Publications

Journal Atricles

- A. Shahdi and S. Sirouspour, "Adaptive control of bilateral teleoperation with time delay," International Journal of Intelligent Mechatronics and Robotics, vol. 2, no. 1, Jan. 2012, pp. 1-27.

- P. Malysz and S. Sirouspour, "A kinematic control framework for single-slave asymmetric teleoperation systems," IEEE Transactions on Robotics, vol. 27, no. 5, October 2011, pp. 901-917.

- P. Malysz and S. Sirouspour, "Tri-lateral teleoperation control of kinematically redundant robotic manipulators," International Journal of Robotics Research, vol. 30, no. 13, November 2011, pp. 1643-1664.

- R. Mafi, S. Sirouspour, B. Mahdavikhah, B. Moody et al., “A parallel computing platform for real-time haptic interaction with deformable bodies,” IEEE Transactions on Haptics, vol. 3, no. 3, July-Sept. 2010, pp. 211-223.

- P. Malysz and S. Sirouspour, "Nonlinear and filtered force/position mappings in bilateral teleoperation with application to enhanced stiffness discrimination," IEEE  Transactions on Robotics vol. 25, no. 5, Oct. 2009, pp. 1134-1149. 

- A. Abdossalami and S. Sirouspour, “Adaptive control for improved transparency in haptic simulations,” IEEE Transactions on Haptics, vol. 2, no.1, Jan-March 2009, pp. 2-14.

-F. Farshidi, S. Sirouspour, and T. Kirubarajan, "Robust sequential view planning for object recognition using multiple cameras," Image and Vision Computing, vol. 27, no. 8, July 2009, pp. 1072-1082.

- A. Shahdi and S. Sirouspour, "Adaptive/robust control for time delay teleoperation," IEEE Transactions on Robotics, vol. 25, no.1, Feb. 2009, pp. 196-205. 

- A. Shahdi and S. Sirouspour, “Model-based decentralized control of time delay teleoperation systems,” The International Journal of Robotics Research, vol. 28, no. 3, March 2009, pp. 376-394.

- M. Fotoohi, S. Sirouspour, and D. Capson, "Stability and performance analysis of centralized and distributed multi-rate control architectures for multi-user haptic interaction," The International Journal of Robotics Research, vol. 26, no. 9, Sept. 2007, pp. 977-994.

- S. Sirouspour and A. Shahdi, "Model predictive control for teleoperation under communication time delay,"  IEEE Transactions on Robotics, vol. 22, no. 6, Dec. 2006, pp. 1131-1145.

- S. Sirouspour and A. Shahdi, "Discrete-time LQG control for teleoperation under communication time delay," The International Journal of Robotics Research, vol. 25, no. 2, Feb. 2006, pp. 187-202.

- S. Sirouspour, “Modelling and control of cooperative teleoperation systems,” IEEE Transactions on Robotics, vol. 21, no. 6, Dec. 2005, pp. 1220-1225.

- P. Abolmaesumi and M.R. Sirouspour, "An interacting multiple model probabilistic data association filter for cavity boundary extraction from ultrasound images," IEEE Transactions on Medical Imaging, vol. 23, no. 6, June 2004, pp. 772-784.

- M.R. Sirouspour and S.E. Salcudean, “ Suppressing operator-induced oscillations in manual control systems with movable bases,” IEEE Transactions on Control Systems Technology, vol.11, no.4, July 2003, pp. 448-459.

- P. Abolmaesumi, S.E. Salcudean, W.H. Zhu, M.R. Sirouspour and S.P. DiMaio, “Image guided control of a robot for medical ultrasound,” IEEE Transactions on Robotics and Automation, vol.18 no.1, February 2002, pp. 11-23.

- M.R. Sirouspour and S.E. Salcudean, “Nonlinear control of hydraulic robots,”  IEEE Transactions on Robotics and Automation, vol.17 no.2, April 2001, pp. 173-82.

Submitted (under review)

- P. Malysz and S. Sirouspour, "Human factors studies in aysmmteric teleoperation system configurations," IEEE Transactions on Haptics (submitted).

- P. Malysz and S. Sirouspour, "Mixed autonomous/teleoperation control of asymmetric robotic systems," The International Journal of Robotics Research (submitted).

