Personal Information
Firas A. Raheem

Control and Systems Engineering Department, University of Technology, Baghdad, Iraq

Firas A. Raheem
Educations
From 1989 to 1992, BSc - Control and Systems Engineering Department, University of technology - Iraq , Iraq
From 2000 to 2002, MSc - Mechatronics - Control and Systems Engineering Department, University of technology - Iraq , Iraq
From 2005 to 2009, PhD - Robotics, Mechatronic and Robotic Systems, Platov south Russian State Polytechnique University , Russian Federation
Work Experiences
From 2003 to 2005, MSc - Assistant Lecturer , University of Technology - Iraq
From 2009 to 2013, PhD - Lecturer , University of Technology - Iraq
From 2013 to Now, PhD, Assistant Professor (Full Time), Head of Automation and Robotics Research Unit , University of Technology - Iraq
Speciality
Mechatronics Engineering
Robotics and Robotic Systems
Intelligent Control Systems
Artificial Intelligence
Intelligent Control Systems
Intelligent Motion Planning Systems
Optimization Techniques
Applied Heuristic and Metaheuristic Computing
Soft Computing
Fuzzy Logic
Neural Networks
Dynamics and Simulation
Sensors and Measurements
Embedded Systems
Actuators and Drives
Book
INTELLIGENT SYSTEMS FOR MOTION PLANNING AND CONTROL OF A ROBOT MANIPULATOR IN UNKNOWN ENVIRONMENT, South Russian State Polytechnic University NOK Publishing Novocherkassk – 2010
DIGITAL CONTROL SYSTEMS LECTURE NOTES, South Russian State Polytechnic University NOK Publishing Novocherkassk – 2012
(Chapter 12) "INTRODUCTION TO ROBOTICS-MATHEMATICAL ISSUES", Book Title "MATHEMATICAL ADVANCES TOWARDS SUSTAINABLE ENVIRONMENTAL SYSTEMS", Springer International Publishing Switzerland 2017
(Chapter 13) "INTELLIGENT AND ROBUST PATH PLANNING AND CONTROL OF ROBOTIC SYSTEMS", Book Title "MATHEMATICAL ADVANCES TOWARDS SUSTAINABLE ENVIRONMENTAL SYSTEMS", Springer International Publishing Switzerland 2017
Journal Articles
DSEIGN AND IMPLEMENTATION OF A SUCCESSIVE APPROXIMATION TYPE SYNCHRO DIGITIZER, Iraqi Journal of Computers, Communications, Control & Systems Engineering (IJCCCE), Vol 4, NO. 1, 2004
FUZZY LOGIC STRUCTURE FOR ON-LINE CONTROL OF ROBOT MANIPULATOR IN UNKNOWN ENVIRONMENT, Proceedings Of The Universities Of North-Caucasian Region Engineering Sciences – 2007 No: 6
NEURO-FUZZY STRUCTURE FOR ON-LINE PLANNING OF ROBOT MANIPULATOR IN UNKNOWN ENVIRONMENT, Proceedings Of The Universities Of North-Caucasian Region Engineering Sciences Special Issue Problems Of Mechatronics
NEURO-FUZZY STRUCTURE FOR ON-LINE PLANNING OF ROBOT MANIPULATOR IN UNKNOWN DYNAMIC ENVIRONMENT, Proceedings Of The Universities Of North-Caucasian Region Engineering Sciences – 2008 No: 6
NEURO-FUZZY STRUCTURE FOR MOTION CONTROL OF A ROBOT MANIPULATOR, Proceedings Of The Universities Of North-Caucasian Region Engineering Sciences – 2009 No: 1
APPLICATION OF KALMAN ESTIMATION TECHNIQUES WITH FUZZY LOGIC TO A SYNCHRO DIGITIZER, Iraqi Journal of Computers, Communications, Control & Systems Engineering (IJCCCE), Vol 12, NO. 1, 2012
