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FORMER MEMBER
Homayoun Seraji, PhD
Senior Research Scientist
Publications

PEER-REVIEWED JOURNAL PUBLICATIONS:
  1. H. Seraji, "Safety measures for terrain classification and safest site selection," Autonomous Robots (To appear), 2006.

  2. S.R. Ploen, H. Seraji, C.E. Kinney, "Determination of spacecraft landing footprint for safe planetary landing," IEEE Trans. on Aerospace and Electronic Systems,(To appear), 2006.

  3. H. Seraji, "SmartNav: A rule-free fuzzy approach to rover navigation," Journal of Robotic Systems, vol. 22, no. 12, pp. 795-808, 2005.

  4. A. Howard, H. Seraji, B. Werger, "Global and regional path planners for integrated planning and navigation," Journal of Robotic Systems, vol. 22, no. 12, pp. 767-778, 2005.

  5. A. Howard, H. Seraji, "Multi-sensor terrain classification for safe spacecraft landing," IEEE Trans. on Aerospace and Electronic Systems, vol. 40, no. 4, pp. 1122-1131, 2004.

  6. H. Seraji, "New traversability indices and traversability grid for integrated sensor/map-based navigation," Journal of Robotic Systems, 20(3), pp. 121-134, 2003.

  7. H. Seraji, A. Howard, "Behavior-based robot navigation on challenging terrain: A fuzzy logic approach," IEEE Trans. on Robotics & Automation, 18(3), pp. 308-321, 2002.

  8. E. Tunstel, A. Howard, H. Seraji, "Rule-based reasoning and neural network perception for safe off-road robot mobility," Expert Systems, 19(4), pp. 191-200, 2002.

  9. A. Howard, H. Seraji, "Vision-based terrain characterization and traversability assessment," Journal of Robotic Systems, 18(10), pp. 577-587, 2001.

  10. A. Howard, H. Seraji, "An intelligent terrain-based navigation system for planetary rovers," IEEE Robotics and Automation Magazine, 8(4), pp. 9-17, 2001.

  11. H. Seraji, "Fuzzy Traversability Index: A new concept for terrain-based navigation," Journal of Robotic Systems, 17(2), pp. 75-91, 2000.

  12. H. Seraji, "A new class of nonlinear PID controllers with robotic applications," Journal of Robotic Systems, 15(3), pp. 161-181, 1998.

  13. H. Seraji, "A unified approach to motion control of mobile manipulators," Intern. Journ. of Robotics Research, 17(2), pp. 107-118, 1998.

  14. H. Seraji, "Nonlinear and adaptive control of force and compliance in manipulators," Intern. Journ. of Robotics Research, 17(5), pp. 467-484, 1998.

  15. H. Seraji, R. Colbaugh, "Force tracking in impedance control," Intern. Journ. of Robotics Research, 16(1), pp. 97-117, 1997.

  16. D. Lim, H. Seraji, "Configuration control of a mobile dexterous robot: Real-time implementation and experimentation," Intern. Journ. of Robotics Research, 16(5), pp. 601-618, 1997, pp. 601-618.

  17. P. Fiorini, H. Seraji, M. Long, "A PC-based configuration controller for dexterous 7-DOF arms," IEEE Robotics and Automation Magazine, 4(3), pp. 30-38, 1997.

  18. R. Colbuagh, K. Wedeward, K. Glass, H. Seraji, "New results on adaptive impedance control for dexterous manipulators," Intern. Journal of Robotics and Automation, 11 (1), 1996.

  19. H. Seraji, D. Lim, R. Steele, "Experiments in contact control," Journal of Robotic Systems, 13(2), pp. 53-73, 1996.

  20. H. Seraji, R. Steele, R. Ivlev, "Sensor-based collision avoidance: Theory and experiments," Journal of Robotic Systems, 13(9), pp. 571-586, 1996.

  21. R. Colbaugh, H. Seraji, "Adaptive tracking control of manipulators," Journ. of Robotics and Computer-Integrated Manufacturing, 1996.

  22. K. Glass, R. Colbaugh, D. Lim, H. Seraji, "Real-time collision avoidance for redundant manipulators," IEEE Trans. on Robotics and Automation, 11 (3), pp. 448-457, 1995.

  23. H. Seraji, "Reachability analysis for base placement in mobile manipulators," Journal of Robotic Systems, 12 (1), pp. 29-43, 1995.

  24. R. Colbaugh, H. Seraji, K. Glass, "Adaptive compliant motion control for dexterous manipulators," Intern. Journal of Robotics Research, 14 (3), pp. 270-280, 1995.

  25. R. Colbaugh, K. Glass, H. Seraji, "Robust adaptive control of Lagrangian systems," Computers and Electrical Engineering: An Intern. Journal, 21 (4), 1995.

  26. R. Colbaugh, K. Glass, H. Seraji, "Performance-based adaptive tracking control of robot manipulators," Journal of Robotic Systems, 121 (8), 1995.

  27. R. Colbaugh, H. Seraji, K. Glass, "A new class of adaptive controllers for robot trajectory tracking," Journal of Robotic Systems, 11 (8), pp. 761-772, 1994.

  28. R. Colbaugh, K. Glass, H. Seraji, "Direct adaptive control of robotic systems," Journal of Intelligent and Robotic Systems,9, pp. 149-178, 1994.

  29. R. Colbaugh, H. Seraji, K. Glass, "Decentralized adaptive control of manipulators," Journal of Robotic Systems, 11(5), pp. 425-440, 1994.

