Dr M Osman Tokhi
Reader

Address:
M. O. Tokhi, BSc, PhD, CEng, FIET, SMIEEE, MIIAV, MCA
Department of Automatic Control and Systems Engineering
University of Sheffield
Sheffield
S1 3JD
Tel: (+44) (0)114 222 5617
Fax: (+44) (0)114 222 5683
Email: o.tokhi @ sheffield.ac.uk
Room: C2, Amy Johnson Building

Research Interests
Recent Awards
Recent Research Grants
Recent Keynote Lectures
Current Teaching
Current Administration
Selected Professional Activities
Selected Publications

Current research interests

• Active noise and vibration control
• • Robust design of active control systems, with due consideration of physical extent of cancellation and geometrical arrangement of system components.
  • Modelling, simulation and control of flexible and hybrid flexible/rigid manoeuvring systems.
  • Modelling, simulation and control of 1D and 2D flexible structures.
• Adaptive/intelligent and soft computing techniques for modelling and control
• • Development of new bio-inspired optimisation algorithms based on e.g. genetic algorithms, swarm intelligence, artificial immune system, bacterial foraging, etc.
  • Adaptive/intelligent methods based on combined capabilities of neural networks, fuzzy logic and bio-inspired optimisation approaches.
  • Generic approaches for model-based and non-model-based control system design.
  • Optimisation techniques for structural design of soft-computing paradigms.
• High-performance architectures for real-time signal processing and control
• • Code optimisation for efficient implementation of signal processing and control algorithms.
  • Digital signal processing and parallel processing for real-time control applications.
  • Heterogeneous architectures for parallel real-time control.
  • Intelligent embedded Internet for dynamic monitoring and control.
  • Performance evaluation and design tools for heterogeneous parallel architectures.
• Biomedical applications of robotics and control
• • Assistive techniques of mobility for disabled and elderly.
  • Muscle and joint modelling techniques.
  • Intelligent techniques for gait restoration in paraplegia.
  • Mechanisms for exercise, with benefits of rehabilitation, for paraplegia. These include rowing, cycling, treadmill walking, etc.
  • Humanoid and mobile robotic systems.

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  Recent Awards

  • Nominated best paper in the category of Walking Robots, 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Nagoya, Japan, 31 August – 3 September 2010.
  • Best Paper Award, 14th International Conference on Methods and Models in Automation and Robotics, Miedzyzdroje (Poland), 19 - 21 August 2009.
  • Nominated best paper in the category of Supporting Technologies, Tenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Singapore, 16–18 July 2007.
  • Best Paper Award, IEEE SMC UK-RI Chapter Conference 2004 on Intelligent Cybernetic Systems, Londonderry (UK), 07–08 September 2004.
  • The IEE F C Williams Premium Award, 1996

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  Recent Research Awards

  INSF (Iranian National Science Foundation), Tokhi MO with Gharooni SC, Iran University of Medical Sciences & Health Services, USWR, CLAWAR Asociation Iran Chapter– Designing and development of functional electrical stimulation-assisted rowing machine and its efficacy in patients with spinal cord injury, Oct 2011 – Sept 2013, £12,000
  
  BSI, Safety standard for "Robots in personal care", 2007 – 2010, £8,116
  
  EPSRC (Bridging the Gaps), Tokhi MO with Zinober A (Applied Mathematics) and Triantafyllapoulos K (Probability and Statistics) - Uncertainty analysis for set-point tracking and vibration control of flexible manoeuvring systems, 2009, £21,368
  
  UoSh (Knowledge Transfer Rapid Response Fund), Tokhi MO with Tsuchiya A (ScHARR and Economics), Maheswaran R (ScHARR), Piling R (Sheffield Renewables) –Effect of wind turbines on health & wellbeing, Oct 2009 –Jan 2010, £4,536
  
  The British Council (DelPHE scheme), Tokhi MO with Kabul University (Afghanistan) - Use of ICT for education and training in higher education sector, Sept 2008 – Aug 2011, £60,000
  
  EC GROWTH Thematic Network CLAWAR, Mobile robotic demonstrators and applications (Dissemination), 2002 – 2005, £25,140
  
  EPSRC, Tokhi MO with University of Leeds, University of Southampton, Salisbury District Hospital, The Inspire Foundation, and Spinal Injuries Association – Bio-robotic walking orthoses - phase 1, April 2001–March 2004, £114,933
  
  The British Council (Treaty of Windsor Scheme), Tokhi MO with IST - Technical University of Lisbon, Portugal – Effective modelling and control of flexible robot manipulators, April 2002 –March 2004, £3,000
  
  Association of Commonwealth Universities – High-performance real-time computing, Oct 2000 – Sept 2001, £2,500
  
  EPSRC (Case Award), Tokhi MO with Aculab plc – Echo and noise cancellation in telephone systems, Jan 1998 – Dec 2001, £37,110
  
  EPSRC (Case Award), Tokhi MO with Aculab plc – Intelligent automatic speech recognition, Jan 1997 – Dec 2000, £37,110
  
