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Homayoun Seraji

Address:

4800 Oak Grove Drive
M/S 198-219
Pasadena, CA 91109

Phone:

818.354.4839

Fax:

818.393.5007
FORMER MEMBER

Homayoun Seraji, PhD

Senior Research Scientist

Biography

Homayoun Seraji was born in Tehran, Iran, in 1947, completed his school education in Iran, and ranked first in the national high-school diploma examinations in 1965. He graduated with a B.Sc. (First Class Honours) in Electronics from the University of Sussex, England, in 1969, and earned his Ph.D. in Control Systems at the University of Cambridge, England, in 1972. He was elected a Research Fellow at St. John's College, Cambridge, and conducted post-doctoral research and teaching for two years. In 1974, he joined Sharif (formerly Arya-Mehr) University of Technology, Iran, as a Professor of Electrical Engineering and was involved in teaching and research in control systems for ten years. He was selected a U.N. Distinguished Scientist in 1984 and spent one year at the University of New Mexico, USA, as a Visiting Professor. During his 13-year academic career, he has published extensively in the field of multivariable control systems, focusing on: optimal control, pole placement, multivariable PID controllers, and output regulation.

Dr. Seraji joined JPL in 1985 as a Senior Member of Technical Staff and additionally taught part-time at Caltech. Since 1991, he has been a Group Supervisor leading and managing a group of about 20 engineers and researchers in the Telerobotics Research and Applications Group. During his tenure at JPL, he has conducted extensive research that has led to major contributions in the field of robot control systems, particularly in: adaptive robot control, control of dexterous robots, contact control, real-time collision avoidance, rule-based robot navigation, and safe spacecraft landing. He received the NASA Exceptional Engineering Achievement Award in 1992, the NASA Group Achievement Award in 2002 and 1991, and eight NASA Major Space Act Awards since 1995. In 2003, he received the JPL Edward Stone Award for Outstanding Research Publication. The outcome of his research in controls and robotics has been published in 98 peer-reviewed journal papers, 119 refereed conference publications, 5 contributed chapters, and has led to 10 patents.

In 1996, Dr. Seraji was appointed a Senior Research Scientist at JPL in recognition of his significant individual research contributions in the fields of controls and robotics. He was selected a Fellow of IEEE in 1997 for his contributions to robotic control technology and its space applications. In 2003, he was recognized as the most-published author in the 20-year history of the Journal of Robotic Systems.

Education


  • Ph.D. in Electrical Engineering (Control Systems Major) from the University of Cambridge, England, in July 1972 with the doctoral dissertation entitled: Design Techniques for Multivariable Control Systems and their Implementation for Computer-Aided Design.


  • B. Sc. (First Class Honours) in Electrical Engineering (Electronics Major) from the University of Sussex, England, in July 1969.

Professional Experience


  • NASA-Jet Propulsion Laboratory, June 1985-Present


    • Senior Research Scientist, 1996-present

    • Group Supervisor, Telerobotics Research and Applications Group, 1991-present

    • Senior Member of the Technical Staff, 1985-1991



  • Proposer, Principal Investigator, and Task Manager of the following competitively-selected NASA-funded research tasks:


    • Autonomous Reasoning for Formation Reconfiguration, 2004

    • Human-Equivalent Robot Navigation, 2003

    • Multi-Sensor Landing Hazard Detection, 2000-2001

    • Safe Navigation of Planetary Rovers on Challenging Terrain, 1999-2002

    • A Software Tool for Safe Landing, 2001

    • Smart Navigation of Mobile Robots, 1998-99

    • Robotics Technologies for Space Station Maintenance, 1997-98

    • Obstacle Detection & Collision Avoidance Ranger Flight Experiment, 1995-97

    • Healthcare Robotics, 1996

    • Technology Transfer to Robotics Research Corporation, 1995-96

    • Dexterous Manipulator Control - Remote Surface Inspection, 1990-95

    • Redundant 7DOF Arm Control ' Flight Telerobotic Servicer, 1987-90

    • Manipulator Control Mechanization - Telerobotics Testbed, 1985-87





  • Proposer and Principal Investigator of the following competitively-selected research tasks funded by the Director's Research & Development Fund (DRDF):


    • Adaptive Path Planner and Navigator for Planetary Rovers using Fuzzy Logic and Genetic Algorithms, 1997-98

    • Autonomous Reasoning for Safe Landing, 2001-02



  • Part-time lecturer in Engineering Department at the California Institute of Technology during 1985-86, 1988-90, and 1991-92 academic years


  • University of New Mexico, August 1984-June 1985


  • Visiting Full Professor of Electrical and Computer Engineering


    Sharif (formerly Arya-Mehr) University of Technology, Iran, July 1974-August 1984


