Firas Abdulrazzaq Raheem

Firas Abdulrazzaq Raheem

Control and Systems Eng. Dept., 3rd floor, Head of Computer and Control Engineering Branch

Assistant Professor

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Firas A. Raheem received his Bachelor's degree in Control and Systems Engineering and Master’s degree in Mechatronics Engineering from the University of Technology- Baghdad, Iraq, and a Doctorate degree in Robots, Mechatronics and Robotic Systems from South-Russian State Technical University, Russian Federation. Firas is an author (co-author) of more than 48 published papers, 2 books, and two book chapters (published in Springer International Publishing). He is currently a full-time Assistant Professor, Head of Computer and Control Engineering Branch, Department of Control and Systems Engineering, University of Technology- Iraq. For the past nine years, he was the Head of Automation and Robotics Research Unit ARRU located at the same department. His major areas of research Interest include Robotics and Robotic Systems, Mechatronics Systems, Automation and Manufacturing Industry, Artificial Intelligence, Machine Learning and Deep Learning, Intelligent Control Systems, Intelligent Motion Planning Systems, Optimization Techniques, Bioinformatics Applications, Computational Intelligence, Heuristic and Metaheuristic Computing, Neural Networks, Fuzzy Logic, Computer Vision and Image Processing, Sensors and Measurements, Embedded Systems and Microcontrollers, Actuators and Drives. He is now the Editor-in-Chief of the International Journal of Distributed Artificial Intelligence (IJDAI- IGI-Global/ USA). Moreover, he is an editorial member and reviewer for several international journals, includes IGI Global journals, Inderscience (IJIEI and IJSPM), SAI Organization (IJACSA), Journal of Mechanical Engineering Research and Developments (JMERD), Journal Review of Information Engineering and Applications-Conscientia Beam, International Research Journal of Modernization in Engineering Technology and Science, International Journal of Scientific Research and Engineering Development (IJSRED), Scirp.org (Engineering, WJET, IIM), Canadian Center of Science and Education CCSENET.org (MER, EMR) and many other journals and conferences.

Google Scholar Profile

PhD., Mechatronics and Robotics Engineering, South Russian State Technical University, Russia, 2009.

M.Sc., Mechatronics Engineering., University of Technology, Iraq, 2003.

B.Sc., Control and Systems Engineering., University of Technology, Iraq, 1992.

Robotics and Robotic Systems
Mechatronics Systems
Automation and Manufacturing Industry
Artificial Intelligence
Machine Learning and Deep Learning
Intelligent Control Systems
Intelligent Motion Planning Systems
Optimization Techniques
Bioinformatics Applications
Computational Intelligence
Heuristic and Metaheuristic Computing
Neural Networks
Fuzzy Logic
Computer Vision and Image Processing
Sensors and Measurements
Embedded Systems and Microcontrollers
Actuators and Drives.

Ahmed T. Sadiq, Firas A. Raheem, Noor Alhuda F. Abbas, “ANT COLONY ALGORITHM IMPROVEMENT FOR ROBOT ARM PATH PLANNING OPTIMIZATION BASED ON D* STRATEGY”, International Journal of Mechanical & Mechatronics Engineering IJMME-IJENS, Vol:21 No:01, Pages 96 - 111, Feb 2021
Firas A. Raheem, Hind Z. Khaleel, Mostafa K. Kashan, “ANALYSIS, DESIGN AND IMPLEMENTATION OF A ROBOTIC ARM WITH WRITING ABILITY USING NEURAL NETWORKS”, AL-MANSOUR JOURNAL, 2020, Volume 2, Issue 34, Pages 1-15, online Publication date 14/05/2021.
Firas A. Raheem, Mohammed I. Abdulkareem, "DEVELOPMENT OF A* ALGORITHM FOR ROBOT PATH PLANNING BASED ON MODIFIED PROBABILISTIC ROADMAP AND ARTIFICIAL POTENTIAL FIELD", Journal of Engineering Science and Technology (JESTEC), Vol. 15, No. 5 (2020) , Pages 3034 - 3054 © School of Engineering, Taylor’s University, October 2020
Abdulwahab A. Abdulhussein, Firas A. Raheem, "HAND GESTURE RECOGNITION OF STATIC LETTERS AMERICAN SIGN LANGUAGE (ASL) USING DEEP LEARNING", Engineering and Technology Journal Vol. 38, Part A (2020), No. 06, Pages 926-937