  Royal Academy of Engineering – International conference grant, 1999-2005, £3,900
  
  The Royal Society – International conference grant, 1999-2001, £1,880

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  Recent Keynote Lectures

  • Fifth Asian-Pacific International Congress of Anatomists and 8th Iranian Congress of Anatomical Sciences, Tehran (Iran), 2008 on “FES-assisted paraplegic mobility and exercise”
  • International Conference on Computer, Control and Communication, Karachi (Pakistan), 2007 on “Particle swarm optimisation algorithms and their application to controller design for flexible structure systems”
  • National Conference on Prospected Technology, Bandung (Indonesia), 2007 on “Selection and design of command shaping with multi-objective genetic algorithms for vibration control in flexible manoeuvring systems”
  • Second International Conference on Intelligent Knowledge Systems, Istanbul (Turkey), 2005 on “Control system design with genetic optimisation”
  • Thirteenth International Conference on Noise Control, Gdynia (Poland), 2004 on “Intelligent methods for active noise and vibration control”
  • Sixth Conference on Active Noise and Vibration Control, Cracow (Poland), 2003 on “Input shaping and feedback control of a single-link flexible manipulator”
  • Fifth Conference on Active Methods for Reduction of Noise and Vibration, Krynica (Poland), 2001 on “Soft computing control of flexible manipulators"

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  Current Teaching

  • ACS326 – Distributed Real-time Control
  • ACS406 – Controller Design
  • ACS6010 – Foundations of Control Systems – Sampled Data Systems
  • ACS6109 – Active Noise and Vibration Control

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  Current Administration

  • MSc Programme Leader.
  • Coordinator of MSc Individual Projects.
  • Member, Departmental Learning and Teaching Committee.
  • Member, Departmental Student Affairs Committee.

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  Selected Professional Activities

  • Learned Societies
  • • Vice-Chairman and Co-Founder, CLAWAR Association (http://www.clawar.org/)
    • Member, IFAC Technical Committee TC 3.1 Computers for Control (http://tc.ifac-control.org/3/1)
    • Member, IFAC Technical Committee TC 3.2 Computational Intelligence in Control (http://tc.ifac-control.org/3/2)
    • Technical Advisor, IET Professional Network on "Concepts for Automation Control"
    • Member, BSI AMT/00-/02 – Robots and robotic devices – Committee
    • Member, ISO/TC184/SC2/WG8 Working Group on Standards for Mobile Service Robots
    • Member, ISO/TC184/SC2/WG7 Working Group on Robots in Personal Care
    • Member, ISO/TC184/SC2/WG1 Working Group on Robotics Vocabulary
    • Executive Director, CLAWAR Association (2005 –2010)
    • Member, Board of Directors of International Institute of Acoustics and Vibration (July 2004–July 2008)
  • Editorial Contributions
  • • Co-Editor, Book Series on Mobile Service Robotics, Woodhead Publishing Company, UK
    • Member of Editorial Advisory Board, Industrial Robot Journal
    • Member of Editorial Board, International Journal of Low Frequency Noise, Vibration and Active Control
    • Editor-in-Chief, Advances in Acoustics and Vibration (2006 –2010)
    • Associate Editor, Robotica (May 2008 – March 2011)
    • Associate Scientific Editor, International Journal of Acoustics and Vibration (1996-2009).
    • Editor, CLAWAR Newsletter (2002–2007)
  • Conference Contributions
  • • Program Chair, International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR) series, 2007 - present
    • General Chair, CLAWAR-2005: International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, London, September 2005
    • Co-chair and co-founder, IEE Inter-Active on-line International Conference on Active Control of Noise and Vibration (1999; 2001).
    • Member of International Program Committee of several international conferences
    • Session chair at several international conferences
  • External Examiner of research and taught programmes at several national and international institutions.
  • Reviewer of research proposals for several funding bodies
  • Referee of several international journals

