Amor Jnifene

M. Amor Jnifene
Dr.
Amor Jnifene
B.A.Sc., M.A.Sc., Ph.D., P.Eng. Professor and Associate Dean of Engineering
Office:
S2116
Telephone:
(613) 541-6000 ext 6455
Fax:
(613) 542-8612
E-mail:
Department of Mechanical and Aerospace Engineering

College Address

Royal Military College of Canada
PO Box 17000, Station Forces
Kingston, Ontario, CANADA
K7K 7B4

Brief History

Education

  • B.A.Sc. (Mechanical Engineering) - University of Ottawa, Ottawa, Ontario, Canada.
  • M.A.Sc. (Robotics & Control) - University of Ottawa, Ottawa, Ontario, Canada.
  • Ph.D. (Robotics & Control) - University of Ottawa, Ottawa, Ontario, Canada.

Brief Biography

Dr Jnifene received his PhD from the University of Ottawa in 1996 in the area of robotic and control systems. The main topic of Dr Jnifene's PhD thesis is on the dynamics and control of robot manipulators with flexible. The main contribution of this work was on the use of Time Delay Control (TDC) for active vibration control. Dr Jnifene's current research includes Dynamics and Control of Flexible Structures, Collaborative Multi-Robot Systems, Adaptive Structure, Intelligent Control, Biologically Inspired Robotics Systems, and Path Planning and Formation Control of Unmanned Aerial Vehicles (UAVs). Dr Jnifene is a reviewer for several international journals and he is currently a member of the editorial board for the Canadian Transactions for Mechanical Engineering.

Specializations and Research Interests (Keywords)

  • Robot Dynamics and Control
  • Intelligent Control
  • Active Vibration Control of Flexible Structure
  • Vehicle Dynamics
  • Mechatronics
  • Path Planning and Control of Collaborative Multiple Mobile Robots
  • Smart Material Based Artificial Muscles for Robotic Application

Current and Recent Teaching Duties

Undergraduate Courses

Course Number Course Name
MEE345A Applied Mechanics
MEE383B Measurement Systems and Devices
MEE443B Control Systems
MEE346B Dynamics of physical Systems
MEE437B Robot Dynamics and Control

Graduate Courses

Course Number Course Name
ME551A State-Space Control
MEE541A Mechanical Vibrations
MEE545B Advanced Control Systems

Publications

Journal papers

  • E. Lanteigne, A. Jnifene, (2014), “Biologically Inspired Node Generation Algorithm for Path Planning of Hyper-redundant Manipulators using Probabilistic Roadmap,” International Journal of Automation and Computing, 11(2), April 2014, pp.153-161.
  • B. Zargar, A. Fahim, A. Jnifene, (2012), "Development, Validation, and Parameter Sensitivity Analyses of a Nonlinear Mathematical Model of Air Springs," Journal of Vibration and Control, Vol. 18, No. 12, 2012, pp. 1777-1787.
  • C. Cocaud, A. Jnifene, (2011), "Environment mapping using probabilistic quadtree for guidance and control of autonomous mobile robots," International Journal of Control and Intelligent Systems, Vol. 39, No. 4, 2011, DOI: 10.2316/Journal.201.2011.4.201-2292.
  • E. Lanteigne, A. Jnifene, (2009), "Obstacle avoidance of redundant manipulators using workspace density functions," Transactions of the Canadian Society for Mechanical Engineering, Vol. 33, No. 4, pp. 597-608, 2009.
  • T. Davies, A. Jnifene, (2008), "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.
  • Cedric Cocaud, A. Jnifene, Bumsoo Kim, (2008), "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, A. Jnifene, (2008), "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, H. E. Naguib, (2007), "Design and Control of a Shape Memory Alloy Based Dexterous Robot Hand," Smart Materials and Structures, 16 (2007), pp. 1401-1414.
  • C. Cocaud, A. Price, A. Jnifene, H. E. Naguib, (2007) "Position control of a two-link robotic arm powered by Smart Material based artificial muscles," International Journal of Mechanics and Materials in Design, 3(2007), 223-236.
  • A. Jnifene, (2007) "Active vibration control of flexible structures using delayed position feedback," Systems and Control Letters, Vol. 56, Issue 3, March 2007, pp. 215-222.
  • A. Price, A. Edgerton, C. Cocaud, H. Naguib, A. Jnifene, (2007) "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, pp. 11-18, 2007.
  • E. Lanteigne, A. Jnifene, (2006), "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, pp. 191-194, 2006.
  • A. Jnifene, W. R. Andrews (2005), "Experimental Investigation of Nero-Fuzzy Systems in Vibration Control of Flexible Structures," IEEE Transactions on Instrumentations and Measurement, Vol. 54, No. 3, pp. 1200-1208, 2005.
  • A. Jnifene, W. R. Andrews (2004), "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.
  • A. Jnifene, A. Fahim (1998), "End-Point Control of a Two-Link Flexible Manipulator," Journal of Vibration and Control, Volume 4, No. 6, pp.747-766.
  • A. Jnifene, A. Fahim (1997), "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.

