Dr. Amor Jnifene
B.A.Sc., M.A.Sc., Ph.D., P.Eng.
Associate Professor

Department of Mechanical and Aerospace Engineering

 

Publications

Journal papers

• E. Lanteigne and A. Jnifene, “Obstacle avoidance of redundant manipulators using workspace density functions,” Accepted for publication at the Canadian Transactions for Mechanical Engineering, Special Issue, August, 2009.
• B. Zargar, A. Jnifene and A. Fahim, “Development, Validation, and Parameter Sensitivity Analyses of a Nonlinear Mathematical Model of Air Springs,” International Journal of Vibration and Control, (JVC08-154), submitted, March, 2009.
• T. Davies and A. Jnifene, “Path Planning and Trajectory Control of Collaborative Mobile Robots Using Hybrid Control Architecture,” Journal of Systemics, Cybernetics and Informatics (JSCI), vol. 6, No. 4, pp. 42-48, 2008.
• C. Cocaud, A. Jnifene and Bumsoo Kim, “Environment mapping using hybrid octree knowledge for UAV trajectory planning,” Canadian Journal of Remote Sensing, vol. 34, No. 4, pp. 405-417, 2008.
• E. Lanteigne and A. Jnifene, “Experimental Study on SMA Driven Pressurized Hyper-redundant Manipulator,” Journal of Intelligent Materials Systems and Structures, vol. 16, No. 9, pp 1067-1076, 2008.
• A. Price, A. Jnifene and H. E. Naguib, “Design and Control of a Shape Memory Alloy Based Dexterous Robot Hand,” Smart Materials and Structures, 16, 1401-1414, 2007.
• C. Cocaud, A. Price, A. Jnifene and H. E. Naguib, “Position control of a two link robotic arm powered by Smart Material based artificial muscles,” International Journal of Mechanics and Materials in Design, 3, 223-236, 2007.
• A. Jnifene, “Active vibration control of flexible structures using delayed position feedback,” Systems and Control Letters, Vol. 56, Issue 3, pp. 215-222, March 2007.
• A. Price, A. Edgerton, C. Cocaud, H. Naguib and A. Jnifene, “A study on the Thermo-mechanical properties of Shape Memory Alloys based actuators used in Artificial muscles,” Journal of Intelligent Materials Systems and Structures, vol. 18, No. 1, pp. 11-18, 2007.
• E. Lanteigne and A. Jnifene, “Design of a Link-less Hyper-Redundant Manipulator and Composite Shape Memory Alloy Actuator,” Canadian Journal of Electrical and Computer Engineering, Vol. 31, No. 4, Fall 2006. Also received the Best Paper Award at the 2006 IEEE Canadian Conference on Electrical and Computer Engineering (CCECE 2006), Ottawa, Canada, May 7 -10, 2006.
• A. Jnifene and W. R. Andrews, “Experimental Investigation of Nero-Fuzzy Systems in Vibration Control of Flexible Structures,” IEEE Transactions on Instrumentations and Measurement, Vol. 54, No. 3, June 2005.
• A. Jnifene and W. R. Andrews, “Fuzzy Logic Control of the End-point Vibration in an Experimental Flexible Beam,” Journal of Vibration and Control, Volume 10, No. 4, pp. 475-492, 2004.
• A. Jnifene and A. Fahim, “End-Point Control of a Two-Link Flexible Manipulator,” Journal of Vibration and Control, Volume 4, No. 6, pp.747-766, 1998.
• A. Jnifene and A. Fahim, “A Computed Torque/Time Delay Approach to the End-Point Control of a One-Link Flexible Manipulator,” Journal of Dynamics and Control, Vol. 7, No. 2, pp. 171-189, 1997.

