Brief review

• 36 Journal papers(Accepted/Published)

• 18 Journal papers (Under review)

• 23 Conference papers (Accepted/Presented)

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Journal papers

1. P.J. Amirkhizi, S. Pedrammehr, M. Ghobakhloo, H. Asadi, C.P. Lim, “Redefining value in the age of industry 5.0: beyond efficiency ”, (IEEE, Under review)

2. M. Gilani, S. Pedrammehr, P.J. Amirkhizi, “Societal Evolution Towards Sustainability: A New Concept of Synergy and Technological Ecosystem in Society 5.0”, (Elsevier, Under review) 

3. M. Al-ashmori, A. Arogbonlo, M.R.C. Qazani, S. Mohamed, S. Pedrammehr, S. Nahavandi, H. Asadi, “Disturbance rejection model predictive control-based motion cueing algorithm for motion simulators”, IEEE Trans. Veh. Technol., (IEEE, Under review)

4. A.Z. Jond, S. Pedrammehr, S. Pakzad, “Geometric design and motion analysis of a novel articulated TTR planar manipulator”, (Elsevier, Under review)

5. A.Z. Jond, M.R.C. Qazani, S. Pedrammehr, S. Pakzad, Z. Najdovski, H.Asadi, “Highly efficient machine learning-based interpolation unit for a novel TTR planar manipulator under externally guided motion”, (Elsevier, Under review)

6. A.Z. Jond, A.J. Moghanlo, S. Pedrammehr, S. Pakzad, “A novel AI- based interpolation unit for TTR planar manipulator”, (Elsevier, Under review) 

7. S. Pedrammehr, M. Sajed, S. Pakzad, A.Z. Jond, M.M. Ettefagh, S. Tutunchilar, “Microstructure and mechanical characteristics of Al1050/B2O3+Cu hybrid surface nano-composite produced via friction stir processing”, (Springer, Under review)

8. A. Jafarizadeh, S.F. Maleki, P. Pouya, N. Sobhi, M. Abdollahi, S. Pedrammehr, C.P. Lim, H. Asadi, R. Alizadehsani, R.S. Tan, S.M. Shariful Islam, U.R. Acharya, “Current and future roles of artificial intelligence in retinopathy of prematurity”, Artif. Intell. Rev., (Springer, Under review) 

9. Y. Sadeghi-Bazargani, M. Mirzaei, N. Sobhi, M. Abdollahi, A. Jafarizadeh, S. Pedrammehr, R. Alizadehsani, R.S. Tan, S.M. Shariful Islam, U.R. Acharya, “Artificial intelligence and diabetes mellitus: an inside look through the retina”, Inf. Syst. Front., (Springer, Under review)

10. M. Yousefi, S.F. Maleki, A. Jafarizadeh, M.A. Youshanlui, A. Jafari, S. Pedrammehr, R. Alizadehsani, R. Tadeusiewicz, P. Pławiak, “Advancements in radiomics and artificial intelligence for thyroid cancer diagnosis”, Biocybern. Biomed. Eng., (Elsevier, Under review)

11. M. Abdollahi, A. Jafarizadeh, A.G. Asbagh, N. Sobhi, K. Pourmoghtader, S. Pedrammehr, H. Asadi, R.S. Tan, R. Alizadehsani, U.R. Acharya, “Artificial intelligence in assessing cardiovascular diseases and risk factors via retinal fundus images: a review of the last decade”, Data Min. Knowl. Discov., (Wiley, Revised)

12. A. Shahhoseini, F. Rastkar, S. Pakzad, S. Pedrammehr, “Upcycling and reusing waste in the fashion industry: a review”, Fash. Theory, (Taylor & Francis, Under review)

13. D. Ahmadian, M.R.C. Qazani, N. Parvini, S. Pedrammehr, L.V. Ballestra, “Forecasting volatility using hybrid machine learning method: sequencing block, multi-layer perceptron, and bayesian optimization”, J. Forcast., (Wiley, Under review)

14. M.R.C. Qazani, M. Sajed, S. Pedrammehr, S.M.H Seyedkashi, “Mechanical properties estimation of multilayer friction stir plug welded Aluminium plates using time-series neural network models”, Soft Comput., (Springer, Revised)