COMPARATIVE STUDY BETWEEN JOINT SPACE AND CARTESIAN SPACE PATH PLANNING FOR TWO-LINK ROBOT MANIPULATOR USING FUZZY LOGIC, Iraqi Journal of Computers, Communications, Control & Systems Engineering (IJCCCE), Vol 13, NO. 2, 2013
DESIGN OF TRAJECTORY TRACKING CONTROLLER FOR A DIFFERENTIAL- DRIVE MOBILE ROBOT PLATFORM BASED ON INTEGRAL CONTROL, Eng. & Tech. Journal ,Vol.32, Part (A), No.11, 2014 University of Technology - Iraq
HEXAPOD ROBOT STATIC STABILITY ENHANCEMENT USING GENETIC ALGORITHM, Al-Khwarizmi Engineering Journal,Vol. 11, No. 4, 2015
INVERSE KINEMATICS SOLUTION OF ROBOT MANIPULATOR END-EFFECTOR POSITION USING MULTI-NEURAL NETWORKS, Eng. &Tech. Journal, Vol. 34,Part (A), No.7, 2016
DESIGN OF INTEGRAL SLIDING MODE CONTROLLER FOR SERVO DC MOTOR, Al-Nahrain Journal for Engineering Sciences (NJES) Vol. 20 No. 3, 2017 pp.685-691
ROBOT ARM PATH PLANNING USING MODIFIED PARTICLE SWARM OPTIMIZATION BASED ON D* ALGORITHM, Al-Khwarizmi Engineering Journal,Vol. 13, No. 3, P.P. 27- 37 (2017)
APPLYING A* PATH PLANNING ALGORITHM BASED ON MODIFIED C-SPACE ANALYSIS, Al-Khwarizmi Engineering Journal,Vol. 13, No. 4, P.P. 124- 136 (2017)
DEVELOPMENT OF MODIFIED PATH PLANNING ALGORITHM USING ARTIFICIAL POTENTIAL FIELD (APF) BASED ON PSO FOR FACTORS OPTIMIZATION, American Scientific Research Journal for Engineering, Technology, and Sciences (ASRJETS) VOL 37, NO 1
COMPARATIVE STUDY BETWEEN CLASSICAL AND OPTIMIZED STABILITY MARGINS OF QUADRUPED ROBOT CREEPING GAIT, American Scientific Research Journal for Engineering, Technology, and Sciences (ASRJETS) VOL 38, NO 1
CREEPING GAIT ANALYSIS AND SIMULATION OF A QUADRUPED ROBOT, Al-Khwarizmi Engineering Journal, Vol. 14, No.2, June, (2018) P.P. 93- 106
PID AND FUZZY LOGIC CONTROLLER DESIGN FOR BALANCING ROBOT STABILIZATION, Iraqi Journal of Computers, Communications, Control & Systems Engineering (IJCCCE), Vol. 18, No. 1, April 2018
ASL RECOGNITION QUALITY ANALYSIS BASED ON SENSORY GLOVES AND MLP NEURAL NETWORK, American Scientific Research Journal for Engineering, Technology, and Sciences (ASRJETS) (2018) Volume 47, No 1, pp1-20
PATH PLANNING ALGORITHM USING D* HEURISTIC METHOD BASED ON PSO IN DYNAMIC ENVIRONMENT, American Scientific Research Journal for Engineering, Technology, and Sciences (ASRJETS) (2018) Volume 49, No 1, pp 257-271
INTERACTIVE HEURISTIC D* PATH PLANNING SOLUTION BASED ON PSO FOR TWO-LINK ROBOTIC ARM IN DYNAMIC ENVIRONMENT, World Journal of Engineering and Technology, 7, 80-99. https://doi.org/10.4236/wjet.2019.71005
Conference Papers
THE APPLICATION OF NEURAL NETWORKS FOR ANGULAR POSITION MEASUREMENTS IN SYNCHRO-DIGITIZER SYSTEM, Theory, Methods And Facilities Of Measurement, Control And Diagnostics Viii (8-Th) International Scientific- Practical Conference Novocherkassk – Russian Federation 2007
COMPLEX INTELLIGENT SYSTEM FOR PLANNING AND CONTROL OF ROBOT MANIPULATOR IN UNKNOWN DYNAMIC ENVIRONMENT, New Techniques For Motion Control Of Technical Objects 9-Th International Scientific- Technical Conference Novocherkassk – Russian Federation 2008