Papers in refereed Conference Proceedings

• E. Lanteigne and A. Jnifene, “Obstacle avoidance of redundant manipulators using workspace density functions,” proceedings of the 2009 CCToMM Symposium on Mechanisms, Machines, and Mechatronics (2009 CCToMM M³ Symposium), Quebec City, Quebec, Canada, May 28-29, 2009.
• E. Lanteigne and A. Jnifene, “An Inverse Kinematics Algorithm for Hyper-Redundant Manipulators using Workspace Density Functions,” proceedings of the 4th International Conference on Advances in Mechanical Engineering and Mechanics, ICAMEM2008, Sousse, Tunisia, December 16-18, 2008.
• T. Davies and A. Jnifene, “Path Planning and Trajectory Control of Collaborative Mobile Robots Using Hybrid Control Architecture,” Proceedings of the 4th International Conference on Cybernetics and Information Technologies, Systems and Applications: CITSA 2007, Orlando, Florida, USA, Vol. III, pp. 74-80, July 12-15, 2007. (Best Paper Award).
• T. Davies and A. Jnifene, “Multiple Waypoint Path Planning for Mobile Robot using Genetic Algorithms,” Proceedings of CIMSA 2006 – IEEE International Conference on Computational Intelligence for Measurement Systems and Applications, La Coruna, Spain, July 12-14, 2006.
• A. Edgerton, A. Price, H. Naguib and A. Jnifene, “A Study on the Characterization and Mechanical Design of Shape Memory Alloys Based Actuators in Artificial Muscles,” CSME Forum 2006, Calgary, Alberta, May 21-24, 2006.
• Y. Dong and A. Jnifene, “Vibration Control of a Single Flexible-Link Flexible-Joint (FLFJ) Manipulator Using Time Delay,” Proceedings of the 2006 IEEE Canadian Conference on Electrical and Computer Engineering (CCECE 2006), Ottawa, Canada, May 7 -10, 2006.
• E. Lanteigne and A. Jnifene, “Design of a Link-less Hyper-Redundant Manipulator and Composite Shape Memory Alloy Actuator,” Proceedings of the 2006 IEEE Canadian Conference on Electrical and Computer Engineering (CCECE 2006), Ottawa, Canada, May 7 -10, 2006. (Best Paper Award).
• A. Price, A. Jnifene and H. E. Naguib, ”Biologically inspired anthropomorphic arm and dexterous robot hand actuated by smart-material-based artificial muscles,” Proceedings of SPIE, Volume 6173, Smart Structures and Materials 2006: Smart Structures and Integrated Systems, Yuji Matsuzaki, Editor, 61730X, 12 pages, San Diego, CA, March 2006.
• A. Jnifene, “Stability Analysis and Vibration Control of Flexible Structures Using Delayed Feedback Signals,” Proceedings of CIMSA 2005 – IEEE International Conference on Computational Intelligence for Measurement Systems and Applications, Giardini Naxos, Italy, July 20-22, 2005.
• C. Cocaud and A. Jnifene, “Stability of a 6 DOF Biped in the Dual Support Phase Using Fuzzy Control,” Proceedings of the IEEE-RAS/RSJ International Conference on Humanoid Robots (Humanoids2004).
• C. Cocaud, J. Kofman and A. Jnifene, “Neural-Network Approach to Determine Operator Hand Orientation for Teleoperated Control of a Robot Manipulator,” Opto-Mechatronic Sensors, Actuators, and Control, Proceedings of SPIE, Vol. 5602, pp. 172-183, 2004.
• C. Cocaud and A. Jnifene, “Analysis of a two DOF anthropomorphic arm driven by artificial muscles,” Proceedings of the IEEE International Workshop on Haptic, Audio and Visual Environments and their Applications (HAVE 2003), pp.37-42, Ottawa, Ontario, Canada, September 21-22, 2003.
• W. Andrews and A. Jnifene, “Active vibration control of a flexible robotic arm using tools of fuzzy logic and neural networks,” Proceedings of the International Conference of Advanced Robotics, ICAR2003, Coimbra, Portugal, 2003.
• A. Jnifene, M. Tarbouchi and M. Fricker, “Experimental Verification ofVibration Suppression Using Fuzzy Model Reference Self-Tuning Controller,” Proceedings of the 2nd Canada-US Cansmart Workshop on Smart Materials and Structures, Montreal, Quebec, Canada, pp.201-208, 2002.
• A. Jnifene, “Active Vibration Control of a Single Link Flexible Manipulator: An Experimental Investigation,” Proceedings of the 16th Canadian Congress of Applied Mechanics, Hamilton, Ontario, Canada, 1999.
• A. Jnifene, “Non-collocated control of a Single Link Flexible Manipulator: An Experimental Investigation,” Proceedings of the 4th International Conference on Dynamics and Control of Structures in Space, Cranfield University, UK, 1999.
• A. Jnifene, “End-Point Vibration Control of a Planar Manipulator with Flexible Links,” Proceedings of the CESA98 & IEEE-IMACS Conference, Hammamet, Tunisia, pp. 409-414, 1998.
• G. Warshaw, A. Jnifene and D. Nesculescu, “Nonlinear Friction Effects on Precise Motion Control of Manipulators,” Proceedings of the 13th Canadian Congress of Applied Mechanics, University of Manitoba, Winnipeg, Manitoba, Canada, 1991.