- B. Mahdavikhah, R. Mafi, S. Sirouspour, and N. Nicolici, "A multiple FPGA parallel computing architecture for realtime simulation of soft-object deformation," IEEE Transactions on Computers (submitted).

 

Atricles in Books

- M.R. Sirouspour and S.E. Salcudean, “Robust controller design for cancelling biodynamic feedthrough,”Experimental Robotics VIII, B. Siciliano and P. Dario (Eds.), Springer tracts in advanced robotics 5, 2003, pp. 123-133.

- M.R. Sirouspour and S.E. Salcudean, “A new approach to the control of a hydraulic Stewart platform,” Experimental Robotics VII, Daniela Rus and Sanjiv Singh (Eds.), Springer-Verlag, 2001, pp. 447-460.

Peer-reviewed Conference Papers

- E. Yu, Y. Xue, S. Sirouspour and A. Emadi, "Microgrid and transportation electrification: A review," accepted for presentation at the 2012 IEEE Transportation Electrification & Expo.

- Y. Xue, S. Sirouspour and A. Emadi, "Towards cognitive energy management system of microgrid in enabling transportation electrification," accepted for presentation at the 2012 IEEE Transportation Electrification & Expo.

- P. Malysz, and S. Sirouspour, "Maneuverability and grasping experiments in teleoperation of nonholonomic/twin-armed Robots," accepted for presentation at the 2012 IEEE Haptics Symposium, Vancouver, Canada.

- P. Malysz, and S. Sirouspour,"A task-space weighting matrix approach to semi-autonomous teleoperation control," in the Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Fracisco , CA, USA, Sept. 2011, pp. 645-652.

- B. Marami, S. Sirousppour, and D. Capson, "Model-based 3D/2D deformable registration of MR images," in the Proceedings of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'11), Boston, MA, USA.

- H. Mousazadeh, B. Marami, S. Sirouspour, A. Patriciu, "GPU implementation of a deformable 3D image registration algorithm,"in the Proceedings of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'11), Boston, MA, USA.

- B. Marami, S. Sirouspour, and D. Capson, "Model-based deformable registration of preoperative 3D to intraoperative low-resolution 3D and 2D sequences of MR images," accepted for presentation at the 14th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI 2011).

- P. Malysz and S. Sirouspour, "Control framework and human maneuverability experiments for teleoperation of a kinematically deficient robot," Proc. of the 1st Int. Conf. on Applied Bionics and Biomechanics, Venice, Italy, October 2010, pp. 384-391.

- P. Malysz and S. Sirouspour, "Cooperative teleoperation control with projective force mappings," Proc. of the 2010 IEEE Haptics Symposium, Waltham, Massachusetts, USA, March 2010, pp. 301-308.

- S. Nia-kosari and S. Sirouspour, "An iterative approach to optimization of multi-user networked haptic simulations," Proc. of the 2010 Haptics Symposium, Waltham, Massachusetts, USA, March 2010, pp. 167-174.

- B. Mahdavikhah, Ramin Mafi, S. Sirouspour, and N. Nicolici, "Haptic rendering of deformable objects using a multiple FPGA parallel computing architecture," Proc. of the Eighteenth ACM/SIGDA International Symposium on Field-Programmable Gate Arrays, Monterey, CA, USA, February 2010, pp. 189-197.
  
- P. Malysz and S. Sirouspour, "Dual-master teleoperation control of kinematically redundant slave manipulators,"  Proc. of the IEEE/RSJ Int. Conf. on Robots and Intelligent Systems, St. Louis, USA, Oct. 2009, pp. 5115-5120. 

- A. Shahdi and S. Sirouspour, "Improved transparency in bilateral teleoperation with variable time delay,"  Proc. of the IEEE/RSJ IROS Int. Conf. on Robots and Intelligent Systems, St. Louis, USA, Oct. 2009, pp. 4616-4621. 

- B. Ghali and S. Sirouspour, "Nonlinear finite element-based modeling of soft-tissue cutting," accepted for presentation at the 2009 IEEE TIC-STH-SBME.

- R. Mafi, B. Mahdavikhah, S. Sirouspour, et al. "Parallel computing tools for real-time simulation of soft-tissue interactions in computer-integrated surgery," Minimally Invasive Robotic Association (MIRA), The 4th International Congress, January 2009, Quebec City, Canada.