  • Full Professor of Electrical Engineering from April 1981 to August 1984


  • Associate Professor of Electrical Engineering from July 1976 to April 1981


  • Assistant Professor of Electrical Engineering from July 1974 to July 1976


  • University of Cambridge, England, May 1972-July 1974


  • Research Fellow and part-time lecturer at the Engineering Department

Publications

2006
  1. H. Seraji, "Safety measures for terrain classification and safest site selection," Autonomous Robots (To appear), 01 January 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), 01 January 2006.
  3. H. Seraji, "A hybrid reasoning system for multi-sensor terrain safety assessment," Proc. World Automation Congress, Budapest (Hungry), 01 January 2006.
  4. 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, 01 January 2006.
2005
  1. H. Seraji, "SmartNav: A rule-free fuzzy approach to rover navigation," Journal of Robotic Systems, vol. 22, no. 12, pp. 795-808, 01 January 2005.
2004
  1. 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, 01 January 2004.
  2. H. Seraji, "SmartNav: A new approach to rover navigation," Proc. 3rd WSEAS Intern. Conf. on System Science and Engineering, Rio de Janeiro (Brazil), 01 January 2004.
  3. H. Seraji, "Autonomous navigation using traversability indices," Proc. 16th IFAC Symposium on Automatic Control in Aerospace, St. Petersburg (Russia), 01 January 2004.
  4. H. Seraji, "Rule-based navigation indices," Proc. 1st IFAC Symposium on Telematics Applications in Automation and Control, Helsinki (Finland), 01 January 2004.
2003
  1. H. Seraji, "New traversability indices and traversability grid for integrated sensor/map-based navigation," Journal of Robotic Systems, 20(3), pp. 121-134, 01 January 2003.
  2. A. Howard, B. Werger, H. Seraji, "Integrating terrain maps into a reactive navigation strategy," Proc. IEEE Intern. Conf. on Robotics and Automation, Taiwan, 01 January 2003.
  3. A. Howard, H. Seraji, B. Werger, "A global path planner using the terrain traversability index," Proc. 7th Intern. Conf. on Automation Technology, Taiwan, 01 January 2003.
  4. H. Seraji, "Rule-based traversability indices for multi-scale terrain assessment," Proc. IEEE Intern. Conf. on Control Applications (CCA 2003), Istanbul, Turkey, 01 January 2003.
  5. H. Seraji, "Terrain-based navigation using rule-based traversability indices," Proc. Intern. Fuzzy Systems Assoc. World Congress (IFSA 2003), Istanbul, Turkey, 01 January 2003.
  6. 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, 01 January 2003.
2002
  1. 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, 01 January 2002.
  2. 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, 01 January 2002.
  3. 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), 01 January 2002.
  4. A. Howard, H. Seraji, "A rule-based fuzzy safety index for landing site risk assessment," Proc. World Automation Congress (WAC'02), Orlando, 01 January 2002.
  5. H. Seraji, B. Bon, "Multi-range traversability indices for terrain-based navigation," Proc. IEEE Intern. Conf. on Robotics and Automation, vol. 3,Washington DC, pp 2674-2681, 01 January 2002.
2001
  1. A. Howard, H. Seraji, "Vision-based terrain characterization and traversability assessment," Journal of Robotic Systems, 18(10), pp. 577-587, 01 January 2001.
  2. A. Howard, H. Seraji, "An intelligent terrain-based navigation system for planetary rovers," IEEE Robotics and Automation Magazine, 8(4), pp. 9-17, 01 January 2001.
  3. H. Seraji, A. Howard, E. Tunstel, "Safe navigation on hazardous terrain," Proc. IEEE Intern. Conf. on Robotics and Automation, Seoul (Korea), pp. 3084-3091, 01 January 2001.
  4. 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), pp. 3067-3071, 01 January 2001.
  5. 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), pp. 1413-1420, 01 January 2001.
  6. 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), pp. 1039-1044, 01 January 2001.
  7. H. Seraji, "Traversability indices for multi-scale terrain assessment," Proc. 2nd Intern. Conf. on Intelligent Technologies (InTech'01), Bangkok (Thailand), pp. 383-391, 01 January 2001.
  8. H. Seraji, "Terrain-based robot navigation using multi-scale traversability indices," Proc. 10th IEEE Intern. Conf. on Fuzzy Systems (FUZZ-IEEE'01), Melbourne (Australia), 01 January 2001.
  9. E. Tunstel, H. Seraji and A. Howard, "Soft computing approach to safe navigation of autonomous planetary rovers," in A. Zilouchian & M. Jamshidi (Eds.), <u>Intelligent Control Systems Using Soft Computing Methodologies</u>, CRC Press LLC, 01 January 2001.
