Dr. Petko Kiriazov Kiriazov

Institute of Mechanics and Biomechanics

Bulgarian Academy of Sciences

"Acad.G.Bonchev" Str., bl.4, BG-1113 Sofia, Bulgaria

E-mail: kiriazov@info.imbm.bas.bg 

date and place of birth: 18.09.1951, Bourgass, Bulgaria

marital status: married, one son

1972-1977: Department of Mathematics and Mechanics, Sofia University;

1978-1981: Department of Math. and Mech., Sofia University, Ph.D. thesis on Time-Optimal Control of Mechanical Systems under Control and State Constraints;

1990: Habilitation in Control Optimisation of Dynamical Systems;

Professional experience

1974-1978: Department of Math. and Mechanics, Sofia University: Instructor in Mathematical Analysis and Mechanics;

1981-........: Institute of Mechanics: Researcher in Dynamics, Control, and Optimization of Robotic Systems;

Senior Researcher 1989 - present; Head Department “Dynamics and Optimization of Controlled Mechanical Systems” 1991- present;

Visiting professor, Department of electrical engineering (with Prof. Hyeongseok Ko), Seoul National University, Korea, March 1998 - January 1999: study and lectures on dynamics and control of articulated systems for the purposes of human motion animation;

• International Student Olympiad in Mathematics, 1973, Athens, Greece, second prize;
• CISM-IFToMM Symposia on Theory and Practice of Robots and Manipulators, 1984, 1886, 1988, 1996, Italy/Poland;
• Euromech Colloquim on Dynamics and Control of Flexible Structures, 1990, Munich, Germany;
• Euromech Colloquim on Identification of Nonlinear Mechanical Systems from Dynamic Tests, 1991, Lyon, France;
• IEEE Conference on Robotics and Automation, 1992, Nice, France;
  NATO ASI on Concurrent Design of Mechanical Systems, 1992, Iowa City, Iowa;
• IUTAM Symp. on Optimization of Mechanical Systems, 1995, Stuttgart, Germany;
• GAMM annual conferences: 1994, 1995, 1997, 2000, 2002; 2004
• Euromech Colloquium on Synthesis of Mechatronic Systems, Duisburg, Germany, 1997;
• Euromech Colloquium “Modeling and Control of Adaptive Mechanical Structures”, Magdeburg, Germany, 1998;
• Euromech Colloquium “Biology and Technology of Walking", Munich, Germany, 1998
• Int. Adv. Rob. Program Workshop “Biologically Motivated Service Robotics” Jena, Germany,1999
• EUREL Workshop on Advanced Robotics, Manchester, U.K., 2000
• IUTAM Symp. on Smart Structures and Structronic Systems, Magdeburg, Germany, 2000 
• IFIP Conf. on System Modelling and Optimization, 2001, Trier, Germany
• International Industrial Conference Bionik2004, Hanover, Germany
• International Conference IT and Sport, 2004, Cologne, Germany
• 50. Jahrestagung der DGKN (neurophysiology), Bad Nauheim, Germany, 2006
• 5th World Congress of Biomechanics 2006, Munich, Germany
  

Research Visits

• Institute B of Mechanics (with Prof. Werner Schiehlen), University of Stuttgart, Germany, 1992, 1993 (study on parameter identification of robot manipulators with flexible links), 1995 (study on dynamics, control and optimisation of biped robots);
• Institute of Mechanics and Ocean Engineering (with Prof. Edwin Kreuzer), Hamburg University of Technology, Hamburg, Germany 1994, 1995 (study on dynamics and control of underwater robots) , 2004 (study on control of underwater robots with actuator redundancy);
• Dep. of EEE (with Prof. Gurvinder Virk), University of Portsmouth, U.K., 1997, 1998; 1999, 2000 (study on design and control of dynamically walking robots);
• Institute of Automation (IAT) (with Prof. Axel Graeser), University of Bremen, Germany, short-term visits in period 2006-2008 (study and lectures on biologically-inspired control of articulated systems for human rehabilitation purposes);
  

Knowledge of foreign languages: English, German, and Russian;