15. M.R.C. Qazani, A.H.I. Mourad, M. Dorudgar, M. Moayyedian, M. Sajed, S.M.H. Seyedkashi, S. Pedrammehr, “Mechanical properties prediction of bi-metal foam sandwiches using machine learning methods and elastic deformation behaviour”, Eng. Appl. Artif. Intell., (Elsevier, Revised)

16. S. Pedrammehr, M. Sajed, K.I. Abdul-Lateef Al-Abdullah, A.Z. Jond, S. Pakzad, M.R.C. Qazani, M.M. Ettefagh, “Analyzing friction stir surface alloying in Al1050-Cu alloy: an experimental and machine learning approach”, Materials, (MDPI, Under review) 

17. M. Sistaninezhad, S. Rajebi, S. Pedrammehr, S. Pouramirarsalani, S. Pakzad, M. Fotouhi, “Enhancing software defect prediction using machine learning techniques: a comparative study of feature selection, principal component analysis and fisher discriminant ratio”, Information, (MDPI, Under review) 

18. S. Rajebi, S. Pedrammehr, K.I. Abdul-Lateef Al-Abdullah, H. Asadi, C.P. Lim, “An optimized microstrip antenna to generate intense localized heating at target sites for maximum effect”, SN Appl. Sci., vol. 6, pp. 235, 2024. (Springer, Link)

19. M. Safaei, M. Hejazian, S. Pedrammehr, S. Pakzad, M.M. Ettefagh, M. Fotouhi, “Damage detection of gantry crane with a moving mass using artificial neural network”, Buildings, vol. 14, no. 2, pp. 458, 2024. (MDPI, Link) 

20. A.Z. Jond, S. Pedrammehr, S. Pakzad, M.R.C. Qazani, “Exploring the geometric design of a 3T1R parallel-based machine tool to achieve a targeted workspace”, Int. J. Adv. Manuf. Technol., vol. 130, pp. 1799-1822, 2024. (Springer, Link)

21. H. Ashayeri, N. Sobhi, P. Pławiak, S. Pedrammehr, R. Alizadehsani, A. Jafarizadeh, “Transfer learning in genetic research: enhancing mutation detection, gene expression analysis, and syndrome recognition”, Cancers, (MDPI, Revised)

22. S.F. Maleki, M. Yousefi, A. Jafarizadeh, S. Afshar, S. Pedrammehr, C.P. Lim, H. Asadi, “Artificial intelligence for multiple sclerosis management using retinal images: pearl, peaks, and pitfalls”, Semin. Opthlmol., vol. 39, pp. 271-288, 2023. (Taylor & Francis, Link)

23. S. Pedrammehr, M.R.C. Qazani, Optimisation Models and Applications, Special Issue Reprint, MDPI, ISBN 978-3-7258-0137-4. (MDPI, Link) 

24. S. Pedrammehr, M.R.C. Qazani, Special Issue “Optimisation Models and Applications”, Axioms, vol. 13, no. 1, pp. 45, 2024. (MDPI, Link) 

25. Y. Shahbazi, M. Ghofrani, S. Pedrammehr, “Aesthetic assessment of free-form space structures using machine learning based on the expert's experiences”, Buildings, vol. 13, no. 10, pp. 2508, 2023. (MDPI, Link) 

26. S. Rajebi, S. Pedrammehr, R. Mohajerpoor, “A license plate recognition system with robustness against adverse environmental conditions using Hopfield's neural network” Axioms, vol. 12, no. 5, pp. 424, 2023. (MDPI, Link)

27. M.R.C. Qazani, S. Amini, S. Pedrammehr, M. Baraheni, A.H. Suhail, “A machine learning method for cutting parameter selection in rotary ultrasonic-assisted end grinding”, Int. J. Adv. Manuf. Technol., vol. 126, pp. 1577-1591, 2023. (Springer, Link)

28. A. Shahhoseini, S. Heydari, S. Pedrammehr, “Manufacturing and assembly for the ease of product recycling: a review”, Designs, vol. 7, no. 2, pp. 42, 2023. (MDPI,  Link)

29. S. Pakzad, S. Pedrammehr, M. Hejazian, “A study on the beech wood machining parameters optimization using response surface methodology”, Axioms, vol. 12, no. 1, pp. 39, 2023. (MDPI, Link)