  30. R. Colbaugh, H. Seraji, K. Glass, "Direct adaptive impedance control of robot manipulators," Journal of Robotic Systems, 10(2), pp. 217-248, 1993.

  31. S. Hayati, J. Balaram, H. Seraji, W.S. Kim, K.S. Tso, "Remote surface inspection system," Robotics and Autonomous Systems, 11(1), pp. 45-49, 1993.

  32. H. Seraji, M. Long, T.S. Lee, "Motion control of 7 DOF arms: The configuration control approach," IEEE Trans. on Robotics and Automation, 9(2), pp. 125-139, 1993.

  33. K. Kreutz, M. Long, H. Seraji, "Kinematic analysis of 7 DOF manipulators," Intern. Journal of Robotics Research, 11(5), pp. 469-481, 1992.

  34. H. Seraji, "Task-based configuration control of redundant robots," Journal of Robotic Systems, 9(3), pp. 411-451, 1992.

  35. M. Jamshidi, B.J. Oh, H. Seraji, "Two adaptive control structures of robot manipulators," Journal of Intelligent and Robotic Systems, 6(2), pp. 203-218, 1992.

  36. M. Tarokh, H. Seraji, "A multivariable control scheme for robot manipulators," Journal of Robotic Systems, 8(1), pp. 1-19, 1991.

  37. R. Colbaugh, K. Glass, H. Seraji, "An adaptive inverse kinematics algorithm for robot manipulators," Intern. Journ. of Modeling and Simulation, 11(2), pp. 33-38, 1991.

  38. H. Seraji, T. Lee, M. Delpech, "Experimental study on direct adaptive control of a PUMA 560 industrial robot," Journal of Robotic Systems, 7(1), pp. 81-105, 1990.

  39. H. Seraji, R. Colbaugh, "Improved configuration control for redundant robots," Journal of Robotic Systems, 7(6), pp. 897-928, 1990.

  40. H. Seraji, "Simple method for model reference adaptive control," Int. J. Control, 49(1), pp. 367-371, 1989.

  41. H. Seraji, "Minimal inversion, command matching and disturbance decoupling in multivariable systems," Int. J. Control, 49(6), pp. 2093-2121, 1989.

  42. H. Seraji, "Decentralized adaptive control of manipulators: Theory, simulation, and experimentation," IEEE Trans. on Robotics and Automation, 5(2), pp. 183-201, 1989.

  43. H. Seraji, "Configuration control of redundant manipulators: Theory and implementation," IEEE Trans. on Robotics and Automation, 5(4), pp. 472-490, 1989.

  44. R. Colbaugh, H. Seraji, K. Glass, "Obstacle avoidance for redundant robots using configuration control," Journal of Robotic Systems, 6(6), pp.721-744, 1989.

  45. H. Seraji, "Coordinated adaptive position/force control of dual-arm robots," Intern. Journ. of Robotics and Automation, 3(3), pp. 140-149, 1988.

  46. H. Seraji, "Transfer-function matrix," Electronics Letters, 23(6), pp. 256-257, 1987.

  47. H. Seraji, "Design of feedforward controllers for multi variable plants," Int. J. Control, 46(5), pp. 1633-1651, 1987.

  48. M.M. Moya, H. Seraji, "Robot control systems - A survey," Robotics, 3(4), pp. 329-351, 1987.

  49. M. Jamshidi, H. Seraji, Y.T. Kim,"Decentralized control of nonlinear robot manipulators," Robotics, 3(4), pp. 361-370, 1987.

  50. H. Seraji, "An approach to multivariable control of manipulators," ASME Journ. Dynamic Systems, Measurement and Control, 109(2), pp. 146-154, 1987.

  51. H. Seraji, "A new approach to adaptive control of manipulators," ASME Journ. Dynamic Systems, Measurement and Control, 109(3), pp. 193-202, 1987.

  52. H. Seraji, "Direct adaptive control of manipulators in Cartesian space," Journal of Robotic Systems, 4(1), pp. 157-178, 1987.

  53. H. Seraji, "Adaptive force and position control of manipulators," Journal of Robotic Systems, 4(4), pp. 551-578, 1987.

  54. H. Seraji, "Adaptive control strategies for cooperative dual-arm manipulators," Journal of Robotic Systems, 4(5), pp. 653-684, 1987.

  55. H. Seraji, M. Jamshidi, Y.T. Kim, M. Shahinpoor, "Linear multivariable control of two-link robots," Journal of Robotic Systems, 3(4), pp. 349-365, 1986.

  56. H. Seraji, "Design of digital two- and three-term controllers for discrete-time multivariable systems," Int. J. Control, 38(4), pp. 843-865, 1983.

  57. H. Seraji, "On fixed modes in decentralized control systems," Int. J. Control, 35(5), pp. 775-784, 1982.

  58. H. Seraji, "Output control in linear systems: A transfer-function approach," Int. J. Control, 33(4), pp. 649-676, 1981.

  59. H. Seraji, "Design of pole-placement compensators for multivariable systems," Automatica, 16(3), pp. 335-338, 1980.

  60. H. Seraji, "Design of multivariable PID controllers for pole placement," Int. J. Control, 32(4), pp. 661-668, 1980.

  61. H. Seraji, "Pole placement in multivariable systems using proportional-derivative output feedback," Int. J. Control, 31(1), pp. 195-207, 1980.

  62. H. Seraji, "Design of proportional-plus-integral controllers for multivariable systems," Int. J. Control, 29(1), pp. 49-65, 1979.

  63. H. Seraji, "Pole assignment and determination of residual polynomial,," IEEE Trans. Aut. Control, AC-24(3), pp. 478-479, 1979.

