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Clementina D. Mladenova

Position: – Senior Research Fellow, Associated Professor

Department: Mechatronics

Room number: 122

Phone: +359 2 979 6418

E-mail: clem@imbm.bas.bg

 

Scientific degrees, institution, year:

 

Dr., Institute of Mechanics – Bulgarian Academy of Sciences, 1989

Senior Research Fellow, Institute of Мechanics – Bulgarian Academy of Sciences, 1996

Fields of Research:

 

Theoretical Mechanics (holonomic and nonholonomic mechanical systems)

Multibody Systems Simulations

Modelling and Control (manipulators, robots, mobile robots, vehicle devices, spacecrafts)

Geometry, Lie Groups and Lie Algebras and Applications

Biomechanics of motions

 

Extended Information

 

Alexander von Humboldt Fellow in the period 1992-1993, University of Wuppertal - FB 14 with Prof. P.C. Muller, Germany

Fellowships in: Italy, Austria, Belgium, Germany, France, USA

Reviewer in : Zentrlablatt fur Mathematik, Mathematical Reviews, SIAM and many other Journals.

Member of Scientific Council of the Institute of Mechanics at Bulgarian Academy of Sciences (2000-2004; 2007 - ) ; Member of the General Assembly of the Bulgarian Academy of Sciences (2000-2004);

Member of Expert Commission for Young Scientists at the General Assembly of the Bulgarian Academy of Sciences (2000-)

    Recent Publications:

     

  1. Mladenova C., Mladenov I.,  Spacecraft Dynamics Under the Influence of Gravity Tourques. JTAM , vol. 38, no.3, pp. 3-22 (2008).
  2. Mladenova C.,  Dynamics of Rigid Spacecraft Under the Influence of Gravity Torques. Theory and Applications , PAMM , DOI 10.1002/pamm.200810125, pp. 10126-10126 (2008).
  3. Rashkov I., Mladenova C., Displacements of Elastic Link from Open-loop Kinematic Chain (manipulator), Proc. 36th Spring Conference of the Union of Bulgarian Mathematicians, Varna, April 2-6, pp.289-298 (2007).

  4. Mladenova C.,Group Theory in the Problems of Modeling and Control of Multi-Body Systems, J. Geometry and Symmetry in Physics, 8, pp. 17-121 (2006).

  5. Mladenova C., Rashkov I., Dynamics Modeling of Open-loop Mechanical Systems. Analysis and perspectives, Proc. 16th Int. Conf. and Workshop "Robotics and mechatronics'2006", Drjanovo Monastery, Bulgaria, October 11-13, pp. 2.1-2.8 (2006) (in bulg.).

  6. Rashkov I., Mladenova C., An Approach for Defining the Displacements of Elastic Link From Open-Loop Kinematic Chain (Manipulator). Problems of Engineering Cybernetics and Robotics, Bulg. Acad. Sciences, Marin Drinov Press, Sofia, Vol. 56. pp.27-40 (2006).

  7. Mladenova C., review of : Geometric Control of Mechanical Systems: Modeling, Analysis, and Design for Simple Mechanical Control Systems}, by Francesco Bullo and Andrew D. Lewis, Springer Science+Buisiness Media Inc., 2005, in : Book Reviews in Journal of Geometry and Symmetry in Physics, 4, pp. 99-103 (2005).

  8. Rashkov I., Mladenova C., Modelling of a Manipulator with Rigid and Flexible Links, Proc. 10th National Congress on Theoretical and Applied Mechanics'2005, Varna, September 12-17, 2005, Vol.2, pp. 75-79 (2006).

  9. Mladenova C., The Role of the Parameterizations of the Rotation Group in Computer Vision and Robot Kinematics, Proc. 10th National Congress on Theoretical and Applied Mechanics' 2005, Varna, September 12-17, 2005, Vol.1, pp. 80-84 (2006).

  10. Mladenova C., review of : Lectures on Clifford (Geometric) Algebras and Applications, Rafal Ablamovics and Garret Sobczyk (Eds.) Birkhauser, Boston, 2004, In : Book Reviews in Journal of Geometry and Symmetry in Physics, 3, pp.105-107 (2005).

