{"id":196,"date":"2018-01-18T13:01:18","date_gmt":"2018-01-18T18:01:18","guid":{"rendered":"https:\/\/carleton.ca\/mdl\/?page_id=196"},"modified":"2025-09-29T15:45:53","modified_gmt":"2025-09-29T19:45:53","slug":"publications","status":"publish","type":"page","link":"https:\/\/carleton.ca\/mdl\/publications\/","title":{"rendered":"Publications"},"content":{"rendered":"

Peer-Reviewed Journal Publications<\/h3>\n
    \n
  1. Palmer K., Irani R. A. (2025) Neural Networks for High Accuracy Short Term Ship Motion Predictions with Applications to Autonomous UAVs<\/a>, Aerospace Science and Technology, Volume 168, Part C, January 2026, 110964, doi: 10.1016\/j.ast.2025.110964<\/li>\n
  2. Lowell S., Irani R. A. (2025) Quality of regular waves experimentally generated by plunger-type wavemakers with mean flow<\/a>, Results in Engineering, Volume 26, June 2025, 105424, doi: 10.1016\/j.rineng.2025.105424.<\/li>\n
  3. Lowell S., Irani R. A. (2025) Experimental laboratory waves with a plunger-type wavemaker in waves-against-flow conditions<\/a>, Results in Engineering, Volume 26, June 2025, 105423, doi: 10.1016\/j.rineng.2025.105423.<\/li>\n
  4. Westin C., Irani R. A. (2025) Experimental Verification of a Physics-Based Digital Twin of a Towed Cable-Body System<\/a>, Ocean Engineering, Volume 334, 1 August 2025, 121604, doi: 10.1016\/j.oceaneng.2025.121604.<\/li>\n
  5. Westin C., Irani R. A. (2025) Framework for a Physics-Based Digital Twin of a Towed Cable-Body System<\/a>, Ocean Engineering, Volume 328, 1 June 2025, 121025, doi: 10.1016\/j.oceaneng.2025.121025.\u00a0<\/em><\/li>\n
  6. Martin I. A., Irani R. A. (2024) Examination of Operator Performance with Shipboard Anti-Sway Crane in Virtual-Reality<\/a>, Ocean Engineering, Volume 298, 117164, doi:10.1016\/j.oceaneng.2024.117164<\/li>\n
  7. Lloyd S., Irani R. A., Ahmadi M., (2024) Precision robotic deburring with Simultaneous Registration and Machining for improved accuracy, quality, and efficiency<\/a>, Robotics and Computer-Integrated Manufacturing, 88, 102733, doi:10.1016\/j.rcim.2024.102733<\/li>\n
  8. Lloyd S., Irani R. A., Ahmadi M., (2024) Improved Accuracy and Contact Stability in Robotic Contouring With Simultaneous Registration and Machining<\/a>, IEEE Transactions on Control Systems Technology, doi: 10.1109\/TCST.2023.3348749<\/li>\n
  9. Lowell S., Irani R. A. (2023) Experimental validation of the plunger-type flow model for irregular waves<\/a>, Ocean Engineering. Volume 279, 114463. doi: 10.1016\/j.oceaneng.2023.114463<\/li>\n
  10. MacMillan W., Irani R. A., Ahmadi M., (2023) Planar image-space trajectory planning algorithm for contour following in robotic machining<\/a>, CIRP Journal of Manufacturing Science and Technology, Volume 42, June 2023, Pages 1-11. doi: 10.1016\/j.cirpj.2023.01.005<\/li>\n
  11. Westin C., Irani R. A. (2023) Efficient semi-implicit numerical integration of ANCF and ALE-ANCF cable models with holonomic constraints<\/a>, Computational Mechanics, doi: 10.1007\/s00466-022-02264-w<\/li>\n
  12. Dehghani M., McKenzie R. A., Irani R. A., Ahmadi M., (2023) Robot-Mounted Sensing and Local Calibration for High-Accuracy Manufacturing<\/a>, Robotics and Computer-Integrated Manufacturing, Volume 79, 2023, 102429. doi: 10.1016\/j.rcim.2022.102429.<\/li>\n