  64. H. Seraji, "A note on pole assignment with output feedback," Int. J. Control, 27(1), pp. 141-142, 1978.

  65. H. Seraji, "A new method for pole placement using output feedback," Int. J. Control, 28(1), pp. 147-155, 1978.

  66. H. Seraji, "On pole placement using output feedback," Electronics Letters, 14(23), pp.739-741, 1978.

  67. R.V. Patel, H. Seraji, "A note on pole placement using dynamic compensators," Int. J. Control, 27(4), pp. 653-655, 1978.

  68. H. Seraji, M. Tarokh, "Design of PMD controllers for multivariable systems," Int. J. Control, 26(1), pp. 75-83, 1977.

  69. H. Seraji, M. Tarokh, "Design of proportional-plus-derivative output feedback for pole assignment," Proc. lEEE, 124(8), pp. 729-732, 1977.

  70. M. Tarokh, H. Seraji, "Proportional-plus-multiple derivative output feedback: A new multivariable controller for pole placement," Int. J. Control, 25(2), pp. 293-302, 1977.

  71. H. Seraji, "Comments on pole assignment in linear systems with structurally constrained dynamic compensators," Int. J. Control, 26(5), pp. 819-820, 1977.

  72. H. Seraji, "Stabilization and pole placement using output feedback," Int. J. Control, 23(1), pp. 105-112, 1976.

  73. H. Seraji, "Design of multivariable systems using unity-rank state feedback: further results," Electronics Letters, 11(2), pp. 34-35, 1975.

  74. H. Seraji, "Deadbeat control of discrete-time systems using output feedback," Int. J. Control, 21(2), pp. 213-223, 1975.

  75. H. Seraji, "Design of cascade controllers for zero assignment in multivariable systems," Int. J. Control, 21(3), pp. 485-496, 1975.

  76. H. Seraji, "Cyclicity of linear multivariable systems," Int. J. Control, 21(3), pp. 497-504, 1975.

  77. H. Seraji, "An approach to dynamic compensator design for pole assignment," Int. J. Control, 21(6), pp. 955-966, 1975.

  78. H. Seraji, "Pole assignment techniques for multivariable systems using unity-rank output feedback," Int. J. Control, 21(6), pp. 945-954, 1975.

  79. H. Seraji, "Unattainability of certain pole positions in single-input systems with output feedback," Int. J. Control, 22(1), pp. 119-123, 1975.

  80. H. Seraji, "Pole assignment using dynamic compensators with prespecified poles," Int. J. Control, 22(2), pp. 271-279, 1975.

  81. H. Seraji, "Restrictions on attainable poles and methods for pole assignment with output feedback," Proc.IEEE, 121(3), pp. 205-212, 1974.

  82. H. Seraji, "Design of pole-shifting and optimal controllers for a synchronous generator," Proc.IEEE, 121(6), pp. 529-532, 1974.

  83. H. Seraji, "Direct method for pole assignment in single-input systems with output feedback," Electronics Letters, 10(12), pp. 243-244, 1974.

  84. H. Seraji, "On pole-shifting using output feedback," Int. J. Control, 20(5), pp. 721-726, 1974.

  85. F. Fallside, H. Seraji, "Design of multivariable systems using unity-rank feedback," Int. J. Control, 17(2), pp. 351-364, 1973.

  86. H. Seraji, "Stabilization by means of output feedback," Proc. IEEE, 120(11), pp. 1428-1432, 1973.

  87. F. Fallside, R.V. Patel, and H. Seraji, "Interactive graphics technique for the design of single-input feedback systems," Proc. IEEE, 119(2), pp. 247-254, 1972.

  88. F. Fallside, H. Seraji, "Direct design procedure for single-input feedback systems," Int. J. Electronics, 32(1), pp. 95-106, 1972.

  89. F. Fallside, R.V. Patel, and H. Seraji, "Synthesizing closed-loop single-input systems by response fitting," Int. J. Electronics, 33(6), pp. 717-720, 1972.

  90. F. Fallside, H. Seraji, "Steady-state values for a class of multivariable feedback systems," Electronics Letters, 8(2), pp. 42-43, 1972.

  91. F. Fallside, H. Seraji, "Direct design procedure for multivariable feedback systems," Proc. IEEE, 117(10), pp. 2017-2024, 1971.

  92. F. Fallside, H. Seraji, "Pole-shifting procedure for multivariable systems using output feedback," Proc. IEEE, 118(11), pp. 1648-1654, 1971.

  93. F. Fallside, H. Seraji, "Design of optimal multivariable systems by a frequency-domain technique," Electronics Letters, 7(3), pp. 64-65, 1971.

  94. F. Fallside, H. Seraji, "Steady-state values in single-input feedback systems," Electronics Letters, 7(8), pp. 197-198, 1971.

  95. *F. Fallside, H. Seraji, "Design of optimal systems by a frequency-domain technique," Proc. IEEE,117(10), pp. 2017-2024, 1970.

  96. F. Fallside, H. Seraji, "Optimality and closed-loop pole positions for single-input systems

    *[Professor F. Fallside was the Ph.D. advisor of H. Seraji. In doctoral publications, authors' names appear in alphabetical order.]    ," Electronics Letters, 6(22), pp. 721-723, 1970.

REFEREED CONFERENCE PUBLICATIONS:
  1. H. Seraji, "A hybrid reasoning system for multi-sensor terrain safety assessment," Proc. World Automation Congress, Budapest (Hungry), 2006.

