Assistive Robotics Lab at UCF
   Home>>Assistive Robotics>>Publications

Journals

  1. Z. Ding, M. Baghbahari, and A. Behal, “Robust Impedance Control of a 7-DOF Manipulator for Physical Human-Robot Interaction,” IEEE Transactions on Robotics, manuscript in preparation.

  2. A. Jabalameli and A. Behal, “Object-level Segmentation for Robustification of 6D Pose Estimation for Robotic Grasping of Previously Unseen Objects in Multi-Object Scenes,” Robotics, manuscript in preparation.

  3. A. Jabalameli and A. Behal, “Fast and Robust 6D Pose Estimation for Robotic Grasping of Novel Objects in Cluttered Scenes,” Robotics, under review, 2019.

  4. Z. Ding, N. Paperno, K. Prakash, and A. Behal, “An Adaptive Control Based Approach for 1-Click Gripping of Novel Objects using a Robotic Manipulator,” IEEE Transactions on Control Systems Technology, available online, to appear in print, doi: 10.1109/TCST.2018.2821651.

  5. N. Paperno, M. Rupp, E. Parkhurst, E. Maboudou, J. Smither, J. Bricout, and A. Behal, “Age and Gender Differences in Performance for Operating a Robotic Manipulator,” IEEE Transactions on Human-Machine Systems, vol. 49, no. 2, pp. 137-149, April 2019, doi: 10.1109/THMS.2019.2890855.

  6. K. Zhang, S. Manaffam, P. Marzocca, and A. Behal, “ Robust Output Feedback Control for Aeroelastic Vibration Suppression of a 2-DOF Airfoil under Quasi-steady Flow,” Journal of Vibration and Control, vol. 24, no. 19, pp. 4604-4619, October 2018, doi: 10.1177/1077546317731209.

  7. N. Ettehadi and A. Behal, “A Learning from Demonstration Framework for Implementation of a Feeding Task,” Encyclopedia with Semantic Computing and Robotic Intelligence, vol. 2, no. 1, 2018, doi: 10.1142/S2529737618500016.

  8. S. Manaffam and A. Behal, “Bounds on the Smallest Eigenvalue of a Pinned Laplacian Matrix,” IEEE Transactions on Automatic Control, vol. 63, no. 8, pp. 2641-2646, August 2018, doi: 10.1109/TAC.2017.2771944..

  9. S. Manaffam, M.K. Talebi, A.K. Jain, and A. Behal, “Intelligent Pinning Based Cooperative Secondary Control of Distributed Generators for Microgrid in Islanding Operation Mode,” IEEE Transactions on Power Systems, vol. 33, no. 2, pp. 1364-1373, March 2018.

  10. S. Manaffam, M.K. Talebi, A.K. Jain, and A. Behal, “Synchronization in Networks of Identical Systems via Pinning: Application to Distributed Secondary Control of Microgrids,” IEEE Transactions on Control Systems Technology, vol. 25, no. 6, pp. 2227-2234, November 2017.

  11. Jun Chen, P. Molnar, and A. Behal, “Identification of a Stochastic Resonate-and-Fire Neuronal Model via Nonlinear Least Squares and Maximum Likelihood Estimation,” International Journal of Modelling, Identification and Control, vol. 28, no. 3, pp. 221-231, 2017.

  12. K. Zhang, P. Marzocca, and A. Behal, “Adaptive Aeroelastic Control of Nonlinear Airfoil with Multiple Flaps under Unsteady Flow,” Journal of Vibration and Control, vol. 23, no. 10, doi: 10.1177/1077546315597180, pp. 1593-1606, June 2017.

  13. J.C. Bricout, B. Sharma, P.M.A. Baker, A. Behal, and L. Bölöni, “Learning Futures with Mixed Sentience,” Futures, vol. 87, pp. 91-105, March 2017.

  14. N. Paperno, M. Rupp, E. Maboudou, J. Smither, and A. Behal, “A Predictive Model for Use of an Assistive Robotic Manipulator: Human Factors vs Performance in Pick-and-Place/Retrieval Tasks,” IEEE Transactions on Human-Machine Systems, vol. 46, no. 6, doi: 10.1109/THMS.2016.2604366 , 2016, pp. 846-858, December 2016.

  15. K. Zhang and A. Behal, “Continuous Robust Control for Active Vibration Suppression of 2D Airfoils under Unsteady Flow,” Journal of Vibration and Control, vol. 22(12), pp. 2841–2860, doi:10.1177/1077546314554821, July 2016.

