Assistive Robotics Lab at UCF
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Conferences

  • Invited Conference Papers
    1. D.-J. Kim2, R. Hazlett1, H. Godfrey5, G. Rucks5, D. Portee5, J. Bricout, T. Cunningham5, and A. Behal, "On the Relationship between Autonomy, Performance, and Satisfaction: Lessons from a Three-Week User Study with post-SCI Patients using a Smart 6DOF Assistive Robotic Manipulator," IEEE International Conference on Robotics and Automation, May 3-8, 2010, Anchorage, AK, USA, pp. 217-222.

    2. P. Setlur, A. Behal, W. Dixon, and D. M. Dawson, “Adaptive Position and Orientation Regulation for the Camera-in-Hand Problem,” 2001 International Symposium on Adaptive and Intelligent Systems and Control, Arlington, VA, June 2001.

    3. M. Feemster, D. M. Dawson, A. Behal, and W. Dixon, “Tracking Control in the Presence of Nonlinear Dynamic Frictional Effects: Robot Extension,” Proc. of the IEEE Conference on Control Applications, Kohala, HI, pp. 1169-1174, August 1999.

  • Regular Conference Papers
    1. M. Baghbahari1 and A. Behal, "An Adaptive Control Based Approach for Gripping Novel Objects with Minimal Grasping Force," 14th IEEE International Conference on Control & Automation, Anchorage, Alaska, June 12-15, 2018, pp. 1040-1045, 2018.

    2. A. Jabalameli1, N. Ettehadi1 and A. Behal, "Near Real-Time Robotic Grasping of Novel Objects in Cluttered Scenes," SAI Computer Vision Conference (CVC), Las Vegas, NV, April 2019.

    3. M. Al-Mohammed1, Z. Ding1, P. Liu, and A. Behal, “An Adaptive Control Based Approach for Gripping Novel Objects with Minimal Grasping Force,” 14th IEEE International Conference on Control & Automation, Anchorage, Alaska, June 12-15, 2018, pp. 1040-1045, 2018.

    4. M. Baghbahari1, N. Hajiakhoond, and A. Behal, “Real-Time Policy Generation and its Application to Robot Grasping,” 2018 Florida Conference on Recent Advances in Robotics, Orlando, FL, May 2018.

    5. N. Ettehadi1 and A. Behal, “Implementation of Feeding Task via Learning from Demonstration,” IEEE International Conference on Robotic Computing (IRC 2018), Laguna Hills, CA, pp. 274-277, Jan-Feb 2018

    6. R. Rahmatizadeh1, P. Abolghasemi1, A. Behal, and L. Bölöni, “From virtual demonstration to real-world manipulation using LSTM and MDN,” Thirty-Second AAAI Conference on Artificial Intelligence (AAAI-18), New Orleans, LA, Feb 2018.

    7. N Ettehadi1, S Manaffam2, and A. Behal, “Learning from Demonstration: Generalization via Task Segmentation,” 2017 International Conference on Artificial Intelligence Applications and Technologies (AIAAT 2017), Hawaii, pp. 1-7, August-September 2017..

    8. P. Abolghasemi1, R. Rahmatizadeh1, A. Behal, and L. Bölöni, “Real-time Placement of a Wheelchair-mounted Robotic Arm,” 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), New York, NY, pp. 1032-1037, August 2016.

    9. R. Rahmatizadeh1, P. Abolghasemi1, A. Jabalameli1, A. Behal, and L. Bölöni, “Trajectory Adaptation of Robot Arms for Head-pose Dependent Assistive Tasks,” in 29th International FLAIRS conference, pp. 410-413, May 16-18, 2016

    10. P. Abolghasemi1, R. Rahmatizadeh1, A. Behal, and L. Bölöni, “A Real-time Technique for Positioning a Wheelchair-Mounted Robotic Arm for Household Manipulation Tasks,” in Workshop on Artificial Intelligence Applied to Assistive Technologies and Smart Environments (ATSE-16) at AAAI-2016, Phoenix, AZ, pp. 2-7, February 2016

    11. Kun Zhang1, Zhao Wang1, and A. Behal, “A Continuous Asymptotic Tracking Control Strategy for a Class of Uncertain MIMO Nonlinear Systems,” 2015 IEEE Conference on Decision and Control, Osaka, Japan, pp. 6209 – 6214, December 2015.

    12. A. Jabalameli1 and A. Behal, “A Constrained Linear Approach to Identify a Multi-timescale Adaptive Threshold Neuronal Model,” 2015 IEEE 5th International Conference on Computational Advances in Bio and Medical Sciences, Miami, FL, pp. 1-6, October 2015.

    13. J. Bricout, B. Sharma, P. Baker, and A. Behal, “Envisioning the Future of Accessibility in the Context of Assistive Robot-Human Learning Communities,” Envisioning Inclusive FUTURES: A State of Technology Summit, Atlanta GA, May 14-15, 2015.