  2. N. Serrano, M. Bajracharya, A. Howard, H. Seraji, "A novel tiered sensor fusion approach for terrain characterization and safe landing assessment," Proc. IEEE Aerospace Conf., Big Sky, 2006.

  3. A. Howard, B. Werger, H. Seraji, "A human-robot mentor-protege relationship to learn off-road navigation behavior," Proc. IEEE Systems, Man, and Cybernetics Conf., Hawaii, 2005.

  4. H. Seraji, "SmartNav: A new approach to rover navigation," Proc. 3rd WSEAS Intern. Conf. on System Science and Engineering, Rio de Janeiro (Brazil), 2004.

  5. H. Seraji, "Autonomous navigation using traversability indices," Proc. 16th IFAC Symposium on Automatic Control in Aerospace, St. Petersburg (Russia), 2004.

  6. H. Seraji, "Rule-based navigation indices," Proc. 1st IFAC Symposium on Telematics Applications in Automation and Control, Helsinki (Finland), 2004.

  7. A. Howard, B. Werger, H. Seraji, "Integrating terrain maps into a reactive navigation strategy," Proc. IEEE Intern. Conf. on Robotics and Automation, Taiwan, 2003.

  8. A. Howard, H. Seraji, B. Werger, "A global path planner using the terrain traversability index," Proc. 7th Intern. Conf. on Automation Technology, Taiwan, 2003.

  9. H. Seraji, "Rule-based traversability indices for multi-scale terrain assessment," Proc. IEEE Intern. Conf. on Control Applications (CCA 2003), Istanbul, Turkey, 2003.

  10. H. Seraji, "Terrain-based navigation using rule-based traversability indices," Proc. Intern. Fuzzy Systems Assoc. World Congress (IFSA 2003), Istanbul, Turkey, 2003.

  11. S. Ploen, C. Kinney, H. Seraji, "Determination of terminal landing footprint for on-board terrain assessment and intelligent hazard assessment," Proc. AIAA GN&C Conf., San Antonio, 2003.

  12. A. Howard, H. Seraji, B. Werger, "Fuzzy terrain-based path planning for planetary rovers," Proc. 11th IEEE Intern. Conf. on Fuzzy Systems (FUZZ-IEEE'02), Honolulu (Hawaii), 2002.

  13. A. Howard, H. Seraji, "A rule-based fuzzy safety index for landing site risk assessment," Proc. World Automation Congress (WAC'02), Orlando, 2002.

  14. H. Seraji, B. Bon, "Multi-range traversability indices for terrain-based navigation," Proc. IEEE Intern. Conf. on Robotics and Automation, vol. 3,Washington DC, 2002, pp 2674-2681.

  15. H. Seraji, A. Howard, E. Tunstel, "Safe navigation on hazardous terrain," Proc. IEEE Intern. Conf. on Robotics and Automation, Seoul (Korea), 2001, pp. 3084-3091.

  16. A. Howard, H. Seraji, E. Tunstel, "A rule-based fuzzy traversability index for mobile robot navigation," Proc. IEEE Intern. Conf. on Robotics and Automation, Seoul (Korea), 2001, pp. 3067-3071.

  17. E. Tunstel, A. Howard, H. Seraji, "Fuzzy rule-based reasoning for rover safety and survivability," Proc. IEEE Intern. Conf. on Robotics and Automation, Seoul (Korea), 2001, pp. 1413-1420.

  18. Y. Tsumaki, P. Fiorini, G. Chalfant, H. Seraji, "A numerical SC approach for a teleoperated 7-DOF manipulator," Proc. IEEE Intern. Conf. on Robotics and Automation, Seoul (Korea), 2001, pp. 1039-1044.

  19. H. Seraji, "Traversability indices for multi-scale terrain assessment," Proc. 2nd Intern. Conf. on Intelligent Technologies (InTech'01), Bangkok (Thailand), 2001, pp. 383-391.

  20. H. Seraji, "Terrain-based robot navigation using multi-scale traversability indices," Proc. 10th IEEE Intern. Conf. on Fuzzy Systems (FUZZ-IEEE'01), Melbourne (Australia), 2001.

  21. H. Seraji, "A new class of nonlinear PID controllers," Proc. IFAC Workshop on Digital Control, Terrassa (Spain), 2000, pp. 540-546.

  22. A. Howard, H. Seraji, "Real-time assessment of terrain traversability for autonomous rover navigation," Proc. IEEE/RSJ Intern. Conf. on Intelligent Robots and Systems (IROS 2000), Japan, 2000.

  23. A. Howard, H. Seraji, "A real-time autonomous rover navigation system," Proc. World Automation Congress (WAC 2000), Hawaii, 2000.

  24. H. Seraji, "Traversability Index: A new concept for planetary rovers," Proc. Intern. Conf. on Intelligent Technologies (InTech 2001), Bangkok (Thailand), 2000, pp. 261-268.

  25. H. Seraji, "Traversability Index: A new concept for planetary rovers," Proc. IEEE Intern. Conf. on Robotics and Automation, Vol. 3, 1999, pp. 2006-2013.

  26. H. Seraji, "Fuzzy logic-based navigation of field robots: The traversability index approach," Proc. Intern. Symposium on AI, Robotics and Automation in Space (i-SAIRAS'99), Noordwijk (The Netherlands), 1999.

  27. H. Seraji, "Fuzzy logic-based navigation of field robots: The traversability index approach," Proc. 3rd World Multiconference on Circuits, Systems, Communications and Computers (CSCC'99), Athens (Greece), 1999.