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  Selected Publications

  • AHMAD, S. M., CHIPPERFIELD, A. J. and TOKHI, M. O. (2004). Dynamic modelling and open-loop control of a two degree of freedom twin rotor multi-input multi-output system. Proceedings of IMechE-I: Journal of Systems and Control Engineering, 218, (I6), pp. 451–463.
  • ALAM, M. S. and TOKHI, M. O. (2008). Designing feedforward command shapers with multi-objective genetic optimisation for vibration control of a single-link flexible manipulator. Engineering Applications of Artificial Intelligence, 21, (2), pp. 229–246.
  • ALAM, M. S. and TOKHI, M. O. (2008). Hybrid fuzzy logic control with genetic optimisation of a single-link flexible manipulator. Engineering Applications of Artificial Intelligence, 21, (6), pp. 858–873.
  • ALAM, M. S. and TOKHI, M. O. (2009). Selecting and designing command shapers for vibration control of flexible manipulators: A multi-objective optimization approach. International Journal of Acoustics and Vibration, 14, (4), pp. 179–187.
  • AZAD, A. K. M., TOKHI, M. O. and SHAHEED, M. H. (2007). A software environment for intelligent modelling and simulation of flexible manipulator systems, Computers in Education Journal, XVII, (4), pp. 86–103.
  • GHAROONI, S., HELLER, B. and TOKHI, M. O. (2001). A new hybrid spring brake orthosis for controlling hip and flexion in the swing phase. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 9, (1), pp. 106 – 107.
  • HOSSAIN, M. H., KABIR, U. and TOKHI, M. O. (2002). Impact of data dependencies in real-time high performance computing. Microprocessors and Microsystems, 26, (6), pp. 253 – 261.
  • HOSSAIN, M. A. and TOKHI, M. O. (2006). Real-time design constraints in implementing active vibration control algorithms. International Journal of Automation and Computing, 3, (3), pp. 252–262.
  • IKUTA. A., TOKHI, O. and OHTA, M. (2001). A cancellation method of background noise for a sound environment system with unknown structure. IEICE Transactions on Fundamentals of Electronics, Communications and Computer Science, E84-A, (2), pp. 457-466.
  • JAILANI, R., TOKHI, M. O. and GHAROONI, S. (2010). Hybrid orthosis: The technology for spinal cord injury. Journal of applied Sciences, 10, (22), pp. 2785 – 2792.
  • JAILANI, R., TOKHI, M. O., GHAROONI, S., HUSSAIN, Z. (2009). A novel approach in development of dynamic muscle model for paraplegic with functional electrical stimulation. Journal of Engineering and Applied Sciences, 4, (4), pp. 272-276.
  • KARLIK, B., TOKHI, M. O. and ALCI, M. (2003). A fuzzy clustering neural network architecture for multi-function upper-limb prosthesis. IEEE Transactions on Biomedical Engineering, 50, (11), pp. 1255–1261.
  • MAT DARUS, I. Z. and TOKHI, M. O. (2005). Soft computing-based active vibration control of a flexible structure. Engineering Applications of Artificial Intelligence, 18, (1), pp. 93–114.
  • MD ZAIN, M. Z., TOKHI, M. O. and MOHAMED, Z. (2006). Hybrid learning control schemes with input-shaping of a flexible manipulator system. Mechatronics, 16, pp. 209–219.
  • MOHAMED, Z., MARTINS, J., TOKHI, M. O., SA DA COSTA, J. and BOTTO, M. A. (2005). Vibration control of a very flexible manipulator system. Control Engineering Practice, 13, (3), pp. 267–277.
  • MOHAMED, Z. and TOKHI, M. O. (2003). Hybrid control schemes for input tracking and vibration suppression of a flexible manipulator. Proceedings of IMechE-I: Journal of Systems and Control Engineering, 217, (I1), pp. 23–34.
  • MOHAMED, Z. and TOKHI, M. O. (2002). A symbolic manipulation approach for modelling and performance analysis of flexible manipulator systems. International Journal of Acoustics and Vibration, 7, (1), pp. 27–37.
  • MOHD HASHIM, S. Z. and TOKHI, M. O. (2004). Genetic modelling and simulation of flexible structures. Studies in Informatics and Control, 13, (4), pp. 253–264.
  • RAJA AHMAD, R. K., TOKHI, M. O. (2009). Design of self-tuning minimum effort active noise control with feedback inclusion architecture. Journal of Low Frequency Noise, Vibration and Active Control, 28, (3), pp. 205-215.
  • RAMOS-HERNANDEZ, D. N. and TOKHI, M. O. (2001). Performance evaluation of heterogeneous systems. Microprocessors and Microsystems, 25, (4), pp. 203–212.
  • SIDDIQUE, M. N. H. and TOKHI, M. O. (2006). GA-based neural fuzzy control of flexible-link manipulators. Engineering Letters, 13, (2), pp. 148–157.
  • SHARMA, S. K., IRWIN, G. W., TOKHI, M. O. and McLOONE, S. F. (2003). Learning soft computing control strategies in a modular neural network architecture. Engineering Applications of Artificial Intelligence, 16, (5–6), pp. 395–405.
  • TOKHI, M. O. (2004). Intelligent methods for active noise and vibration control. Archives of Acoustics, 29, (2), pp. 259–273.
  • TOKHI, M. O. (2003). Adaptive active control of noise and vibration. Archives of Control Sciences, 13, (2), pp. 117–139.
  • TOKHI, M. O., AL-MISKIRY, M. and BRISLAND, M. (2001). Real-time control of air motors using a pneumatic H-bridge. Control Engineering Practice, 9, (4), pp. 449–457.
  • TOKHI, M. O. and AZAD, A. K. M. (2008). Flexible robot manipulators – Modelling, simulation and control, The Institution of Engineering and Technology, Stevenage, UK.
  • TOKHI, M. O., HOSSAIN, M. A. and SHAHEED, M. H. (2003). Parallel computing for real-time signal processing and control, Springer-Verlag, London.
  • TOKHI, M. O., MOHAMED, Z. and SHAHEED, M. H. (2001). Dynamic characterisation of a flexible manipulator system. Robotica, 19, pp. 571 – 580.
  • TOKHI, M. O. and VERES, S. M. (2002). Active sound and vibration control – Theory and applications, Institution of Electrical Engineers, London, 2002.

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