Dr Hasan Shaheed

Reader in Robotics and Renewable Energy

School of Engineering and Materials Science
Queen Mary University of London

m.h.shaheed@qmul.ac.uk

www.sems.qmul.ac.uk/staff/m.h.shaheed/

Centre for Advanced Robotics
Centre for Bioengineering
Centre for Intelligent Transport

Research
Publications
Grants
Research Group
News

Research

Robotics and Solar Aerial Robotics, Healthcare Robotics, Assistive Technologies, Prosthetics, Sustainable Energy, Systems Engineering

Interests

Design, models development, control and optimisation of autonomous, robotics and renewable energy systems using traditional, artificial intelligence (AI) and machine learning (ML) approaches. Application areas include,

Publications

2026

Routes for reuse of aged pressure-driven membranes: Current status and future perspectives
Seibel FI Brião VB Graciola S Pontié M Hannachi A Shabani M Alyoun EM Shaheed MH
Desalination, Elsevier vol. 622

DOI 10.1016/j.desal.2025.119690

QMRO

01-03-2026

2025

Design and Integration of a 15-DOF Myoelectric Prosthetic Hand with Tendon-Driven Actuation and Force Feedback Control
Usman S Shaheed H Hussain S
In AI Enabled Robotic Loco-Manipulation, Springer Nature 73-85.

DOI 10.1007/978-3-032-09051-5_8

QMRO

30-10-2025

Towards Real-Time Prosthetic Control Using Multi-Domain Time-Frequency EMG Classification and ResNet Transfer Learning
2025 IEEE International Conference on Metrology for eXtended Reality, Artificial Intelligence and Neural Engineering (MetroXRAINE). vol. 00, 889-894.

DOI 10.1109/metroxraine66377.2025.11340137

QMRO

24-10-2025

2024

Integrated Model Predictive Control for Cooperative UAVs: Trajectory Tracking and Obstacle Avoidance
Yang X Vepa R Shaheed MH
2024 12th International Conference on Control, Mechatronics and Automation (ICCMA). vol. 00, 1-6.

DOI 10.1109/iccma63715.2024.10843922

13-11-2024

Reducing Hand Grasp Classes Based on Grip Geometry: Grasp Simulation Using a 20-DOF Anthropomorphic Hand
Nahiyan KMT Vepa R Shaheed MH
2024 12th International Conference on Control, Mechatronics and Automation (ICCMA). vol. 00, 211-216.

DOI 10.1109/iccma63715.2024.10843892

QMRO

13-11-2024

A structured framework to evaluate capsule endoscope locomotion systems
Dinkar DK Shaheed MH Herrington E Althoefer K Thaha MA
Progress in Biomedical Engineering, Iop Publishing vol. 6 (4), 042003-042003.

DOI 10.1088/2516-1091/ad819d

QMRO

01-10-2024

Rainwater for drinking purposes: An overview of challenges and perspectives
Brião VB Cadore JS Graciola S da Silva RV Giubel GOM Barbizan LD Lazzari T Agha S et al.
Wiley Interdisciplinary Reviews Water, Wiley vol. 11 (5)

DOI 10.1002/wat2.1746

QMRO

07-07-2024

A review of modeling and control of remote-controlled capsule endoscopes
Abdollahi AF Shaheed MH Thaha MA Vepa R
Expert Review of Medical Devices, Taylor & Francis vol. 21 (4), 293-306.

DOI 10.1080/17434440.2024.2336135

QMRO

02-04-2024

Development of a solar powered multirotor micro aerial vehicle
Abidali A Munjiza A
Scientific Reports, Springer Nature vol. 14 (1)

DOI 10.1038/s41598-024-54079-9

QMRO

08-03-2024

Locomotion system for a medical device
Thaha M Shaheed MH BERNTH JE
US Patent US20240023794A1.

