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Assen Assenov Shulev


Position: Assistent Professor

Department: Mechatronics

Room number: 11, 56

Phone: +359 2 979 6403


Scientific degrees, institution, year:


Assistent Professor, BAS, 2003

Fields of Research:


Laser metrology, Interferometry, Digital Holography, Digital Speckle Photography, Image Processing, Computer Vision,

Extended Information

Recent Publications:

  1. Shulev, A., Gotchev, A. A sliding-window transform-domain technique for denoising of DSPI phase maps. Proc. of SPIE, Image Processing: Algorithms and Systems XII, v. 90190N, 2014.
  2. Stavrov, V., Todorov, V., Shulev, A., et al. MEMS sensors for mm-range displacement measurements with sub-nm resolution, Proc. of SPIE, v. 8763 G, 2013.
  3. Kostadinov, K., Chakarov, D., Shulev, A., et al. A Robot for Cell Injection: Modeling, Design and Experimental Validation. International Journal of Intelligent Mechatronics and Robotics (IJIMR), vol. 3 2013, 3, pp. 77-98.
  4. Stavrov, V., Shulev, A., Hardalov, et al. All-silicon microforce sensor for bio applications, Proc. of SPIE, v. 8763, 2013, pp. 0Y (6).
  5. Kostadinov, K., Trifonov, D., Tiankov, T., Shulev, A., Vuchkov I. Concept design and experimental set-up of microfluidic device for single-cell immobilization, Proc. of the 9th Baltic, Int. Conference on Bionics and Prosthetics, Biomechanics and Mechanics, Mechatronics and Robotics (ICBBM) Riga, Latvia, June 17-21 2013, v. 9, pp. 134-139.
  6. Tiankov, T., Trifonov, D., Chakarov, D., Shulev, A., Kostadinov, K. Microfluidic Mechatronic Device – Basic Unit for Automation of Cell Microinjection, 13th Mechatronics forum International Conference, Johannes Kepler University, Linz, Austria, Trauner Verlag, September 17-19, v. 2/3, 2012, pp. 476-481.
  7. Shulev, A., Roussev, I., Kostadinov, K. Force Sensor for Cell Injection and Characterization, IEEE, international conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO), 2012, pp. 335-338.
  8. Chakarov, D., Kostadinov, K., Shulev, A., Tiankov, T. Development of a piezo-actuated robot for cell injection, Proc. of the 9th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Rome-Italy, 28.07-31.07, 2012, v. 2, pp. 21-30.
  9. Tiankov, T., Trifonov, D., Chakarov, D., Shulev, A., Kostadinov K. Integration of microfluidic device for ICSI automation, Proc. of the 8th International Conference on BPBMMR, v. 8, June 04-05, 2012, pp. 78-83.
  10. Shulev, A., Kostadinov, K., Tiankov, T., Roussev, I. Optical positioning control of a 3d micromanipulator”, Accepted for publication in International Journal of Optomechatronics, 3M-NANO International Conference on Manipulation, Manufacturing and Measurement of the Nanoscale, Changchun, China, 29.08-02.09, 2011.
  11. Chakarov, D., Shulev, A., Kostadinov, K. Tensed piezo actuated robotic system with elastic joints for micro applications, Paper, presented at the Magdeburger Maschinenbau-Tage, Magdeburg, Germany, 27-29 Sept., 2011.
  12. Stavrov, V., Tomerov, E., Stavreva, G., Hardalov, C., Shulev, A. Lateral displacement MEMS sensor, Procedia Engineering, v. 5, 2010, pp. 649-652.
  13. Stavrov, V., Tomerov, E., Hardalov, Ch., Danchev, D., Kostadinov, K., Stavreva, G., Apostolov, E., Shulev, A., Andonova, A., Al-Wahab, M. Low voltage thermo-mechanically driven monolithic microgripper with piezoresistive feedback, IFIP Advances in Information and Communication Technology, In: Precision Assembly Technologies & Systems, v. 315, 2010, pp. 207-214.
  14. Djondjorov, P., Kostadinov, K., Mladenov, I., Shulev, A., Stoilov, G., Vassilev, V. Cell membranes under hydrostatic pressure subjected to micro-injection, AIP Conference Proceedings 04/2011, v. 1340, 2010, pp. 234-240.
  15. Shulev, A., Van Paepegem, W., Sainov, V., Degrieck, J., Stoykova, E., De Pauw, S., Roussev, I. Window security film investigation by optical techniques. Journal of Theoretical and Applied Mechanics (JTAM), Sofia, v. 40, 2010, 3, pp. 79-88.
  16. Shulev, A., Roussev, I., Tiankov, T., Oransky, R., Ignatova, D., Kostadinov, K. Vision control of hybrid robot system for cells injection. Journal of Theoretical and Applied Mechanics (JTAM), Sofia, v. 40, 2010, 3, pp. 83-92.
  17. Shulev, A., Tiankov, T., Al-Wahab, M., Roussev, I., Kasper, R., Kostadinov, K. Optical approach for positioning control of handling devices for micro-manipulations. Proc. of the 7th Int. Conference on bionics and prosthetics, biomechanics and mechanics, mechatronics and robotics (ICBMM), v. 7, 2010, pp. 62-65.
  18. Ivanov, I., Tiankov, T., Shulev, A., Konstantinov, S., Antonova, N. Milestones in robotic injection of cell cultures”, 91 изд. Механика на машините, 2010, сс. 59-62.
  19. Petrova, R., Genova, P., Shulev, A., Dechkova, S. Deformation analysis of specialized grippers for micro and nano objects. Machine Mechanics, v. 91, 2010, 7, pp. 83-86.
  20. Shulev, A., Stavrov, V., Roussev, I., Kostadinov, K. Force sensor for biological and industrial micro/nano applications, Machine Mechanics, v. 91, 2010, 7, pp.67-70.
  21. Shulev, A., Roussev, I., Tiankov, T., Kostadinov, K., Karayonchev, V. Visual servoing of a robotic cell injection system, Machine Mechanics, v. 91, 2010, 7, pp. 63-66.
  22. Shulev, A., Van Paepegen, W., De Pauw, S., Stoykova, E., Degrrieck, J. Sainov, V. Projection moiré measurement of glass specimens retrofitted with safety film. Optical Measurement Techniques for Systems & Structures, Shaker Verlag, 2009, pp. 369-377.
  23. Van Paepegem, W., Shulev, A., Roussev, I., De Pauw, S., Degrieck, J., Sainov, V. Study of the deformation characteristics of window security film by digital image correlation techniques. Optics and Lasers in Engineering. v. 47, 2009, pp. 390-397.
  24. Tiankov, T., Shulev, A., Oransky, R., Karayonchev, V., Latouche, J. Modular Robotic System for Micro- and Nano-manipulations. Proc. 11th National Congress on TAM, Borovets, Bulgaria, 2-5 Sept., 2009.
  25. Paepegem, W., Shulev, A., Moentjens, A., Harizanova, J., Degrieck, J., Sainov, V. Use of projection moire´ for measuring the instan-taneous out-of-plane deflections of composite plates subject to bird strike. Optics and Lasers in Engineering, v. 4, 2009, pp.527-534.