30. M.R.C. Qazani, H. Parvaz, S. Pedrammehr, “Optimization of fixture locating layout design using comprehensive optimised machine learning”, Int. J. Adv. Manuf. Technol., vol. 122, pp. 2701–2717, 2022. (Springer, Link)

31. S. Pedrammehr, M. Hejazian, M.R.C. Qazani, H. Parvaz, S. Pakzad, M.M. Ettefagh, A.H. Suhail, “Machine learning-based modelling and meta-heuristic-based optimization of specific tool wear and surface roughness in the milling process ”, Axioms, vol. 11, no. 9, pp. 430, 2022. (MDPI, Link)

32. M.R.C. Qazani, V. Pourmostaghimi, M. Moayyedian, S. Pedrammehr, "Estimation of tool–chip contact length using optimized machine learning in orthogonal cutting", Eng. Appl. Artif. Intell., vol. 114, no. 105118, pp. 335-345, 2022. (Elsevier, Link)

33. S. Pedrammehr, M.R.C. Qazani, H. Asadi, M.M. Ettefagh, S. Nahavandi, “Model-based control of axisymmetric hexarot parallel manipulators”, Results in Control and Optimization, vol. 7, no. 100135, pp. 335-345, 2022. (Elsevier, Link)

34. M.J. Zenjanab, S. Pedrammehr, M.R.C. Qazani, M.R. Shabgard, “Influence of cutting fluid-based CuO-nanofluid with boric acid aditives on machining performance of AISI 4340 tool steel in high-speed turning operation”, Iran. J. Sci. Technol. Trans. Mech. Eng., vol. 46, pp. 335-345, 2022. (Springer, Link)

35. M.R.C. Qazani, S. Pedrammehr, H. Abdi, S. Nahavandi, “Performance evaluation and calibration of Gantry-Tau parallel mechanism”, Iran. J. Sci. Technol. Trans. Mech. Eng., vol. 44, pp. 1013–1027, 2020. (Springer, Link)

36. S. Pedrammehr, H. Asadi, S. Nahavandi, “A study on vibrations of hexarot-based high-G centrifugal simulators”, Robotica, vol. 38, no. 2, pp. 299-316, 2020. (Cambridge University Press, Link)

37. S. Pedrammehr, N.J. Aghdam, S. Pakzad, M.M. Ettefagh, M.H. Sadeghi, “A study on vibration of Setar: stringed Persian musical instrument”, Journal of Vibroengineering, vol. 20, no. 7, pp. 2680-2689, 2018. (JVE International, Link)

38. S. Pedrammehr, S. Nahavandi, H. Abdi, “Closed-form dynamics of hexarot parallel manipulator by means of the principle of virtual work”, Acta Mech. Sin., vol. 34, no. 5, pp. 883-895, 2018. (Springer, Link)

39. S. Pedrammehr, S. Nahavandi, H. Abdi, “Evaluation of inverse dynamics of hexarot-based centrifugal simulators”, Int. J. Dyn. Control, vol. 6, no. 4, pp. 1505-1515, 2018. (Springer, Link)

40. S. Pedrammehr, B. Danaei, H. Abdi, M.T. Masule, S. Nahavandi, “Dynamic analysis of Hexarot: axis symmetric parallel manipulator”, Robotica, vol. 36, no. 2, pp. 225-240, 2018. (Cambridge University Press, Link)

41. M.R.C. Qazani, S. Pedrammehr, M.J. Nategh, “An investigation on the motion error of machine tools' hexapod table”, Int. J. Precis. Eng. Man., vol. 19, no. 4, pp. 463-471, 2018. (Springer, Link)

42. S. Pedrammehr, M.R.C. Qazani, H. Abdi, S. Nahavandi, “Mathematical modelling of linear motion error for Hexarot parallel manipulators”, Appl. Math. Model., vol. 40, no. 2, pp. 942-954, 2016. (Elsevier, Link)

43. M.R.C. Qazani, S. Pedrammehr, A. Rahmani, B. Danaei, M.M. Ettefagh, A.K.S. Rajab, H. Abdi, “Kinematic analysis and workspace determination of hexarot - a novel 6-DOF parallel manipulator with a rotation-symmetric arm system”, Robotica, vol. 33, no. 8, pp. 1686-1703, 2015. (Cambridge University Press, Link)