2000
  1. H. Seraji, "Fuzzy Traversability Index: A new concept for terrain-based navigation," Journal of Robotic Systems, 17(2), pp. 75-91, 01 January 2000.
  2. H. Seraji, "A new class of nonlinear PID controllers," Proc. IFAC Workshop on Digital Control, Terrassa (Spain), pp. 540-546, 01 January 2000.
  3. H. Seraji, "Traversability Index: A new concept for planetary rovers," Proc. Intern. Conf. on Intelligent Technologies (InTech 2001), Bangkok (Thailand), pp. 261-268, 01 January 2000.
  4. 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, 01 January 2000.
  5. A. Howard, H. Seraji, "A real-time autonomous rover navigation system," Proc. World Automation Congress (WAC 2000), Hawaii, 01 January 2000.
  6. H. Seraji, "Mobile Dexterous 7 DOF Robot Arm with Real-Time Control System," (Caltech), 01 January 2000.
1999
  1. 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), 01 January 1999.
1998
  1. H. Seraji, "A new class of nonlinear PID controllers with robotic applications," Journal of Robotic Systems, 15(3), pp. 161-181, 01 January 1998.
  2. H. Seraji, "A unified approach to motion control of mobile manipulators," Intern. Journ. of Robotics Research, 17(2), pp. 107-118, 01 January 1998.
  3. H. Seraji, "Nonlinear and adaptive control of force and compliance in manipulators," Intern. Journ. of Robotics Research, 17(5), pp. 467-484, 01 January 1998.
  4. H. Seraji, R. Steele, "Nonlinear contact control for Space Station dexterous arms," Proc. IEEE Intern. Conf. on Robotics and Automation, Leuven (Belgium), Vol. 1, pp. 899 -906, 01 January 1998.
1997
  1. 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, pp. 601-618, 01 January 1997.
  2. 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, pp. 569-574, 01 January 1997.
  3. 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, pp. 1580-1587, 01 January 1997.
  4. P. Fiorini, K. Ali, H. Seraji, "Health Care Robotics: A Progress Report," Proc. IEEE Intern. Conf. on Robotics and Automation, Albuquerque, vol. 2, pp. 1271-1276, 01 January 1997.
  5. 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), pp. 167-174, 01 January 1997.
  6. 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, pp. 1775-1780, 01 January 1997.
  7. 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, pp. 1694-1699, 01 January 1997.
1996
  1. H. Seraji, "On-Line Method and Apparatus for Coordinated Mobility and Manipulation of Mobile Robots," Patent No. 5550 953 (NASA), 01 August 1996.
  2. H. Seraji, R. Steele, R. Ivlev, "Sensor-based collision avoidance: Theory and experiments," Journal of Robotic Systems, 13(9), pp. 571-586, 01 January 1996.
  3. R. Colbaugh, H. Seraji, "Adaptive tracking control of manipulators," Journ. of Robotics and Computer-Integrated Manufacturing, 01 January 1996.
  4. 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, pp. 3689-3694, 01 January 1996.
  5. 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, pp. 2041-2048, 01 January 1996.
  6. B. Bon, H. Seraji, "Obstacle detection for the Ranger telerobotic flight experiment," Proc. World Automation Congress, Montpellier (France), vol. 3, pp. 95-102, 01 January 1996.
  7. D. Lim, H. Seraji, "Experiments in compliance and force control," Proc. lASTED Intern. Conf. on Robotics and Manufacturing, Honolulu, pp. 69-72, 01 January 1996.
1995
  1. H. Seraji, "Configuration Control of Seven Degree-of-Freedom Arms," Patent No. 5430643 (NASA), 01 July 1995.
  2. H. Seraji, "Method and Apparatus for Adaptive Force and Position Control of Manipulators," Patent No. 5414799 (Caltech), 01 May 1995.
  3. 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, 01 January 1995.
  4. H. Seraji, "Reachability analysis for base placement in mobile manipulators," Journal of Robotic Systems, 12 (1), pp. 29-43, 01 January 1995.
  5. R. Colbaugh, H. Seraji, K. Glass, "Adaptive compliant motion control for dexterous manipulators," Intern. Journal of Robotics Research, 14 (3), pp. 270-280, 01 January 1995.
  6. R. Colbaugh, K. Glass, H. Seraji, "Robust adaptive control of Lagrangian systems," Computers and Electrical Engineering: An Intern. Journal, 21 (4), 01 January 1995.
  7. R. Colbaugh, K. Glass, H. Seraji, "Performance-based adaptive tracking control of robot manipulators," Journal of Robotic Systems, 121 (8), 01 January 1995.
  8. 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, 01 January 1995.