    14. Z. Wang1 and A. Behal, “Continuous Robust Control for a Class of Uncertain MIMO Nonlinear Systems,” 2011 IEEE Conference on Decision and Control, Orlando, FL, pp. 7561-7566, December 2011.

    15. Z. Wang1, A. Behal, B. Xian, and J. Chen6, “Lyapunov-Based Adaptive Control Design for a Class of Uncertain MIMO Nonlinear Systems,” IEEE Multi-Conference on Systems and Control, Denver, CO, pp. 1510-1515, September 2011

    16. R. Hazlett1, M. Smith3, and A. Behal, “Knowledge Based Design of User Interface for Operating an Assistive Robot,” 14th International Conference on Human Computer Interaction, Orlando, FL, pp. 304-312, July 2011.

    17. J. Chen1, J. Suarez1, P. Molnar, and A. Behal, “Maximum Likelihood Parameter Estimation in a Stochastic Resonate-and-Fire Neuronal Model,” 1st IEEE International Conference on Computational Advances in Bio and Medical Sciences, Orlando, FL, pp. 57-62, February 2011.

    18. Z. Wang1, D.-J. Kim2, and A. Behal, “An Optimization-based Approach for Design and Analysis of Stable 2.5D Visual Servoing under Sensor and Actuator Constraints,” 2010 IEEE Conference on Decision and Control, Atlanta, GA, pp. 1650-1655, Dec 2010.

    19. R. Hazlett1, D.-J. Kim2, H. Godfrey5, J. Bricout, and A. Behal, “Exploring Learning Heuristics for Adopting New Technology to Assist with Activities of Daily Living (ADL): Results of Qualitative Analysis using Nvivo 8 Software,” 2010 Florida Conference on Recent Advances in Robotics, Jacksonville, FL, May 20-21, 2010.

    20. Z. Wang1, J. Chen6, and A. Behal, “Robust Adaptive Control Design for a Class of Uncertain MIMO Nonlinear Systems,” IEEE Multi-Conference on Systems and Control, Yokohama, Japan, Sep. 2010, pp. 2284-2289.

    21. D.-J. Kim2, R. Lovelett3, Z. Wang1, and A. Behal, “A Region-Based Switching Scheme for Practical Visual Servoing under Limited FOV and Dynamically Changing Features,” 2009 IASTED 14th International Conference on Robotics and Applications, Nov 4-6, 2009, Cambridge, MA, USA, CD ISBN: 978-0-88986-813-7.

    22. Z. Wang1, D.-J. Kim2, and A. Behal, “A Two-level Particle Filter Approach to Range Estimation using an Eye-in-Hand Configured Single Camera,” 2009 IASTED 14th International Conference on Robotics and Applications, Oct 11-15, 2009, Cambridge, MA, USA, CD ISBN: 978-0-88986-813-7.

    23. D.-J. Kim2, R. Lovelett3, and A. Behal, “An Empirical Study with Simulated ADL Tasks using a Vision-Guided Assistive Robot Arm,” 2009 IEEE 11th International Conference on Rehabilitation Robotics, Kyoto, Japan, June 23-26, 2009, pp. 504-509.

    24. D.-J. Kim2, A. Behal, and R. Lovelett3, “Eye-in-Hand Stereo Visual Servoing of an Assistive Robot Arm in Unstructured Environments,” 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan, May 12 - 17, 2009, pp. 2326-2331.

    25. D.-J. Kim2 and A. Behal, “Human-in-the-Loop Control of an Assistive Robotic Arm in Unstructured Environments for Spinal Cord Injured Users,” late-breaking abstract presented at the 4th ACM/IEEE International Conference on Human Robot Interaction, San Diego, CA, USA, pp. 285-286, March 11-13 2009.

    26. G. D. Fulk, M. J. Frick, A. Behal, and M. Ludwig, “A Wheelchair Mounted Robotic Arm for Individuals with Multiple Sclerosis: A Pilot Study,” presented at the Combined Sections Meeting of the American Physical Therapy Association, Las Vegas, NV, Feb 9-12 2009, abstract list available in vol. 32, no. 4, Journal of Neurologic Physical Therapy, Dec 2008, pp. 216.

    27. M. Hernandez3, S. Echeverry3, R. Guerra3, D.-J. Kim2, C. Hamilton3, and A. Behal, “User-Guided Vision-Based Control of a Wheelchair Mounted Assistive Robotic Arm in an Unstructured Environment,” the RESNA 2008 Annual Conference, Arlington, VA, PSUN23(RESNA-CP-051-2008), June 26-30, 2008.

