Publications

Highlighted Publications (selected):

[1] Nahian Rahman, Nancy Deaton, Jun Sheng, Shing Shin Cheng, and Jaydev P. Desai, “Modular FBG Bending Sensor for Continuum Neurosurgical Robot”, in IEEE Robotics and Automation Letters (Volume: 4 , Issue: 2 , April 2019) DOI: 10.1109/LRA.2019.2896451.

[2] Desai, Jaydev P., Jun Sheng, Shing Shin Cheng, Xuefeng Wang, Nancy J. Deaton, and Nahian Rahman. "Towards Patient-Specific 3D-Printed Robotic Systems for Surgical Interventions." IEEE Transactions on Medical Robotics and Bionics (2019), volume: 1, issue: 2.

[3] Nahian Rahman, Darwin Caldwell, Ferdinando Cannella, "VARO-fi: A Variable Orientable Gripper to obtain in-hand Manipulation" accepted to the proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, October 1-5, Madrid, Spain.

[4] Nahian Rahman, Luca Carbonari, Carlo Canali, Darwin Caldwell and Ferdinando Cannella, "Dexclar: A Gripper Platform for Payload-Centric Manipulation and Dexterous Applications" accepted to the Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Vancouver, Canada, September24 - September28.

[5] Mariapaola D'Imperio, Luca Carbonari, Nahian Rahman, Carlo Canali and Ferdinando Cannella, "A Novel Parallely Actuated Bio-Inspired Modular Limb," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, Hamburg, Germany, September28 - October 3, pp. 347-352.

[6] Rahman, Nahian, and Min Cheol Lee. "Actual reaction force separation method of surgical tool by fuzzy logic based SMCSPO." International Journal of Control, Automation and Systems 13.2 (2015): 379-389.

[7] Rahman, Nahian, et al. "Kinematic Analysis, Prototypation and Control of a Novel Gripper for Dexterous Applications." Journal of Intelligent & Robotic Systems (2017): 1-14.

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Full list (past to most recent):

International Conference publications (peer-reviewed)

[1] Nahian Rahman and Min Cheol Lee, “Reaction Force Separation Method of Surgical Tool from Unknown Dynamics and Disturbances by Fuzzy logic and Perturbation Observer of SMCSPO algorithm,” in Society of Instrument and Control Engineers, (SICE) 2013, Nagoya, Japan, September 14-17, pp.2536-2541, 2013.

[2] Nahian Rahman and Min Cheol Lee, “RoboticsLab based Simulation for Extraction of Reaction Force in Multi DOF Surgical Robot Dynamic System and Analysis,” in Ubiquitous Robots and Ambient Intelligence (URAI), 2013, Jeju, Korea, October 30-November 2, pp.560-564, 2013.

[3] Nahian Rahman and Min Cheol Lee, “Study of Control Methods of Surgical Robot and Instrument to Reduce Dynamic Disturbances,” Proceedings of the 10th Asian Conference on Computer Aided Surgery (ACCAS 2014), Fukuoka Japan 24-25 June, 2014.

[4] Nahian Rahman and Min Cheol Lee, “Actual Reaction Force Estimation of Surgical instrument by Fuzzy logic based Sliding Perturbation Observer,” in Society of Instrument and Control Engineers, (SICE) 2014, Sapporo, Japan, September 9-12.

[5] Ju Seok Kang, Nahian Rahman, Yoon Sung Min and Min Cheol Lee, “Organ Rupture Detection Algorithm of Surgical Robot,” Proceedings of 14th International Conference on Control, Automation and Systems (ICCAS), 2014, Kintex, South Korea, Octobar 22-25, pp. 778-781.

[6] Mariapaola D'Imperio, Luca Carbonari, Nahian Rahman, Carlo Canali and Ferdinando Cannella, "KARL: A New Bio-Inspired Modular Limb for Robotic Applications," Proceedings of ASME/IEEE International Conference on Advanced Intelligent Mechatronics (AIM2015), 2015, Busan, South Korea, July 7-11, pp. 183-188.

[7] Ferdinando Cannella, Mariapaola Dimperio, Carlo Canali, Nahian Rahman, Fei Chen, Daniele Catelani, Darwin G. Caldwell and Jian S. Dai, "Origami Carton Folding Analysis Using Flexible Panels," Advances in Reconfigurable Mechanisms and Robots (REMAR) 2015, Beijing, China, July 20-22.

[8] Mariapaola D'Imperio, Luca Carbonari, Nahian Rahman, Carlo Canali and Ferdinando Cannella, "A Novel Parallely Actuated Bio-Inspired Modular Limb," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, Hamburg, Germany, September28 - October 3, pp. 347-352.