  13. Lloyd S., Irani R. A., Ahmadi M., (2022) Fast and Robust Inverse Kinematics of Serial Robots using Halley’s Method<\/a>, IEEE Transactions on Robotics (T-RO) doi: 10.1109\/TRO.2022.3162954.<\/li>\n
  14. Martin I. A., Irani R. A. (2022) Self-Tuning Anti-Sway Control For Shipboard Cranes Providing Combined World and Deck-Frame Compensation<\/a>, Ocean Engineering. v. 251, 110957, doi: 10.1016\/j.oceaneng.2022.110957<\/li>\n
  15. Lowell S., McPhee J., Irani R. A. (2022) Plunger-type wavemakers with flow: sensitivity analysis and experimental validation<\/a>, Applied Ocean Research. Volume 121, 103065. doi: 10.1016\/j.apor.2022.103065<\/li>\n
  16. McKenzie R. A., Irani R. A. (2022). Motion Compensation for Maritime Cranes During Time-Varying Operations at the Pendulum\u2019s Natural Frequency<\/a>. Mechanism and Machine Theory. Volume 168, 104573. doi: 10.1016\/j.mechmachtheory.2021.104573<\/li>\n
  17. Miller G., Irani R. A., Ahmadi M. (2021) Application of Mechanistic Force Models to Features of Arbitrary Geometry at Low Material Removal Rate<\/a>. The International Journal of Advanced Manufacturing Technology. doi: 10.1007\/s00170-021-07830-9<\/li>\n
  18. Miller G., Irani R. A., Ahmadi M. (2021) The Application of Mechanistic Cutting Force Models for Robotic Deburring<\/a>. The International Journal of Advanced Manufacturing Technology v. 115, pg.199\u2013212. doi: 10.1007\/s00170-021-07070-x<\/li>\n
  19. Westin C., Irani R. A. (2021) Modelling Dynamic Cable-Sheave Contact and Detachment During Towing Operations<\/a>. Marine Structures, v. 77, 102960. <\/em>doi: 10.1016\/j.marstruc.2021.102960<\/li>\n
  20. Martin I. A., Irani R. A. (2021) Dynamic Modeling and Self-Tuning Anti-Sway Control of a Seven Degree of Freedom Shipboard Knuckle Boom Crane<\/a>. Mechanical Systems and Signal Processing, v. 153, 107441. doi:10.1016\/j.ymssp.2020.107441<\/li>\n
  21. Lloyd S., Irani R. A., Ahmadi M., (2021) A numeric Derivation for Fast Regressive Modeling of Manipulator Dynamics<\/a>. Mechanism and Machine Theory, Volume 156, 104149. doi: 10.1016\/j.mechmachtheory.2020.104149<\/li>\n
  22. Abujoub S., McPhee J., Irani R. A. (2020) Methodologies for Landing Autonomous Aerial Vehicles on Maritime Vessels<\/a>. Aerospace Science and Technology, Volume 106, 106169. doi: 10.1016\/j.ast.2020.106169<\/li>\n
  23. Martin I. A., Irani R. A. (2020) A Generalized Approach to Anti-Sway Control for Shipboard Cranes<\/a>. Mechanical Systems and Signal Processing, v. 148 107168, doi: 10.1016\/j.ymssp.2020.107168<\/li>\n
  24. Lloyd S., Irani R. A. and Ahmadi M., (2020) Neural Network Quadrature for Fast Numerical Integration and Optimization<\/a>. IEEE Access vol. 8, pp. 84519-84531, doi: 10.1109\/ACCESS.2020.2991966<\/li>\n
  25. Calnan C., Bauer R.,\u00a0 Irani R. A., (2018) Reference-Point Algorithms for Active Motion Compensation of Towed Bodies<\/a>. IEEE Journal of Oceanic Engineering v. 44, n. 4, pp 1024-1040. doi: 10.1109\/JOE.2018.2866317<\/li>\n
  26. Woodacre J., Bauer R. J., Irani R. A. (2018) Hydraulic valve-based active-heave compensation using a model-predictive controller with non-linear valve compensations<\/a>. Ocean Engineering,\u00a0152C (2018) pp. 47-56.<\/li>\n
  27. Woodacre J., Bauer R. J., Irani R. A. (2015) A Review of Vertical Motion Heave Compensation Systems<\/a>. Ocean Engineering. v. 104, pp 140-154.<\/li>\n
