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Bijan works in the Faculty of Engineering at Monash University as an Professor. His area of expertise are, Automation, CAE/CAD/CAM/CAPP Manufacturing, Computational Geometry, Contact and Quasistatic Motion Analysis, Flexible Fixturing, Mechatronics, Robotics and Sensing and Control.
Laser-based sensing, measurement and control of multi-axis flexure-based mechanisms for nano manipulations.
The project aims to investigate fundamental issues in measurement, design, optimization, and control of multi-axis flexure-based nano manipulators. It aims to establish novel sensing methodologies for position and orientation measurements and feedback, and advanced control techniques for nano manipulation in view of actuators’ nonlinearities, interferences among motion axes, and external disturbances. The research is significant as such nano manipulators and methodologies represent the building blocks for many future scientific and engineering nano manipulation systems. The project will establish new knowledge, methodologies, and instrumentations for measurement, characterisation and control of multi-axis flexure-based nano manipulators.
Research Facility in Laser-Based Sensing and Tracking for Dynamic Measurements.
Present Papers At the International Conference on Manufacturing (pcm2000), Usa.
ARC SPIRT 1997 - Dr B Shirinzadeh.
Nissan Casting Aust P/L-Dr B Shirinzadeh.
Gang Nails Aust P/L-SPIRT-Dr Shirinzadeh.
Robotic microsurgery: intra-operative measurement, modelling and micromanipulation control.
This research studies fundamental issues in robotic microsurgery. It aims to establish dynamic intraoperative
measurement and modelling together with the development and intelligent control of robotic
micromanipulation instruments for microsurgery. This is a novel multi-disciplinary research focusing on intraoperative
measurement of tissue properties for modelling of soft tissue behaviours. The project is also
innovative as it develops new concepts of synergistically fusing dynamic measurements of tissue properties,
soft tissue modelling and micromanipulation for automatic planning and precise control of robotic
microsurgical tasks. The project will establish new knowledge, methodologies and instrumentations for
Experimental Facility for Visual Serving and Laser Tracking of Complex Manipulation Tasks.
Coordinated multi arm fettling of aluminium castings.
A hapric-based immersive motion platform for human performance evaluation.
A motion platform capable of combining continuous centrifugal rotation and large linear displacement with an
additional five degrees of motion is proposed. The system will house a human subject at the end of a large
serial robot similar to a human arm, which can rotate continuously about its base. The robot arm will be
installed on a large linear axis enabling the simulation of movements and accelerations along a straight path
as well as rotation provided by other axes of the robot. The motion platform will comprise audio and visual
devices, and haptic-based control mechanisms, e.g. a steering wheel and pedals or a helicopter cyclic, to
provide a number of human immersed scenarios for driving/flying training and human perception evaluation.
To Present Papers At the 5th International Conference on Control, Automation, Robotics & Vision (icarv'98) and Associated Research Visits to the Nayang Technological Uni and National Uni of Singapore.
Automated Drill, Trim, and Finish of Aerospace Composite Components (ADTACC).
Laser-based dynamic measurements, model identification and error compensation for multi-arm robotic pre-fabrication of structural components.
Present 2 Papers, 30th International Symposium on Robotics, Tokyo and Associated Visits to University of Tokyo and Yaskawa Electric Corp.
Autonomous service robots in a multi-agent based system for household and industrial environments.
The project aims to establish a methodology for intelligent autonomous mobile robots with multi-agent cooperative behaviour to accomplish high-level tasks in complex dynamic environments. The driving application is intelligent and robust cleaning services in both household and industrial environments. This novel interdisciplinary project spans the fields of robotics, mechatronics and artificial intelligence. The research aims to investigate issues and establish methodologies for advanced task definition and decomposition, efficient task planning, knowledge gathering, and multi-agent cooperative behaviour with distributed intelligence. The findings will greatly improve the efficiency, productivity, and safety of robotic cleaning activities.
Research Facility for Robotic Fibre Placement on Complex Composite Layups and Intricate Sub-structures.
Optimised and Sensory-based Robotic Fibre Placement of Carbon Fibre Composites for Fabrication of Aerospace Components - Collab.
Micro/nano optomechatronics sensing, measurement, and control research facility.
The project aims to establish a unique joint facility between Monash and Deakin for micro/nano optomechatronics sensing, measurement, and control. It consists of a laser-based confocal microscope, laser interferometers, force/torque and capacitive sensors, and vibration isolated platforms. The facility will enhance current research facilities and programs enabling precision motion measurement of micro/nano manipulation systems and acquiring profile/characteristics of micro/nano objects as a unique means of modelling, analysis, and experimentation. This is the only facility of its kind in Australia and will provide for establishment of enabling technologies in many high quality research projects with recognised potential in frontier areas.