Research Interests/Results

• Integrated Design of Controlled Mechanical Systems: design criteria and methods;
  
• Time/Energy Optimal Feedforward Control of Point-to-Point Motion;
  
• Decentralized Feedback Control with Maximum Degree of Robustness;
  
• Parameter Identification with Error Estimation for Control Design Purposes;
  
• Necessary and Sufficient Conditions for Controllability of Nonlinear Systems;
  
• Control Synthesis by Learning with Minimum Number of Test Movements;
  
• Simulation and Animation of Articulated Systems;
  
• Methodology for Overall Design of Mechatronic Systems with Decentralized Control Structure:
  
  
  
  • design objective: to design mechatronic systems with best dynamic performance;
    
  • main design guideline: to decompose the overall design optimization task into a convergent sequence of design solutions for the mechanical, actuator, sensor, and control subsystems and their interconnections;
    
  • design criterion: based on necessary and sufficient controllability conditions and explicitly defined by means of the control input matrix;
    
  • design variables: all subsystems parameters influencing the dynamic performance of the mechatronic system, including those defining the input/output pairs;
    
  • basic design constraint: strength/load capacity of the mechatronic system;
    
  • specific applications of the integrated design methodology to:
    
    
    • mechanical subsystems with three degrees of freedom of: PUMA 560 robot; planar manipulator - design specifications for the links' masses;
      
    • actuator subsystems of robotic systems with 2, 3, and 6 degrees of freedom: optimization of actuator placement and actuator sizes;
      
    • control subsystems optimization:
      
      • feedforward control synthesis performed for robot manipulators, underwater, wheeled and biped robots;
      • feedback control synthesis for underwater robots, car models with active suspensions, and robot manipulators with elastic joints;

Background in Mathematics, Mechanics and Control

Theoretical Mechanics of Solids, Structures and Fluids;

Dynamic Systems Theory: controllability of nonlinear systems;

Optimal Program Control: Maximum principle and direct-search approach;

Robust Feedback Control: design of sliding-mode controllers;

Nonlinear Equations: existence of solutions and methods for solving;

Matrix Theory for Application in Dynamics and Control of Multibody Systems;

Optimization of Mechanical Systems: criteria and methodologies;

Computer Systems: WINDOWS, DOS, and UNIX

Programming Languages: MATLAB, FORTRAN, and PASCAL;

Text Editors: WORD, LATEX;

Member of Scientific Societies

GAMM (Applied Mathematics and Mechanics Society)

EUROMECH (European Mechanics Society)

National Scientific Council of Applied Mathematics and Mechanics,

Scientific Council of the Institute of Mechanics,

International Society for Structural and Multidisciplinary Optimization

National Association of Robotics - Executive Committee

Selected Publications of Petko Kiriazov

1. Motion Learning and Optimisation in the Neurorehabilitation, Klinische Neurophysiologie Zeitschrift, Thieme, March 2006, pp.56-57.

2. Efficient Learning Control and Adaptation in Dynamic Locomotion, In: Proc. of the 3rd International Symposium on Adaptive Motion in Animals and Machines, Ilmenau, Germany, 25-30.09.2005, (CD-ROM), ISBN: 3932633997, pp.1-8, (2005).

3. Efficient approach for integrated structure-control design of legged robots, In: Proc. of 50. Internationales Wissenschaftliches Kolloquium, Ilmenau, Germany, 19-23.09.2005, (CD-ROM), ISBN: 3932633997, pp.1-7, (2005).

4. (Co-authors: Kiryazov, K., S. Karastanev, K. Delchev), Efficient Learning Control of Robot Point-To-Point Motion: computer simulation, In: Proceedings of the 10th National Congress on Theoretical and Applied Mechanics, Vol. 2, Varna, 13-16 Sept. 2005, pp. 51-56, (2006).

5. Integrated Structure-Control Design of Dynamically Walking Robots, In: Proc. of the 8th CLAWAR Conf. on Climbing and Walking Robots, Ed.: M.O. Tokhi, G.S. Virk, and M.A. Hassain, London, UK, Sept. 13-15, 2005, ISBN 3-540-26413-2, Springer, pp.295-302, (2005).