  9. H. Seraji, "Configuration control of rover-mounted manipulators," Proc. IEEE Intern. Conf. on Robotics and Automation, Nagoya, Japan, Vol. 3, pp. 2261-2266, 01 January 1995.
1994
  1. H. Seraji, D. Lim, R.D. Steele, "Experiments in contact control," Journal of Robotic Systems, 01 August 1994.
  2. H. Seraji, "Kinematic Functions for Redundancy Resolution using Configuration Control," Patent No. 5294873 (NASA), 01 March 1994.
  3. 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, 01 January 1994.
  4. R. Colbaugh, H. Seraji, K. Glass, "Decentralized adaptive control of manipulators," Journal of Robotic Systems, 11(5), pp. 425-440, 01 January 1994.
  5. 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, pp. 1188-1195, 01 January 1994.
  6. R. Colbaugh, H. Seraji, "Adaptive tracking control of manipulators: Theory and experiments," Proc. IEEE Intern. Conf. on Robotics and Automation, San Diego, Vol. 4, pp. 2992-2999, 01 January 1994.
  7. 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, pp. 2705-2712, 01 January 1994.
  8. R. Colbaugh, K. Glass, H. Seraji, "Decentralized adaptive tracking control of robot manipulators," Proc. 4th IFAC Symposium on Robot Control, Capri, Italy, Vol. 1, pp. 115-121, 01 January 1994.
  9. R. Colbaugh, K. Glass, H. Seraji, "Adaptive compliance control for redundant manipulators," Proc. Intelligent Robots and Systems Conference, Munich, Germany, Vol. 1, pp. 470-477, 01 January 1994.
  10. 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, pp. 23-26, 01 January 1994.
  11. H. Seraji, "Motion control of rover-mounted manipulators," Proc. 3rd IEEE Conference on Control Applications, Glasgow, U. K., Vol. 1, pp. 47-52, 01 January 1994.
  12. 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, pp. 915-920, 01 January 1994.
1993
  1. S. Hayati, J. Balaram, H. Seraji, W. S. Kim, and K. Tso, "Remote surface inspection system," International Journal of Robotics and Autonomous Systems, 45-59, 01 May 1993.
  2. R. Colbaugh, H. Seraji, K. Glass, "Direct adaptive impedance control of robot manipulators," Journal of Robotic Systems, 10(2), pp. 217-248, 01 January 1993.
  3. 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, 01 January 1993.
  4. R. Colbaugh, K. Glass, H. Seraji, "Direct adaptive control of robotic systems," Proc. American Control Conf., San Francisco, pp. 1138-1144, 01 January 1993.
  5. H. Seraji, R. Colbaugh, "Force tracking in impedance control," Proc. IEEE Intern. Conf. on Robotics and Automation, Atlanta, Vol. 2, pp. 499-506, 01 January 1993.
  6. R. Colbaugh, H. Seraji, K. Glass, "A new approach to adaptive manipulator control," Proc. IEEE Intern. Conf. on Robotics and Automation, Atlanta, Vol. 1,, pp.604-611, 01 January 1993.
  7. 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, pp. 36-43, 01 January 1993.
  8. H. Seraji, "An on-line approach to coordinated mobility and manipulation," Proc. IEEE Intern. Conf. on Robotics and Automation, Atlanta, Vol. 1, pp. 28-35, 01 January 1993.
  9. H. Seraji, R. Colbaugh, "Adaptive force-based impedance control," Proc. IEEE/RSJ Intern. Conf. on Intelligent Robots and Systems, Yokohama, Japan, Vol. 3, pp.1537-1544, 01 January 1993.
  10. H. Seraji, "Motion control of mobile manipulators," Proc. IEEE/RSJ Intern. Conf. on Intelligent Robots and Systems, Yokohama, Japan, Vol. 3, pp. 2056-2063, 01 January 1993.
  11. R. Colbaugh, H. Seraji, K. Glass, "A new decentralized adaptive controller for robot manipulators," Proc. IFAC Triennial World Congress, Sydney, Australia, pp.447-452, 01 January 1993.
  12. R. Colbaugh, H. Seraji, "A new decentralized adaptive controller for robot trajectory tracking," Proc. Intern. Conf. on Systems Engineering, Las Vegas, 01 January 1993.
  13. R. Colbaugh, H. Seraji, K. Glass, "New results in adaptive impedance control of manipulators," Proc. 32nd IEEE Conf. on Decision and Control, San Antonio, 01 January 1993.
  14. R. Colbaugh, H. Seraji, K. Glass, "Decentralized adaptive control of manipulators: Theory and experiments," Proc. 32nd IEEE Conf. on Decision and Control, San Antonio, 01 January 1993.
1992
  1. H. Seraji, "Obstacle avoidance for redundant robots using configuration control," Patent No. 5150026 (NASA), 01 September 1992.
  2. K. Kreutz, M. Long, H. Seraji, "Kinematic analysis of 7 DOF manipulators," Intern. Journal of Robotics Research, 11(5), pp. 469-481, 01 January 1992.