- A. Shahdi and S. Sirouspour, "An adaptive controller for bilateral teleoperation under time delay," Proc. of the Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, March 2009, Salt Lake City, UT, USA, pp. 308-313.

- S. Nia-kosari and S. Sirouspour, "Improving transparency in network-based haptics," Proc. of the Third Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, March 2009, Salt Lake City, UT, USA, pp. 547-552.

- R. Mafi, S. Sirouspour et al., “An FPGA-based hardware accelerator for real-time simulation of soft-tissue deformation,” Proc. the INTUITION 2008 Conference, Turin, Italy, October 2008.

- A. Abdossalami and S. Sirouspour, “Adaptive control for high-fidelity haptic interaction with virtual environments,” Proc. the 2008 IEEE/RSJ Int. Conf. on Robots and Intelligent Systems, Nice, France, September 2008, pp. 3014-3020.

- R. Mafi, S. Sirouspour, B. Moody et al., “Hardware-based parallel computing for real-time haptic rendering of deformable objects,” accepted for presentation at the 2008 IEEE/RSJ Int. Conf. on Robots and Intelligent Systems, Nice, France, September 2008. pp. 4187-4187.

- S. Sirouspour, M. Fotoohi, P. Malysz, A. Shahdi et al., “A medical robotics laboratory for biomedical engineers,” in the Proceedings of the 2008 ASEE Annual Conference, Pittsburgh, PA, June 2008.

- S. Moghimi and S. Sirouspour, "Haptic-enabled collaborative training with generalized force and position mappings," in the Proc. the 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, Reno, Neveda, USA, March 2008, pp. 287-294.

- A. Abdossalmi and S. Sirouspour, "Adaptive control of haptic interaction with impedance and admittance type virtual environments," in the Proc. the 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, Reno, Neveda, USA, March 2008, pp. 145-152.

- P. Malysz and S. Sirouspour, "Control design and experiments for enhanced detection of stiffness variation in soft tissue telemanipulation," in the Proc. the 2007 IEEE/RSJ Int. Conf. Intelligent Robots and Systems, San Diego, USA, Oct.-Nov. 2007, pp.1631-1636.

- A. Shahdi and S. Sirouspour, "Adaptive/robust control for enhanced teleoperation under communication time delay," in the Proc. the 2007 IEEE/RSJ Int. Conf. Intelligent Robots and Systems, San Diego, USA, Oct.-Nov. 2007, pp. 2667-2672.

- A. Shahdi and S. Sirouspour, "A multi-model decentralized controller for teleoperation with time delay," in the Proc. the 2007 IEEE/RSJ Int. Conf. Intelligent Robots and Systems, San Diego, USA, Oct.-Nov. 2007, pp. 496-501.

- M. Fotoohi, S. Sirouspour, and D. Capson, " A Multi-rate control approach to haptic interaction in multi-user virtual environments," in the Proc. IEEE Int. Conf. Robotics & Automation, April 2007, pp. 99-104.

- P. Malysz and S. Sirouspour, "Stable nonlinear force/position mapping for enhanced telemanipulation of soft environments," in the Proc. IEEE Int. Conf. Robotics & Automation, April 2007, pp. 4307-12.

- M. Fotoohi Ghiam, S. Sirouspour, and D. Capson, “Multi-rate control architectures for dextrous haptic rendering in cooperative virtual environments”, in the Proc. IEEE Int. Conf. Decision and Control, Dec. 2006, pp. 4478-83.

- P. Setoodeh, S. Sirouspour, and A. Shahdi, “Discrete-time multi-model control for cooperative teleoperation under time delay”, in the Proc. IEEE Int. Conf. Robotics & Automation, May 2006, pp. 2921-2926.

- F. Farshidi, S. Sirouspour, and T. Kirubarajan, “Optimal positioning of multiple cameras for object recognition using Cramer-Rao lower bound”, in the Proc. IEEE Int. Conf. Robotics & Automation, May 2006, pp. 934-939.

- S. Sirouspour and A. Shahdi, “Bilateral teleoperation under communication time delay using an LQG optimal controller,” in the Proc.  IEEE Int. Conf. Control Applications, Aug. 2005, pp. 1257-1262.