6. Design Optimisation of Controlled Mechanical Structures, In: Proc. of the 8th International symposium on Artificial Intelligence, Robotics and Automation in Space, Munich, Germany, 5-8.09.2005, pp.1-6

7. Optimal Robust Controllers for Multibody Systems, Solid Mechanics and its Applications, Vol. 130, Edited by H. Ulbrich and W. Guenthner, Springer-Verlag GmbH, pp.183-192, (2005).

8. (Co-author: Kiryazov, K.), Efficient Learning Control of Robot Point-To-Point Motion, In: Proc. of the First CLAWAR/EURON Workshop on Robots in Entertainment, Leisure and Hobby, 2-4 Dec 2004, Vienna, Austria, ISBN 3-902161-04-3, pp. 111-115, (2005).

9. Motion Control for Best Dynamic Performance, In: Proc. First International Working Conference IT and Sport, 15-17 Sept. 2004, Cologne, Germany, ISBN 3-00-014567-1, pp.135-140, (2005).

10. Biology-consistent Approach for Iterative Learning Control of Robotic Systems, In: Proc. First International Industrial Conference Bionik2004, Hanover, April 22-23, Ed. I. Boblan and R. Bannasch, ISBN 3-18-324915-4, pp. 119-126, (2004).

11. Humanoid Robots: How to Achieve Human-like Motion, In: Proc. of Humanoid 2003, Session.1b: Motion_and_Control, Ed. R. Dillmann, Karlsruhe, Oct. 2003, (CD ROM), pp. 1-15, (2003).

12. (Co-author: Virk, G.S.), How to Efficiently Design Robots for Autonomous Dynamic Walking, In: Proc. of the 6th CLAWAR Conference on Climbing and Walking Robots, Ed.: Giovanni Muscato, Domenico Longo, Professional Engineering Publishing Limited, 17.-19.09.2003, Catania, Italy, ISBN 1-86058-409-8, pp 267-274, (2003).

13. Dynamics-Based Control of CLAWAR: biologically plausible approaches, Proc. of the 6th CLAWAR Conference on Climbing and Walking Robots, Ed.: Giovanni Muscato, Domenico Longo, Professional Engineering Publishing Limited, 17.-19.09.2003, Catania, Italy, ISBN 1-86058-409-8, pp 43-50. (2003).

14. Optimal Robust Control of Robotic Systems, PAMM - Proceedings of Applied Mathematics and Mechanics, Volume 2, Issue 1, 2003. Pages 90-91, (2003).

15. Learning Robots to Walk Dynamically: biological control concepts, Proc. of the 5th CLAWAR Conf. on Climbing and Walking Robots, Sept. 2002, Paris, France, Ed. Philippe Bidaud, Professional Engineering Publishing Ltd, pp. 5-12, (2002).

16. Dynamics-based Motion Synthesis by Simple Learning Control, Proc. Eurographics 2002 (on CD), http://www.eg.org/EG/DL/Conf/EG2002/short , (2002).

17. Design of Autonomous and Mobile Systems: Concepts of Integration and Decomposition, Proc. of International Colloquium on Autonomous and Mobile Systems, June 2002, Magdeburg, Germany, pp. 45-48.

18. Learning Robots to Move: Biological Control Concepts, Proc. of the 4th CLAWAR Conf. on Climbing and Walking Robots, Sept. 2001, Karlsruhe, Germany, Eds. K. Berns and R. Dillman, ISBN 1 86058 365 2, Professional Engineering Publishing Ltd, pp. 419-426.

19. (Co-author: Virk, G.S.) On Design Optimisation of Robot Limbs, Proc. of the 4th CLAWAR Conf. on Climbing and Walking Robots, Sept. 2001, Karlsruhe, Germany, Eds. K. Berns and R. Dillman, ISBN 1 86058 365 2, Professional Engineering Publishing Ltd, pp. 173-180.