44. M.M. Ettefagh, D. Behkamkia, S. Pedrammehr, K. Asadi, “Reliability analysis of the bridge dynamic response in a stochastic vehicle-bridge interaction”, KSCE J. Civ. Eng. Environ. Syst., vol. 19, no. 1, pp. 220-232, 2015. (Springer, Link)

45. M.R.C. Qazani, S. Pedrammehr, M.J. Nategh, “A study on motion of machine tools' hexapod table on freeform surfaces with circular interpolation”, Int. J. Adv. Manuf. Technol., vol. 75, no. 9-12, pp. 1763-1771, 2014. (Springer, Link)

46. M.M.S. Fakhrabadi, N. Khani, S. Pedrammehr, M.M. Mashhadi, “Prediction of buckling instability of perfect and defective carbon nanotubes”, J. Comput. Theor. Nanos., vol. 11, no. 11, pp. 2356-2369, 2014. (ASP, Link)

47. M.R.C. Qazani, S. Pedrammehr, A. Rahmani, M. Shahryari, A.K.S. Rajab, M.M. Ettefagh,  “An experimental study on motion error of hexarot parallel manipulator”, Int. J. Adv. Manuf. Technol., vol. 72, no. 9-12, pp. 1361-1376, 2014. (Springer, Link)

48. A. Rahmani, A. Ghanbari, S. Pedrammehr, “Kinematic analysis for hybrid 2-(6-UPU) manipulator by wavelet neural network”, Adv. Mat. Res., vol. 1016, pp. 726-730, 2014. (Trans. Tech. Publications, Link)

49. S. Pedrammehr, M. Mahboubkhah, M.R.C. Qazani, A. Rahmani, S. Pakzad, “Forced vibration analysis of milling machine's hexapod table under machining forces”, SV-JME, vol. 60, no. 3, pp. 158-171, 2014. (Strojniški vestnik, Link)

50. S. Pedrammehr, M. Mahboubkhah, N. Khani, “A study on vibration of Stewart platform-based machine tool table”, Int. J. Adv. Manuf. Technol., vol. 65, no. 5-8, pp. 991-1007, 2013. (Springer, Link)

51. M. Mahboubkhah, S. Pedrammehr, “Forced vibration analysis of machine tools’ hexapod table”, Journal of Applied and Computational Sciences in Mechanics, vol. 24, no. 2, pp. 33-44, 2013. (ISC-In Persian, Link)

52. M.M.S. Fakhrabadi, N. Khani, S. Pedrammehr, “Vibrational analysis of single-walled carbon nanocones using molecular mechanics approach”, Physica E, vol. 44, no. 7-8, pp. 1162-1168, 2012. (Elsevier, Link)

53. S. Pedrammehr, H. Farrokhi, A.K.S. Rajab, S. Pakzad, M. Mahboubkhah, M.M. Ettefagh, M.H. Sadeghi, “Modal analysis of the milling machine structure through FEM and experimental test”, Adv. Mat. Res., vol. 383-390, pp. 6717-6721, 2012. (Trans. Tech. Publications, Link)

54. S. Pedrammehr, M. Mahboubkhah, N. Khani, “Improved dynamic equations for the generally configured Stewart platform manipulator”, J. Mech. Sci. Technol., vol. 26, no. 3, pp. 711-721, 2012. (Springer, Link) 

Conference papers 

1. M. Sistaninezhad, S. Rajebi, A.J. Moghanlo, S. Pedrammehr, H. Asadi, “Classification of sleep and wakefulness states using EEG signals: a comparative analysis of machine learning algorithms and ensemble techniques”, International Conference on Neural Information Processing (ICONIP), Auckland, New Zealand, 6-10 ِDecember, 2024. (Under review)

2. P.J. Amirkhizi, S. Pedrammehr, S. Pakzad, S. Nahavandi, A. Arogbonlo, H. Asadi, “Resilience engineering for Industry 5.0 cyber-physical systems: dynamic adaptation and fault tolerance”, IEEE International Conference on Systems, Man, and Cybernetics IEEE (SMC) 2024, Sarawak, Malaysia, 6-10 October, 2024. (Under review)

