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اعضای آزمایشگاه – اعضای فعلی – هیئت علمی

احمد کلهر

زمینه تحقیقاتی: شبکه های عصبی و یادگیری عمیق، شناسایی سیستم ها، کنترل
بازه فعالیت در آزمایشگاه : 1391 تا اکنون
akalhor@ut.ac.ir

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Citations: 833
h-index: 15
i10-index: 28
No. of Papers: 131

تحصیلات

کارشناسی : دانشگاه علم و صنعت
کارشناسی ارشد : دانشگاه تهران
دکتری : دانشگاه تهران

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بیوگرافی

احمد کلهر در سال 1356 در تهران ، ایران متولد شد. دوره کارشناسی را در مهندسی برق -الکترونیک از دانشگاه علم و صنعت ایران در سال 1378 دریافت کرد و سپس دوره های کارشناسی ارشد و دکتری خود را در رشته های مهندسی برق و کنترل ، از دانشگاه تهران ، به ترتیب در سال 1381 و 1390 دریافت کرد. در دی ماه سال 1391 وی به گروه مکاترونیک دانشکده علوم و فنون در دانشگاه تهران پیوست. سپس در تابستان سال 1394 ، وی به دانشکده برق و کامپیوتر در دانشگاه تهران پیوست، و در حال حاضر به عنوان دانشیار در گرایش کنترل مشغول به خدمت است.
علایق تحقیقاتی وی در حوزه های هوش مصنوعی و کنترل است و سالها بخصوص در زمینه شبکه های عصبی و یادگیری عمیق تدریس و تحقیق کرده است. به ویژه ، او علاقه مند به شبکه های عصبی و یادگیری عمیق ، کنترل کننده های عملیاتی و شناسایی سیستم ها می باشد. دکتر کلهر در موضوعات مورد تحقیق، ده ها مقاله ژورنالی علمی یا کنفرانسی را تألیف و ارایه کرده است.
وی حدود ده سال با آزمایشگاه یادگیری ماشین در زمینه طراحی و توسعه روشهای مختلف یادگیری ماشین ، شامل طراحی و توسعه سیستم های خطی در حال نمو و شبکه های عصبی- فازی در حال نمو، شبکه های عصبی یادگیری عمیق همکاری کرده است. کاربرد این روشها در موضوعات مختلف شامل پیش بینی سیستم ، شناسایی سیستم ، کنترل عملیاتی سیستم ، طبقه بندی تصویر، سیستم های توصیه گر و موارد دیگر بوده است.
بعلاوه ، وی حدود هشت سال با آزمایشگاه های تعامل انسان و ربات در زمینه طراحی و توسعه کابردی بسیاری از روشهای شناسایی ، کنترل و یادگیری همکاری کرده است ، این روشها در بسیاری از سیستم های ربات موازی یا سریال پیاده سازی شده است و در حال حاضر روشهای هوش مصنوعی و شبکه های عصبی عمیق در مسیریابی ربات ها، شناسایی محیط توسط ربات، بازشناسی تصویر و صدا توسط ربات، گیرش اجسام توسط ربات و موارد دیگر در حال طراحی و توسعه است.