  28. H. Seraji, R. Steele, "Nonlinear contact control for Space Station dexterous arms," Proc. IEEE Intern. Conf. on Robotics and Automation, Leuven (Belgium), Vol. 1, 1998, pp. 899 -906.

  29. H. Seraji, B. Bon, R. Steele, "Experiments in real-time collision avoidance for dexterous 7-DOF arms," Proc. IEEE Intern. Conf. on Robotics and Automation, Albuquerque, Vol. 1, 1997, pp. 569-574.

  30. B. Bon, H. Seraji, "Real-time model-based obstacle detection for the NASA Ranger Telerobot," Proc. IEEE Intern. Conf. on Robotics and Automation, Albuquerque, Vol. 2, 1997, pp. 1580-1587.

  31. P. Fiorini, K. Ali, H. Seraji, "Health care robotics: A progress report," Proc. IEEE Intern. Conf. on Robotics and Automation, Albuquerque, vol. 2, 1997, pp. 1271-1276.

  32. B. Bon, H. Seraji, "On-line collision avoidance for the Ranger telerobot," Proc. Intern. Symposium on AI, Robotics and Automation in Space (i-SAIRAS'97), Tokyo (Japan), 1997, pp. 167-174.

  33. K. Glass, R. Colbaugh, H. Seraji, "Real-time control for a serpentine manipulator," Proc. Intern. Conf. on Intelligent Robots and Systems (IROS'97), Grenoble (France, Vol. 3, 1997, pp. 1775-1780.

  34. H. Seraji, B. Bon, R. Steele, "Real-time collision avoidance for 7-DOF arms," Proc. Intern. Conf. on Intelligent Robots and Systems (IROS'97), Grenoble (France), Vol. 3, 1997, pp. 1694-1699.

  35. H. Seraji, "A new class of nonlinear PID controllers," Proc. 5th IFAC Symposium on Robot Control (SYROCO'97), Nantes (France), Vol. 1, 1997, pp. 65-71.

  36. P. Fiorini, H. Seraji, M. Long, "A PC-based configuration controller for dexterous 7-DOF arms," Proc. IEEE Intern. Conf. on Robotics and Automation, Minneapolis, Vol. 4, 1996, pp. 3689-3694.

  37. B. Bon, H. Seraji, "On-line collision avoidance for the Ranger Telerobotic Flight Experiment," Proc. IEEE Intern. Conf. on Robotics and Automation, Minneapolis, Vol. 3, 1996, pp. 2041-2048.

  38. B. Bon, H. Seraji, "Obstacle detection for the Ranger telerobotic flight experiment," Proc. World Automation Congress, Montpellier (France), vol. 3, 1996, pp. 95-102.

  39. D. Lim, H. Seraji, "Experiments in compliance and force control," Proc. lASTED Intern. Conf. on Robotics and Manufacturing, Honolulu, 1996, pp. 69-72.

  40. H. Seraji, "Configuration control of rover-mounted manipulators," Proc. IEEE Intern. Conf. on Robotics and Automation, Nagoya, Japan, Vol. 3, 1995, pp. 2261-2266.

  41. R. Colbaugh, K. Wedeward, K. Glass, H. Seraji, "New results on adaptive impedance control for dexterous manipulators," Proc. IEEE Intern. Symposium on Intelligent Control, Monterey, 1995.

  42. D. Lim, T. Lee, H. Seraji, "A real-time control system for a mobile dexterous 7-DOF arm," Proc. IEEE Intern. Conf. on Robotics and Automation, San Diego, Vol.2, 1994, pp. 1188-1195.

  43. R. Colbaugh, H. Seraji, "Adaptive tracking control of manipulators: Theory and experiments," Proc. IEEE Intern. Conf. on Robotics and Automation, San Diego, Vol. 4, 1994, pp. 2992-2999.

  44. H. Seraji, "Adaptive admittance control: An approach to explicit force control in compliant motion," Proc. IEEE Intern. Conf. on Robotics and Automation, San Diego, Vol. 4, 1994, pp. 2705-2712.

  45. R. Colbaugh, K. Glass, H. Seraji, "Decentralized adaptive tracking control of robot manipulators," Proc. 4th IFAC Symposium on Robot Control, Capri, Italy, Vol. 1, 1994, pp. 115-121.

  46. R. Colbaugh, K. Glass, H. Seraji, "Adaptive compliance control for redundant manipulators," Proc. Intelligent Robots and Systems Conference, Munich, Germany, Vol. 1, 1994, pp. 470-477.

  47. W. S. Kim, H. Seraji, P. Fiorini, et al, "Commercialization of JPL virtual reality calibration and redundant manipulator control technologies," Proc. 3rd International Symposium on AI, Robotics, and Automation for Space, Pasadena, 1994, pp. 23-26.

  48. H. Seraji, "Motion control of rover-mounted manipulators," Proc. 3rd IEEE Conference on Control Applications, Glasgow, U. K., Vol. 1, 1994, pp. 47-52.

  49. R. Colbaugh, H. Seraji, K. Glass, "Application of adaptive tracking control to industrial robots," Proc 3rd IEEE Conference on Control Applications, Glasgow, U.K., Vol. 2, 1994, pp. 915-920.

  50. S. Hayati, J. Balaram, H. Seraji, W. S. Kim, K. Tso, B. Prasad, "Remote surface inspection system," Proc. IEEE Intern. Conf. on Robotics and Automation, Atlanta, Vol. 3, 1993, pp. 875-882.