3. M. Moradizadeh, P.J. Amirkhizi, S. Pedrammehr, S. Pakzad, S. Nahavandi, A. Arogbonlo, H. Asadi, The role of AI in optimizing complex systems for sustainability”, IEEE International Conference on Systems, Man, and Cybernetics IEEE (SMC) 2024, Sarawak, Malaysia, 6-10 October, 2024. (Under review)

4.  M.A. Khan, H. Asadi, M.R.C. Qazani, A. Arogbonlo, S. Pedrammehr, A. Anwar, A. Bhatti, S. Nahavandi, C.P. Lim, “Enhancing cognitive workload classification using integrated LSTM layers and CNNs for fNIRS data analysis”, IEEE International Conference on Systems, Man, and Cybernetics IEEE (SMC) 2024, Sarawak, Malaysia, 6-10 October, 2024. (Under review)

5. M. Taiyebkhosroshahi, S. Gharakhanlou, S. Morsali, S. Hamidi, A. Jafarizadeh, R. Alizadehsani, S. Pedrammehr, J.M Gorriz, S.M. Shariful Islam, “Machine learning for brain glioma genotyping via magnetic resonance Imaging: a systematic review”, The Federation of European Neuroscience Societies (FENS), IFENS Forum 2024, Viena, Austria, June 25-29, 2024. (Under review)

6. M. Sistaninezhad, A. Jafarizadeh, S. Rajebi, S. Pedrammehr, R. Alizadehsani, J.M. Gorriz, “Morning anxiety detection through smartphone-based photoplethysmography signals analysis using machine learning methods ”, International Conference on the Interplay between Natural and Artificial Computation, IWINAC/ICINAC2024, Algarve, Portugal, June 4-7, 2024. (Accepted)

7.  H. Ashayeri, M. Abdollahi, A. Jafarizadeh, S. Morsali, S. Pedrammehr, R. Alizadehsani, J.M. Gorriz, “Convolutional neural network and glioma genotyping: a systematic review”, American Society of Clinical Oncology, 2024 ASCO Annual Meeting, May 31-June 4, 2024. (َLink)

8. S.F. Maleki, M. Yousefi, Z. Hajiesmailpoor, A. Jafarizadeh, S. Pedrammehr, R. Alizadehsani, J.M. Gorriz, “Role of artificial intelligence in ocular tumors: a systematic review”, American Society of Clinical Oncology, 2024 ASCO Annual Meeting, May 31-June 4, 2024. (Link)

9. P.J. Amirkhizi, S. Pedrammehr, S. Pakzad, Z. Asady, A. Arogbonlo, H. Asadi, “Emerging synergies: Industry 5.0 integration of complex systems”, The 18th Annual International Systems Conference, SYSCON 2024, Montreal, Canada, April 15-18, 2024. (Accepted)

10. A.Z. Jond, S. Akhbari, S. Pedrammehr, A. Arogbonlo, Z. Najdovski, H. Asadi, “Higher order kinematics and singularly analysis of a Schönflies parallel manipulator using screw theory methodology”, The 18th Annual International Systems Conference, SYSCON 2024, Montreal, Canada, April 15-18, 2024. (Accepted)

11. F.S. Ahmadi, K.H. Emami, H. Foroutan, L. Kooijman, S. Pedrammehr, H. Asadi, “Development of a new wireless ECG patch: a user experience survey”, The 18th Annual International Systems Conference, SYSCON 2024, Montreal, Canada, April 15-18, 2024. (Accepted) 

12. M. Sistaninezhad, S. Rajebi, S. Pedrammehr, “Comparative analysis of optimized machine learning algorithms for heart disease severity recognition using spectrophotometric analysis”, 10th International Conference on Artificial Intelligence and Robotics, QICAR2024, Qazvin, Iran, February 29, 2024. (Link)

13. M.R.C. Qazani, F. Tabarsinezhad, H. Asadi, S. Pedrammehr, M. Rostami, C.P. Lim, S. Nahavandi, “Weight Tuning of a Model Predictive Control Motion Cueing Using a Particle Swarm Optimization Algorithm”, Australian Conference on Robotics and Automation 2022, ACRA 2022, Queensland, Australia, December 6-8, 2022. (Link) 

14. M.R.C. Qazani, H. Asadi, A. Arogbonlo, G. Rahimzadeh, S. Mohamed, S. Pedrammehr, C.P. Lim, S. Nahavandi, “Whale optimization algorithm for weight tuning of a model predictive control-based motion cueing algorithm”, IEEE International Conference on Systems, Man, and Cybernetics (Virtual Conference), IEEE SMC 2021, Melbourne, Australia, October 17-20, 2021.  (Link)