  16. N. Paperno, Z. Wang, D. J. Kim, and A. Behal, “Particle Filter-Based Robust Visual Servoing for UCF-MANUS – An Intelligent Assistive Robotic Manipulator,” International Journal of Robotics and Automation Technology, vol. 2, no. 1, pp. 43-58, July 2015.

  17. M. Cassaro, M. Battipede, P. Marzocca, and A. Behal, “A Comparison of Adaptive Control Architectures for Flutter Suppression,” AIAA Journal of Guidance, Control, and Dynamics, vol. 38, no. 2, pp. 346-355, February 2015, pp. 346-355, doi: 10.2514/1.G000707.

  18. D.-J. Kim, Z. Wang, N. Paperno, and A. Behal, “System Design and Implementation of UCF- MANUS – An Intelligent Assistive Robotic Manipulator,” IEEE/ASME Trans. on Mechatronics, vol. 19, no. 1, pp. 225-237, February 2014.

  19. M. Cassaro, M. Battipede, P. Marzocca, E. Cestino, and A. Behal, “L1 Adaptive Flutter Suppression Control Strategy for Highly Flexible Structure,” SAE Int. J. Aerosp., vol. 6, no. 2, December 2013.

  20. K. Zhang, Z. Wang, P. Marzocca, and A. Behal, “Novel Nonlinear Control Design for a Two-Dimensional Airfoil Under Unsteady Flow,” AIAA Journal of Guidance, Control, and Dynamics, vol. 36, no. 6, pp. 1681-1694, Nov. 2013. (doi: 10.2514/1.61132).

  21. S. A. Khan, V. Thakore, A. Behal, L. Bölöni, and J.J. Hickman, “Comparative Analysis of System Identification Techniques for Nonlinear Modeling of the Neuron-Microelectrode Junction,” Journal of Computational and Theoretical Nanoscience, vol. 10, no. 3, pp. 573-580, March 2013.

  22. Z. Wang, D.-J. Kim, and A. Behal, “Design of Stable Visual Servoing under Sensor and Actuator Constraints via a Lyapunov-based Approach,” IEEE Transactions on Control Systems Technology, vol. 20, no. 6, pp. 1575-1582, November 2012.

  23. D.-J. Kim, Z. Wang, and A. Behal, “Motion Segmentation and Control Design for UCF-MANUS – An Intelligent Assistive Robotic Manipulator,” IEEE/ASME Trans. on Mechatronics, vol. 17, no. 5, pp. 936-948, October 2012.

  24. K. Zhang, Z. Wang, A. Behal, and P. Marzocca, “A Continuous Robust Control Strategy for the Active Aeroelastic Vibration Suppression of Supersonic Lifting Surfaces,” International Journal of Aeronautical and Space Science, vol. 13, no. 2, pp. 210-220, June 2012.

  25. Lingfei Zhi, Jun Chen, P. Molnar, and A. Behal, “Weighted Least Squares Approach for Identification of a Reduced-Order Adaptive Neuronal Model,” IEEE Transactions on Neural Networks and Learning Systems, vol. 23, no. 5, pp. 834-840, May 2012.

  26. Z. Wang, A. Behal, and P. Marzocca, “Continuous Robust Control for Two-Dimensional Airfoils with Leading- and Trailing-Edge Flaps,” AIAA Journal of Guidance, Control, and Dynamics, vol. 35, no. 2, pp. 510-519, March-April 2012.

  27. D.-J. Kim, R. Hazlett, H. Godfrey5, G. Rucks5, T. Cunningham5, D. Portee5, J. Bricout, Z. Wang, and A. Behal, “How Autonomy Impacts Performance and Satisfaction: Results from a Study with Spinal Cord Injured Subjects using an Assistive Robot,” IEEE Trans. on Systems, Man, and Cybernetics – Part A: Systems and Humans, vol. 42, no. 1, pp. 2-14, January 2012.

  28. Z. Wang, A. Behal, and P. Marzocca, “Robust Adaptive Output Feedback Control Design for a MIMO Aeroelastic System,” International Journal of Aeronautical and Space Science, vol. 12, no. 2, pp. 157-167, June 2011

  29. K. Tsui, D.-J. Kim, A. Behal, D. Kontak5, and H. Yanco, ““I Want That”: Human-in-the-Loop Control of a Wheelchair-Mounted Robotic Arm,” Applied Bionics and Biomechanics: Special Issue on Assistive and Rehabilitation Robotics, vol. 8, no. 1, pp. 127-147, 2011.