مقالات

  1. Using artificial neural networks for temporal and spatial wind speed forecasting in Iran
  2. Prediction of breeding values for dairy cattle using artificial neural networks and neuro-fuzzy systems
  3. An online predictor model as adaptive habitually linear and transiently nonlinear model
  4. An experimental study on the vision-based control and identification of planar cable-driven parallel robots
  5. Long term electrical load forecasting via a neurofuzzy model
  6. Evolving Takagi–Sugeno fuzzy model based on switching to neighboring models
  7. Trajectory tracking control of a pneumatically actuated 6-DOF Gough–Stewart parallel robot using Backstepping-Sliding Mode controller and geometry-based quasi forward kinematic …
  8. Dynamic modeling and base inertial parameters determination of a 2-DOF spherical parallel mechanism
  9. Introducing evolving Takagi–Sugeno method based on local least squares support vector machine models
  10. A new systematic design for habitually linear evolving TS fuzzy model
  11. Reducing the number of local linear models in neuro-fuzzy modeling: A split-and-merge clustering approach
  12. Online local input selection through evolving heterogeneous fuzzy inference system
  13. Experimental study on the kinematic control of a cable suspended parallel robot for object tracking purpose
  14. An experimental study on the direct & indirect dynamic identification of an over-constrained 3-DOF decoupled parallel mechanism
  15. Dynamic identification of the novint falcon haptic device
  16. Online forecasting of synchronous time series based on evolving linear models
  17. Seismic random noise attenuation using artificial neural network and wavelet packet analysis
  18. Experimental dynamic identification and model feed-forward control of Novint Falcon haptic device
  19. Oscillation damping of nonlinear control systems based on the phase trajectory length concept: An experimental case study on a cable-driven parallel robot
  20. A new development of homotopy continuation method, applied in solving nonlinear kinematic system of equations of parallel mechanisms
  21. Partial identification and control of MIMO systems via switching linear reduced-order models under weak stimulations
  22. An experimental study on friction identification of a pneumatic actuator and dynamic modeling of a proportional valve
  23. Ball tracking with a 2-DOF spherical parallel robot based on visual servoing controllers
  24. Application of neuro-fuzzy models in short term electricity load forecast
  25. Experimental kinematic identification and position control of a 3-DOF decoupled parallel robot
  26. On human–robot interaction of a 3-DOF decoupled parallel mechanism based on the design and construction of a novel and low-cost 3-DOF force sensor
  27. A self tuning regulator design for nonlinear time varying systems based on evolving linear models
  28. Control of a pneumatically actuated 6-DOF Gough-Stewart platform
  29. Backstepping control based on sliding mode for station-keeping of stratospheric airship
  30. Identification and control of mimo linear systems under sufficient and insufficient excitation
  31. Employing phase trajectory length concept as performance index in linear power oscillation damping controllers
  32. An experimental dynamic identification & control of an overconstrained 3-DOF parallel mechanism in presence of variable friction and feedback delay
  33. Evolving Takagi–Sugeno model based on online Gustafson-Kessel algorithm and kernel recursive least square method
  34. Arc Length based Maximal Lyapunov Functions and domains of attraction estimation for polynomial nonlinear systems
  35. Kinematic and dynamic modeling and base inertial parameters determination of the quadrupteron parallel manipulator
  36. Push recovery for NAO humanoid robot
  37. Online modeling of real-world time series through evolving AR models
  38. A new split and merge algorithm for structure identification in Takagi-Sugeno fuzzy model
  39. Backstepping control performance enhancement using close loop identification for quadrotor trajectory tracking
  40. On the control of planar cable-driven parallel robot via classic controllers and tuning with intelligent algorithms
  41. Online identification of a neuro-fuzzy model through indirect fuzzy clustering of data space
  42. Air/fuel ratio control in SI engines using a combined neural network and estimator
  43. Position control of a 6-DoF pneumatic gough-stewart parallel robot using backstepping-sliding mode controller