  11. Mladenov I., Mladenova C., An Approach to Reduction of the Real Symmetric 3 x 3 Secular Problem and Applications, Physics of Atomic Nuclei, Vol. 68, no.11, pp. 1916-1921 (2005): From Yadernaya Fizika, Vol. 68, no.11, 1978-1983 (2005).

  12. Mladenova C., Different Parameterizations of the Rotation Group in Computer Vision and Robot Kinematics, Proc. 15th National Conference "Robotics and Mechatronics 2005", Drianovo, October 12-14, Bulgaria, paper m4, pp. 2.20 - 2.29 (2005).

  13. Mladenova C., Karastoianov D., Dynamics of a Wheel Vechicle Device, Proc. 8th International Conference PRACTRO'2005, June 2005, Varna, Bulgaia , pp.163-168 (2005) (in bulg.).

  14. Rashkov I., Mladenova C., Symbolic Generation of the Dynamic Equations of Rigid Body Open-loop Mechanical System, In: Proc. National Conference "Robotics and Mechatronics 2004", Drianovo, Bulgaria, pp. 4.37 - 4.42 (2004) (in bulg.).

  15. Mladenova C., An Approach to Modelling of Flexible Link Manipulators, In: Proc. National Conference "Robotics and Mechatronics 2004", Drianovo, Bulgaria, pp. 1.52 - 1.59 (2004).

  16. Mladenova C., Rashkov I., Modelling of Flexible Link Manipulators, PAMM , Vol.4, Issue 1, pp. 163-164 (2004).

  17. Mladenova C., Mladenov I., An Approach to Diagonalizing Real 3 x 3 Symmetric Matrix and Mechanical Applications, J. Theoretical and Applied Mechanics, Vol. 34, No.1, pp. 3 - 20 , (2004) (invited paper).

  18. Mladenova C., Modelling and Control of Elastic Joint Manipulators, In: Proc. National Conference "Robotics and Mechatronics 2003", Drianovo, Bulgaria, pp. 1.8 - 1.20 (2003).

  19. Mladenova C., Theoretical Aspects and Tools for Modelling and Control of Robots, In: 7th International Conference PRACTRO'2003, 10-14 June 2003, Varna, Bulgaria, pp. 193-198 (2003).

  20. Mladenova C., Motion Planning of Robot Locomotion, PAMM, Vol. 2, no. 1, pp. 144-145 (2003).

  21. Mladenova C., Rotations of the Human Knee, IV World Congress Biomechanics, Proceedings CD, 692 pdf, Calgary, August 4-9, 2002.

  22. Mladenova C., Some Control Problems of the System of Mobile Platform and Manipulator, Proc. National Conference ``Robotics and Mechatronics'2002", Drianovo, Bulgaria, October 9-11,pp. 2.1-2.5 (2002).

  23. Mladenova C., Some Problems of Robot Locomotion, Proc. National Conference ``Robotics and Mechatronics'2002", Drianovo, Bulgaria, October 9-11, pp. 2.6-2.10 (2002).

  24. Mladenova C., An Approach for Modeling of Robot Dynamics, In: Mayorga R.V. and Rojas J. A. (eds.), Proceedings of the 2nd ANIROB/IEEE-RAS Int. Symp.on Robotics and Automation, ISRA'2000, Monterrey, Mexico, November 10-12, pp. 187-192, (2000).

  25. Mladenova C., Toshev Y., Uzunov D., About an Approach for Motion Planning of Robot Locomotion, Proc. 32nd Int. Symposium on Robotics (ISR 2001), Seoul, Korea, April 19-21, pp. 1045-1050( 2001).

  26. Mladenova C., Modelling and Control of Multibody Systems on a Configurational Space with a Lie Group Structure, J. Theoretical and Applied Mechanics, Vol. 31, No. 3, pp. 3-25, (2001) (invited paper).

