Institute of Mechanics

Position: Associate Professor

Laboratory: Biomechanics and Technically Assisted Rehabilitation

Room number: 408

Phone: +359 2 979 6467

E-mail: kiriazov@imbm.bas.bg, pkiriazov@yahoo.com , kiriazov@bas.bg

Scientific degrees, institution, year:

M.Sc., Sofia University, 1977

Ph.D., Sofia University, 1981

Assoc. Prof., Institute of Mechanics, 1990

Fields of Research:

Dynamics and Optimization of Controlled Mechanical Systems: Robotic Manipulators, Mobile Robots, and Mechanical Structures with Active Vibration Control, etc.;

Time/Energy Optimal Control of Point-to-Point Movements: Efficient Learning;

Parameter Identification for Control Design Purposes;

Optimal Decentralised Controllers for Motion Stabilisation;

Control and Rehabilitation of Human Motion;

Recent Publications:

• Kiriazov, P., Control Strategy for Efficient Motion Rehabilitation”, Proc. of the 2nd European Conference „Technically Assisted Rehabilitation”, March 18-19, 2009, Berlin, ISSN 18624871, pp. 1-4.

• Kiriazov, P., E. Manoach, Motor Control Optimization in Sport and for Disabled People, Kinesitherapy, ISSN: 1311-770X, No.2, pp.24-29, 2008 (in Bulgarian)

• Kiriazov, P., Optimal Robust Controllers for Mechatronic Systems, Proc. of the International Conference “Robotics and Mechatronics”, Dryanovo, 10–12 oct. 2007, ISSN1310-3946, pp. 24-29 (2007).

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

• Kiriazov, P., 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).

• Kiriazov, P., 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).

• Kiryazov, K., S. Karastanev, K. Delchev, and P. Kiriazov, 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).

• Kiriazov, P., 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).

• Kiriazov, P., 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, European Space Agency, (Special Publication) ESA SP (603), pp. 833-838

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

• Kiriazov, P., K. Kiryazov, 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).

• Kiriazov, P., 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).

• Kiriazov, P., 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).

• Kiriazov, P., 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).

• Kiriazov, P., 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).

• Kiriazov, P., 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).

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

• Kiriazov, P., 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).

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

• Kiriazov, P., 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.

• Kiriazov, P., 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.

• Kiriazov, P., 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.

• Kiriazov, P., 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.

• Kiriazov, P., S. Karastanev, K. Delchev, Dynamic Parameter Identification and Motion Optimization of Lifts with Processors, Proceedings of the 9th National Congress on Theoretical and Applied Mechanics, Vol. 2, Varna, Sept. 2001, pp. 107-111.

• Kiriazov, P., 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.

• Kiriazov, P., 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.

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

• Kiriazov, P., 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.

• Kiriazov, P., 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.

• Kiriazov, P., 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.

• Kiriazov, P., E. Kreuzer and F. Pinto, Robust Feedback Stabilization of Underwater Robotic Vehicles, Journal of Robotics and Autonomous Systems. Vol. 21 (1997), 415-423.

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

• Kiriazov, P., W. Schiehlen, On Direct-Search Optimization of Biped Walking, CISM Courses, 381, Eds. A. Morecki, G. Bianchi, and C. Rzymkowski, SpringerWienNewYork, 1997, 134-140.

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

• Kiriazov, P., A Direct-Search Optimization Method for Control Synthesis of Point-to-Point Motion, ZAMM - Zeitschrift fur Angewandte Mathematik und Mechanik, vol. 76, Suppl. 5, Springer-Verlag, 1996, 247-248.

Recent Projects:

“Optimization of robotic and controlled biomechanical systems”, 2008-2010г.;

“Computerised system for analysis and design of multibody systems”, project leader Evtim Zahariev, funded by the National Science Fund, 2005-2008 г.;

“International thematic network in mobile robotics”, ЕU, 5FW-GROWTH, acronym CLAWAR; project leader: Prof. G. Virk, U.K., 2002-2005.

Membership:

EUROMECH: European Mechanics Society;

GAMM (Applied Mathematics and Mechanics Society);

Honors:

Research visit grants:

• University of Stuttgart (with Prof. Werner Schiehlen), Stuttgart, Germany, 1992, 1993 (study on parameter identification of robot manipulators with flexible links), 1995 (study on dynamics, control and optimisation of biped robots);

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

• Hamburg University of Technology, (with Prof. Edwin Kreuzer), Hamburg, Germany 1994, 1995 (study on dynamics and control of underwater robots) , 2004 (study on control of underwater robots with actuator redundancy);

• University of Portsmouth, (with Prof. Gurvinder Virk), 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, 2006-2008 (study and lectures on optimal and biologically-inspired control of articulated systems for human rehabilitation purposes);

Home page: http://info.imbm.bas.bg/modules.php?name=Your_Account&op=userinfo&uname=Petko

Institute of Mechanics tel.: +359 2 973 31 40; fax: +359 2 870 74 98; e-mail: office@imbm.bas.bg