  28. Irani R. A., Bauer R. J., North L., Nicholson M., Nolan D., West B. (2014) Analysis of Joint Failures on the Lateral Undulation Gait of a Robotic Snake<\/a>. Transactions of the Canadian Society for Mechanical Engineering. v 39 n 2 pp 253-268.<\/li>\n
  29. Irani R. A., Bauer R. J., Warkentin A. (2014) Application of a Dynamic Pressure-Sinkage Relationship for Lightweight Mobile Robots<\/a>. International Journal of Vehicle Autonomous Systems. v.12 n. 1 pp 1-23.<\/li>\n
  30. Irani R. A., Bauer R. J., Warkentin A. (2013) Dynamic Wheel-Soil Model for Lightweight Mobile Robots<\/a>. Journal of Intelligent and Robotic Systems. v. 71, n. 2, pp 179-193.<\/li>\n
  31. Irani R. A., Bauer R. J., Warkentin A. (2011) A Dynamic Terramechanic Model for Small Lightweight Vehicles with Rigid Wheels and Grousers Operating in Sandy Soil<\/a>. Journal of Terramechanics. v. 48, n. 4, pp 307-318.<\/li>\n
  32. Irani R. A., Bauer R. J., Warkentin A. (2007). Development of a New Cutting Fluid Delivery System for Creepfeed Grinding<\/a>. International Journal of Manufacturing Technology and Management. v. 12, n. 1\/2\/3, pp 108-126.<\/li>\n
  33. Salam A., Lohmann U., Crenna B., Lesins G., Klages P., Rogers D., Irani R. A., MacGillivray A., Coffin M. (2006). Deposition Ice Nucleation Studies of Mineral Dust Particles with a New Continuous Flow Diffusion Chamber<\/a>. Aerosol Science and Technology. v. 40, n 3, pp 134-143.<\/li>\n
  34. Irani R. A., Bauer R.J., Warkentin A. (2005) A Review of Cutting Fluid Application in the Grinding Process<\/a>. International Journal of Machine Tools and Manufacture. v. 45, n. 15, pp 1696-1705.<\/li>\n<\/ol>\n

    <\/p>\n

    Peer-Reviewed Conferences Publications, Presentations and Posters<\/h3>\n
      \n
    1. Scratchley N., Irani R. A. (2025), Towards a Docking and Centering Mechanism for Underwater Welding Robot, IEEE Canadian Conference on Electrical and Computer Engineering (CCECE), Vancouver, BC, Canada, 26-29 May 2025. (Student Poster)<\/li>\n
    2. Lowell S., Irani R. A. (2024) Experimental comparison of plunger-type wavemaker models with mean flow<\/a>, IEEE \u00a0OCEANS 2024, Halifax, NS, Canada, September 23-26th.<\/li>\n
    3. Palmer K., Irani R. A. (2024) Computer Vision Based Intelligence for Tracking and Predicting Whale Blow Trajectories<\/a>, IEEE \u00a0OCEANS 2024, Halifax, NS, Canada, September 23-26th.<\/li>\n
    4. McKenzie R. A., Martin I. A., Irani R. A. (2024) Motion Compensation Cranes: Simulation, Experimentation and Operator Response, ASNE Multi-Agency Craft Conference (MACC), Portsmouth, VA, July 16-18th. (Abstract and Presentation, No paper)<\/li>\n
    5. Hayes M.J.D., Hninn T.T.O, Irani R.A., (2024) Angular Velocity and Acceleration Extrema: Implications for Force Analysis in Planar 4R Mechanisms<\/a>, International Symposium on Advances in Robot Kinematics (ARK2024), June 30 \u2013 July 4, 2024, Ljubljana, Slovenia.<\/li>\n
    6. Lloyd S., Irani R. A., Ahmadi M., (2023) A Framework for Simultaneous Workpiece Registration in Robotic Machining Applications<\/a>, the 2023 IEEE International Conference on Robotics and Automation (ICRA 2023), May 29 – June 2, 2023. London, UK. doi: 10.1109\/ICRA48891.2023.10160445<\/li>\n
    7. Lloyd S., Irani R. A., Ahmadi M., (2023) Fast and Robust Inverse Kinematics of Serial Robots Using Halley\u2019s Method, IEEE Transactions on Robotics (T-RO) paper, presented at ICRA 2023, London, UK.<\/li>\n