QMRO

25-01-2024

2023

Adaptive Input Shaper for Payload Swing Control of a 5-DOF Tower Crane with Parameter Uncertainties and Obstacle Avoidance
Shaheed M Rahman SMFU Mohamed Z Husain AR Ramli L
Automation in Construction, Elsevier

DOI 10.1016/j.autcon.2023.104963

QMRO

17-06-2023

2022

Development and economic viability analysis of photovoltaic (PV) energy powered decentralized ultrafiltration of rainwater for potable use
Baú SRC Bevegnu M Giubel G Gamba V Cadore JS
Journal of Water Process Engineering, Elsevier vol. 50

DOI 10.1016/j.jwpe.2022.103228

QMRO

01-12-2022

Active Blade Pitch Control and Stabilization of a Wind Turbine Driven PMSG For Power Output Regulation
Chen YX Shaheed MH Vepa R
Wind Engineering, Sage Publications

DOI 10.1177/0309524X221122612

QMRO

19-09-2022

Optimised Sliding Mode Control of a Hexacopter: Simulation and Experiments
Sun C Mohamed Z Shaheed MH
Electronics, Mdpi vol. 11 (16)

DOI 10.3390/electronics11162519

QMRO

11-08-2022

Input shaping with an adaptive scheme for swing control of an underactuated tower crane under payload hoisting and mass variations
Rehman SMFU Mohamed Z Husain AR Jaafar HI
Mechanical Systems and Signal Processing, Elsevier vol. 175

DOI 10.1016/j.ymssp.2022.109106

01-08-2022

Locomotion system for a medical device
Thaha M Shaheed MH BERNTH J
World Patent .

QMRO

24-03-2022

Grey-box modelling and fuzzy logic control of a Leader-Follower Robot manipulator system: A hybrid Grey Wolf — Whale Optimization approach
Obadina OO Thaha MA Mohamed Z Shaheed MH
Isa Transactions, Elsevier

DOI 10.1016/j.isatra.2022.02.023

QMRO

08-03-2022

Impact of hydrodynamic conditions on optimum power generation in dual stage pressure retarded osmosis using spiral-wound membrane
AlZainati N Yadav S Altaee A Subbiah S Zaidi SJ Al-Juboori RA Chen Y
Energy Nexus, Elsevier vol. 5

DOI 10.1016/j.nexus.2021.100030

QMRO

01-03-2022

2021

Optimal design of a scaled-up PRO system using swarm intelligence approach
Chen Y Shi Z Shaheed MH
Science China Information Sciences, Springer Nature vol. 64 (12)

DOI 10.1007/s11432-020-3110-x

26-11-2021

Optimal Trajectory Synthesis for Spacecraft Asteroid Rendezvous
Vepa R Shaheed MH
Symmetry, Mdpi

DOI 10.3390/sym13081403

QMRO

02-08-2021

Hybrid renewable energy/hybrid desalination potentials for remote areas: Selected cases studied in Egypt
El-Hady B Kashyout A Hassan A Hassan G El-Banna Fath H El-Wahab Kassem A Elshimy H Ranjanvepa Shaheed MH
Rsc Advances vol. 11 (22), 13201-13219.

DOI 10.1039/d1ra00989c

QMRO

08-04-2021

Dynamic characterization of a master–slave robotic manipulator using a hybrid grey wolf–whale optimization algorithm
Obadina OO Thaha MA Althoefer K Shaheed MH
Journal of Vibration and Control, Sage Publications, 107754632110034-107754632110034.

DOI 10.1177/10775463211003402

QMRO

27-03-2021

Control of an Underactuated Double-Pendulum Overhead Crane using Improved Model Reference Command Shaping: Design, Simulation and Experiment
Jaafar HI Mohamed Z Ahmad MA Wahab NA Ramli L
Mechanical Systems and Signal Processing, Elsevier vol. 151 (2021)

DOI 10.1016/j.ymssp.2020.107358

QMRO

04-01-2021

2020

Response to comments on “Flying by the Sun only: The Solarcopter prototype”, 45 (2015) 209-214
Shaheed MH Abidali A Ahmed J Ahmed S Burba I Fani PJ Wojewoda K
Aerospace Science and Technology, Elsevier vol. 107 (2020), 106309-106309.