  30. Z. Wang, A. Behal, and P. Marzocca, “Model-Free Control Design for MIMO Aeroelastic System Subject to External Disturbance,” AIAA Journal of Guidance, Control, and Dynamics, vol. 34, no. 2, pp. 446-458, March-April 2011.

  31. Z. Wang, A. Behal, and P. Marzocca, “Adaptive and Robust Aeroelastic Control of Nonlinear Lifting Surfaces with Single/Multiple Control Surfaces: A Review,” International Journal of Aeronautical and Space Science, vol. 11, no. 4, pp. 285-302, December 2010

  32. G. Hu, W. MacKunis, N. Gans, W. E. Dixon, J. Chen, A. Behal, and D. M. Dawson, “Homography-Based Visual Servo Control with Imperfect Camera Calibration,” IEEE Transactions on Automatic Control, vol. 54, no. 6, pp. 1318-1324, June 2009.

  33. V. Thakore, A. Behal, P. Molnar, D.C. Leistritz, and J.J. Hickman, “Nanoscale Nonlinear Dynamic Characterization of the Neuron-Electrode Junction,” Journal of Computational and Theoretical Nanoscience, vol. 5, no. 11, pp. 2164-2169, November 2008.

  34. V. M. Rao4, A. K. Jain6, K. K. Reddy, and A. Behal, “Nonlinear Control of a Single Phase Unity Power Factor Rectifier: Design, Analysis, and Experimental Results,” IEEE Transactions on Control Systems Technology, vol. 16, no. 6, pp. 1301-1307, November 2008.

  35. A. Behal, J. Chen6, and D. Dawson, “A Novel Path Planning and Control Framework for Passive Resistance Therapy with a Robot Manipulator,” International Journal of Systems Science, vol. 39, no. 6, pp. 639-653, June 2008.

  36. J. Chen6, A. Behal, and D. M. Dawson, “Robust Feedback Control for a Class of Uncertain MIMO Nonlinear Systems,” IEEE Transactions on Automatic Control, vol. 53, no. 2, pp. 591-596, March 2008.

  37. V. M. Rao4, A. Behal, A. K. Jain6, and K. K. Reddy, “Experimental Comparison of Digital Implementations of Single-Phase PFC Controllers,” IEEE Transactions on Industrial Electronics, vol. 55, no. 1, pp. 67-78, January 2008.

  38. V. K. Chitrakaran, A. Behal, D. M. Dawson, and I. D. Walker, “Setpoint Regulation of Continuum Robots Using a Fixed Camera,” Robotica, vol. 25, no. 5, pp. 581-586, September 2007.

  39. K. K. Reddy, J. Chen6, A. Behal, and P. Marzocca, “Multi-Input/Multi-Output Adaptive Output Feedback Control Design for Aeroelastic Vibration Suppression,” AIAA Journal of Guidance, Control, and Dynamics, Vol. 30, No. 4, pp. 1040-1048, July-August 2007

  40. A. Behal, A. K. Jain6, and K. Joshi4, “Observers for a Special Class of Bilinear Systems: Design and Application,” IEEE Transactions on Automatic Control, vol. 51, no. 11, pp. 1854-1858, November 2006.

  41. A. Behal, V. M. Rao4, P. Marzocca, and M. Kamaludeen4, “Adaptive Control for a Nonlinear Wing Section with Multiple Flaps,” AIAA Journal of Guidance, Control, and Dynamics, vol. 29, no. 3, pp. 744-748, May-June 2006

  42. V. M. Rao4, A. Behal, P. Marzocca, and C. M. Rubillo4, “Adaptive Aeroelastic Vibration Suppression of a Supersonic Airfoil with Flap,” Aerospace Science and Technology, vol. 10, no. 4, pp. 309-315, May 2006.

  43. A. K. Jain6, K. Joshi4, A. Behal, and N. Mohan, “Voltage Regulation with STATCOMs: Modeling, Control and Results,” IEEE Transactions on Power Delivery, vol. 21, no. 2, pp. 726-735, April 2006.

  44. A. Behal, P. Marzocca, V. M. Rao4, and A. Gnann4, “Nonlinear Adaptive Model Free Control of an Aeroelastic 2-D Lifting Surface,” AIAA Journal of Guidance, Control, and Dynamics, vol. 29, no. 2, pp. 382-390, March-April 2006.

