Sunday, February 23, 2014


 If you want to access to a your personal computer from anywhere via "Windows Remote Desktop Connection" you have to: firstly, configure your modem. Secondly, you must know your IP. Here I assume that you know how to configure your modem (if don't please see here) then you should use a program like MailIP to send your computer's IP automatically to your email even if you have dynamic valid IP. In this way you save money from not buying static IP because when ever your IP get changed "MailIP" will send the new IP to your email. Also you don't need to subscribe to slow services like LogMeIn or TeamViewer and you can easily use the default windows remote control program.

The source code and binary file can be downloaded here.


comuto is developed by me and it is a simple and easy-to-use application that comes in handy for users who want to execute operations automatically.
It also enables you to perform operations such as shutting down or restarting the system when the network or CPU usage is under a specified rate.
With the help of comuto you have the possibility to monitor the CPU usage and change the operation type.

The compiled version can be download here.
Source code is available here.
comuto screenshot 1 - With the help of comuto you have the possibility to execute application automatically

Saturday, February 22, 2014

Artificial Neural Network-based Hybrid Force/Position Control of an Assembly Task

The project of neural network course, under supervision of Dr. Abdollahi.
Abstract - An effective hybrid force/position approach based on artificial neural networks for MIMO systems is implemented.

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An Optimal Control Approach to Robust Control of Robot Manipulators

The project of robust control course, under supervision of Dr. H.A Talebi.
Abstract- We present an optimal control approach to robust control of robot manipulators.To guarantee the performance of the manipulator under uncertainties, we first translate the robust
control problem into an optimal control problem, where the uncertainties are reflected in the
performance index. We then use the optimal control approach to solve the robust control problem.

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Implementing a Solution to the Accuracy/Robustness Dilemma in Accuracy/ Robustness Dilemma in Impedance Control

The seminar project, under supervision of Dr. Nikravesh.
Abstract - As a solution to this dilemma, an accurate and robust impedance control technique that was developed based on internal model control structure and time-delay estimation is derived: the former injects desired impedance and corrects modelling error, the latter estimates and compensates the nonlinear dynamics of robot manipulators.

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Adaptive control of a kinematically and dynamically uncertain PA-10 Mitsubishi

The project of advanced robotic course, under supervision of Dr. H. A. Talebi.
Abstract - We derive an adaptive Jacobian controller for trajectory tracking of cooperative redundant robot with uncertain kinematics and dynamics.

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