DOI 10.1016/j.ast.2020.106309

QMRO

21-10-2020

Development of an off-grid solar energy powered reverse osmosis desalination system for continuous production of freshwater with integrated photovoltaic thermal (PVT) cooling
Monjezi AA Chen Y Vepa R Kashyout AE-HB Hassan G Fath H Kassem AE-W Shaheed MH
Desalination, Elsevier vol. 495 (2020)

DOI 10.1016/j.desal.2020.114679

QMRO

20-08-2020

2019

Optimization of module pressure retarded osmosis membrane for maximum energy extraction
Chen Y Alanezi AA Zhou J Altaee A Shaheed MH
Journal of Water Process Engineering vol. 32

DOI 10.1016/j.jwpe.2019.100935

QMRO

13-09-2019

2018

A Modified Computed Torque Control Approach for a Teleoperation Master- Slave Robot Manipulator System
Obadina O Bernth J
UK-RAS Conference: Robots Working For and Among Us Proceedings. vol. 1, 29-31.

DOI 10.31256/ukras17.10

12-10-2018

A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator System
OBADINA OO THAHA MA ALTHOEFER K SHAHEED MH
Lecture Notes in Computer Science, Springer Verlag, 28-39.

DOI 10.1007/978-3-319-96728-8_3

QMRO

21-07-2018

Enhanced and Speedy Energy Extraction from a scaled-up Pressure Retarded Osmosis process with a Whale Optimization based Maximum Power Point Tracking
CHEN Y SHAHEED MH VEPA R
Energy, Elsevier vol. 153 (2018), 618-627.

DOI 10.1016/j.energy.2018.04.052

QMRO

12-04-2018

2017

Development of a two-stage gene selection method that incorporates a novel hybrid approach using the cuckoo optimization algorithm and harmony search for cancer classification
Elyasigomari V Lee DA Screen HRC SHAHEED MH
Journal of Biomedical Informatics vol. 67 (2017), 11-20.

DOI 10.1016/j.jbi.2017.01.016

QMRO

03-02-2017

2016

Evaluation of the detrimental effects in osmotic power assisted reverse osmosis (RO) desalination
He W Wang Y Elyasigomari V
Renewable Energy vol. 93, 608-619.

DOI 10.1016/j.renene.2016.02.067

01-08-2016

Dynamic battery cell model and state of charge estimation
Wijewardana S Vepa R Shaheed MH
Journal of Power Sources, Elsevier vol. 308, 109-120.

DOI 10.1016/j.jpowsour.2016.01.072

QMRO

01-03-2016

Maximum power point tracking (MPPT) control of pressure retarded osmosis (PRO) salinity power plant: Development and comparison of different techniques
He W Luo X Kiselychnyk O
Desalination vol. 389, 187-196.

DOI 10.1016/j.desal.2016.01.022

01-02-2016

An evaluation of membrane properties and process characteristics of a scaled-up pressure retarded osmosis (PRO) process
He W Wang Y Mujtaba IM
Desalination, Elsevier vol. 378, 1-13.

DOI 10.1016/j.desal.2015.08.022

QMRO

01-01-2016

Optimum Power Output Control of a Wind Turbine Rotor
Wijewardana S Shaheed MH Vepa R
International Journal of Rotating Machinery, Hindawi vol. 2016 (1), 1-8.

DOI 10.1155/2016/6935164

QMRO

01-01-2016

2015

Maximum power point tracking (MPPT) of a scale-up pressure retarded osmosis (PRO) osmotic power plant
He W Shaheed MH
Applied Energy, Elsevier vol. 158, 584-596.

DOI 10.1016/j.apenergy.2015.08.059

QMRO

01-11-2015

Cancer classification using a novel gene selection approach by means of shuffling based on data clustering with optimization
Elyasigomari V Mirjafari MS
Applied Soft Computing Journal vol. 35, 43-51.

