Dr. Masoud Ghaffari Profile

Dr. Masoud Ghaffari

Research Assistant Professor

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Publications (12)

Proceedings Article | 18 January 2010 Paper

Engineering robust intelligent robots

E. Hall, S. M. Alhaj Ali, M. Ghaffari, X. Liao, M. Cao

Proceedings Volume 7539, 753904 (2010) https://doi.org/10.1117/12.838730

KEYWORDS: Robots, Databases, Control systems, Data modeling, Neural networks, Mobile robots, Computer programming, Complex systems, Sensors, Systems modeling

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Proceedings Article | 19 January 2009 Paper

Architectures for intelligent robots in the age of exploitation

E. Hall, S. M. Alhaj Ali, M. Ghaffari, X. Liao, Saurabh Sarkar, Kovid Mathur, Srinivas Tennety

Proceedings Volume 7252, 725203 (2009) https://doi.org/10.1117/12.806232

KEYWORDS: Databases, Robots, Control systems, Data modeling, Computer programming, Neural networks, Mobile robots, Complex systems, Systems modeling, Navigation systems

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Proceedings Article | 10 September 2007 Paper

Eclectic theory of intelligent robots

E. Hall, M. Ghaffari, X. Liao, S. M. Alhaj Ali, Saurabh Sarkar, Scott Reynolds, Kovid Mathur

Proceedings Volume 6764, 676403 (2007) https://doi.org/10.1117/12.730799

KEYWORDS: Databases, Robots, Data modeling, Control systems, Mobile robots, Complex systems, Computer programming, Neural networks, Motion models, Device simulation

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The purpose of this paper is to introduce a concept of eclecticism for the design, development, simulation and implementation of a real time controller for an intelligent, vision guided robots. The use of an eclectic perceptual, creative controller that can select its own tasks and perform autonomous operations is illustrated. This eclectic controller is a new paradigm for robot controllers and is an attempt to simplify the application of intelligent machines in general and robots in particular. The idea is to uses a task control center and dynamic programming approach. However, the information required for an optimal solution may only partially reside in a dynamic database so that some tasks are impossible to accomplish. So a decision must be made about the feasibility of a solution to a task before the task is attempted. Even when tasks are feasible, an iterative learning approach may be required. The learning could go on forever. The dynamic database stores both global environmental information and local information including the kinematic and dynamic models of the intelligent robot. The kinematic model is very useful for position control and simulations. However, models of the dynamics of the manipulators are needed for tracking control of the robot's motions. Such models are also necessary for sizing the actuators, tuning the controller, and achieving superior performance. Simulations of various control designs are shown. Much of the model has also been used for the actual prototype Bearcat Cub mobile robot. This vision guided robot was designed for the Intelligent Ground Vehicle Contest. A novel feature of the proposed approach lies in the fact that it is applicable to both robot arm manipulators and mobile robots such as wheeled mobile robots. This generality should encourage the development of more mobile robots with manipulator capability since both models can be easily stored in the dynamic database. The multi task controller also permits wide applications. The use of manipulators and mobile bases with a high-level control are potentially useful for space exploration, certain rescue robots, defense robots, medical robotics, and robots that aids older people in daily living activities.

Proceedings Article | 2 October 2006 Paper

Intelligent robot control using an adaptive critic with a task control center and dynamic database

E. Hall, M. Ghaffari, X. Liao, S. M. Alhaj Ali

Proceedings Volume 6384, 63840J (2006) https://doi.org/10.1117/12.685367

KEYWORDS: Databases, Data modeling, Control systems, Mobile robots, Global Positioning System, Sensors, Complex systems, Neural networks, Robot vision, Motion models

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Proceedings Article | 25 October 2005 Paper

Intelligent robots that adapt, learn, and predict

E. Hall, X. Liao, M. Ghaffari, S. Alhaj Ali

Proceedings Volume 6006, 600602 (2005) https://doi.org/10.1117/12.630920

KEYWORDS: Databases, Robots, Control systems, Mobile robots, Data modeling, Neural networks, Complex systems, Computer programming, Intelligence systems, Process control

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Proceedings Article | 25 October 2004 Paper

Mines and human casualties: a robotics approach toward mine clearing

Masoud Ghaffari, Dinesh Manthena, Alireza Ghaffari, Ernest Hall

Proceedings Volume 5608, (2004) https://doi.org/10.1117/12.571260

KEYWORDS: Land mines, Mining, Sensors, Robotics, Metals, Infrared sensors, Ground penetrating radar, Infrared detectors, Infrared radiation, Global Positioning System

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Proceedings Article | 25 October 2004 Paper

Advances in learning for intelligent mobile robots

Ernest Hall, Masoud Ghaffari, Xiaoqun Liao, Souma Alhaj Ali

Proceedings Volume 5608, (2004) https://doi.org/10.1117/12.571195

KEYWORDS: Robots, Mobile robots, Databases, Control systems, Data modeling, Sensors, Device simulation, Intelligent sensors, Adaptive control, Computer programming

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Proceedings Article | 25 October 2004 Paper

Robotics and nature: from primitive creatures to human intelligence

Masoud Ghaffari, Ernest Hall

Proceedings Volume 5608, (2004) https://doi.org/10.1117/12.571381

KEYWORDS: Robotics, Artificial intelligence, Brain, Telecommunications, Manufacturing, Robot vision, Sensors, Bone, Control systems, Positron emission tomography

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Proceedings Article | 2 September 2004 Paper

A framework for the natural-language-perception-based creative control of unmanned ground vehicles

Masoud Ghaffari, Xiaoqun Liao, Ernest Hall

Proceedings Volume 5422, (2004) https://doi.org/10.1117/12.542334

KEYWORDS: Databases, Mobile robots, Control systems, Data modeling, Fuzzy logic, Computer programming, Unmanned ground vehicles, Robotics, Human-machine interfaces, Computer aided design

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Proceedings Article | 30 September 2003 Paper

Automatic calibration and neural networks for robot guidance

Balaji Sethuramasamyraja, Masoud Ghaffari, Ernest Hall

Proceedings Volume 5267, (2003) https://doi.org/10.1117/12.515036

KEYWORDS: Calibration, Cameras, 3D image processing, Imaging systems, Image processing, Mobile robots, 3D modeling, Robot vision, Neural networks, Robotics

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Proceedings Article | 30 September 2003 Paper

Experimental approach for the evaluation of neural network classifier algorithms

Masoud Ghaffari, Ernest Hall

Proceedings Volume 5267, (2003) https://doi.org/10.1117/12.515826

KEYWORDS: Neural networks, Evolutionary algorithms, MATLAB, Algorithm development, Robotics, Statistical analysis, Analytical research, Artificial neural networks, Glasses, Machine learning

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Proceedings Article | 30 September 2003 Paper

Internet-based control for the intelligent unmanned ground vehicle: Bearcat Cub

Masoud Ghaffari, Sugan Narayanan, Balaji Sethuramasamyraja, Ernest Hall

Proceedings Volume 5267, (2003) https://doi.org/10.1117/12.515027

KEYWORDS: Web services, Internet, Databases, Control systems, Unmanned ground vehicles, Robotics, Detection and tracking algorithms, Manufacturing, Network security, Computer security

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Showing 5 of 12 publications

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