  • Shoulev A.,  Petrov T.,  Tyankov T.,  Trifonov D., Kostadinov K.,  A Biological Cells Feeding Device, IPC: G01N35/02, 2012-08-31/ Fill date:2011-02-11 .

Recent Projects:

  1. VERE - Virtual Embodiment and Robotic Re-Embodiment, (Seventh Framework Program), Grant Agreement Number 257695.
  2. High-precision and Large Range Force/Displacement Sensors with Monolithic Elastic Mechanisms, Contract No. NIF (01.01.2013 - 31.12.2015).
  3. Development of Algorithms and Digital Systems for 3D Optical Scanning of Nano, Micro, and Macro - Objects (3D Scan), Contract No. NIF-02-70/28.12.2007.
  4. Speckle Metrology for Full-field Measurement of Deformation of Composites, Joint Research Project, Partners: CLOSPI - BAS and University of Gent (Belgium), Department of Applied Mechanics Experimental Stress Analysis Group. (01.01.2006 - 31.12.2008)
  5. Real-time Processing of Interference Patterns, Joint Research Project, Partners:  CLOSPI - BAS and Tampere International Center for Signal Processing (TICSP) Tampere University of Technology (01.01.2006 - 31.12.2008 )
  6. 3DTV - Capture, Transmission, Display, (Sixth Framework Program) Contract No. 511568, IST - 2002- & IST - 2002., (01.09.2004 - 01.09.2008).
  7. HYDROMEL - Hybrid ultra-precision manufacturing process based on positional- and self-assembly for complex micro-products, (Sixth Framework Program), Contract No. NMP-CT-2006-026622-2.
  8. MeCHa-PiCS, IMECH - BAS and University of Magdeburg Germany, DFG project – (10.2005 - 12.2009 ).
  9. SpiSy-MiNT - Specialized Mechatronic Systems for Micro and Nano Technologies, funded by NSF, Contract No. DO 0171/16.12.2008.

Modified date:29-02-2016