[9] Mariapaola D'Imperio, Ferdinando Cannella, Luca Carbonari, Nahian Rahman and Darwin G. Caldwell, "Dynamic Modelling and Analysis of an Articulated Robotic Leg," Proceedings of the ASME 2015 International Design Engineering Technical Conferences (IDETC) 2015, August 2-15, 2015, Boston, USA.

[10] Nahian Rahman, Mariapaola D'Imperio, Luca Carbonari, Fei Chen, Carlo Canali and Ferdinando Cannella, "A Novel Bio-inspired Modular Gripper for in-hand Manipulation," Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO) 2015, Zhuhai, China, December 6 - 9, pp. 7-12.

[11] Nahian Rahman, Luca Carbonari, Mariapaola D'Imperio, Carlo Canali, Darwin G. Caldwell and Ferdinando Cannella, "A Novel Reconfigurable Modular Gripper for in-hand object manipulation & release with appropriate posture" in the Proceedings of the ASME 2016 IDETC, August 21-24, 2016, North Carolina, USA.

[12] Nahian Rahman, Luca Carbonari, Mariapaola D'Imperio, Carlo Canali, Darwin G. Caldwell, and Ferdinando Cannella, "A Dexterous Gripper For In-Hand Manipulation," in the Proceedings of IEEE International Conference on Advanced Intelligent Mechatronics (AIM) 2016, Alberta, Canada, July 12-15, pp. 377-382.

[13] Nahian Rahman, Luca Carbonari and Ferdinando Cannella, "Kinematic Analysis And Synthesis of a Novel Gripper for Dexterous Applications" accepted in the Proceedings of The 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications(MESA), Auckland – New Zealand from August 29-31, 2016, pp. 1-6.

[14] Nahian Rahman, Luca Carbonari, Darwin Caldwell and Ferdinando Cannella, "Manipulation & Workspace Analysis of Dexclar: A Newly formed Dexterous Gripper" Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO) 2016, Qingdao, China, December 3 - 7.

[15] Nahian Rahman, Carlo Canali, Darwin Caldwell, and Ferdinando Cannella, "Dexterous Gripper Synthesis from Modular finger Approach", accepted in ASME IDETC/MESA 2017, Ohio, USA.

[16] Carlo Canali, Nahian Rahman, Fei Chen, Mariapaola Dimperio, Darwin Caldwell and Ferdinando Cannella, "Theoretical and Kinematic Solution of High Reconfigurable Grasping for Industrial Manufacturing" accepted in 27th International Conference on Flexible Automation and Intelligent Manufacturing, 2017.

[17] Nahian Rahman, Luca Carbonari, Carlo Canali, Darwin Caldwell, and Ferdinando Cannella, "Dexclar: A Gripper Platform for Payload-Centric Manipulation and Dexterous Applications" accepted to the Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Vancouver, Canada, September 24 - September 28.

[18] Paolo Guardiani, Carlo Canali, Alessandro Pistone, Sergio Leggieri, Claudio Gloriani, Nahian Rahman, Ferdinando Cannella, Darwin Caldwell, "Novel Integrated Robotic System for Tiny Duct Inspection" accepted to the proceedings of FAIM 2018, June 10-14, Columbus, OH.

[19] Nahian Rahman, Darwin Caldwell, Ferdinando Cannella, "VARO-fi: A Dexterous Gripper to obtain Prehensile Manipulation" accepted to the proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, October 1-5, Madrid, Spain.

[20] Nahian Rahman, Nancy Deaton, Jun Sheng, Shing Shin Cheng, and Jaydev P. Desai, "Modular FBG Bending Sensor for Continuum Neurosurgical Robot" accepted in IEEE International Conference on Robotics and Automation (ICRA) 2019.

Journal publications:

[1] Yash Chitalia, Nancy Deaton, Seokhwan Jeong, Nahian Rahman, Jaydev P. Desai, “Towards FBG-Based Shape Sensing for Micro-scale and Meso-Scale Continuum Robots with Large Deflection”, accepted at IEEE Robotics Automation Letters.

[2] Nahian Rahman, Nancy Deaton, Jun Sheng, Shing Shin Cheng, and Jaydev P. Desai, “Modular FBG Bending Sensor for Continuum Neurosurgical Robot”, in IEEE Robotics and Automation Letters (Volume: 4 , Issue: 2 , April 2019) DOI: 10.1109/LRA.2019.2896451.