Papers in refereed Conference Proceedings

  • E. Lanteigne, A. Jnifene, (2011), "'Small Tree probabilistic roadmap planner," Proceedings of the International Conference on Autonomous and Intelligent Systems, AIS2011, June 22-24, 2011, Burnaby, BC, Canada, pp: 11-20.
  • E. Lanteigne, A. Jnifene, (2010), "A probabilistic roadmap planner for highly redundant manipulators," Proceedings of the 2010 CSME forum, June 7-9, 2010, Victoria, British Columbia, Canada. (Best student paper award).
  • C. Cocaud, A. Jnifene, (2010), "Environment mapping using probabilistic quadtree for guidance and control of autonomous mobile robots," Proceedings of the International Conference on Autonomous and Intelligent Systems, AIS 2010, June 21-23, 2010, Povoa de Varzim, Portugal.
  • E. Lanteigne, A. Jnifene, (2009), "Obstacle avoidance of redundant manipulators using workspace density functions," proceedings of the 2009 CCToMM Symposium on Mechanisms, Machines, and Mechatronics (2009 CCToMM M&³3; Symposium), May 28-29, 2009, Quebec City, Québec, Canada.
  • E. Lanteigne, A. Jnifene, (2008), "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, 16-18 December, 2008, Sousse, Tunisia.
  • T. Davies, A. Jnifene, (2007), "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, July 12-15, 2007, Orlando, Florida, USA, Vol. III, pp. 74-80. (Best Paper Award).
  • T. Davies, A. Jnifene, (2006), "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, 12-14 July 2006.
  • A. Edgerton, A. Price, H. Naguib, A. Jnifene, (2006), "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, A. Jnifene, (2006), "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, A. Jnifene, (2006), "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, H. E. Naguib, (2006), "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 (2005), "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, 20-22 July 2005.
  • C. Cocaud, A. Jnifene (2004), "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, A. Jnifene (2004), "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.
  • C. Cocaud, A. Jnifene (2003), "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.
  • W. Andrews, A. Jnifene (2003), "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.
  • A. Jnifene, M. Tarbouchi, M. Fricker (2002), "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.
  • A. Jnifene, (1999), "Active Vibration Control of a Single Link Flexible Manipulator: An Experimental Investigation," Proceedings of the 16th Canadian Congress of Applied Mechanics, Hamilton, Ontario, Canada.
  • A. Jnifene, (1999), "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.
  • A. Jnifene, (1998), "End-Point Vibration Control of a Planar Manipulator with Flexible Links," Proceedings of the CESA98 & IEEE-IMACS Conference, Hammamet, Tunisia, 1998, pp. 409-414.
  • G. Warshaw, A. Jnifene, D. Nesculescu, (1991), "Nonlinear Friction Effects on Precise Motion Control of Manipulators," Proceedings of the 13th Canadian Congress of Applied Mechanics, University of Manitoba, Winnipeg, Manitoba, Canada.