DOI 10.1016/j.asoc.2015.06.015

QMRO

06-07-2015

Flying by the Sun only: The Solarcopter prototype
Shaheed MH Abidali A Ahmed J Ahmed S Burba I Fani PJ Wojewoda K
Aerospace Science and Technology vol. 45, 209-214.

DOI 10.1016/j.ast.2015.05.016

QMRO

08-06-2015

Stand-alone seawater RO (reverse osmosis) desalination powered by PV (photovoltaic) and PRO (pressure retarded osmosis)
He W Wang Y
Energy, Elsevier vol. 86, 423-435.

DOI 10.1016/j.energy.2015.04.046

QMRO

01-06-2015

NN-based modelling of a 2DOF TRMS using RPROP learning algorithm
Rahideh A Safavi AA
2007 European Control Conference (ECC)., 2648-2654.

DOI 10.23919/ecc.2007.7068649

25-03-2015

Enhanced energy generation and membrane performance by two-stage pressure retarded osmosis (PRO)
He W Wang Y
Desalination, Elsevier vol. 359, 186-199.

DOI 10.1016/j.desal.2014.12.014

QMRO

01-03-2015

2014

Modelling of osmotic energy from natural salt gradients due to pressure retarded osmosis: Effects of detrimental factors and flow schemes
He W Wang Y
Journal of Membrane Science vol. 471, 247-257.

DOI 10.1016/j.memsci.2014.08.002

QMRO

01-12-2014

Thermodynamic analysis of a stand-alone reverse osmosis desalination system powered by pressure retarded osmosis
He W Wang Y Shaheed MH
Desalination vol. 352, 27-37.

DOI 10.1016/j.desal.2014.08.006

03-11-2014

Energy and thermodynamic analysis of power generation using a natural salinity gradient based pressure retarded osmosis process
He W Yang W
Desalination, Elsevier/Science Direct vol. 350, 86-94.

DOI 10.1016/j.desal.2014.07.015

01-08-2014

2013

Modelling and Simulation of Osmotic Energy from Salinity Gradients: A Case Study from River Thames
He W Wang Y
2013 International Conference on Renewable Energy Research and Applications (ICRERA)., 907-912.

DOI 10.1109/icrera.2013.6749880

01-10-2013

Modelling and Control of the Barrett Hand for Grasping
Hasan MR Vepa R Shaheed H Huijberts H
, Institute of Electrical and Electronics Engineers (IEEE), 230-235.

DOI 10.1109/uksim.2013.142

07-06-2013

Grand challenges in magnetic capsule endoscopy
Carpi F Shaheed H
Expert Review of Medical Devices vol. 10 (4), 433-436.

DOI 10.1586/17434440.2013.811832

QMRO

01-01-2013

Modeling and interactional control of the multifingered hand
Hasan R Rahideh A
Icac 2013 Proceedings of the 19th International Conference on Automation and Computing Future Energy and Automation., 126-131.
01-01-2013

2012

Real time adaptive nonlinear model inversion control of a twin rotor MIMO system using neural networks
Rahideh A Bajodah AH
Engineering Applications of Artificial Intelligence vol. 25 (6), 1289-1297.

DOI 10.1016/j.engappai.2011.12.006

01-09-2012

Adaptive closed-loop control of a single-link flexible manipulator
SHAHEED MH Tokhi O
Journal of Vibration and Control, Sage Journal

DOI 10.1177/1077546312453066

16-08-2012

Constrained output feedback model predictive control for nonlinear systems
Rahideh A Shaheed MH
Control Engineering Practice vol. 20 (4), 431-443.

DOI 10.1016/j.conengprac.2011.12.003

01-04-2012

2011

A GOBF-Wavelet Wiener Model for Identification of Nonlinear Dynamic Systems
Salimifard M Safavi AA
The 2nd International Conference on Control, Instrumentation and Automation., 1200-1205.

