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Information for

Behrad Khamesee

Professor

Contact InformationBehrad Khamesee

Phone: 519-888-4567 x35095
Location: E3 3148

Website

Biography Summary

Behrad Khamesee is a Professor in the Department of Mechanical and Mechatronics Engineering at the University of Waterloo. He is also an integral member of the Waterloo Center for Automotive Research (WATCAR).

Professor Khamesee’s research interests are in microrobotics, micromanipulation using magnetic levitation, magnetically driven medical microrobots for drug delivery and microsurgery, smart structures and actuators, and the development of a cost-effective prosthetic leg.

He is also the Director of Maglev Microrobotics Laboratory, which studies the design and development of magnetically levitated (Maglev) robots. A magnetic Levitation setup enabling high precision 3D remote positioning was built. The lab is also working on the development and industrialization of various applications of magnetism such as electromagnetic energy harvesters for human locomotion and regenerative electromagnetic suspension system for vehicles, and non-destructive testing for detecting cracks and defects in live pipelines.

Research Interests

  • Mechatronics
  • Microrobotics
  • Magnetic Levitation
  • Micromanipulation
  • Automation
  • Microactuator
  • Biomechanics And Biotechnology
  • Automotive
  • MEMS
  • Nanotechnology
  • Connectivity And Internet Of Things
  • Electromagnetic Actuators
  • Additive Manufacturing
  • Robotics

Education

  • 1999, Doctorate, Ph.D. Degree in Systems Engineering (Mechatronics), Mechatronics Laboratory, Mechanical Engineering Dept., Mie University
  • 1996, Master's, M.Sc. Degree in Mechanical Engineering, Mechatronics Laboratory, Mechanical Engineering Dept., Mie University
  • 1989, Bachelor's, Mechanical and Manufacturing Engineering, Department of Mechanical and Manufacturing Engineering, Faculty of Engineering, Amirkabir University of Technology, Tehran

Courses

  • ME 101 - Introduction to Mechanical Engineering Practice 2
  • ME 555 - Computer-Aided Design
  • MTE 380 - Mechatronics Engineering Design Workshop