A Study of Task Planning and Control of Multi-arm Robotic Manipulation for Fabrication of Timber Trusses - Collab, Apai.
Many frontier areas such as micromanufacturing, microsurgery, biotechnology, and nanotechnology require high precision micromanipulation systems. This project aims to investigate fundamental issues in micromanipulation systems using an ARC-LIEF funded research facility, and establish methodologies for modelling and analysis, together with their experimental verification to evaluate the influence of various parameters in such systems. The findings will be utilised to eastablish sensory-based control techniques to solve problems assoicated with predictablility, control and efficiency for future advancement of such novel systems. The outcomes will include acquiring new knowledge in micromanipulation systems for potential utiliztion of the innovative concepts in the frontier areas.
Haptic exploration and manipulation of micro/nano scale environment.
Many frontier areas such as micromanufacturing, microsurgery, microbiology, biomedicine and nanotechnology require micro/nano manipulation systems capable of force rendering to the operator. The project aims to investigate fundamental issues of force measurement and rendering in micro/nano manipulation tasks. The research will establish methodologies for robust motion/force control and optimised haptic techniques, together with experimental verification using the ARC micro/nano manipulation research facility. The findings will be utilised to improve dexterity, intelligence, and safety in such tasks. The outcomes include acquiring new knowledge for haptic micro/nano manipulation systems for potential use in the above frontier areas.
A Haptically enabled Universal Motion Simulator Research Facility.
We propose to set up a novel universal motion simulator platform through the integration of existing off-the-shelf components including: a high payload anthropomorphic robot; 3D visualisation/immersion; haptic devices placed inside a pod that is attached to the end of the robot arm to control the movements of the robot. This rapidly configurable facility will be used to conduct research into vehicle safety and design, vehicle performance and ergonomics; investigation of drivers fatigue; and also into next generation motion simulation platforms.
Investigation on Laser-based Multiple Cardan Joints for Real-time Dynamic Orientation Measurement.
Anatomical organ modelling and surgical procedure simulation for the thoracoscopic surgery.
We aim to establish novel virtual reality-based surgical procedure simulation methodologies, geometric and physical models of human organs, and surgical tools and interaction modules for thoracoscopic surgery or for minimally invasive surgical procedures. This is needed to optimize surgical strategy and to anticipate possible problems that may arise during the procedure, and to train medical staff as the trend towards robotic-assisted minimally invasive surgery continues. What makes this project novel is the anatomical organ modeling approach based on virtual springs and dampers traversing between the top and bottom surfaces of the organs and tissues, contrary to previous approaches.
Integrated Combustion Research Facility for Biomass Derived Fuels.
Bio-mass derived fuels are gaining in importance because they can contribute to solving the problems arising from the world wide decline in the reserve to production ratio of crude oil, the emission of greenhouse gases and energy security. In Australia they can also assist in mitigating dry-land salinity by increasing the viability of large-scale plantation of locally indigenous trees. However significant technical and political issues remain to be addressed before this potential can be realised. The Integrated Combustion Research Facility for Biomass Derived Fuels to be established by this grant will provide the necessary infrastructure to address these issues.
High-Fidelity Modelling for Robotic-Assisted Minimally Invasive Needle Insertion.
Precise needle insertion is an important procedure in many medical diagnoses, treatments and various minimally invasive surgeries. Current clinical practice of surgical needle insertion is a difficult, time-consuming and delicate procedure. This multi-disciplinary project aims to investigate fundamental issues in soft tissue modelling and measurement of tissue properties, together with planning and control for robotic-assisted minimally invasive needle insertion. It also aims to establish high-fidelity soft tissue modelling and advanced methodologies for dynamic measurement of tissue properties and precise control of robotic needle insertion. The research is also expected to establish new instrumentation for minimally invasive surgery.
Study of Task Planning and Control of Multi-arm Robotic Manipulation for Fabrication of Timber Trusses - Collab.
A Study of Laser-Interferometry-Based Orientation Measurements for Precise Control of Manipulation Tasks.
Research facility in micromanipulation.
The aim of the program is to establish a unique joint facility between Monash and Deakin for micromanipulation research. The proposed facility will consist of complex/intelligent micromanipulation systems capable of motion accuracy of 0.01-0.1 micrometer (10-100 nm). This will be the only facility of its kind in Australia and will provide a key enabling technology in the research and development of advanced micromanipulation systems, robotic-assisted microsurgery, sensory-based and intelligent control of complex systems, micro assembly/manufacturing, telerobotics/telesurgery, kinematics and dynamics of micromanipulators, laser-based control, and biotechnology. The facility will support and enhance a number of high-quality, current and future research projects with recognised potential.