    8. Lloyd S., Irani R. A., Ahmadi M., (2022) Application of Pseudo-Symbolic Dynamic Modeling (PSDM) in the Modeling & Calibration of a 6-DOF Articulated Robot<\/a>, the American Automatic Control Council (AACC) and International Federation of Automatic Control (IFAC) conference on Modeling, Estimation and Control Conference (MECC 2022), October 2-5, 2022, Jersey City, USA. BEST STUDENT PAPER AWARD.<\/strong><\/li>\n
    9. Lloyd S., Irani R. A., Ahmadi M., (2022) Fast and Robust Inverse Kinematics of Serial Robots using Halley’s Method, the American Automatic Control Council (AACC) and International Federation of Automatic Control (IFAC) conference on Modeling, Estimation and Control Conference (MECC 2022), October 2-5, 2022, Jersey City, USA. RISING STAR SPECIAL SESSION<\/strong>.<\/li>\n
    10. Lowell S., Irani R. A. (2020) Sensitivity analysis of plunger-type wavemakers with water current<\/a>, IEEE Global OCEANS 2020: Singapore – U.S. Gulf Coast, Virtual, October 5-20th.<\/li>\n
    11. Westin C., Irani R. A. (2020) Continuously Differentiable Stick-Slip Friction Model with Applications to Nonlinear Systems<\/a>, 4th IEEE Conference on Control Technology and Applications (CCTA 2020), Montreal, August 24-26th.<\/li>\n
    12. M. Micomonaco, M.J.D. Hayes, R. Irani, R.G. Langlois, (2020) Performance of Recent Large-Angle Extensions to Classical Simulator Washout Algorithms<\/a>, Proceedings of the Vertical Flight Society Forum 76 (VFS 76).<\/li>\n
    13. Martin I. A., Irani R. A. (2019) Evaluation of Both Linear and Non-Linear Control Strategies for a Shipboard Marine Gantry Crane<\/a>, OCEANS 2019 Seattle, October 27-31, 2019. (doi: 10.23919\/OCEANS40490.2019.8962788<\/a>)<\/li>\n
    14. M. Micomonaco, M.J.D. Hayes, R. Irani, R.G. Langlois, (2019) Classical Washout Using Quaternions<\/a>, Proceedings of the 10th CCToMM Symposium on Mechanisms, Machines, and Mechatronics, \u00c9cole de Technologie Sup\u00e9rieure, Montr\u00e9al, QC, Canada, May 16-17, 2019.<\/li>\n
    15. Abujoub S., McPhee J., Westin C., Irani R. A. (2018)\u00a0Unmanned Aerial Vehicle Landing on Maritime Vessels using Signal Prediction of the Ship Motion<\/a>, OCEANS 2018 Charleston Conference October 22 \u2013 25, 2018. (doi:10.1109\/OCEANS.2018.8604820<\/a>)<\/li>\n
    16. Westin C., Irani R. A. (2018) Vortex-Induced Vibrations of a Low-tension Cable-Sheave System Modeled using Nonlinear Finite Elements<\/a>, In the Proceedings of The Canadian Society for Mechanical Engineering International Congress 2018 (CSME 2018),\u00a0May 27-30, 2018, Toronto, ON, Canada.<\/li>\n
    17. McPhee J., Irani R.A. (2018) On-line Determination of a Go-NoGo State Using a Continous Estimation of the System Response<\/a>, In the Proceedings of The Canadian Society for Mechanical Engineering International Congress 2018 (CSME 2018),\u00a0May 27-30, 2018, Toronto, ON, Canada.<\/li>\n
    18. Westin C., Irani R. A. (2017) Cable-Pulley Interaction with Dynamic Wrap Angle Using the Absolute Nodal Coordinate Formulation<\/a>. In the proceedings of the 4th International Conference of Control, Dynamic Systems, And Robotics (CDSR’17), Toronto, Canada, August 21-23rd, 2017. BEST PAPER AWARD<\/strong>.<\/li>\n