Selected/Recent Publications

  • C Elbuken, L Gui, C L Ren, M Yavuz and M B Khamesee, Design and analysis of a polymeric photo-thermal microactuator, Journal of Micromechanics and Microengineering
  • Babak Ebrahimi, Mir Behrad Khamesee, M. Farid Golnaraghi, Design and Modeling of a Magnetic Shock Absorber Based on Eddy Current Damping Effect, Journal of Sound and Vibration
  • Ehsan Shameli , Mir Behrad Khamesee, Jan Paul Huissoon, Dynamic Modeling and Adaptive Feedback Linearization Control of a Magnetic Levitation System , Smart Materials and Structures
  • Babak Ebrahimi, Mir Behrad Khamesee, Farid Golnaraghi, Development of an Eddy-Current Damper for Automobile Suspension - Modeling, Simulation and Testing , Vehicle System Dynamics
  • E. Shameli, M.B. Khamesee & J.P. Huissoon, Non-linear Controller Design for a Magnetic Levitation Device, J. Microsystem Technologies, 13(8), 2007
  • Craig D.G., Khamesee M.B., Black-box model identification of a magnetically levitated microrobotic system, Journal of Smart Mater. Struct. 16 (April 2007) 739-747, 2007
  • Craig D.G., Khamesee M.B., Motion control of a large gap magnetic suspension system for microrobotic manipulation, J. Phys. D: Appl. Phys. 40 (June 2007) 3277-3285, 2007
  • Guo S., Pan Q., and Khamesee MB, Development of a novel type of microrobot for biomedical application, Journal of Microsystem Technologies, 2007, DOI 10.1007/s00542-007-0430-1., 2007
  • Mir Behrad Khamesee, Miklos Rapolti, Alidad Amirfazli , Controller Design and Optimization for Large-Delays Image Processing in Visual Closed-Loop Systems, Journal of Mechatronics
  • Khamesee M.B., Shameli S.E., Pole Piece Effect on Improvement of Magnetic Controllability for Non-Contact Micromanipulation, IEEE Transaction on Magnetics, Vol. 43, No. 2, February 2007, pp. 533-542, 43(2), 2007
  • Elbuken C., Shameli S.E., Khamesee M.B., Modeling and Analysis of Eddy Current Damping for High Precision Magnetic Levitation of a Small Magnet, IEEE Transaction on Magnetics, Vol. 43, No. 1, January 2007, pp. 26-32, 43(1), 2007
  • Shameli S.E., Craig D.G., and Khamesee M.B., Design and implementation of a magnetically suspended microrobotic pick-and-place system, Journal of Applied Physics, 99, 08P509:1-3, 2006, 2006
  • Shameli S.E., Khamesee M.B., Huissoon J.P., Nonlinear controller design for a magnetic levitation device, Journal of Microsystem Technologies, Volume 13, Numbers 8-10, May 2007, pp. 831-835., Journal of Microsystem Technologies, 13(8), 2006
  • Elbuken C., Khamesee M.B., Yavuz M. , Eddy current damping for magnetic levitation: downscaling from macro to micro-levitation, Journal Phys. D: Appl. Phys. 39 (2006) 3932-3938, 2006
  • Khamesee M.B., Ally J., Amirfazli A., Automatic focusing for objects with large displacement at high magnification, Journal of Measurement+Control, Vol. 39/4, May 2006, pp. 118-121, 2006
  • Khamesee M.B., Shameli S.E., Regulation Technique for a Large Gap Magnetic Field for 3D Non-Contact Manipulation, The Elsevier Journal of Mechatronics, Nov. 2005, pp. 1073-1087, 2005
  • J. Ally, B. Martin, M.B. Khamesee, W. Roa, A. Amirfazli, Magnetic Targeting of Aerosol Particles for Cancer Therapy, The Journal of Magnetism and Magnetic Materials 293, 2005, pp. 442-449, 2005
  • Khamesee, M.B. Kato N., Nomura Y., Nakamura T. , Design and Control of a Microrobotic System Using Magnetic Levitation, IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 1, March 2002, pp. 1-14, 2002
  • Nakamura T., Khamesee M.B., A Prototype Mechanism for 3D levitated Movement of a Small Magnet, IEEE/ASME Trans. on Mechatronics, Vol. 2, No. 1, Mar. 1997, pp. 41-50, 1997
  • Shameli E., Khamesee M.B., Huissoon J.P., Frequency response identification and dynamic modeling of a magnetic levitation device, Proceedings of 2007 ASME International Mechanical Engineering Congress and Exposition, IMECE2007, Seattle, Washington, November 2007, Paper No. 43468, 5p, November 2007
  • Elbuken C., Khamesee M.B. and Yavuz M. , Large-Air gap Magnetic Levitation of Electrodeposited Co-Ni-Mn-P films, Proceeding of IEEE Int. Conf. on Mechatronics and Automation, China, August 2007, pp. 3272 – 3277., August 2007
  • Ebrahimi B., Khamesee M.B., Golnaraghi M.F., , Design of an Electromagnetic Shock Absorber, Proceedings of 2007 ASME International Mechanical Engineering Congress and Exposition, IMECE2007, Seattle, Washington, November 2007, Paper No. 43217, 6p., November 2007
  • Elbuken C., Khamesee M.B., Yavuz M., Damping Control in Magnetic Levitation of Micro Objects, in Proceeding of IECON06 – The 32nd annual conference of the IEEE Industrial Electronics Society, Paris, France., Nov. 2006, pp. 4170-4175, November 2006