[3] Desai, Jaydev P., Jun Sheng, Shing Shin Cheng, Xuefeng Wang, Nancy J. Deaton, and Nahian Rahman. "Towards Patient-Specific 3D-Printed Robotic Systems for Surgical Interventions." IEEE Transactions on Medical Robotics and Bionics (2019), volume: 1, issue: 2.

[4] Rahman, Nahian, et al. "Kinematic Analysis, Prototypation and Control of a Novel Gripper for Dexterous Applications." Journal of Intelligent & Robotic Systems (2017): 1-14.

[5] Ferdinando Cannella, Mariapaola D’Imperio, Carlo Canali, Nahian Rahman, Fei Chen, Daniele Catelani, Darwin G. Caldwell, Jian S. Dai, “Origami carton folding analysis using flexible panels”, (2016) Mechanisms and Machine Science, 36, pp. 95-106. DOI: 10.1007/978-3-319-23327-7_9.

[6] Nahian Rahman and Min Cheol Lee, "Actual Reaction Force Separation Method of Surgical Tool by Fuzzy Logic Based SMCSPO", International Journal of Control, Automation, and Systems (2015) 13(2):379-389.

[7] Nahian Rahman, A K M Bodiuzzaman, Ahmed Raihan Abir, K Siddique-e Rabbani, "Design and Development of a Microcontroller based Portable ECG Monitor", Bangladesh Journal of Medical Physics, vol 4, No.1, 2011.

Journal papers under review:

[1] Nahian Rahman, Nancy Deaton, Jun Sheng, Jaydev P. Dessai, “Towards the Development of a Robotic Catheter for the Delivery of Mitral Valve Implant”, under review at IEEE Transactions on Robotics.

Conference papers under review:

[1] Nahian Rahman, Nancy Joanna Deaton, James Dormer, Drew Elliott, Jun Sheng, Md Fiaz Islam Bhuiyan, Baowei Fei, Muralidhar Padala, Jaydev P. Desai , "Deflection Measurement of A Mitral Valve Implant Catheter using FBG sensor and Tendon Displacement ", under review in IEEE International Conference on Robotics and Automation (ICRA) 2020.

[2] James D. Dormer, MD Fiaz Islam Bhuiyan, Nahian Rahman, Nancy Deaton, Jun Sheng, Muralidhar Padala, Jaydev P. Desai, Baowei Fei, ^"Image Guided Mitral Valve Replacement: Registration of 3D Ultrasound and 2D X-ray Images", in SPIE Medical Imaging 2020.

Poster Presentation:

[1] Nahian Rahman and Min Cheol Lee, “RoboticsLab based Simulation for Extraction of Reaction Force in Multi DOF Surgical Robot Dynamic System and Analysis,” in URAI 2013, Jeju, Korea, October 30-November 2, pp.560-564, 2013.

[2] Nahian Rahman, Carlo Canali, Darwin Caldwell, Ferdinando Cannella, "Dexclar: Dexterous, Reconfigurable, Modular Gripper for In-hand manipulation," in IEEE International Conference on Robotics and Automation (ICRA), 2017.

[3] Nahian Rahman, Nancy Deaton, Jun Sheng, Shing Shin Cheng, and Jaydev P. Desai, "Modular FBG Bending Sensor for Continuum Neurosurgical Robot" in IEEE International Conference on Robotics and Automation (ICRA) 2019.

[4] Nancy Deaton, Jun Sheng, Nahian Rahman, Yash Chitalia, and Jaydev P. Desai, "A Novel Bending Sensor for Measuring the Deflections of a Continuum Robot" in International Symposium on Medical Robotics, 2019.

Awards:

* Top position at BAYER robotic challenge 2017, cubeTech fair, Berlin, Germany. https://grants4tech.bayer.com/robotic-competition/

* SICE international Scholarship 2014, (SICE- An annual conference proceedings by Society of Instrument and Control engineers of Japan)

Thesis:

PhD Thesis: "Towards Developing Gripper to obtain Dexterous Manipulation"

Masters Thesis: “Actual Reaction Force Separation Method of Surgical Tool by Fuzzy Logic Based SMCSPO” ~

This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology (2011-0014915).

Undergrad Thesis: “Design and Fabrication of Autonomous Mobile Robot”

The robots were built for the competition "ROBOCON 2009", which took place in Tokyo, Japan. https://en.wikipedia.org/wiki/ABU_Robocon#ABU_Robocon_2009

He maintains Researchgate profile: http://www.researchgate.net/profile/Nahian_Rahman

He maintains google scholar profile: https://scholar.google.com/citations?user=W8_LYncAAAAJ&hl=en