DOI 10.1109/icciautom.2011.6356832

01-12-2011

Cancer Classification Using Clustering Based Gene Selection and Artificial Neural Networks
Rahideh A
The 2nd International Conference on Control, Instrumentation and Automation., 1175-1180.

DOI 10.1109/icciautom.2011.6356828

01-12-2011

Stable model predictive control for a nonlinear system
Rahideh A
Journal of The Franklin Institute vol. 348 (8), 1983-2004.

DOI 10.1016/j.jfranklin.2011.05.015

01-10-2011

Grey-box modelling of a non-linear aerodynamic system using genetic algorithms
Rahideh A Shaheed MH
P I Mech Eng G-J Aer vol. 225 (G8), 863-873.

DOI 10.1177/0954410011403817

01-08-2011

NONLINEAR TWO DoF DYNAMIC MODELLING OF A TRMS USING AN ADAPTIVE NETWORK BASED INFERENCE SYSTEM (ANFIS)
RAHIDEH A SHAHEED MH
Field Robotics., 283-291.

DOI 10.1142/9789814374286_0033

01-08-2011

2010

Real time nonlinear model predictive control for fast systems
Rahideh A
Speedam 2010 International Symposium on Power Electronics Electrical Drives Automation and Motion, 1732-1737.

DOI 10.1109/SPEEDAM.2010.5542075

20-09-2010

2009

WEB-BASED E-LEARNING FOR STUDYING FLEXIBLE MANIPULATOR SYSTEMS
AZAD AKM TOKHI MO SHAHEED MH
Mobile Robotics., 997-1004.

DOI 10.1142/9789814291279_0122

01-08-2009

Robust model predictive control of a twin rotor MIMO system
Rahideh A
IEEE 2009 International Conference on Mechatronics Icm 2009.

DOI 10.1109/ICMECH.2009.4957145

17-07-2009

Real Time Hybrid Fuzzy-PID Control of a Twin Rotor System
Rahideh A Shaheed MH
2009 IEEE International Conference on Mechatronics., 1-6.

DOI 10.1109/icmech.2009.4957144

01-04-2009

Real Time Hybrid Fuzzy-PID Control of a Twin Rotor System
Rahideh A
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS, VOLS 1 AND 2., 327-332.
01-01-2009

2008

Stable adaptive model predictive control for nonlinear systems
Rahideh A Shaheed MH Huijberts HJC
Proceedings of the American Control Conference., 1673-1678.

DOI 10.1109/ACC.2008.4586732

30-09-2008

Neural network-based modelling of a two-degrees-of-freedom twin rotor multiple input, multiple output system using conjugate gradient learning algorithms
Rahideh A
P I Mech Eng G-J Aer vol. 222 (G6), 757-771.

DOI 10.1243/09544100JAERO330

01-09-2008

OUTPUT FEEDBACK NONLINEAR MODEL PREDICTIVE CONTROL OF A TWIN ROTOR MIMO SYSTEM
RAHIDEH A SHAHEED MH
Advances in Mobile Robotics., 463-470.

DOI 10.1142/9789812835772_0056

01-08-2008

Dynamic modelling of a TRMS using analytical and empirical approaches
Rahideh A Shaheed MH Huijberts HJC
Control Engineering Practice vol. 16 (3), 241-259.

DOI 10.1016/j.conengprac.2007.04.008

01-03-2008

Open-loop control of flexible manipulators using command – generation techniques.
AZAD AKM SHAHEED M MOHAMED Z
In Flexible Manipulators: Modelling, Simulation and Control, Iet

DOI 10.1049/PBCE068E_8

01-01-2008

Parametric and non-parametric modelling of flexible manipulators
SHAHEED MH TOKHI MO TOKHI MO Azad AKM
In Flexible Robot Manipulators: Modelling, Simulation and Control, The Institution of Engineering and Technology 77-96.