    28. V.M. Rao4, K.K. Reddy1, A. Behal, and A.K. Jain, “Modeling, Control, and Experimental Results for a Single Phase One Quadrant Unity Power Factor Rectifier,” Proc. of the IEEE Conference on Decision and Control, San Diego, CA, pp. 6223-6228, December 2006.

    29. V.M. Rao4, R. Sadagopan4, A.K. Jain6, and A. Behal, “Digital Implementation of a Nonlinear Controller for a Unity Power Factor Rectifier: Simulation and Experiments,” Proc. of the American Control Conference, Minneapolis, MN, pp. 3457-3462, June 2006.

    30. J. Chen, A. Behal, and D.M. Dawson, “Adaptive Output Feedback Control for a Class of MIMO Nonlinear Systems,” Proc. of the American Control Conference, Minneapolis, MN, pp. 5300-5305, June 2006.

    31. X. Zhang4, A. Behal, D.M. Dawson, and B. Xian, “Output Feedback Control for a Class of Uncertain MIMO Nonlinear Systems With Non-Symmetric Input Gain Matrix,” Proc. of the IEEE Conference on Decision and Control, Seville, Spain, pp. 7762-7767, December 2005.

    32. V. M. Rao4, A. Behal, and P. Marzocca, “Hierarchical Adaptive Controller for a Nonlinear Aeroelastic Wing Section with Multiple Control Surfaces,” Proc. of the IEEE Conference on Decision and Control, Seville, Spain, pp. 2487-2492, December 2005.

    33. V. M. Rao4, A. Behal, and P. Marzocca, “Adaptive Aeroelastic Control of a Supersonic Wing Section with Flap,” AIAA Guidance, Navigation, and Control Conference and Exhibit, San Francisco, CA, AIAA 2005-6250, pp. 1-26, Aug. 2005.

    34. A. K. Jain6, K. Joshi4, A. Behal, and N. Mohan, “Modeling and Nonlinear Control of STATCOMs for Fast Voltage Regulation,” Proc. of the American Control Conference, Portland, Oregon, pp. 1295-1300, June 2005.

    35. K. Joshi4, A. Behal, A. K. Jain6, and R. Sadagopan4, “Observers for a Special Class of Bilinear Systems: Design, Analysis, and Application,” Proc. of the American Control Conference, Portland, Oregon, pp. 4808-4813, June 2005.

    36. X. Zhang4, A. Behal, D.M. Dawson, and J. Chen, “A Novel Passive Path Following Controller for a Rehabilitation Robot,” Proc. of the IEEE Conference on Decision and Control, Paradise Island, Bahamas, pp. 5374-5379, December 2004.

    37. K. Joshi4, A. Behal, A. K. Jain, and N. Mohan, “A Comparative Study of Control Strategies for Fast Voltage Regulation with STATCOMs,” Industrial Electronics Society Annual Conference (IECON), 2004, Busan, Korea, pp. 1-6, November 2004.

    38. A. Behal, P. Marzocca, D.M. Dawson, and A. Lonkar4, “Nonlinear Adaptive Model Free Control of an Aeroelastic 2-D Lifting Surface,” AIAA Guidance, Navigation, and Control Conference and Exhibit, Providence, RI, CD-ROM 15, AIAA 2004-5227, pp. 1-16, Aug. 2004.

    39. C. Vilas, A. Behal, and D. Dawson, “Setpoint Regulation of Continuum Robots Using a Fixed Camera,” Proc. of the American Control Conference, Boston, MA, June 2004.

    40. A. K. Jain, A. Behal, and N. Mohan, “Nonlinear Controller for a Single Phase One Quadrant Unity Power Factor Rectifier,” Proc. of the IEEE Conference on Decision and Control, Maui, Hawaii, pp. 3876-3881, December 2003.

    41. J. Chen, A. Behal, D. M. Dawson, and W.E. Dixon, “Adaptive Visual Servoing in the Presence of Intrinsic Calibration Uncertainty,” Proc. of the IEEE Conference on Decision and Control, pp. 5396-5401, Maui, Hawaii USA, December, 2003.

    42. A. K. Jain, A. Behal, and N. Mohan, “System Modeling and Control Design for Fast Voltage Regulation Using STATCOMs,” Industrial Electronics Society Annual Conference (IECON), 2003, Roanoke, VA, CD-ROM, pp. 1-6.

    43. J. Chen, D. M. Dawson, W. E. Dixon, and A. Behal, “Adaptive Homography-Based Visual Servo Tracking,” Proceedings of the 2003 IEEE International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, October 2003, pp. 230-235.

    44. J. Chen, A. Behal, D. M. Dawson, and Y. Fang, “2.5D Visual Servoing with a Fixed Camera,” Proc. of the American Control Conference, Denver, CO, pp. 3442-3447, June 2003.