  27. Mladenova C., Generation of Rotation Motions at Trajectory Planning, In: Proc. 9th National Congress on Theoretical and Applied Mechanics, Vol.1, Ya. Ivanov, A. Baltov and E. Manoach (Eds), Bulg. Acad. Sci., Demetra Ltd, Sofia, pp. 363-367 (2001).

  28. Mladenova C., Interpolation of Rotation Group at Trajectory Planning of Mobile Robots, National Conference ``Robotics and Mechatronics'2001", Drianovo, Bulgaria, October 10-12, pp. 1.7-1.14 (2001).

  29. Mladenova C., Toshev Y., Uzunov D., New Approach for Modeling and Simulation of Human Locomotion, in: Mayorga R.V. and Rojas J. A. (eds.), Proceedings of the 2nd ANIROB/IEEE-RAS Int. Symp.on Robotics and Automation, ISRA'2000, Monterrey, Mexico, November 10-12, pp. 319-324 (2000).

  30. Mladenova C., An Approach for Modeling of Robot Dynamics, In: Mayorga R.V. and Rojas J. A. (eds.), Proceedings of the 2ndd ANIROB/IEEE-RAS Int. Symp.on Robotics and Automation, ISRA'2000, Monterrey, Mexico, November 10-12, pp. 187-192 (2000).

  31. Mladenova C., Modeling and Control of Nonholonomic Mechanical Systems, Proc. EUROMECH Colloquium 404: Advances in Computational Multibody Dynamics, Lisboa, Portugal, September 23-27, pp. 889-900 (1999).

  32. Mladenova C., Applications of a Lie Group Theory to the Modeling and Control of Multibody Systems, Multibody System Dynamics, Vol. 4, no. 3, pp. 367-380 (1999).

  33. Mladenova C., Muller P.C., Dynamics and Control of Elastic Joint Manipulators. J. Intelligent & Robotic Systems, 20, 23-44 (1997).

  34. Mladenova C., Applications of Lie Group Theory at the Problems of Modeling and Control of Multibody Systems - An Overview, Proc. NATO ASI Computational Methods in Mechanisms, Vol.2, Varna, June 16-28, pp. 487-496 (1997).

  35. Mladenova C., Dynamics and Control of Elastic Joint Robots on a Group Configurational Manifold. in: Recent Advances in Robot Kinematics, (eds. J. Lenarcic and V. Parenti-Castelli), Kluwer Academic Publishers, Dordrecht , pp.47-56 (1996).

  36. Mladenova C., Aplication of the Group and Geometrical Properties of E(3) to the problems of Rigid-Body Systems. ACTA Mechanica , no. 112 , pp. 159-171 (1995).

  37. Ochier Adongo J., Mladenova C., Muller P.C., An Approach to Automatic Generation of Dynamic Equations of Elastic Joint Manipulators in Symbolic Language. J. Intelligent and Robotic Systems Vol. 14, no. 2, 199-218 (1995).

  38. Mladenova C., Kinematics and Dynamics of a Rigid Body in Nonholonomic Coordinates. Systems and Control Letters no.22, pp. 257-265 (1994).

  39. Mladenova C., Robot Problems Over Configurational Manifold of Vector- Parameters and Dual Vector-Parameters. J. Intelligent and Robotic Systems, no. 11, pp.117-133 (1994).

  40. Mladenova C., Dynamics of Nonholonomic Systems. Zeitschrift fur Angewandte Mathematik und Mechanik 74, 10, pp. 199-205 (1994).

  41. Mladenova C., Group Theoretical Methods in Manipulator Kinematics and Symbolic Computations. J. of Intelligent and Robotic Systems, 8, pp.21-34 (1993).

  42. Mladenova C., Reactions at Nonholonomic Constraints. Proc. 1st Int. Workshop on Intelligent and Robotic Systems, Southampton, U.K. April 18 - 21, pp. 534-539 (1993).