  • Craig D.G., Khamesee M.B., Derivation Of An Analytical Model For The Force Produced During The Motion Of A Magnetically Suspended Object, in Proc. of Int. Conf. on Mechatronics and Automation IEEE ICMA 2005, Niagara Falls, ON, Canada, pp. 970-974, July 2005
  • Khamesee M.B., Craig D.G., Controller Design Using White Box And Black Box Methods For A Magnetically Suspended Robotic System, in Proc. of Int. Conf. on Mechatronics and Automation IEEE ICMA 2005, Niagara Falls, ON, Canada, pp. 1346-1350, July 2005
  • Khamesee M.B., Kato N., Nomura Y., Nakamura T., Performance Improvement of a Magnetically Levitated Microrobot Using an Adaptive Control, in Proc. of Int. Conf. on MEMS, NANO, and Smart Systems, Banff, Alberta, Canada, July 2003, pp. 332-338, July 2003
  • Khamesee M.B., Nakamura T., Kato N., Nomura Y., Mizutani K., A Teleoperated Microgripper for Operation in Small Insulation Chambers, in Proc. of Int. Conf. on Robotics for Challenging Environments, NM, USA, April 1998, pp. 321-327, April 1998
  • Khamesee M.B., Nakamura T., Kato N., Nomura Y., Control of Three Translational and One Rotational Motions of a Remote Microhand, in Proc. of the 1998 Int. Workshop of TITech COE/Super Mechano-Systems, Tokyo, Japan, Mar. 1998, pp. 77-84, March 1998
  • Khamesee M.B., Nakamura T., Kato N., Guo S., Mizutani K. , A Remote Micro Manipulator for Teleoperation Using Magnetic Levitation, in Proc. of Int. Symp. on Micro-mechatronics and Human Science (MHS' 97), Nagoya, Japan, Oct. 1997, pp. 169-176, October 1997
  • T. Nakamura and M.B. Khamesee, , "A Mechanism for Three-Dimensional Levitated Movement of a Small Magnet", in Proc. of the 4th Int. Workshop on Advanced Motion Control (AMC ‘96-MIE), Mie, Japan, March 1996, pp. 464-469, , March 1996
  • Elbuken C., Yavuz M., Khamesee M.B., Kambe S. and Ishii O. , Investigation of Electrodeposited Co-Based Films Used for MEMS Applications , (Accepted in 2007)
  • Aghighi H, Khamesee M.B, Toyserkani E., Integrated Electromagnetic-Hall Sensor for Permeability Measurement., (Accepted in 2006)
  • Guo S., Pan Q., Khamesee M.B., Development of a Novel Type of Microrobot for Biomedical Application, (Accepted in 2006)
  • Nakamura T. and Khamesee M.B., Magnetic Levitation and Movement of a Microhand with SMA Fingers for a Teleoperation System, (Accepted in 1997)
  • Khamesee M.B., Nakamura T., Kato N., Guo S., Mizutani K., Tracking Control of an Object Carried by a Remote Microhand, (Accepted in 1997)
  • T. Nakamura and M.B. Khamesee, "A Non-Contact Pick-and-Place Task Using Magnetic Levitation", (Accepted in 1996)
  • Behrad Khamesee, Departmental Seminar at Department of Mechanical Engineering, University of Victoria, August 2003, August 2003
  • Behrad Khamesee, Departmental Seminar at Department of Mechanical Engineering, University of British Columbia, September 2002, September 2002
  • C. Elbuken, M. Yavuz and M. B. Khamesee, Structural and Mechanical Properties of Electrodeposited Co-Ni-Mn-P films, CANCAM’07 21st Canadian Congress of Applied Mechanics, Toronto, Canada, 2p, June 2007 (Accepted in 2007)
  • C. Elbuken, M. B. Khamesee and M. Yavuz, Magnetic Levitation of Co-Ni-Mn-P Coated Silicon Samples toward Microlevitation, CANCAM’07 21st Canadian Congress of Applied Mechanics, Toronto, Canada, 2p, June 2007 (Accepted in 2007)
  • Shameli E., Khamesee M.B., Ally J., Amirfazli A. , Modeling and Analysis of a Magnetic Positioning Device for Aerosol Particles Targeting in Biomedical Applications, 6th Int. Conf. Sci. Clinical Appl. Magnetic Carriers, Krems, (poster presentation), Austria May 2006, May 2006 (Accepted in 2006)
  • Shameli SE, Craig D, Khamesee MB, Design Aspects and Performance Analysis of a Magnetically Suspended Microrobot, 50th Annual Conf. on Magnetism and Magnetic Materials, San Jose, California, October 30-November 3, 2005, November 2005 (Accepted in 2005)
  • Aghighi H, Khamesee MB, Toyserkani E, Electromagnetic-based detector for dilution level measurement in laser cladding, 50th Annual Conf. on Magnetism and Magnetic Materials, San Jose, California, (abstract), October 30-November 3, 2005, November 2005 (Accepted in 2005)
  • Behrad Khamesee, Provisional US patent# 60/845254, 2006, for "Novel Actuation of Micro-Gripper Using External Magnetic Field", PI: Khamesee M.B. 50%, Co-PIs: Li S. 30%, and Craig D. 20%, (Patented in 2006)
  • Behrad Khamesee, Provisional US patent# 60/847934, 2006, for "MEMS Magnetic Levitation", PI: Khamesee M.B. 60%, Co-PIs: Elbuken C. 10%, and Yavuz M. 30%, (Patented in 2006)
  • Khamesee M.B., Amirfazli A. , Prototyping a Novel Instrument Combining Fluorescent Microscopy and Surface Measurement Tools, March 2003,
  • Khamesee M.B., A Study on Teleoperation of Magnetically Levitated Microrobots for micromanipulation. Ph.D. thesis, Department of Mechanical Engineering, Mie University, Japan, March 1999. Graduate Thesis, March