    19. Irani R. A., Schut N., Hayes M.J., and Langlois R., (2017) A Novel Flight Simulator Capable of Unbounded Rotation<\/a>. In the proceedings of 2017 IEEE International Symposium on Systems Engineering, Vienna, Austria, October 11-13th, 2017.<\/li>\n
    20. Woodacre J., Woles W., Bauer R. J., Irani R. A. (2016) Coupling a Standard Hydraulic Valve and Advanced Control to Achieve a Motion Compensation System<\/a>. In the proceedings of American Society of Naval Engineers: Launch & Recovery Symposium, Linthicum, Maryland, November 16-17th, 2016.<\/li>\n
    21. Calnan C., Bauer R.,\u00a0 Irani R. A., (2016) Controller Design and Generalized Motion Compensation for Marine Towed Bodies<\/a>. Oceans16 MTS IEEE Monterey, September 19-23rd 2016.<\/li>\n
    22. Irani R. A., Spencer W. W. (2014) Future Launch and Recovery System. In the proceedings of American Society of Naval Engineers: Launch & Recovery of Manned and Unmanned Vehicles from Surface Platforms, Linthicum, Maryland, November 19-20, 2014.<\/li>\n
    23. Irani R. A., Kehoe D., Spencer W. W., Watt G., Gillis C., Carretero J. A., Dubay R. (2014) Towards a UUV Launch and Recovery System on a Slowly Moving Submarine<\/a>. In the proceedings of The Royal Institution of Naval Architects: Warship 2014, Naval Submarines & UUV\u2019s, Bath, UK, June 18-19 2014.<\/li>\n
    24. Irani R. A., Bauer R. J., Warkentin A. (2011). Dynamic Terramechanic Model for Grouser Wheels on a Planetary Rover in Sandy Soil. In the proceedings of Canadian Congress of Applied Mechanics, CANCAM 2011, Vancouver, British Columbia, June 5-9th 2011.<\/li>\n
    25. Irani R. A., Bauer R. J., Warkentin A. (2010). Modelling a Single-wheel Testbed for Planetary Rover Applications. In the proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2010, Boston, Massachusetts, September 13-15th 2010.<\/li>\n
    26. Irani R. A., Bauer R. J., Warkentin A. (2010) Design of a Single-wheel Testbed and Preliminary Results for Planetary Rover Applications. In the proceedings of The Canadian Society for Mechanical Engineering Forum CSME 2010, Victoria, British Columbia, June 7-9, 2010.<\/li>\n
    27. Irani R. A., Bauer R. J., Warkentin A. (2006) New Cutting Fluid Delivery System for Creepfeed Grinding. In the proceedings of The Canadian Society for Mechanical Engineering Forum 2006, Kananaskis, Alberta May 21-24, 2006.<\/li>\n<\/ol>\n

      <\/p>\n

      Theses Publications<\/h3>\n
        \n
      1. Cornelius Liburd, Design, Development, and Test of an Autonomous Uncrewed Aerial System for Whale Snot Collection, MASc, 2025.<\/li>\n
      2. Kameron Palmer, Methodologies for Using Neural Networks to Facilitate an Aerial Vehicle\u2019s Fully Automated And Uncrewed Landing on a Moving Ship, MASc, 2025.<\/li>\n
      3. Eric Giroux, Autonomous Aerial Drone Landing Site Selection on a Maritime Vesse<\/a>l, MASc, 2025.<\/li>\n
      4. Cassidy Westin, Development of a Real-Time Physics-Based Digital Twin of a Marine Towed Cable-Body System<\/a>, PhD, 2024. CSME Gold Medal Winner<\/strong>.<\/li>\n
      5. Steffan Lloyd, Precision Robotic Machining: Modelling and Control Innovations for Improved Performance<\/a>, Carleton University, PhD, 2023. Senate Medal Winner.<\/strong><\/li>\n
      6. Wade MacMillan, Contour Following and Trajectory Planning for Robotic Deburring<\/a>, Carleton University, MASc, 2022, Senate Medal Nomination.<\/strong><\/li>\n