15. M.R.C. Qazani, H. Asadi, T. Bellmann, S. Pedrammehr, S. Mohamed, S. Nahavandi, “A new fuzzy logic based adaptive motion cueing algorithm using serial simulation-based motion platform”, 2020 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), Glasgow, England, July 19-24, 2020. (Link)

16. S. Pedrammehr, M.R.C. Qazani, H. Asadi, S. Nahavandi, “Manipulability analysis of Gantry-Tau parallel mechanism”, Australasian Conference on Robotics and Automation 2019, ACRA 2019, Adelaide, Australia, December 9-11, 2019. (Link)

17. S. Pedrammehr, M.R.C. Qazani, H. Asadi, S. Nahavandi, “Control system development of a hexarot-based high-G centrifugal simulator”, The 20th IEEE International Conference on Industrial Technology, IEEE-ICIT 2019, Melbourne, Australia, February 13-15, 2019. (Link)

18. S. Pedrammehr, M.R.C. Qazani, H. Asadi, S. Nahavandi, “Kinematic Manipulability Analysis of Hexarot Simulators”, The 20th IEEE International Conference on Industrial Technology, IEEE-ICIT 2019, Melbourne, Australia, February 13-15, 2019. (Link)

19. S. Pedrammehr, H. Asadi, S. Nahavandi, “The forced vibration analysis of hexarot parallel mechanisms”, The 20th IEEE International Conference on Industrial Technology, IEEE-ICIT 2019, Melbourne, Australia, February 13-15, 2019. (Link).

20. S. Pedrammehr, M.R.C. Qazani, S. Nahavandi, “A novel axis symmetric parallel mechanism with coaxial actuated arms”, In 2018 4th International Conference on Control, Automation and Robotics (ICCAR), IEEE, pp. 476-480, 2018. (Link)

21. M.R.C. Qazani, H. Asadi, S. Pedrammehr, S. Nahavandi, “Performance Analysis and dexterity monitoring of hexapod-based simulator”, In 2018 4th International Conference on Control, Automation and Robotics (ICCAR), IEEE, pp. 226-231, 2018. (Link)

22. M.J. Tajari, S. Pedrammehr, M.R.C. Qazani, M.J. Nategh, “The effects of joint clearance on the kinematic error of the hexapod tables”, 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM), Tehran, Iran, 25-27 October, pp. 39-44, 2017. (Link)

23. S. Pedrammehr, Z. Najdovski, H. Abdi, S. Nahavandi, “Design methodology for a hexarot-based centrifugal high-G simulator”, 2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC, Banff, Canada, 5-8 October, pp. 3255-3260, 2017. (Link)

24. S. Pedrammehr, “Investigation of factors influential on the dynamic features of machine tools’ hexapod Table”, 2nd International Conference on Acoustics and Vibration ISAV 2012, Tehran, Iran, 26-27 December, 2012. (Link)

25. S. Pedrammehr, M.R.C. Qazani, A.J. Feizi, M.M. Ettefagh, “Modal analysis of grinding machine structure through experimental test and FEM”, International Conference on Mechanical Engineering and Advanced Technology ICMEAT 2012, Isfahan, Iran, 10-12 Oct., 2012. (Link)

26. N. Khani, R.A. Mahdavinejad, S. Pedrammehr, M. Cheraghi, M.R. Razfar, “Utilization of SPH method for simulation of milling process”, 3rd International and 12th National Conference on Manufacturing Engineering ICME 2011, Tehran, Iran, 27-29 December, 2011. (Link)

27. S. Pedrammehr, M. Mahboubkhah, N. Khani, “Natural frequencies and mode shapes for vibrations of machine tools’ hexapod table”, 1st International Conference on Acoustics and Vibration ISAV 2011, Tehran, Iran, 21-22 December, 2011. (Link)

28. S. Pedrammehr, M. Mahboubkhah, S. Pakzad, “An improved solution to the inverse dynamics of the general Stewart platform”, 2011 IEEE International Conference on Mechatronics, ICM 2011-Proceedings, no. 5971317, pp. 392-397, 2011. (Link)