20. Integration and Decomposition in the Design of Controlled Mechanical Systems, Proc. of the 5th Mashinenbau-Tage, Sept. 2001, Magdeburg, Germany, Eds. Kasper, R. et al., Logos-Verlag, ISBN 3-89722-650-2, pp. 293-301.

21. (Co-authors: S. Karastanev, K. Delchev), Dynamic Parameter Identification and Motion Optimization of Lifts with Processors, Proc. 9th National Congress on Theoretical and Applied Mechanics, Vol. 2, Varna, Sept. 2001, pp. 107-111.

22. Control Design in Computer Simulation of Human Movement: Biologically Plausible Methods, Proc. 2001 Conf. on Computer Simulation in Biomechanics, Milan, Italy, ISBN 88-7090-438-5, pp. 179-184.

23. Efficient Approach for Dynamic Parameter Identification and Control Design of Structronic Systems, In: Solid Mechanics and its Applications, Vol. 89, Eds. U. Gabbert and H.S. Tzou, Kluwer Acad. Publ, 2001, pp. 323-330.

24. On Optimal Control of Mobile Robots, ZAMM - Zeitschrift fur Angewandte Mathematik und Mechanik, 2001, Vol. 81(3) Suppl., S675-S676.

25. Structure and Parameter Identification for Efficient Control of Robotic Systems, Proc. of EUREL Conf. on Advanced Robotic Systems, Manchester, UK, April 2000, vol.1, paper 2-C-2.

26. On Robust Control of Robots with Elastic Joints, Proc. of the 4th Mashinenbau-Tage, Sept. 1999, Magdeburg, Germany, Eds. Kasper, R. et al., Logos-Verlag, ISBN 3 89722 300 7, 121-128.

27. Biology-Consistent Methods for Robot Control Design, Proc. of the 2nd CLAWAR Conf. on Climbing and Walking Robots, Sept. 1999, Portsmouth, England, Eds. Virk, G.S., M Randall, and D Howard, ISBN 1 86058 207 9, Professional Engineering Publishing Ltd, 819-828.

28. (Co-author: Virk, G.S.) On Design Optimization of Legged Robots, Proc. of the 2nd CLAWAR Conf. on Climbing and Walking Robots, Sept. 1999, Portsmouth, England, Eds. Virk, G.S., M Randall, and D Howard, ISBN 1 86058 207 9, Professional Engineering Publ. Ltd, 373-381.

29. (Co-author: Hyeongseok Ko), On Control Design in Simulation of Human Motion, Proc. of the 1999 World IFAC Congress, China, Eds. H.-F.Chen, D.-Z.Cheng and J.-F.Zhang, ISBN 0 08 043248 4, Vol. C: Control Design, pp. 515-520.

30. (Co-author: K. Delchev), A Robust Algorithm for Parameter Identification of Robotic Manipulators, Journal of Theoretical and Applied Mechanics, Publ. House of BAS, Sofia, 1999, Vol. 29, 3, pp. 3-10.

31. On Optimal Control of Marine Systems, in Proc. of 4^th IFAC Conf. On Control Applications in Marine Systems, October 1998, Fukuoka, Japan, Ed. K. Kijima, pp.377-380.

32. (Co-authors:Virk, G.S. and D.R. Harvey), Dynamically Stable Legged Robots, in Proc. of 1^st CLAWAR Conf. on Climbing and Walking Robots - European Chapter, Brussels, Belgium, November 1998, pp.335-342.

33. Overall Design Criterion for Mechatronic Systems with Decentralized Control, in Proc. of the 4^th Int. Conf. on Motion and Vibration Control, Zurich, August 1998, Ed. G. Schweitzer et al., Vol. 1, pp. 135-140.

34. (Co-author: Virk, G.S.) “Control and Stability of Legged Robots”, in Proc. of the 1998 AMST Conference, Eds. R. Whalley and M. Ebrahimi, Bradford, UK, pp. 97-105.

35. Design Optimization Approach for Dynamically Walking Robots, in Proc. European Mechanics Colloquium, Euromech 375 „Biology and Technology of Walking", Munich, Germany, March 23-25, 1998, Ed. F.Pfeiffer, pp 220-227.