  3. H. Seraji, "Task-based configuration control of redundant robots," Journal of Robotic Systems, 9(3), pp. 411-451, 01 January 1992.
  4. 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, 01 January 1992.
  5. S. Hayati, H. Seraji, W.S. Kim, J. Balaram, "Remote surface inspection for space applications," Proc. AIAA Aerospace Design Conference, Irvine, 01 January 1992.
  6. R. Colbaugh, H. Seraji, K. Glass, "Simulation studies in manipulator impedance control," Proc. American Control Conf., Chicago, June, pp. 2941-2946, 01 January 1992.
  7. 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, pp. 245-257, 01 January 1992.
  8. R. Colbaugh, H. Seraji, K. Glass, "Impedance control for dexterous space manipulators," Proc. 31st IEEE Conf. on Decision and Control, Tucson, pp. 1881-1886, 01 January 1992.
1991
  1. H. Seraji, "Robust high-performance control for robotic manipulators," Patent No. 5049796 (NASA), 01 September 1991.
  2. H. Seraji, "Dual-Arm Manipulators with Adaptive Control," Patent No. 5023808 (Caltech), 01 June 1991.
  3. H. Seraji, "Method and Apparatus for Configuration Control of Redundant Robots," Patent No. 4999553 (NASA), 01 March 1991.
  4. M. Tarokh, H. Seraji, "A multivariable control scheme for robot manipulators," Journal of Robotic Systems, 8(1), pp. 1-19, 01 January 1991.
  5. H. Seraji, M. Long, T. Lee, "Configuration control of 7 DOF arms," Proc. IEEE Intern. Conf. on Robotics and Automation, Sacramento, Vol. 2, pp. 1195-1200, 01 January 1991.
  6. R. Colbaugh, H. Seraji, K. Glass, "Direct adaptive impedance control of manipulators," Proc. 30th IEEE Conf. on Decision and Control, Brighton, England, Vol. 3, pp. 2410-2415, 01 January 1991.
  7. H. Seraji, "Task options for redundancy resolution using configuration control," Proc. 30th IEEE Conf. on Decision and Control, Brighton, England, Vol. 3, pp. 2793-2798, 01 January 1991.
  8. H. Seraji, "Theory and applications of configuration control for redundant manipulators," Advances in Robotic Systems, edited by C. T. Leondes, Academic Press, Vol. 2, pp.205-258, 01 January 1991.
1990
  1. 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, 01 January 1990.
  2. H. Seraji, R. Colbaugh, "Improved configuration control for redundant robots," Journal of Robotic Systems, 7(6), pp. 897-928, 01 January 1990.
  3. R. Colbaugh, K. Glass, H. Seraji, "An adaptive inverse kinematics algorithm for robot manipulators," Proc. American Control Conf., San Diego, Vol. 3, pp. 2281-2286, 01 January 1990.
  4. K. Kreutz, M. Long, H. Seraji, "Kinematic analysis of 7 DOF anthropomorphic arms," Proc. IEEE Intern. Conf. on Robotics and Automation, Cincinnati, Vol. 2, pp. 824-830, 01 January 1990.
  5. R. Colbaugh, K. Glass, H. Seraji, K. Perryman, "Adaptive impedance control of redundant manipulators," Proc. 3rd Intern. Symp. on Robotics and Manufacturing, Vancouver, pp. 481-487, 01 January 1990.
  6. M. Long, K. Kreutz, H. Seraji, "Efficient kinematic computations for 7 DOF manipulators," Proc. 3rd Intern. Symp. on Robotics and Manufacturing, Vancouver, pp. 533-540, 01 January 1990.
  7. 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, pp. 3089-3095, 01 January 1990.
  8. R. Colbaugh, H. Seraji, K. Glass, "Impedance control of redundant manipulators," Proc. 29th IEEE Conf. on Decision and Control, Honolulu, Vol. 5, pp. 2661-2666, 01 January 1990.
1989
  1. H. Seraji, "Simple method for model reference adaptive control," Int. J. Control, 49(1), pp. 367-371, 01 January 1989.
  2. H. Seraji, "Minimal inversion, command matching and disturbance decoupling in multivariable systems," Int. J. Control, 49(6), pp. 2093-2121, 01 January 1989.
  3. H. Seraji, "Decentralized adaptive control of manipulators: Theory, simulation, and experimentation," IEEE Trans. on Robotics and Automation, 5(2), pp. 183-201, 01 January 1989.
  4. H. Seraji, "Configuration control of redundant manipulators: Theory and implementation," IEEE Trans. on Robotics and Automation, 5(4), pp. 472-490, 01 January 1989.
  5. J. Burdick, H. Seraji, "Characterization and control of self-motions in redundant manipulators," Proc. NASA Conference on Space Telerobotics, Pasadena, Vol. 2, pp.3-14, 01 January 1989.
  6. K. Kreutz, M. Long, H. Seraji, "Kinematic functions for the Robotics Research 7 dof arm," Proc. NASA Conference on Space Telerobotics, Pasadena, Vol. 1, pp. 39-48, 01 January 1989.
  7. H. Seraji, T. Lee, M. Delpech, "Direct adaptive control of a PUMA 560 industrial robot," Proc. NASA Conference on Space Telerobotics, Pasadena, Vol. 4, pp. 11-22, 01 January 1989.