  43. Ochier Adongo J., Mladenova C., Muller P.C., Algorithmus zur automati- schen Generierung der Bewegungsgleichungen eines Industrieroboters mit elastischen Gelenken mittles symbolischer Sprache. VDI/VDE/GMA Conf. Intelligente Steuerung und Regelung von Robotern, Langen, Germany, November 9-10, 1993 in: VDI Berichte, no. 1094, pp. 251-262 (1993) (in German).

  44. Mladenova C., Robot Modelling and Control over Extended Configurational Manifold. Proc. IEEE Int. Conf. on Robotics and Automation, Nice, France, pp.326-331 (1992).

  45. Mladenova C., Group Theoretical Methods in Manipulator Kinematics. Proc.3rd Int. Workshop on Advances in Robot Kinematics, Ferrara, Italy, pp.187-193 (1992).

  46. Mladenova C., About the Topological Structure of SO(3) Group. Comp. Rend. Bulg. Acad. Sci.,Vol.44, no.4., pp.27-29 (1991).

  47. Mladenova C., Dual Vector-Parameter in Manipulators Kinematics. Bulg. Acad. Sci., Theor. and Appl. Mech., no.1 pp.22-30 (1991).

  48. Mladenova C., Mathematical Modelling and Control of Manipulator Systems. Int. Journal Robotics and Computer-Integrated Manufacturing, Vol.8, no.4., pp.233-242 (1991).

  49. Mladenova C., A Contribution to the Modelling and Control of Manipulators. J. of Intelligent and Robotic Systems, Kluwer Acad. Publishers, Vol.3, pp.349-363 (1990).

  50. Mladenova C., Some Topological Aspects of Euclidean Group. Proc.VI Nat. Cong.of Theoretical and Applied Mechanics, Varna, Bulgaria, pp. 177-180 (1989).

  51. Mladenova C., Reduction of the Computational Burden in Robot Manipulator Simulation and Control. Proc.V IFAC Symp.on Robot Control-SYROCO'88 Karlsruhe, Germany, pp..96.1-96.5 (1988).

  52. Mladenova C., Toshev Y., New Concept for Computer Modelling of Manipu- lator Motion. Preprints V IFAC/IFIP/IMACS/IFORS Symp., Suzdal, USSR April 20-25 (1986) pp. 407-410; see also: Information Control Problems in Manufacturing Technology. Robotics and Flexible Manufacturing Systems, ed. A.A.Tal', IFAC Proc. Series, Vol.1 pp. 239-242 (1987).

  53. Mladenova C., Efficient Kinematical Consideration of Manipulator System Motion. Preprints of RAI/IPAR, Toulouse, France, pp. 269-278 (1986).

  54. Mladenova C., Toshev Y., Vector-Parameter Approach to Analysis and Control of Manipulator Systems. Trans.ASME Design Eng.Techn. Conf., DET-195, Columbus,Ohio, Oct. 5-8 (1986).

  55. Mladenova C., Toshev Y., Group Theoretical Setting of Manipulators Kinematics and Control. Preprints of Ist. IFAC Symposium on Robot Control - SYROCO '85, Barcelona, Spain (1985) pp. 263-267; see also: Robot Control (SYROCO '85), Eds. L.Basanez, G.Ferrate and G. Saridis, Pergamon Press, IFAC Proc.Series, Vol.9 (1986) pp.305-309; see also Express-Information-Robototechnics no.28, pp.5-11 (1986) (in Russian).

  56. Mladenova C., An Approach to Description of a Rigid Body Motion. Comp. Rend. Bulg. Acad. Sci., Vol.38, no 12 , pp. 1657-1660 (1985).

  57. Mladenova C., A Group Approach to Manipulators Modelling and Control. Proc. V Nat. Cong. of Theoret. and Appl.Mech., Bulgaria, Varna, Sept. 23-29, Vol.2, pp.54-59 (1985).

     

Membership: American Mathematical Society, GAMM, Union of Bulgarian Mathematicians - section "Mechanics"), Science-Technical Society in Bulgaria (section "Robotics"), Bulgarian Society of Biomechanics, European Society of Women in Mathematics

Home page http://www.imbm.bas.bg/imbm/BDT/CLEMENTINA.html


Modified date:29-02-2016