    45. Y. Fang, A. Behal, W.E. Dixon, and D. M. Dawson, “Adaptive 2.5D Visual Servoing of Kinematically Redundant Robot Manipulators,” Proc. of the IEEE Conference on Decision and Control, Las Vegas, NV, pp. 2860-2865, December 2002.

    46. A. Behal, D. M. Dawson, V. Jogurupati4, and J. Hickman, “Integrated Simulations for the Stretch Reflex Arc,” SAB 2002 Workshop on Motor Control in Humans and Robots, Edinburgh, pp. 5-12, August 2002.

    47. A. Behal, D. M. Dawson, E. Zergeroglu, and Y. Fang, “Nonlinear Tracking Control of an Underactuated Spacecraft,” Proc. of the American Control Conference, Anchorage, AK, pp. 4684-4689, May 2002.

    48. A. Behal, D. M. Dawson, X. Bin, and P. Setlur, “Adaptive Tracking Control of Underactuated Surface Vessels,” Proc. of the Conference on Control Applications, Mexico City, Mexico, pp. 645-650, September 2001.

    49. A. Behal, B. Costic, D. M. Dawson, and Y. Fang, “Nonlinear Control of Magnetic Bearing in the Presence of Sinusoidal Disturbance,” Proc. of the American Control Conference, Arlington, VA, pp. 3636-3641, June 2001.

    50. A. Behal, W. E. Dixon, D. M. Dawson, and Y. Fang, “Tracking and Regulation Control of an Underactuated Surface Vessel with Nonintegrable Dynamics,” Proc. of the IEEE Conference on Decision and Control, Sydney, Australia, pp. 2150-2155, Dec. 2000.

    51. A. Behal, M. Feemster, D. M. Dawson, and A. Mangal, “Sensorless Rotor Velocity Tracking Controller for the Permanent Magnet Stepper Motor,” Proc. of the IEEE Conference on Control Applications, Anchorage, AK, pp. 150-155, September 2000.

    52. W.E. Dixon, D. M. Dawson, E. Zergeroglu, and A. Behal, “Adaptive Tracking Control of a Wheeled Mobile Robot via an Uncalibrated Camera System,” Proc. of the American Control Conference, Chicago, IL, pp. 1493-1497, June 2000.

    53. A. Behal, M. Feemster, D. M. Dawson, and A. Mangal, “Partial State Feedback Control of Induction Motors with Magnetic Saturation: Elimination of Flux Measurements,” Proc. of the American Control Conference, Chicago, IL, pp. 1582-1586, June 2000.

    54. E. Zergeroglu, D. M. Dawson, I. Walker, and A. Behal, “Nonlinear Tracking Control of Kinematically Redundant Robot Manipulators,” Proc. of the American Control Conference, Chicago, IL, pp. 2513-2517, June 2000.

    55. M. Feemster, A. Behal, P. Aquino, and D. M. Dawson, “Tracking Control of the Induction Motor in the Presence of Magnetic Saturation Effects,” Proc. of the IEEE Conference on Decision and Control, Phoenix, AZ, pp. 341-346, December 1999.

    56. E. Zergeroglu, D. M. Dawson, M. de Queiroz, and A. Behal, “Vision-based Nonlinear Tracking Controllers with Uncertain Robot-Camera Parameters,” Proc. of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA., pp. 854 - 859, September 1999.

    57. A Behal, M. Feemster, D. M. Dawson, and D. Haste, “An Improved Indirect Field Oriented Controller for the Induction Motor,” Proc. of the IEEE Conference on Control Applications, Kohala HI, pp. 1084 - 1089, August 1999.

    58. P. Aquino, M. Feemster, D. M. Dawson, and A. Behal, “Adaptive Partial State Feedback Control of the Induction Motor: Elimination of Rotor Flux and Rotor Velocity,” Proc. of the IEEE Conference on Decision and Control, Tampa, FL, pp. 977-982, December 1998.

    59. W. Dixon, F. Zhang, D. Dawson, and A. Behal, “Global Robust Output Feedback Tracking Control of Robot Manipulators,” Proc. of the IEEE Conference on Control Applications, Trieste, Italy, pp. 897-901, September 1998.

  • Unrefereed Conference Papers
    1. P. Marzocca, G. Coppotelli, and A. Behal, “Comparison Among Structural Health Monitoring Techniques,” 46th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics & Materials Conference, Austin, Texas, AIAA paper 2005-2227, pp. 1-13, April 18-21, 2005.

    2. P. Marzocca, A. Behal, and A. Gnann4, “Adaptive Control Based Structural Health Monitoring Technique,” CANSMART 2004, 7th International Workshop on Smart Materials and Structures, Montreal, Quebec, Canada, pp. 75-84, October 2004.

    List of Publications
    1UCF graduate student
    2UCF post-doctoral research associate
    3UCF undergraduate student
    4Non-UCF student
    5Clinical collaborators
    6Industrial collaborators