  51. R. Colbaugh, H. Seraji, K. Glass, "A new approach to adaptive manipulator control," Proc. IEEE Intern. Conf. on Robotics and Automation, Atlanta, Vol. 1, 1993, pp.604-611.

  52. K. Glass, R. Colbaugh, D. Lim, H. Seraji, "On-line collision avoidance for redundant manipulators," Proc. IEEE Intern. Conf. on Robotics and Automation, Atlanta, Vol. 1, 1993, pp. 36-43.

  53. H. Seraji, R. Colbaugh, "Force tracking in impedance control," Proc. IEEE Intern. Conf. on Robotics and Automation, Atlanta, Vol. 2, 1993, pp. 499-506.

  54. H. Seraji, "An on-line approach to coordinated mobility and manipulation," Proc. IEEE Intern. Conf. on Robotics and Automation, Atlanta, Vol. 1, 1993, pp. 28-35.

  55. H. Seraji, R. Colbaugh, "Adaptive force-based impedance control," Proc. IEEE/RSJ Intern. Conf. on Intelligent Robots and Systems, Yokohama, Japan, Vol. 3, 1993, pp.1537-1544.

  56. H. Seraji, "Motion control of mobile manipulators," Proc. IEEE/RSJ Intern. Conf. on Intelligent Robots and Systems, Yokohama, Japan, Vol. 3, 1993, pp. 2056-2063.

  57. R. Colbaugh, H. Seraji, K. Glass, "A new decentralized adaptive controller for robot manipulators," Proc. IFAC Triennial World Congress, Sydney, Australia, 1993, pp.447-452.

  58. R. Colbaugh, K. Glass, H. Seraji, "Direct adaptive control of robotic systems," Proc. American Control Conf., San Francisco, 1993, pp. 1138-1144.

  59. R. Colbaugh, H. Seraji, "A new decentralized adaptive controller for robot trajectory tracking," Proc. Intern. Conf. on Systems Engineering, Las Vegas, 1993.

  60. R. Colbaugh, H. Seraji, K. Glass, "New results in adaptive impedance control of manipulators," Proc. 32nd IEEE Conf. on Decision and Control, San Antonio, 1993.

  61. R. Colbaugh, H. Seraji, K. Glass, "Decentralized adaptive control of manipulators: Theory and experiments," Proc. 32nd IEEE Conf. on Decision and Control, San Antonio, 1993.

  62. S. Hayati, H. Seraji, W.S. Kim, J. Balaram, "Remote surface inspection for space applications," Proc. AIAA Aerospace Design Conference, Irvine, 1992.

  63. R. Colbaugh, H. Seraji, K. Glass, "Simulation studies in manipulator impedance control," Proc. American Control Conf., Chicago, June, 1992, pp. 2941-2946.

  64. R. Colbaugh, H. Seraji, K. Glass, "A new approach to adaptive manipulator control - Part I: Theory and Part II: Experiments," Proc. Fourth Intern. Symposium on Robotics and Manufacturing, Santa Fe, 1992, pp. 245-257.

  65. R. Colbaugh, H. Seraji, K. Glass, "Impedance control for dexterous space manipulators," Proc. 31st IEEE Conf. on Decision and Control, Tucson, 1992, pp. 1881-1886.

  66. H. Seraji, M. Long, T. Lee, "Configuration control of 7 DOF arms," Proc. IEEE Intern. Conf. on Robotics and Automation, Sacramento, Vol. 2, 1991, pp. 1195-1200.

  67. R. Colbaugh, H. Seraji, K. Glass, "Direct adaptive impedance control of manipulators," Proc. 30th IEEE Conf. on Decision and Control, Brighton, England, Vol. 3, 1991, pp. 2410-2415.

  68. H. Seraji, "Task options for redundancy resolution using configuration control," Proc. 30th IEEE Conf. on Decision and Control, Brighton, England, Vol. 3, 1991, pp. 2793-2798.

  69. R. Colbaugh, K. Glass, H. Seraji, "An adaptive inverse kinematics algorithm for robot manipulators," Proc. American Control Conf., San Diego, Vol. 3, 1990, pp. 2281-2286.

  70. K. Kreutz, M. Long, H. Seraji, "Kinematic analysis of 7 DOF anthropomorphic arms," Proc. IEEE Intern. Conf. on Robotics and Automation, Cincinnati, Vol. 2, 1990, pp. 824-830.

  71. R. Colbaugh, K. Glass, H. Seraji, K. Perryman, "Adaptive impedance control of redundant manipulators," Proc. 3rd Intern. Symp. on Robotics and Manufacturing, Vancouver, 1990, pp. 481-487.

  72. M. Long, K. Kreutz, H. Seraji, "Efficient kinematic computations for 7 DOF manipulators," Proc. 3rd Intern. Symp. on Robotics and Manufacturing, Vancouver, 1990, pp. 533-540.

  73. H. Seraji, R. Colbaugh, "Singularity-robustness and task-prioritization in configuration control of redundant robots," Proc. 29th IEEE Conf. on Decision and Control, Honolulu, Vol. 6, 1990, pp. 3089-3095.

  74. R. Colbaugh, H. Seraji, K. Glass, "Impedance control of redundant manipulators," Proc. 29th IEEE Conf. on Decision and Control, Honolulu, Vol. 5, 1990, pp. 2661-2666.

  75. J. Burdick, H. Seraji, "Characterization and control of self-motions in redundant manipulators," Proc. NASA Conference on Space Telerobotics, Pasadena, Vol. 2, 1989, pp.3-14.