DOI 10.1049/PBCE068E_4

01-01-2008

SCEFMAS-An environment for simulation and control of flexible manipulators systems.
SHAHEED M TOKHI M
In Flexible Manipulators: Modelling, Simulation and Control, The Institution of Engineering and Technology 477-499.
01-01-2008

DYNAMIC MODELLING OF A TWIN ROTOR MIMO SYSTEM USING GREY BOX APPROACH
Rahideh A
2008 5TH INTERNATIONAL SYMPOSIUM ON MECHATRONICS & ITS APPLICATIONS, SYMPOSIUM PROCEEDINGS., 237-242.

DOI 10.1109/ISMA.2008.4648835

01-01-2008

Neural Network Based Adaptive Nonlinear Model Inversion Control of a Twin Rotor System in Real Time
Rahideh A Shaheed MH Comley RA Amavasai BP Cheng X OGrady M Huyck C Siddique NH
PROCEEDINGS OF THE 2008 7TH IEEE INTERNATIONAL CONFERENCE ON CYBERNETIC INTELLIGENT SYSTEMS., 281-286.

DOI 10.1109/UKRICIS.2008.4798952

01-01-2008

Collocated and non-collocated control of flexible manipulators.
SHAHEED M TOKHI M AZAD A
In Flexible Manipulators: Modelling, Simulation and Control, Institution of Engineering and Technology

DOI 10.1049/PBCE068E_12

01-01-2008

2007

A software environment for intelligent modeling and simulation of flexible manipulator systems
Azad AKM Tokhi MO
Computers in Education Journal vol. 17 (4), 86-102.
01-10-2007

Adaptive Nonlinear Model Inversion Control of a Twin Rotor System Using Artificial Intelligence
Rahideh A Shaheed MH
2007 IEEE International Conference on Control Applications., 898-903.

DOI 10.1109/cca.2007.4389347

01-10-2007

Adaptive non-linear model inversion control of a twin rotor multi-input multi-output system using artificial intelligence
Rahideh A Shaheed HM Bajodah AH
P I Mech Eng G-J Aer vol. 221 (G3), 343-351.

DOI 10.1243/09544100JAERO155

01-06-2007

Mathematical dynamic modelling of a twin-rotor multiple input-multiple output system
Rahideh A
P I Mech Eng I-J Sys vol. 221 (I1), 89-101.

DOI 10.1243/09596518JSCE292

01-02-2007

Adaptive nonlinear model inversion control of a twin rotor system using artificial intelligence
Rahideh A Shaheed MH Bajodah AH
Proceedings of The 2007 IEEE International Symposium on Intelligent Control, Vols 1-3, 1160-1165.
01-01-2007

Adaptive Nonlinear model inversion control of a twin rotor system using artificial intelligence
Rahideh A Shaheed MH
Proceedings of The 2007 IEEE Conference on Control Applications, Vols 1-3, 1160-1165.
01-01-2007

Adaptive Nonlinear Model Inversion Control of a TRMS Using Artificial Intelligence
SHAHEED MH Rahideh A
Proceedings of The Institution of Mechanical Engineers, Part G, Journal of Aerospace Engineering vol. 1, 1-1.
01-01-2007

2006

Modelling and vibration control of a twin rotor system: A particle swarm optimisation approach
Alam MS Shaheed MH
13th International Congress on Sound and Vibration 2006 Icsv 2006. vol. 3, 2125-2132.
01-12-2006

Hybrid Fuzzy-PID-based Control of a Twin Rotor MIMO System
Rahideh A Shaheed MH
IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics., 48-53.

DOI 10.1109/iecon.2006.347596

01-11-2006

Hybrid Fuzzy-PID-based control of a twin rotor MIMO system
Rahideh A
IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11., 1258-1263.
01-01-2006

Mathematical Dynamic Modelling of a Twin Rotor MIMO System
SHAHEED MH
Proc. of Imeche Part I Jnl of Systems & Control Eng.
01-01-2006

Intelligent modelling of flexible manipulator systems
Shaheed MH Azad AKM Tokhi MO Virk GS Hossain MA
Climbing and Walking Robots., 607-614.