  45. A. Behal, P. Setlur, W. Dixon, and D. M. Dawson, “Adaptive Position and Orientation Regulation for the Camera-in-Hand Problem,” Journal of Robotic Systems, vol. 22, no. 9, pp. 457-473, Sept. 2005.

  46. J. Chen, D. M. Dawson, W. E. Dixon, and A. Behal, “Adaptive Homography-Based Visual Servo Tracking for a Fixed Camera Configuration with a Camera-in-Hand Extension,” IEEE Transactions on Control Systems Technology, vol. 13, no. 5, pp. 814-825, Sept. 2005.

  47. A. K. Jain, A. Behal, X. Zhang4, D. M. Dawson, and N. Mohan, “Nonlinear Controllers for Fast Voltage Regulation using STATCOMs,” IEEE Transactions on Control Systems Technology, vol. 12, no. 6, pp. 827-842, Nov. 2004.

  48. A. Behal, M. Feemster, D. M. Dawson, and D. Haste, “An Improved Indirect Field Oriented Controller for the Induction Motor,” IEEE Transactions on Control Systems Technology, vol. 11, no. 2, pp. 248-252, March 2003

  49. A. Behal, D. M. Dawson, E. Zergeroglu, and Y. Fang, “Nonlinear Tracking Control of an Underactuated Spacecraft,” AIAA Journal of Guidance, Control and Dynamics, Vol. 25, No. 5, pp. 979-985, Sep-Oct 2002

  50. A. Behal, W. Dixon, D. M. Dawson, and Y. Fang, “Tracking and Regulation Control of an Underactuated Surface Vessel with Nonintegrable Dynamics,” IEEE Transactions on Automatic Control, vol. 47, no. 3, pp. 495-500, March 2002.

  51. A. Behal, M. Feemster, D. M. Dawson, and A. Mangal, “Partial State Feedback Control of Induction Motors with Magnetic Saturation: Elimination of Flux Measurements,” Automatica, vol. 38, no. 2, pp. 191-203, February 2002.

  52. E. Zergeroglu, D. M. Dawson, M. de Queiroz, and A. Behal, “Vision-based Nonlinear Tracking Controllers with uncertain robot-camera parameters,” IEEE/ASME Transactions on Mechatronics, vol. 6, no. 3, pp. 322-337, Sept. 2001.

  53. M. Feemster, P. Aquino, D. M. Dawson, and A. Behal, “Sensorless Rotor Velocity Tracking Control for Induction Motors,” IEEE Transactions on Control Systems Technology, vol. 9, no. 4, pp. 645-653, July 2001.

  54. W. E. Dixon, D. M. Dawson, E. Zergeroglu, and A. Behal, “Adaptive Tracking Control of a Wheeled Mobile Robot via an Uncalibrated Camera System,” IEEE Transactions on Systems, Man, and Cybernetics - Part B: Cybernetics, vol. 31, no. 3, pp. 341-352, 2001.

  55. M. Feemster, D. M. Dawson, P. Aquino, and A. Behal, “A Global Exponential Output-Feedback Controller for Induction Motors,” Asian Journal of Control, vol. 2, no. 4, pp. 230-242, December 2000.

  56. E. Zergeroglu, W. E. Dixon, A. Behal, and D. M. Dawson, “Adaptive Set-Point Control of Robotic Manipulators with Amplitude-Limited Control Inputs,” Robotica, vol. 18, no. 2, pp. 171-181, 2000.

  57. 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 Measurements,” International Journal of Adaptive Control and Signal Processing, vol. 14, pp. 83-108, 2000.

  58. M. Feemster, D. Dawson, A. Behal, and W. Dixon, “Tracking Control in the Presence of Nonlinear Dynamic Frictional Effects: Robot Extension,” Asian Journal of Control, vol. 1, no. 3, pp. 153-168, 1999

  59. E. Zergeroglu, W. E. Dixon, D. M. Dawson, and A. Behal, “Lyapunov-Based Set-Point Control of the Acrobot,” International Journal of Robotics and Automation, vol. 14, no. 4, pp. 161-170, 1999.
    List of Publications
    UCF graduate student
    UCF post-doctoral research associate
    3UCF undergraduate student
    4Non-UCF student
    5Clinical collaborators
    6Industrial collaborators