  44. An experimental study on the development, kinematics and control of a 4-DOF delta parallel manipulator
  45. Robust H∞ control for path tracking of a quadrotor through estimation of system parameters
  46. Practical performance comparison of pole placement and sliding mode controller for position control of cable-driven parallel robots using visual servoing
  47. Design, construction & calibration of a novel Human-Robot Interaction 3-DOF force sensor
  48. Random noise attenuation by Wiener-ANFIS filtering
  49. Stabilization of a two-dof spherical parallel robot via a novel adaptive approach
  50. Dynamic balance of a NAO H25 Humanoid robot based on model predictive control
  51. Robust adaptive controller based on evolving linear model applied to a Ball-Handling mechanism
  52. Robust nonlinear H∞ and MPC control for path tracking of a quadrotor through estimation of system parameters
  53. Online extraction of main linear trends for nonlinear time-varying processes
  54. A new high-order takagi-sugeno fuzzy model based on deformed linear models
  55. An experimental oscillation damping impedance control for the novint falcon haptic device based on the phase trajectory length function concept
  56. Design & Characterization of a Bio-Inspired 3-DOF Tactile/Force Sensor for Human-Robot Interaction Purposes
  57. An experimental study on control of a pneumatic 6-dof gough-stewart robot using backstepping-sliding mode and geometry-based quasi-forward kinematic method
  58. Control of a two degree-of-freedom parallel robot as a stabilization platform
  59. Order determination and robust adaptive control of unknown deterministic input-affine systems: An operational controller
  60. Generating flexible convex hyper-polygon validity regions via sigmoid-based membership functions in TS modeling
  61. A robust adaptive linear control for a ball handling mechanism
  62. Implementation of three axis attitude controllers for evaluation of a micro-gravity satellite simulator
  63. Design & characterization of a bio-inspired 3-dof tactile/force sensor and implementation on a 3-dof decoupled parallel mechanism for human-robot interaction purposes
  64. Experimental study on shared-control of a mobile robot via a haptic device with an optimal velocity obstacle based receding horizon control approach
  65. Perturbed tumor immunotherapy domain of attraction estimation via the arc-length function
  66. Robust Adaptive H∞ Control for Attitude Control of a Quadrotor
  67. An innovative test bed for verification of attitude control system
  68. Dimensional synthesis of a four-bar linkage mechanism via a pso-based cooperative neural network approach
  69. An efficient numerical and experimental system identification approach for a flexible manipulator
  70. Evolving Takagi-Sugeno model based on online Gustafson-Kessel algorithm and kernel recursive least square method
  71. Kinematics and control of a 4-dof delta parallel manipulator
  72. Push Recovery Methods Based on Admittance Control Strategies for a NAO-H25 Humanoid
  73. Potentials of Evolving Linear Models in Tracking Control Design for Nonlinear Variable Structure Systems
  74. Experimental kinematic identification of a 3-DOF decoupled parallel robot using calibrated kinect sensor
  75. Potential of evolving ar and arx models in signal recovering
  76. A self tuning regulator for nonlinear time varying control systems based on evolving linear models
  77. Introducing evolving Takagi-Sugeno method based on local least squares support vector machine
  78. Experimental study on robust adaptive control with insufficient excitation of a 3-DOF spherical parallel robot for stabilization purposes
  79. Indoor and Outdoor Face Recognition for Social Robot, Sanbot Robot as Case Study
  80. Kinematic Analysis of an Under-constrained Cable-driven Robot Using Neural Networks
  81. Evaluation of Dataflow through layers of Deep Neural Networks in Classification and Regression Problems
  82. Locally convex-regions approximation using an incremental quadratic-based fuzzy clustering
  83. An Exprimental Modelling and Identification of Feed Drive Dynamics with Considering Variable Friction
  84. Backstepping-Sliding mode Control Performance Enhancement using Close Loop Identification for Quadrotor Trajectory Tracking
  85. Dynamic Modeling and Base Inertial Parameters Determination of 3-DoF Planar Parallel Manipulator
  86. Anisotropic diffusion filter modified by adaptive neuro-fuzzy interference system (ANFIS) and its application to random noise attenuation in seismic data