  8. H. Seraji, "A new approach to global control of redundant manipulators," Proc. NASA Conference on Space Telerobotics, Pasadena, Vol. 1, pp. 29-38, 01 January 1989.
  9. 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, pp. 698-704, 01 January 1989.
1988
  1. H. Seraji, "Coordinated adaptive position/force control of dual-arm robots," Intern. Journ. of Robotics and Automation, 3(3), pp. 140-149, 01 January 1988.
  2. M. Tarokh, H. Seraji, "Control scheme for trajectory tracking of robot manipulators," Proc. IEEE Intern. Conf. on Robotics and Automation, Philadelphia, Vol. 2, pp. 1192-1197, 01 January 1988.
  3. B. J. Oh, M. Jamshidi, H. Seraji, "Decentralized adaptive control," Proc. IEEE Intern. Conf. on Robotics and Automation, Philadelphia, Vol. 2, pp. 1016-1021, 01 January 1988.
  4. H. Seraji, "Adaptive independent joint control of manipulators: Theory and experiment," Proc. IEEE Intern. Conf. on Robotics and Automation, Philadelphia, Vol. 2, pp. 854-861, 01 January 1988.
  5. H. Seraji, "Adaptive position control of dual-arm robots," Proc. Second Intern. Symp. Robotics and Manufacturing, Albuquerque, pp. 237-246, 01 January 1988.
  6. H. Seraji, "Configuration control of redundant manipulators," Proc. NATO Advanced Research Workshop on Robots with Redundancy, Salo (Italy), 01 January 1988.
1987
  1. H. Seraji, "Transfer-function matrix," Electronics Letters, 23(6), pp. 256-257, 01 January 1987.
  2. H. Seraji, "Design of feedforward controllers for multi variable plants," Int. J. Control, 46(5), pp. 1633-1651, 01 January 1987.
  3. M.M. Moya, H. Seraji, "Robot control systems - A survey," Robotics, 3(4), pp. 329-351, 01 January 1987.
  4. M. Jamshidi, H. Seraji, Y.T. Kim,, "Decentralized control of nonlinear robot manipulators," Robotics, 3(4), pp. 361-370, 01 January 1987.
  5. H. Seraji, "An approach to multivariable control of manipulators," ASME Journ. Dynamic Systems, Measurement and Control, 109(2), pp. 146-154, 01 January 1987.
  6. H. Seraji, "A new approach to adaptive control of manipulators," ASME Journ. Dynamic Systems, Measurement and Control, 109(3), pp. 193-202, 01 January 1987.
  7. H. Seraji, "Direct adaptive control of manipulators in Cartesian space," Journal of Robotic Systems, 4(1), pp. 157-178, 01 January 1987.
  8. H. Seraji, "Adaptive force and position control of manipulators," Journal of Robotic Systems, 4(4), pp. 551-578, 01 January 1987.
  9. H. Seraji, "Adaptive control strategies for cooperative dual-arm manipulators," Journal of Robotic Systems, 4(5), pp. 653-684, 01 January 1987.
  10. H. Seraji, "Output control using feedforward and cascade controllers," Proc. IEEE Conf. on Decision and Control, Vol. 3, pp. 1726-1733, 01 January 1987.
  11. H. Seraji, "Adaptive control of dual-arm robots," Proc. NASA Workshop on Space Telerobotics, Pasadena, Vol. 3, pp. 159-170, 01 January 1987.
  12. H. Seraji, "Adaptive hybrid control of manipulators," Proc. NASA Workshop on Space Telerobotics, Pasadena, Vol. 3, pp. 261-271, 01 January 1987.
  13. H. Seraji, "An adaptive Cartesian control scheme for manipulators," Proc. IEEE Intern. Conf. Robotics and Automation, Raleigh, Vol. 1, pp. 157-164, 01 January 1987.
  14. H. Seraji, "Cartesian control of robotic manipulators," Proc. 10th IFAC Triennial World Congress on Automatic Control, Munich (W. Germany), Vol. 4, pp. 302-307, 01 January 1987.
  15. B. J. Oh, M. Jamshidi, H. Seraji, "Adaptive decentralized feedforward robot control," Proc. Intern. Symp. on Mathematical Theory of Networks and Systems, Phoenix, 01 January 1987.
  16. H. Seraji, "Design of position/force controllers for manipulators," Proc. AIAA Conf. on Guidance, Navigation, and Control, Monterey, Vol. 1, pp. 238-246, 01 January 1987.
  17. H. Seraji, "Adaptive control of robotic manipulators," Proc. IEEE Conf. on Decision and Control, Los Angeles, Vol. 1, pp. 594-602, 01 January 1987.
1986
  1. 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, 01 January 1986.
  2. H. Seraji, "Design of feedforward-cascade controllers for multivariable systems," Proc. American Control Conference, Vol. 2, pp. 1347-1353, 01 January 1986.
  3. H. Seraji, "Linear multivariable control of robot manipulators," Proc.IEEE Intern. Conf. Robotics and Automation, San Francisco, Vol.1, pp. 565-571, 01 January 1986.
  4. H. Seraji, "Design of multivariable controllers for robot manipulators," Proc. American Control Conference, Vol. 3, pp. 1736-1741, 01 January 1986.