- S. Sirouspour and P. Setoodeh, “Adaptive nonlinear teleoperation control in multi-master/multi-slave environments,” in the Proc.  IEEE Int. Conf. Control Applications, Aug. 2005, pp. 1263-1268.

- S. Sirouspour and P. Setoodeh, "Multi-operator/multi-robot teleoperation: an adaptive nonlinear control approach,"in the Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Aug. 2005, pp. 2506-2511. 

- F. Farshidi, S. Sirouspour and T. Kirubarajan, "Active multi-camera object recognition in presence of occlusion," inthe Proc.  IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Aug. 2005, pp. 3987-3992.

-  S. Sirouspour, "Robust control design for cooperative teleoperation," in the Proc. IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005, pp. 1145-1150.

- A. Shahdi and S. Sirouspour, "Multi-model control for teleoperation in unknown environments," in the Proc. IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005, pp. 715-720.

- S. Sirouspour, “A control architecture for multi-master/multi-slave teleoperation,” in the Proc. 10th IASTED Int. Conf. on Robotics and Applications, August 2004, pp. 221-226.

- P. Abolmaesumi and M.R. Sirouspour, "The validation of a prostate segmentation algorithm for 2D ultrasound images," Computer-assisted Radiology and Surgery, Chicago, June 2004.

- P. Abolmaesumi and M.R. Sirouspour, “Segmentation of prostate contours from ultrasound images,” in Proc. IEEE Int. Conf.  Acoustics, Speech, and Sign. Processing, May 2004, pp. 517-520.

- P. Abolmaesumi and M.R. Sirouspour, “Ultrasound image segmentation using an interacting multiple model probabilistic data association filter,” in Proc. International Symposium on Medical Imaging 2004, February 2004 San Diego, CA USA.

- M. R. Sirouspour and S.E. Salcudean, “Robust cancellation of biodynamic feedthrough in manual control systems,” in the Video Proc. IEEE Int. Conf. Robot. Auto., September 2003.

- P. Abolmaesumi, M.R. Sirouspour, S.E. Salcudean and W.H. Zhu, “Adaptive image servo controller for robot-assisted diagnostic ultrasound,” in Proc. IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics, pp. 1199-1204, July 2001.

- M.R. Sirouspour and S.E. Salcudean, “Nonlinear control of a parallel hydraulic manipulator,” in Proc. IEEE Int.Conf. Robot. Auto., May 2001, pp. 3760-3765.

- P. Abolmaesumi, S.E. Salcudean, W.H. Zhu, S.P. DiMaio and M.R. Sirouspour, “A user interface for robot-assisted diagnostic ultrasound,” in Proc. IEEE Int. Conf. Robot. Auto., pp. 1549-1554, May 2001.

- S.E. Salcudean, W.H. Zhu, P. Abolmaesumi, S. Bachmann, G. Bell, P.D. Lawrence, M.R. Sirouspour and S.P. DiMaio, “Robot-assisted Diagnostic Ultrasound,” IEEE Int. Conf. Robot. Auto., Video Presentation, May 2001.

- S. P. DiMaio, S. E. Salcudean and M.R. Sirouspour, “Haptic interaction within a planar environment,” The 2000 ASME Int. Mechanical Engineering Congress & Exposition, Dynamic Systems and Control Division.

- P. Abolmaesumi, M.R. Sirouspour and S.E. Salcudean, “Real-time extraction of carotid artery contours from ultrasound images,” in Proc. IEEE Symp. Computer Based Medical Systems, pp. 181-186, June 2000.

- M.R. Sirouspour and S.E. Salcudean, “On the nonlinear control of hydraulic servo-systems,” in Proc. IEEE Int. Conf. Robot. Auto., April 2000.

- M.R. Sirouspour, S.P. DiMaio, S.E. Salcudean, P. Abolmaesumi and C. Jones, “Haptic interface control – design issues and experiments with a planar device,” in Proc. IEEE Int. Conf. Robot. Auto., pp. 789-794, April 2000.

Technology Demonstrations

- M.R. Sirouspour, et.al., "Nonlinear control of a hydraulic motion simulator", presented in IRIS/PRECARN Conference, Ottawa, May 2001.

- S.P. DiMaio, M.R. Sirouspour, et.al., "Haptic interface control – design issues and experiments with a planar device," 1st Place, Best Technology Award, IRIS/PRECARN Conference, Toronto, June 1999.