  87. An Experimental Study on Blinking and Eye Movement Detection via EEG Signals for Human-Robot Interaction Purposes Based on a Spherical 2-DOF Parallel Robot
  88. Attitude stability testing of an agile satellite simulator with single-gimbal control-momentum-gyros
  89. DESIGNING, TESTING AND EVALUATION OF SINGLE GIMBAL CONTROL MOMENT GYRO FOR MICROSATELLITE
  90. Chaotic time series forecasting using locally quadratic fuzzy neural models
  91. Modeling, identification and minimum length integral sliding mode control of a 3-DOF cartesian parallel robot by considering virtual flexible links
  92. Control of a two-DOF parallel robot with unknown parameters using a novel robust adaptive approach
  93. Dynamic modeling, identification, and a comparative experimental study on position control of a pneumatic actuator based on Soft Switching and Backstepping–Sliding Mode controllers
  94. On the ability of sliding mode and LQR controllers optimized with PSO in attitude control of a flexible 4-DOF satellite with time-varying payload
  95. Ranking and Rejecting of Pre-Trained Deep Neural Networks in Transfer Learning based on Separation Index
  96. Control of computer pointer using hand gesture recognition in motion pictures
  97. Improving the Successful Robotic Grasp Detection Using Convolutional Neural Networks
  98. Design and Fabrication of a Flexible Pressure-Sensitive Insole Based on Barometric Tactile Sensors
  99. Control a Drone Using Hand Movement in ROS Based on Single Shot Detector Approach
  100. An introduction to artificial neural networks
  101. A data-driven fuzzy model for prediction of rockburst
  102. A Tracking Control of a Quadrotor via Pole Placement Technique based on Presence of a Diffeomorphism
  103. Mechanical Improvement, Simulation, and Implementation of a Visual Servoing Position Controller of a 4-DOF Delta Parallel Robot
  104. Automatic tuning of a behavior-based guidance algorithm for formation flight of quadrotors
  105. Motion planning of mobile robots in the unknown circumstances based on the receding horizon control and velocity obstacle concepts
  106. کنترل بهینه هاورینگ مجاورت ماهواره حول مدار بیضوی اغتشاشی با استفاده از الگوریتم ازدحام ذرات‎
  107. مسیریابی ربات بستر پویا در محیط ناشناخته بر مبنای مفاهیم کنترل‌کننده‌ی افق پیش‌بین و مخروط تصادم سرعت‎
  108. حل مساله سینماتیک مستقیم ربات‌های کابلی نامقید به منظور استفاده هم‌زمان در الگوریتم‌های کنترلی‎
  109. Experimental identification of friction and dynamics of an overconstrained 3-DOF decoupled parallel mechanism
  110. کنترل غیر خطی مقاوم∞ H و پیشبین برای ردیابی مسیر کوادروتور با استفاده از تخمین پارامتر های سیستم‎
  111. مقایسه بازده عملی کنترلرهای جانمایی‎ قطب و مودلغزشی برای کنترل موقعیت ربات‌ موازی کابلی صفحه‌ای با پردازش تصویر‎
  112. A LAUNCH VEHICLE TRACKER DESIGN BASED ON ON-LINE LINEARIZATION
  113. A TS Fuzzy Model Derived from a Typical Multi-Layer Perceptron
  114. Investigating the Effects of Noise and Parameter Changing on Modeling of Jet Transport Aircraft
  115. DESIGN, MANUFACTURING AND TEST OF A THREE DEGREES-OF-FREEDOM ATTITUDE CONTROL SIMULATOR FOR AN AGILE MICRO-SATELLITE BASED ON SINGLE GIMBAL CONTROL MOMENT GYROS
  116. Design of Deterministic Self-Tuning Regulators for the Pitch Angle of an Aircraft
  117. Improvement the tropical cyclone forecasting process with effective features selection
  118. Channel Selection in EEG Prediction: Linear and Nonlinear Approach
  119. Solving the Forward Kinematic Problem of Under-Constrained Cable Driven Robots for Online Control Purposes
  120. مزيفروموفيد ققحت يانبمرب اطخ يكيمانيد‎
  121. لرتنک میهافم یانبمرب هتخانشان طیحم رد ایوپ رتسب تابر یبایریسم هدننک قفا ی شیپ نیب و‎
  122. ﯽﺒﺼﻋ ﻪﮑﺒﺷ زا هدﺎﻔﺘﺳا ﺎﺑ دﺎﺑ ﺖﻋﺮﺳ ﯽﻨﯿﺑ ﺶﯿﭘ دﺎﺑاﺮﻬﻣ هﺎﮔدوﺮﻓ رد ﻪﯾﻻ ﺪﻨﭼ نوﺮﺘﭙﺳﺮﭘ‎
  123. Optimal Control of Satellite Proximity Hovering around Elliptical Disturbed Orbit Using Particle Swarm Optimization
  124. Control of Quad-rotor in Cooperation with an Attached 3-DOF Manipulator
  125. Implementation and Evaluation of Object Identification Techniques on Nao Robot Platform
  126. مواقم یطخ ریغ لرتنک∞‎
  127. Online Feature Selection Based on Fuzzy Clustering and Its Applications............... TM Nguyen and QMJ Wu 1294 A Big Bang–Big Crunch Type-2 Fuzzy Logic System for Machine …
  128. Table of authors
  129. Using fuzzy neural network to predict arrival time of interplanetary shocks
  130. A Robust Tracking Control Design for Time-Varying Affine Systems and its Applications for Nonlinear Systems
  131. Plamen Angelov Rosangela Ballini Abdelhamid Bouchachia Joao Miguel Da Costa Sousa