Technical Reports

• C. Cocaud and A. Jnifene, “Autonomous Task Allocation and Path Generation of UAVs,” A technical report and Software User Manual, submitted to Defence Research & Development Canada (DRDC), Ottawa, Ontario, Canada, January 2006.
• C. Cocaud, A. Price, A. Edgerton, A. Jnifene and H. Naguib,“Smart Material Based Actuators For Robotics and Intelligent Structures,” Submitted to the Institute for Robotic and Intelligent Systems, June 30, 2004.

Poster Presentations

• C. Cocaud, A. Edgerton, A. Price, H. E. Naguib, and A. Jnifene, "Design andcharacterization of linear actuators based on Shape Memory Alloys," poster presentation at Partnerships 2004, Materials and Manufacturing Ontario (MMO), Toronto, Ontario, June 2004.
• C. Cocaud, A. Edgerton, A. Price, A. Jnifene and H. E. Naguib, "SMA based artificial muscles for biomimetic robots," poster & demo presentation at IS2004: 14th Annual Canadian Conference on Intelligent Systems, Ottawa, Ontario, June 6 - 8, 2004.
• A. Manninen, Choonghee Jo, H. E. Naguib and A. Jnifene, poster presentation at Partnerships2003,Materials and Manufacturing Ontario (MMO), Toronto, Ontario, June 2003.

Other Publications

• A. Jnifene, "Dynamics and Control of Lightweight Flexible Manipulators," Ph.D. Thesis, Mechanical Engineering, University of Ottawa, May 1996.
• A. Jnifene, “Analysis and Control of a Spring Balanced Robot Arm,” M.A.Sc. Thesis, University of Ottawa, Canada, 1989.