36. Integrated Design Approach for Controlled Mechanical Structures, in Proc. Euromech 373 Colloquium “Modeling and Control of Adaptive Mechanical Structures”, 11-13th March, 1998, Magdeburg, Germany, Ed. U. Gabbert, , pp. 227-236.

37. (Co-authors: E. Kreuzer and F. Pinto), Robust Feedback Stabilization of Underwater Robotic Vehicles, Journal of Robotics and Autonomous Systems. Vol. 21 (1997), 415-423.

38. Robust Decentralized Control of Mechanical Systems, In: Solid Mechanics and its Applications, Vol.52, Ed. D. van Campen, Kluwer Acad. Publ., 1997, 175-182.

39. (Co-author: W. Schiehlen), On Direct-Search Optimization of Biped Walking, Proc. of the CISM-IFToMM RoManSy 11}, Udine, 1996, CISM Courses, 381, Eds. A. Morecki, G. Bianchi, and C. Rzymkowski, SpringerWienNewYork, 1997, 134-140.

40. A New Design Criterion for Controlled Multibody Systems, Proc. IEEE Symp. on Computer-Aided Control System Design, Sept. 1996, Dearborn, MI, pp.542-547.

41. A Direct-Search Optimization Method for Control Synthesis of Point-to-Point Motion, ZAMM - Zeitschrift fur Angewandte Mathematik und Mechanik, vol. 76, Suppl. 5, Eds. Kreuzer, E., Mahrenholtz, O., Springer-Verlag, 1996, 247-248.

42. On Identification of Controlled Multibody Systems, Proc. of Int. Conf. on Identification in Mechanical Systems, March 1996, Swansea, U.K., Eds. M. Friswell & J. Mottershead, pp.127-135.

43. Direct-Search Optimization of Dynamic Walking: biped locomotion, Technical Report, Institute B of Mechanics, University Stuttgart, 1995, ISBN 3-927618-19-5.

44. Robust Integrated Design of Controlled Multibody Systems, Solid Mechanics and its Applications, Vol.43, Eds. D. Bestle and W. Schiehlen, Kluwer Acad. Publ., 1996, 155-162.

45. On the Optimal Design of Active Vibration Control Systems, Inter. Symp. MV2: Active Control in Mechanical Engineering, Ed. L. Jezequel, Hermes, Paris, 1995, 295-302.

46. Controllability of a Class of Dynamic Systems, ZAMM - Zeitschrift fur Angewandte Mathematik und Mechanik, 75 (1995) SI, 85-86.

47. A Necessary and Sufficient Condition for Robust Decentralized Controllability of Robot Manipulators, Proc. American Control Conf., MD, Baltimore, 1994, 2285-2287.

48. A Decentralized Controllability Measure for Robotic Manipulators, Proc. IEEE Conf. on Robotics and Automation, May 1992, France, pp. 2141-2145.

49. (Co-author: P. Marinov), Point-to-Point Motion of Robotic Manipulators: dynamics, control synthesis and optimization, IFAC Symposia Series, Robot Control 1991, Eds. I.Troch & K.Desoyer, 1992, 149-152.

50. On the Identification of the Inertia Coupling Coefficients of Robotic Manipulators, Identification of Nonlinear Mechanical Systems from Dynamic Tests, Eds. L.Jezequel & C.Lamarque, Balkema, Rotterdam, 1992, 195-196.

51. (Co-author: P.Marinov), Planar Robot Motion with an Obstacle: Synthesis of Time-Optimal Control, Lecture Notes in Control and Information Sciences, Eds. H. Sebastian et al., vol 143, 1990, pp. 342-347.

52. (Co-author: P.Marinov), Independent Joint Controllability of Manipulator Systems, Advanced Robotics: 1989, Ed. K.J.Waldron, 1990, pp.604-611.

53. (Co-author: P.Marinov) Time-Optimal Control of Acceleration-Constrained Mechanical Systems, Lecture Notes in Control and Information Sciences, Springer-Verlag, vol.84, 1986, pp.572-577.

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