DOI 10.1007/3-540-26415-9_73

01-01-2006

2005

Adaptive inverse-dynamic and neuro-inverse-dynamic active vibration control of a single-link flexible manipulator
Shaheed MH Poerwanto H
P I Mech Eng I-J Sys vol. 219 (I6), 431-448.

DOI 10.1243/095965105X33554

01-09-2005

Feedforward neural network based non-linear dynamic modelling of a TRMS using RPROP algorithm
Shaheed MH
Aircr Eng Aerosp Tec vol. 77 (1), 13-22.

DOI 10.1108/00022660510576000

01-01-2005

2004

A matlab/simulink based environment for intelligent modelling and simulation of flexible manipulator systems
Azad AKM Tokhi MO Pathania A Shaheed MH
ASEE Annual Conference Proceedings., 9547-9560.
25-10-2004

Feed forward Neural Network Based Nonlinear Dynamic Modelling of a TRMS using RPROP Algorithm.
SHAHEED MH
Aircraft Engineering and Aerospace Technology
01-01-2004

Performance analysis of 4 types of conjugate gradient algorithms in the nonlinear dynamic modelling of a TRMS using feedforward neural networks
Shaheed MH
2004 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN & CYBERNETICS, VOLS 1-7., 5985-5990.

DOI 10.1109/ICSMC.2004.1401153

01-01-2004

2003

Parallel Computing for Real-time Signal Processing and Control
Tokhi MO Hossaian MA

01-01-2003

2002

Non-linear modelling of a one-degree-of-freedom twin-rotor multi-input multi-output system using radial basis function networks
Ahmad SM Shaheed MH Chipperfield AJ
P I Mech Eng G-J Aer vol. 216 (G4), 197-208.

DOI 10.1243/09544100260369731

01-01-2002

Dynamic modelling of a single-link flexible manipulator: parametric and non-parametric approaches
Shaheed MH
Robotica vol. 20, 93-109.

DOI 10.1017/S0263574701003678

01-01-2002

2001

Dynamic characterisation of a flexible manipulator system
Tokhi MO Mohamed Z
Robotica vol. 19, 571-580.

DOI 10.1017/s0263574700003209

01-09-2001

Modelling and open-loop control of a single-link flexible manipulator with neural networks
Shaheed MH
J Low Freq Noise V A vol. 20 (2), 105-131.

DOI 10.1260/0263092011493208

01-01-2001

Modelling and Open-Loop Control of a Single-Link Flexible Manipulator with Genetic Algorithms.
SHAHEED MH Azad AKM Chipperfield AJ
Journal of Low Frequency Noise, Vibration and Active Control vol. 20 (1), 39-55.

DOI 10.1260/0263092011492975

01-01-2001

2000

Dynamic modelling of a flexible manipulator system incorporating payload: Theory and experiments
Tokhi MO Shaheed MH
J Low Freq Noise V A vol. 19 (4), 209-229.

DOI 10.1260/0263092001493056

01-01-2000

Nonlinear modelling of a twin rotor mimo system using radial basis function networks
Ahmad SM Shaheed MH Chipperfield AJ
Proceedings of The IEEE 2000 National Aerospace and Electronics Conference, 313-320.

DOI 10.1109/naecon.2000.894926

01-01-2000

Control of a flexible manipulator using shaped inputs
Shaheed MH Tokhi MO Arabnia HR
IC-AI'2000: PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE, VOL 1-III., 1159-1165.
01-01-2000

1999

Finite element simulation of a flexible manipulator part 1: Sequential processing techniques
Tokhi MO Shaheed MH
J Low Freq Noise V A vol. 18 (4), 191-205.

DOI 10.1177/026309239901800404

01-01-1999

Finite element simulation of a flexible manipulator - Part 2: Parallel processing techniques
Tokhi MO Shaheed MH Ramos-Hernandez DN
J Low Freq Noise V A vol. 18 (3), 149-166.

DOI 10.1177/026309239901800305

01-01-1999

Dr Hasan Shaheed

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