Completed Graduate Theses & M.Eng Reports: Supervised & Co-supervised

• L. Zhou, “Effect of Non-collocated Sensor/Actuators on the Vibration Control of Flexible Plates,” M. Eng. Report, Ottawa-Carleton Institute for Mechanical and Aerospace Engineering, Department Mechanical Engineering, University of Ottawa, Ottawa, Ontario, Canada, supervised.
• S. McRae, “Trajectory Planning for a Quadruped Robot,” MASc. Thesis, Department of Mechanical Engineering, Royal Military College of Canada, Kingston, Ontario, Canada, supervised.
• D. Jehan, “Effect of Sensor Placement on the Identification of Higher Modes in Flexible Structures,” MASc. Thesis, Department of Mechanical Engineering, Royal Military College of Canada, Kingston, Ontario, Canada, supervised
• T. Davies, “Path Planning and Trajectory Control of Collaborative Mobile Robots Using Hybrid Control Architecture,” M.A.Sc. Thesis, Department of Mechanical Engineering, Royal Military College of Canada, Kingston, Ontario, Canada, supervised.
• B. Zargar, “Non-linear Control and Model Validation of Suspension Systems with Air-springs,” M.A.Sc. Thesis, Ottawa-Carleton Institute for Mechanical and Aerospace Engineering, Department Mechanical Engineering, University of Ottawa, Ottawa, Ontario, Canada, co-supervised with Dr Fahim.
• C. Cocaud, “Autonomous Task Allocation and Path Generation of Unmanned Aerial Vehicles,” M.A.Sc. Thesis, Ottawa-Carleton Institute for Mechanical and Aerospace Engineering, Department Mechanical Engineering, University of Ottawa, Ottawa, Ontario, Canada, supervised.
• E. Lanteigne, “Design of Composite SMA Actuator for a Pressurized Hyper-redundant Manipulator,” M.A.Sc. Thesis, Ottawa-Carleton Institute for Mechanical and Aerospace Engineering, Department Mechanical Engineering, University of Ottawa, Ottawa, Ontario, Canada, supervised.
• A. Price, “Biologically Inspired Dexterous Robot Hand Actuated by Smart Material Based Artificial Muscles,” M.A.Sc. Thesis, Ottawa-Carleton Institute for Mechanical and Aerospace Engineering, Department Mechanical Engineering, University of Ottawa, Ottawa, Ontario, Canada, co-supervised with Dr Naguib.
• A. Edgerton, “On the Thermomechanical Modeling of NiTi Shape Memory Alloy for Use in Artificial Muscles,” M. Eng. Report, Ottawa-Carleton Institute for Mechanical and Aerospace Engineering, Department Mechanical Engineering, University of Ottawa, Ottawa, Ontario, Canada, co-supervised with Dr Naguib.
• Y. Dong, “Dynamic Analysis and Position Control of a Single Flexible-Link Flexible-Joint Robot Manipulator Using Time Delay,” M.A.Sc. Thesis, Ottawa-Carleton Institute for Mechanical and Aerospace Engineering, Department Mechanical Engineering, University of Ottawa, Ottawa, Ontario, Canada, supervised.
• R. Daher, “Fuzzy Neural Approach to Gas Turbine Control: Case Study,” M. Eng Thesis, Ottawa-Carleton Institute for Mechanical and Aerospace Engineering, Department of Mechanical and Aerospace Engineering Carleton University, Ottawa, Ontario, Canada, co-supervised with Dr. Gauthier.
• K. Shen, “A Comparative Study and Analysis of Different Types of Robots and their Locomotion,” M. Eng. Report, Ottawa-Carleton Institute for Mechanical and Aerospace Engineering, Department Mechanical Engineering, University of Ottawa, Ottawa, Ontario, Canada, supervised.
• M. Mannan, “Optimum Positioning of Sensors and Actuators on Flexible Structures,” M. Eng Report, Ottawa-Carleton Institute for Mechanical and Aerospace Engineering, Department Mechanical Engineering, University of Ottawa, Ottawa, Ontario, Canada, co-supervised with Dr. Naguib.
• B. Alstrom, “Development of an Airborne Torque Compensation System for the Advanced Systems Research Aircraft (ASRA) and the Griffon Helicopter”, M.A.Sc. Thesis, Department of Mechanical Engineering, Royal Military College of Canada, Kingston, Ontario, Canada, supervised.
• M. Fricker, “Adaptive Control and Vibration Suppression of a Flexible-link Manipulator Using Fuzzy Logic,” M.A.Sc. Thesis, Department of Electrical and Computer Engineering, Royal Military College of Canada, Kingston, Ontario, Canada, co-supervised with Dr Tarbouchi.
• W. Andrews, “Active Vibration Control of Flexible Structures Using Tools of Fuzzy Logic and Neural Networks,” M.A.Sc. Thesis, Department of Mechanical Engineering, Royal Military College of Canada, Kingston, Ontario, Canada, supervised.
• P. Egner, “Design, Implementation, and Testing of a Digital Control System for a Small Gas Turbine Engine,” M.A.Sc. Thesis, Department of Mechanical Engineering, Royal Military College of Canada, Kingston, Ontario, Canada, co-supervised with Dr Gauthier.