  5. H. Seraji, "Design of adaptive end-effector controllers for manipulators," Proc. Fourth IF AC Symp. Control of Distributed Parameter Systems, Los Angeles, 01 January 1986.
  6. H. Seraji, M. Shahinpoor, M. Jamshidi, "Perfect output control with application to robotics," Proc. IEEE Intern. Conf. Systems, Man and Cybernetics, Georgia, 01 January 1986.
  7. H. Seraji, "Design of adaptive joint controllers for robots," Proc. Intern. Symp. Robot Manipulators, Albuquerque, 01 January 1986.
1985
  1. H. Seraji, "Perfect output control in linear multivariable systems," Proc. IEEE Intern. Conf. Systems, Man and Cybernetics, Arizona, pp. 163-167, 01 January 1985.
  2. S.K. Sinclair, M. Jamshidi, H. Seraji, "A sensitivity-matching method for model reduction," Proc. IFAC Symp. Large-Scale Systems, Switzerland, 01 January 1985.
  3. H. Seraji, M. Shahinpoor, M. Jamshidi, "Perfect tracking with application to robotics," Proc. lASTED Symposium on Robotics, Zurich (Switzerland), 01 January 1985.
  4. 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, pp. 1058-1062, 01 January 1985.
  5. H. Seraji, "Inverses for multi-link robots with application to trajectory tracking," Proc. 19th Asilomar Conf. Circuits, Systems and Computers, Pacific Grove, pp.139-143, 01 January 1985.
  6. 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, pp. 134-138, 01 January 1985.
1984
  1. H. Seraji, "Design of discrete PID controllers for pole placement," Proc. IEEE Conference on Decision and Control, Las Vegas, Vol. 3, pp. 1721-1722, 01 January 1984.
  2. 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, 01 January 1984.
1983
  1. H. Seraji, "Design of digital two- and three-term controllers for discrete-time multivariable systems," Int. J. Control, 38(4), pp. 843-865, 01 January 1983.
  2. H. Seraji, "Design of PID controllers for pole placement in discrete multivariable systems," Proc. Measurement and Control Conf., Athens (Greece), Vol. 2, pp. 449-451, 01 January 1983.
1982
  1. H. Seraji, "On fixed modes in decentralized control systems," Int. J. Control, 35(5), pp. 775-784, 01 January 1982.
1981
  1. H. Seraji, "Output control in linear systems: A transfer-function approach," Int. J. Control, 33(4), pp. 649-676, 01 January 1981.
  2. H. Seraji, "Robust output control in linear systems," Proc. 8th IFAC Triennial World Congress on Automatic Control, Kyoto (Japan), Vol. 8, pp. 11-19, 01 January 1981.
1980
  1. H. Seraji, "Design of pole-placement compensators for multivariable systems," Automatica, 16(3), pp. 335-338, 01 January 1980.
  2. H. Seraji, "Design of multivariable PID controllers for pole placement," Int. J. Control, 32(4), pp. 661-668, 01 January 1980.
  3. H. Seraji, "Pole placement in multivariable systems using proportional-derivative output feedback," Int. J. Control, 31(1), pp. 195-207, 01 January 1980.
1979
  1. H. Seraji, "Design of proportional-plus-integral controllers for multivariable systems," Int. J. Control, 29(1), pp. 49-65, 01 January 1979.
  2. H. Seraji, "Pole assignment and determination of residual polynomial,," IEEE Trans. Aut. Control, AC-24(3), pp. 478-479, 01 January 1979.
1978
  1. H. Seraji, "A note on pole assignment with output feedback," Int. J. Control, 27(1), pp. 141-142, 01 January 1978.
  2. H. Seraji, "A new method for pole placement using output feedback," Int. J. Control, 28(1), pp. 147-155, 01 January 1978.
  3. H. Seraji, "On pole placement using output feedback," Electronics Letters, 14(23), pp.739-741, 01 January 1978.
  4. R.V. Patel, H. Seraji, "A note on pole placement using dynamic compensators," Int. J. Control, 27(4), pp. 653-655, 01 January 1978.
  5. H. Seraji, "Design of multivariable Pill controllers with application to a gas-turbine," Proc. 4th IFAC Symposium on Multivariable Systems, Fredericton. Vol. 2, pp. 463-469, 01 January 1978.
  6. H. Seraji, "Design of PI controllers for multivariable systems," Proc. IEEE Conf. on Decision and Control, San Diego, pp. 809-814, 01 January 1978.
1977
  1. H. Seraji, M. Tarokh, "Design of PMD controllers for multivariable systems," Int. J. Control, 26(1), pp. 75-83, 01 January 1977.
  2. H. Seraji, M. Tarokh, "Design of proportional-plus-derivative output feedback for pole assignment," Proc. lEEE, 124(8), pp. 729-732, 01 January 1977.
  3. 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, 01 January 1977.