      7. Iain Martin, Real-Time Operator-in-the-Loop Anti-Sway Control for Shipboard Cranes<\/a>, Carleton University, PhD, 2022<\/li>\n
      8. Stephanie Lowell, Sensitivity analysis and experimental validation of plunger-type wavemakers modelled with a steady flow<\/a>, Carleton University, MASc, 2021.\u00a0Senate Medal Nomination.<\/strong><\/li>\n
      9. Grael Miller, Pilot Study for Cutting Force Model of Robotic Deburring<\/a>, Carleton University, MASc, 2021<\/li>\n
      10. Ryan McKenzie, Motion Compensation and Robotic Control of Maritime Cranes<\/a>, Carleton University, MASc, 2020<\/li>\n
      11. Shadi Abujoub, Development of a Landing Period Indicator and the use of Signal Prediction to Improve Landing Methodologies of Autonomous Unmanned Aerial Vehicles on Maritime Vessels<\/a>, Carleton University, MASc, 2019.<\/li>\n
      12. Mikayla Micomonaco, Large Angle Washout Algorithms for Flight Simulators<\/a>, Carleton University, MASc 2019.<\/li>\n
      13. Johanna McPhee, Control, Simulation, and Testbed Development for Improving Maritime Launch and Recovery Operations<\/a>, Carleton University, MASc, 2019. Senate Medal Winner.<\/strong><\/li>\n
      14. Cassidy Westin, Modelling and Simulation of Marine Cables with Dynamic Winch Sheave Contact<\/a>, Carleton University, MASc, 2018.<\/li>\n
      15. Clarke\u00a0Calnan, Set-Point Algorithms for Active Heave Compensation of Towed Bodies<\/a>, Dalhousie University, MASc, 2016.<\/li>\n
      16. Jeffrey Woodacre, Model-Predictive Control of a Hydraulic Active Heave Compensation System with Heave Prediction<\/a>, Dalhousie University, MASc, 2015.<\/li>\n<\/ol>\n

        <\/p>\n

        <\/p>\n

        <\/p>\n

        See here for selected preprints<\/a> publications. Please use and cite the peer-reviewed publications found on the current page and not the preprints. In general, preprints are not citable and typically do not incorporate the reviewer’s comments. Additionally, Dr. Irani’s Google Scholar Profile can be found here<\/a> and his ORCID is 0000-0003-2854-001X<\/a>.<\/p>\n","protected":false},"excerpt":{"rendered":"

        Peer-Reviewed Journal Publications Palmer K., Irani R. A. (2025) Neural Networks for High Accuracy Short Term Ship Motion Predictions with Applications to Autonomous UAVs, Aerospace Science and Technology, Volume 168, Part C, January 2026, 110964, doi: 10.1016\/j.ast.2025.110964 Lowell S., Irani R. A. (2025) Quality of regular waves experimentally generated by plunger-type wavemakers with mean flow, […]<\/p>\n","protected":false},"author":6,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_relevanssi_hide_post":"","_relevanssi_hide_content":"","_relevanssi_pin_for_all":"","_relevanssi_pin_keywords":"","_relevanssi_unpin_keywords":"","_relevanssi_related_keywords":"","_relevanssi_related_include_ids":"","_relevanssi_related_exclude_ids":"","_relevanssi_related_no_append":"","_relevanssi_related_not_related":"","_relevanssi_related_posts":"","_relevanssi_noindex_reason":"","_mi_skip_tracking":false,"_exactmetrics_sitenote_active":false,"_exactmetrics_sitenote_note":"","_exactmetrics_sitenote_category":0,"footnotes":"","_links_to":"","_links_to_target":""},"yoast_head":"\nPublications - Multi-Domain Laboratory<\/title>\n<meta name=\"description\" content=\"Publications of Multi-Domain Laboratory and Dr. Irani. 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