression of elastic joint robot manipulators
    • Trajectory tracking and vibration suppression of flexible link robot manipulators
    • Trajectory/temporal planning of wheeled mobile robots

    2007-2008

    • Fatigue strength in laser cut welding
    • Hydraulic flexible joint robot simulator
    • Trajectory planning and adaptive control for two-link rigid manipulators
    • Trajectory tracking and vibration suppression of elastic joint robot manipulators
    • Trajectory tracking and vibration suppression of flexible link robot manipulators
    • Trajectory/temporal planning of wheeled mobile robots