Technical Reports

  • C. Cocaud, 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, H. Naguib, "Smart Material Based Actuators For Robotics and Intelligent Structures," Submitted to the Institute for Robotic and Intelligent Systems, June 30, 2004.

Technical Presentations

  • A. Jnifene, (2004), "Application of Smart Structures in Active Vibration Control and Bio-robotics," Department of Mechanical Engineering, Royal Military College of Canada, May 10, 2004.
  • A. Jnifene, (2003), "Active Vibration Control of a Flexible Beam Using Tools of Fuzzy Logic and Neural Networks," Presented at the International Conference on Advanced Robotics, ICAR2003, Coimbra, Portugal, June 30-July 5, 2003.
  • A. Jnifene, (2002), "Experimental Verification of Vibration Suppression Using Fuzzy Model Reference Self-Tuning Controller," Presented at the 2nd Canada-US Cansmart Workshop on Smart Materials and Structures, Montreal, Quebec, Canada, Oct.10-11, 2002.
  • A. Jnifene, (2001), "Experiments on Active Vibration Control of Flexible Structures," Ottawa Carleton Institute of Mechanical and Aerospace Engineering (OCIMAE) semi-annual seminar, Carleton University, December 7, 2001.
  • A. Jnifene, (1999), "Active Vibration Control of a Single Link Flexible Manipulator: An Experimental Investigation," Presented at the 13th Canadian Conference on Applied Mechanics, CANCAM99, Hamilton, Ontario, Canada, May 30-June 3, 1999.
  • A. Jnifene, (1998), "Robotics Research in Mechanical Engineering at the Royal Military College of Canada", Presented at the Royal Military College of Canada, October 2, 1998.
  • A. Jnifene, (1998), "Vibration Control of a Planar Manipulator with Flexible Links," Presented at the CESA'98 & IEEE-IMACS Conference, Hammamet, Tunisia, April 1-4, 1998.
  • A. Jnifene, (1998), "Trends in Active Vibration Control of Flexible Structures," Presented at the Department of Mechanical Engineering, University of Ottawa, Ottawa, Ontario, Canada, June 16, 1998.
  • A. Jnifene, (1996), "Non-collocated control of Lightweight Flexible Manipulators," Presented at the Faculty of Engineering, Lakehead University, Thunder Bay, Ontario, Canada, June 27, 1996.

Poster Presentations

  • C. Cocaud, A. Edgerton, A. Price, H. E. Naguib, and A. Jnifene, (2004), "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, (2004), "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, Amor Jnifene, (2003), 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

  • M. Laliberte (2012), "Effect of Pitch Angle and Rotor Speed on Bending-Bending Elastic Coupling of the ch149 Cormorant Helicopter Tail Rotor Blades," MASc. Thesis, Department of Mechanical and Aerospace Engineering, Royal Military College of Canada, Kingston, Ontario, Canada, Supervised.
  • E. Lanteigne (2011), "Inverse Kinematics and Path Planning Methods For Discretely-Actuated Hyper-Redundant Manipulators," PhD Thesis, Department of Mechanical and Aerospace Engineering, Royal Military College of Canada, Kingston, Ontario, Canada, supervised
  • L. Zhou (2008), "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 (2008), "Trajectory Planning for a Quadruped Robot," MASc. Thesis, Department of Mechanical Engineering, Royal Military College of Canada, Kingston, Ontario, Canada, supervised.
  • D. Jehan (2008), "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 (2007), "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 (2007), "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 (2006), "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 (2006), "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 (2006), "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 (2006), "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 (2005), "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 (2005), "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 (2005), "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 (2005), "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 (2002), "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 (2002), "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 (2001), "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 (1998), "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.
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