  4. H. Seraji, "Comments on pole assignment in linear systems with structurally constrained dynamic compensators," Int. J. Control, 26(5), pp. 819-820, 01 January 1977.
  5. H. Seraji, M. Tarokh, "Pole placement using proportional-plus-derivative output feedback," Proc. Joint Aut. Control Conf., San Francisco, pp. 970-974, 01 January 1977.
  6. 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, pp. 43-50, 01 January 1977.
  7. H. Seraji, "On output feedback control of linear multivariable systems," Control System Design by Pole-Zero Assignment, edited by F. Fallside, Academic Press, pp. 196-210, 01 January 1977.
1976
  1. H. Seraji, "Stabilization and pole placement using output feedback," Int. J. Control, 23(1), pp. 105-112, 01 January 1976.
1975
  1. H. Seraji, "Design of multivariable systems using unity-rank state feedback: further results," Electronics Letters, 11(2), pp. 34-35, 01 January 1975.
  2. H. Seraji, "Deadbeat control of discrete-time systems using output feedback," Int. J. Control, 21(2), pp. 213-223, 01 January 1975.
  3. H. Seraji, "Design of cascade controllers for zero assignment in multivariable systems," Int. J. Control, 21(3), pp. 485-496, 01 January 1975.
  4. H. Seraji, "Cyclicity of linear multivariable systems," Int. J. Control, 21(3), pp. 497-504, 01 January 1975.
  5. H. Seraji, "An approach to dynamic compensator design for pole assignment," Int. J. Control, 21(6), pp. 955-966, 01 January 1975.
  6. H. Seraji, "Pole assignment techniques for multivariable systems using unity-rank output feedback," Int. J. Control, 21(6), pp. 945-954, 01 January 1975.
  7. H. Seraji, "Unattainability of certain pole positions in single-input systems with output feedback," Int. J. Control, 22(1), pp. 119-123, 01 January 1975.
  8. H. Seraji, "Pole assignment using dynamic compensators with prespecified poles," Int. J. Control, 22(2), pp. 271-279, 01 January 1975.
1974
  1. H. Seraji, "Restrictions on attainable poles and methods for pole assignment with output feedback," Proc.IEEE, 121(3), pp. 205-212, 01 January 1974.
  2. H. Seraji, "Design of pole-shifting and optimal controllers for a synchronous generator," Proc. Ninth Universities Power Engineering Conference, Cambridge, 01 January 1974.
  3. H. Seraji, "Direct method for pole assignment in single-input systems with output feedback," Electronics Letters, 10(12), pp. 243-244, 01 January 1974.
  4. H. Seraji, "On pole-shifting using output feedback," Int. J. Control, 20(5), pp. 721-726, 01 January 1974.
1973
  1. F. Fallside, H. Seraji, "Design of multivariable systems using unity-rank feedback," Int. J. Control, 17(2), pp. 351-364, 01 January 1973.
  2. H. Seraji, "Stabilization by means of output feedback," Proc. IEEE, 120(11), pp. 1428-1432, 01 January 1973.
  3. F. Fallside, R.V. Patel, H. Seraji, "Design of linear multivariable systems using interactive graphics," Proc. Computer-Aided Control System Design Conference, Cambridge, pp. 101-112, 01 January 1973.
  4. H. Seraji, "Design of cascade controllers for zero assignment," Proc. Computer-Aided Control System Design Conference, Cambridge, 01 January 1973.
1972
  1. 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, 01 January 1972.
  2. F. Fallside, H. Seraji, "Direct design procedure for single-input feedback systems," Int. J. Electronics, 32(1), pp. 95-106, 01 January 1972.
  3. 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, 01 January 1972.
  4. F. Fallside, H. Seraji, "Steady-state values for a class of multivariable feedback systems," Electronics Letters, 8(2), pp. 42-43, 01 January 1972.
  5. F. Fallside, R.V. Patel, H. Seraji, "Interactive single-input system design using a graphics terminal,," Proc. 2nd International Computer-Aided Design Conference, Southampton, pp. 86-91, 01 January 1972.
1971
  1. F. Fallside, H. Seraji, "Direct design procedure for multivariable feedback systems," Proc. IEEE, 117(10), pp. 2017-2024, 01 January 1971.
  2. F. Fallside, H. Seraji, "Pole-shifting procedure for multivariable systems using output feedback," Proc. IEEE, 118(11), pp. 1648-1654, 01 January 1971.
  3. 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, 01 January 1971.
  4. F. Fallside, H. Seraji, "Steady-state values in single-input feedback systems," Electronics Letters, 7(8), pp. 197-198, 01 January 1971.
  5. 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, pp. 87-92, 01 January 1971.
1970
  1. *F. Fallside, H. Seraji, "Design of optimal systems by a frequency-domain technique," Proc. IEEE,117(10), pp. 2017-2024, 01 January 1970.