  76. K. Kreutz, M. Long, H. Seraji, "Kinematic functions for the Robotics Research 7 dof arm," Proc. NASA Conference on Space Telerobotics, Pasadena, Vol. 1, 1989, pp. 39-48.

  77. H. Seraji, T. Lee, M. Delpech, "Direct adaptive control of a PUMA 560 industrial robot," Proc. NASA Conference on Space Telerobotics, Pasadena, Vol. 4, 1989, pp. 11-22.

  78. H. Seraji, "A new approach to global control of redundant manipulators," Proc. NASA Conference on Space Telerobotics, Pasadena, Vol. 1, 1989, pp. 29-38.

  79. H. Seraji, "Robust high-performance control for robotic manipulators," Proc. IEEE Intern. Conf. on Robotics and Automation, Scottsdale, Vol. 3, 1989, pp. 1663-1669.

  80. H. Seraji, R. Colbaugh, K. Glass, T. Lee, "Case studies in configuration control for redundant robots," Proc. 28th IEEE Conf. on Decision and Control, Tampa, Vol. 1, 1989, pp. 698-704.

  81. M. Tarokh, H. Seraji, "Control scheme for trajectory tracking of robot manipulators," Proc. IEEE Intern. Conf. on Robotics and Automation, Philadelphia, Vol. 2, 1988, pp. 1192-1197.

  82. B. J. Oh, M. Jamshidi, H. Seraji, "Decentralized adaptive control," Proc. IEEE Intern. Conf. on Robotics and Automation, Philadelphia, Vol. 2, 1988, pp. 1016-1021.

  83. H. Seraji, "Adaptive independent joint control of manipulators: Theory and experiment," Proc. IEEE Intern. Conf. on Robotics and Automation, Philadelphia, Vol. 2, 1988, pp. 854-861.

  84. H. Seraji, "Adaptive position control of dual-arm robots," Proc. Second Intern. Symp. Robotics and Manufacturing, Albuquerque, 1988, pp. 237-246.

  85. H. Seraji, "Configuration control of redundant manipulators," Proc. NATO Advanced Research Workshop on Robots with Redundancy, Salo (Italy), 1988.

  86. H. Seraji, "Output control using feedforward and cascade controllers," Proc. IEEE Conf. on Decision and Control, Vol. 3, 1987, pp. 1726-1733.

  87. H. Seraji, "Adaptive control of dual-arm robots," Proc. NASA Workshop on Space Telerobotics, Pasadena, Vol. 3, 1987, pp. 159-170.

  88. H. Seraji, "Adaptive hybrid control of manipulators," Proc. NASA Workshop on Space Telerobotics, Pasadena, Vol. 3, 1987, pp. 261-271.

  89. H. Seraji, "An adaptive Cartesian control scheme for manipulators," Proc. IEEE Intern. Conf. Robotics and Automation, Raleigh, Vol. 1, 1987, pp. 157-164.

  90. H. Seraji, "Cartesian control of robotic manipulators," Proc. 10th IFAC Triennial World Congress on Automatic Control, Munich (W. Germany), Vol. 4, 1987, pp. 302-307.

  91. B. J. Oh, M. Jamshidi, H. Seraji, "Adaptive decentralized feedforward robot control," Proc. Intern. Symp. on Mathematical Theory of Networks and Systems, Phoenix, 1987.

  92. H. Seraji, "Design of position/force controllers for manipulators," Proc. AIAA Conf. on Guidance, Navigation, and Control, Monterey, Vol. 1, 1987, pp. 238-246.

  93. H. Seraji, "Adaptive control of robotic manipulators," Proc. IEEE Conf. on Decision and Control, Los Angeles, Vol. 1, 1987, pp. 594-602.

  94. H. Seraji, "Design of feedforward-cascade controllers for multivariable systems," Proc. American Control Conference, Vol. 2, 1986, pp. 1347-1353.

  95. H. Seraji, "Linear multivariable control of robot manipulators," Proc.IEEE Intern. Conf. Robotics and Automation, San Francisco, Vol.1, 1986, pp. 565-571.

  96. H. Seraji, "Design of multivariable controllers for robot manipulators," Proc. American Control Conference, Vol. 3, 1986, pp. 1736-1741.

  97. H. Seraji, "Design of adaptive end-effector controllers for manipulators," Proc. Fourth IF AC Symp. Control of Distributed Parameter Systems, Los Angeles, 1986.

  98. H. Seraji, M. Shahinpoor, M. Jamshidi, "Perfect output control with application to robotics," Proc. IEEE Intern. Conf. Systems, Man and Cybernetics, Georgia, 1986.

  99. H. Seraji, "Design of adaptive joint controllers for robots," Proc. Intern. Symp. Robot Manipulators, Albuquerque, 1986.

  100. H. Seraji, "Perfect output control in linear multivariable systems," Proc. IEEE Intern. Conf. Systems, Man and Cybernetics, Arizona, 1985, pp. 163-167.

  101. S.K. Sinclair, M. Jamshidi, H. Seraji, "A sensitivity-matching method for model reduction," Proc. IFAC Symp. Large-Scale Systems, Switzerland, 1985.

  102. H. Seraji, M. Shahinpoor, M. Jamshidi, "Perfect tracking with application to robotics," Proc. lASTED Symposium on Robotics, Zurich (Switzerland), 1985.

  103. M. Jamshidi, H. Seraji, M. Shahinpoor, Y. T. Kim, "Stabilization and regulation of two-link robots," Proc. IEEE Intern. Conf. Systems, Man and Cybernetics, Arizona, 1985, pp. 1058-1062.