COMPLEX INTELLIGENT SYSTEM FOR PLANNING AND CONTROL OF ROBOT MANIPULATOR IN UNKNOWN STATIC ENVIRONMENT, Problems Of Synergetics In Tribology, Materials Science And Mechatronics Vii (7-Th) International Scientific- Practical Conference Novocherkassk – Russian Federation 2008
53 INTERNATIONAL SCIENTIFIC COLLOQUIUM OF TECHNICAL UNIVERSITY ILMENAU ILMENAU – GERMANY, Ilmenau Technical University Germany, sept. 2008
OBSTACLE AVOIDANCE AND CARTESIAN TRAJECTORY PLANNING OF ROBOT MANIPULATOR USING MODIFIED BEZIER CURVE, Modeling, Theory, Methods And Facilities X (10-Th) International Scientific- Practical Conference Novocherkassk – Russian Federation, 04, 2010
JOINT SPACE PATH PLANNING OF A ROBOT MANIPULATOR USING FUZZY LOGIC, Academic Fundamental Research Of Young Scientists From Russia And Germany In Conditions Of Global World And New Culture Of Scientific Publications – Novocherkassk – Russian Federation, 10, 2012
STATIC STABILITY ANALYSIS OF HEXAGONAL HEXAPOD ROBOT FOR THE PERIODIC GAITS, The Second Engineering Conference of Control, Computers and Mechatronics Engineering, Baghdad – Iraq, 02, 2014
TWO-LINK ROBOT MANIPULATOR OBSTACLE AVOIDANCE USING FUZZY LOGIC: SIMULATION AND EXPERIMENTAL WORK, The Second Engineering Conference of Control, Computers and Mechatronics Engineering, , Baghdad – Iraq, 02, 2014
FUZZY LOGIC BASED IMAGE EDGE DETECTION ALGORITHM IN MATLAB, The Second Engineering Conference of Control, Computers and Mechatronics Engineering, Baghdad – Iraq, 02, 2014
DEVELOPMENT OF MODEL PREDICTIVE CONTROLLER FOR CONGESTION CONTROL PROBLEM, The Second Engineering Conference of Control, Computers and Mechatronics Engineering, Baghdad – Iraq, 02, 2014
MODIFIED STABILITY ANALYSES FOR HEXAPOD ROBOT PATH PLANNING ON INCLINED PLANE, Third International Scientific Conference, for educators, scholars, undergraduates & PhD students of higher education establishments Publications – Novocherkassk – Russian Federation, 04, 2016
HEXAPOD ROBOT STATIC STABILITY ANALYSIS USING GENETIC ALGORITHM SIMULATION AND EXPERIMENTAL WORK, Proceeding of 15th Scientific Conference 23-24 April 2016 Al Mansour University College, Baghdad – Iraq, 04, 2016
MODIFIED C-SPACE ANALYSIS AND CONSTRUCTION FOR TWO-LINK ROBOT ARM, The First International Conference for Engineering Researches Middle Technical University, Baghdad - Iraq, 03, 2017
OPTIMAL TRAJECTORY PLANNING OF 2-DOF ROBOT ARM USING THE INTEGRATION OF PSO BASED ON D* ALGORITHM AND CUBIC POLYNOMIAL EQUATION, The First International Conference for Engineering Researches Middle Technical University, Baghdad – Iraq, 03, 2017
QUADRUPED ROBOT CREEPING GATE STABILITY ANALYSIS AND OPTIMIZATION USING PSO, 2nd -AIC-MITC IEEE Iraq Section Imam Ja'afar Al-sadiq University Conference, , Baghdad – Iraq, Dec 2017
ROBOT ARM DESIGN FOR CHILDREN WRITING ABILITY ENHANCEMENT USING CARTESIAN EQUATIONS BASED ON ANFIS , 3rd IEEE Scientific conference of Electrical Engineering 3rd IEEE SCEE University of Technology – Iraq, Dec 2018
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