Inna Sharf

Sharf

Professor


Ph.D. University of Toronto

B.ASc. University of Toronto


Macdonald Engineering Building, Rm 148 Map

514-398-1711 [office]

514-398-7365 [Fax]

inna.sharf [at] mcgill.ca (Email)


Research Interests

Primary Research Theme: Dynamics and Control
Research Group/Lab : Aerospace Mechatronics Laboratory

Unmanned aerial vehicles: dynamics, navigation and control of small UAVs (quadrotors, indoor airships) Multibody systems: contact dynamics, modeling, simulation, parameter identification. Dynamics, control and motion planning of mechatronic systems: legged robots, space robotic systems. Computational mechanics: contact mechanics, finite elements analysis.

Current Research Projects

  • Guidance, navigation, and control of indoor airships for artistic applications and aerial architecture

  • Unmanned aerial vehicles (UAVs): dynamics and  control, state estimation, localization, motion planning

  • Collision recovery for small UAVs

  • Active space debris removal strategies: robotic capture and post-capture maneuvering and stabilization

  • Active space debris removal strategies: dynamics modeling and simulation of tethered-net debris capture

  • Orbit and attitude propagation of space debris under hypervelocity collisions

For More Information Regarding Her Research Projects

Most Significant Publications

  • Sharf, I., A. Wolf and MB Rubin, "Arithmetic and Geometric Solutions for Average Rigid-body Rotation," Mechanism and Machine Theory, Vol. 45, No. 9, pp. 1239-1251, 2010.
  • Smith, J.A., I. Poulakakis, M. Trentini and I. Sharf, "Bounding with Active Wheels and Liftoff Angle Velocity Adjustment," International Journal of Robotics Research, Vol. 29, No. 4, pp. 414-427, 2010.
  • Verscheure, D., I. Sharf, H. Bruyninckx, J. Swevers and J. De Schutter, "Identification of Contact Dynamics Parameters from Stiff Multi-point Contact Robotic Operations," International Journal of Robotics Research, Vol. 29, No. 4, pp. 367-385, 2010.
  • Zarrouk, D., I. Sharf and M. Shoham, “Analysis of Worm-like Robotic Locomotion on Compliant Surfaces,” to appear in IEEE Transactions on Biomedical Engineering, 2011.
  • Sharf, I., A. Wolf and MB Rubin, “Arithmetic and Geometric Solutions for Average Rigid-body Rotation,” Mechanism and Machine Theory, Vol. 45, No. 9, pp. 1239-1251, 2010.
  • Smith, J.A., I. Poulakakis, M. Trentini and I. Sharf, “Bounding with Active Wheels and Liftoff Angle Velocity Adjustment,” International Journal of Robotics Research, Vol. 29, No. 4, pp. 414-427, 2010.
  • Verscheure, D., I. Sharf, H. Bruyninckx, J. Swevers and J. De Schutter, “Identification of Contact Dynamics Parameters from Stiff Multi-point Contact Robotic Operations,” International Journal of Robotics Research, Vol. 29, No. 4, pp. 367-385, 2010.
  • Zhang, Y. and I. Sharf, “Validation of Nonlinear Viscoelastic Contact Force Models for Low Speed Impact,” ASME Journal of Applied Mechanics, Vol. 76, No. 5, p. 051002 (12 pp.), 2009.
  • Sharf, I. and Y. Zhang, “A Contact Force Solution for Non-colliding Contact Dynamics Simulation,” Multibody System Dynamics Journal, Vol. 16, No. 3, pp. 263-290, 2006.
  • Weber, M., K. Patel, O. Ma and I. Sharf, “Identification of Contact Dynamics Model Parameters from Constrained Robotic Operations,” ASME Journal of Dynamic Systems, Measurement and Control, Vol. 128, No. 2, pp. 307-318, 2006.
  • Erickson, D., M. Weber and I. Sharf, "Contact Stiffness and Damping Estimation for Robotic Systems," IEEE Transactions on Robotics and Automation, Vol. 2, No. 1, pp. 41-57, 2003.
  • G. Gilardi and I. Sharf. "Literature Survey of Contact Dynamics Modelling." To appear in Mechanism and Machine Theory, 2001.
  • Van Vliet, J., I. Sharf and O. Ma. "Experimental Validation of Contact Dynamics Simulation of Constrained Robotic Tasks." International Journal of Robotics Research, Vol. 19, No. 12, pp. 1203-1217, 2000.
  • Sharf, I. "Active Damping of a Large Flexible Manipulator with a Short-Reach Robot." ASME Journal of Dynamic Systems Measurement and Control, Vol. 118, pp. 704-713, 1996.
  • Damaren, C., and I. Sharf. "Simulation of Flexible-Link Manipulators with Inertial and Geometric Nonlinearities." ASME Journal of Dynamic Systems Measurement and Control, Vol. 117, pp. 74-87, 1995.

 Conference Presentations/Papers

  • Sharf, I., B. Laumonier, M. Persson, J. Robert, “Control of a Fully-actuated Airship for Satellite Emulation,” Video Proceedings of IEEE International Conference on Robotics and Automation, ICRA2008, Pasadena, CA, May 19-23, 2008.
  • Zhang, Y. and I. Sharf, "Compliant Force Modeling for Impact Analysis," Proc. ASME Design Engineering Technical Conferences, DETC2002/MECH-34357, Best Paper Award Competition Finalist, pp. 1-10, Salt Lake City, Utah, September 28 - October 2, 2004.
  • Sharf, I. and D. Crymble, "Robot/Airship Facility for Autonomous Robotic Grasping of Objects in Space," poster presentation and paper at 16th IFAC Symposium on Automatic Control in Aerospace, Saint-Petersburg, Russia, June 14-18, 2004.

 

Courses

MECH 210 Mechanics 1 2 Credits
    Offered in the:
  • Fall
  • Winter
  • Summer


MECH 220 Mechanics 2 4 Credits
    Offered in the:
  • Fall
  • Winter
  • Summer


MECH 403D1 Thesis (Honours) 3 Credits
    Offered in the:
  • Fall
  • Winter
  • Summer


MECH 403D2 Thesis (Honours) 3 Credits
    Offered in the:
  • Fall
  • Winter
  • Summer


MECH 404 Honours Thesis 2 3 Credits
    Offered in the:
  • Fall
  • Winter
  • Summer


MECH 412 System Dynamics and Control 3 Credits
    Offered in the:
  • Fall
  • Winter
  • Summer


MECH 513 Control Systems 3 Credits
    Offered in the:
  • Fall
  • Winter
  • Summer


MECH 546 FEM in Solid Mechanics 3 Credits
    Offered in the:
  • Fall
  • Winter
  • Summer


MECH 572 Introduction to Robotics 3 Credits
    Offered in the:
  • Fall
  • Winter
  • Summer

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