  104. H. Seraji, "Inverses for multi-link robots with application to trajectory tracking," Proc. 19th Asilomar Conf. Circuits, Systems and Computers, Pacific Grove, 1985, pp.139-143.

  105. M. Jamshidi, H. Seraji, Y. T. Kim, "On decentralized control of nonlinear three-link robots," Proc.19th Asilomar Coni. Circuits, Systems and Computers, Pacific Grove, 1985, pp. 134-138.

  106. H. Seraji, "Design of discrete PID controllers for pole placement," Proc. IEEE Conference on Decision and Control, Las Vegas, Vol. 3, 1984, pp. 1721-1722.

  107. H. Seraji, "Design of PID controllers for pole placement in discrete multivariable systems," Proc. Measurement and Control Conf., Athens (Greece), Vol. 2, 1983, pp. 449-451.

  108. H. Seraji, "Robust output control in linear systems," Proc. 8th IFAC Triennial World Congress on Automatic Control, Kyoto (Japan), Vol. 8, 1981, pp. 11-19.

  109. H. Seraji, "Design of multivariable Pill controllers with application to a gas-turbine," Proc. 4th IFAC Symposium on Multivariable Systems, Fredericton. Vol. 2, 1978, pp. 463-469.

  110. H. Seraji, "Design of PI controllers for multivariable systems," Proc. IEEE Conf. on Decision and Control, San Diego, 1978, pp. 809-814.

  111. H. Seraji, M. Tarokh, "Pole placement using proportional-plus-derivative output feedback," Proc. Joint Aut. Control Conf., San Francisco, 1977, pp. 970-974.

  112. H. Seraji, M. Tarokh, "Design of multivariable Pill controllers with application to a gas-turbine," Proc. 4th IFAC Symposium on Multivariable Systems, Fredericton, 1977, pp.137-145.

  113. H. Seraji, "Design of pole-shifting and optimal controllers for a synchronous generator," Proc. Ninth Universities Power Engineering Conference, Cambridge, 1974.

  114. F. Fallside, R.V. Patel, H. Seraji, "Design of linear multivariable systems using interactive graphics," Proc. Computer-Aided Control System Design Conference, Cambridge, 1973, pp. 101-112.

  115. H. Seraji, "Design of cascade controllers for zero assignment," Proc. Computer-Aided Control System Design Conference, Cambridge, 1973.

  116. F. Fallside, R.V. Patel, H. Seraji, "Interactive single-input system design using a graphics terminal,," Proc. 2nd International Computer-Aided Design Conference, Southampton, 1972, pp. 86-91.

  117. F. Fallside, H. Seraji, "A graphics technique for the design of multivariable systems," Proc. 4th UKAC Convention on Multivariable Control System Design and Applications, Manchester, 1971, pp. 87-92.

  118. F. Fallside, H. Seraji, "Design of optimal multivariable systems by a frequency-domain technique," Proc. 2nd IFAC Symposium on Multivariable Systems, Dusseldorf, paper 2.2.1, 1971.

THE CONTRIBUTED CHAPTERS:
  1. E. Tunstel, H. Seraji, A. Howard, "Soft computing approach to safe navigation of autonomous planetary rovers," Intelligent Control Systems using Soft Computing Methodologies, CRC Press, 2001, Chapter 11.

  2. H. Seraji, "Theory and applications of configuration control for redundant manipulators," Advances in Robotic Systems, edited by C. T. Leondes, Academic Press, Vol. 2, 1991, pp.205-258.

  3. H. Seraji, "Pole placement in discrete multivariable systems by two- and three- term controllers," Multivariable Control- New Concepts and Tools, edited by S.G. Tzafestas, D. Reidel publishing company, Holland, 1984.

  4. F. Fallside, R. V. Patel, H. Seraji, "Review of a pole-zero assignment design method," Control System Design by Pole-Zero Assignment, edited by F. Fallside, Academic Press, 1977, pp. 43-50.

  5. H. Seraji, "On output feedback control of linear multivariable systems," Control System Design by Pole-Zero Assignment, edited by F. Fallside, Academic Press, 1977, pp. 196-210.

U.S. PATENTS:
  1. H. Seraji, "Mobile Dexterous 7 DOF Robot Arm with Real-Time Control System," (Caltech), 2000.

  2. H. Seraji, "On-Line Method and Apparatus for Coordinated Mobility and Manipulation of Mobile Robots," Patent No. 5550 953 (NASA), August 1996.

  3. H. Seraji, "Configuration Control of Seven Degree-of-Freedom Arms," Patent No. 5430643 (NASA), July 1995.

  4. H. Seraji, "Method and Apparatus for Adaptive Force and Position Control of Manipulators," Patent No. 5414799 (Caltech), May 1995.

  5. H. Seraji, "Kinematic Functions for Redundancy Resolution using Configuration Control," Patent No. 5294873 (NASA), March 1994.

  6. H. Seraji, "Obstacle Avoidance for Redundant Robots using Configuration Control," Patent No. 5150026 (NASA), Sept. 1992.

  7. H. Seraji, "Robust High-Performance Control for Robotic Manipulators," Patent No. 5049796 (NASA), Sept. 1991.

  8. H. Seraji, "Dual-Arm Manipulators with Adaptive Control," Patent No. 5023808 (Caltech), June 1991.

  9. H. Seraji, "Method and Apparatus for Configuration Control of Redundant Robots," Patent No. 4999553 (NASA), March 1991.

  10. H. Seraji, "Method and Apparatus for Adaptive Force and Position Control of Manipulators," Patent No. 4860215 (Caltech), August 1989.

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