Firas A. Raheem, Abdulwahab A. Abdulhussein, "DEEP LEARNING CONVOLUTION NEURAL NETWORKS ANALYSIS AND COMPARATIVE STUDY FOR STATIC ALPHABET ASL HAND GESTURE RECOGNITION", Xi'an Dianzi Keji Daxue Xuebao/Journal of Xidian University, 14(4):1871 – 1881, April 2020
Firas A. Raheem, Abdulwahab A. Abdulhussein, "DEEP LEARNING CONVOLUTION NEURAL NETWORKS ANALYSIS AND COMPARATIVE STUDY FOR STATIC ALPHABET ASL HAND GESTURE RECOGNITION", Xi'an Dianzi Keji Daxue Xuebao/Journal of Xidian University, 14(4):1871 – 1881, April 2020
Mohammed I. Abdulkareem, Firas A. Raheem, "DEVELOPMENT OF PATH PLANNING ALGORITHM USING PROBABILISTIC ROADMAP BASED ON ANT COLONY OPTIMIZATION", Engineering and Technology Journal Vol. 38, Part A (2020), No. 03, Pages 343-35
Firas A. Raheem, Hadeer A. Raheem, "AMERICAN SIGN LANGUAGE RECOGNITION USING SENSORY GLOVE AND NEURAL NETWORK", 2019 Volume: 11, Issue: 1 Pages: 171-182, College Yarmouk University Journal, Dec 2019
Firas A. Raheem, Mustafa M.Badr, "SMOOTHED ARTIFICIAL POTENTIAL FIELD (APF) VIA POINTS PATH PLANNING ALGORITHM BASED ON PSO", 2019 Volume: 11, Issue: 1 Pages: 89-104, College Yarmouk University Journal, Dec 2019
Firas A. Raheem, Mohammed I. Abdulkareem, "DEVELOPMENT OF PATH PLANNING ALGORITHM USING PROBABILISTIC ROADMAP BASED ON MODIFIED ANT COLONY OPTIMIZATION", World Journal of Engineering and Technology, 2019, 7, 583-597, Nov 2019
Firas A. Raheem, Umniah I. Hameed, “HEURISTIC D* ALGORITHM BASED ON PARTICLE SWARM OPTIMIZATION FOR PATH PLANNING OF TWO-LINK ROBOT ARM IN DYNAMIC ENVIRONMENT”, Al-Khwarizmi Engineering Journal, Vol. 15, No. 2, June , (2019), pp. 108- 123, June 2019
Firas A. Raheem, Murtadha K. Flayyih, “QUADRUPED ROBOT CREEPING GATE STABILITY ANALYSIS AND OPTIMIZATION USING PSO”, 2nd IEEE AIC-MITC, Imam Ja'afar Al-sadiq University Conference, Baghdad – Iraq, Dec 2017, IEEEXplore publication date may 2019
Ahmed T. Sadiq, Firas A. Raheem, Noor Alhuda F. Abbas, “ROBOT ARM TRAJECTORY PLANNING OPTIMIZATION BASED ON INTEGRATION OF PARTICLE SWARM OPTIMIZATION AND A* ALGORITHM“, Journal of Computational and Theoretical Nanoscience, Volume 16, Number 3, March 2019, pp. 1046-1055(10)
Firas A. Raheem, Ahmed T. Sadiq, Noor Alhuda F. Abbas, "ROBOT ARM FREE CARTESIAN SPACE ANALYSIS FOR HEURISTIC PATH PLANNING ENHANCEMENT", International Journal of Mechanical & Mechatronics Engineering IJMME-IJENS, Vol:19 No:01, Feb 2019
Firas A. Raheem, Hind Z. Khaleel, Mostafa K. Kashan, "ROBOT ARM DESIGN FOR CHILDREN WRITING ABILITY ENHANCEMENT USING CARTESIAN EQUATIONS BASED ON ANFIS", 3rd IEEE Scientific conference of Electrical Engineering 3rd IEEE SCEE University of Technology – Iraq, Dec 2018, IEEExplore publication date 09 April 2019
Firas A. Raheem, Umniah I. Hameed, "INTERACTIVE HEURISTIC D* PATH PLANNING SOLUTION BASED ON PSO FOR TWO-LINK ROBOTIC ARM IN DYNAMIC ENVIRONMENT", World Journal of Engineering and Technology, 7, pp. 80-99, Jan 2019
Firas A. Raheem, Umniah I. Hameed, "PATH PLANNING ALGORITHM USING D* HEURISTIC METHOD BASED ON PSO IN DYNAMIC ENVIRONMENT", American Scientific Research Journal for Engineering, Technology, and Sciences (ASRJETS), Dec 2018 Volume 49, No 1, pp 257-271
Firas A. Raheem, Hadeer A. Raheem, "ASL RECOGNITION QUALITY ANALYSIS BASED ON SENSORY GLOVES AND MLP NEURAL NETWORK", American Scientific Research Journal for Engineering, Technology, and Sciences (ASRJETS), 2018, Volume 47, No 1, pp1-20
Firas A. Raheem, Murtadha K. Flayyih, "CREEPING GAIT ANALYSIS AND SIMULATION OF A QUADRUPED ROBOT", Al-Khwarizmi Engineering Journal, Vol. 14, No.2, June, (2018) pp. 93- 106
Firas A. Raheem, Bashar F. Midhat, Hussein S. Mohammed, "PID AND FUZZY LOGIC CONTROLLER DESIGN FOR BALANCING ROBOT STABILIZATION", Iraqi Journal of Computers, Communications, Control & Systems Engineering (IJCCCE), Vol. 18, No. 1, April 2018
Firas A. Raheem, Murtadha K. Flayyih, "COMPARATIVE STUDY BETWEEN CLASSICAL AND OPTIMIZED STABILITY MARGINS OF QUADRUPED ROBOT CREEPING GAIT", American Scientific Research Journal for Engineering, Technology, and Sciences (ASRJETS) VOL 38, NO 1, Dec 2017
Firas A. Raheem, Mustafa M.Badr, "DEVELOPMENT OF MODIFIED PATH PLANNING ALGORITHM USING ARTIFICIAL POTENTIAL FIELD (APF) BASED ON PSO FOR FACTORS OPTIMIZATION", American Scientific Research Journal for Engineering, Technology, and Sciences (ASRJETS) VOL 37, NO 1, Dec 2017
Firas A. Raheem, Asmaa A. Hussain, "APPLYING A* PATH PLANNING ALGORITHM BASED ON MODIFIED C-SPACE ANALYSIS", Al-Khwarizmi Engineering Journal,Vol. 13, No. 4, P.P. 124- 136, Dec 2017
Ahmed T. Sadiq, Firas A. Raheem, Noor Alhuda F. Abbas, "ROBOT ARM PATH PLANNING USING MODIFIED PARTICLE SWARM OPTIMIZATION BASED ON D* ALGORITHM", Al-Khwarizmi Engineering Journal,Vol. 13, No. 3, P.P. 27- 37, Oct 2017
Bashar F. Midhat, Amjad J. Humaidi, Firas A. Raheem, "DESIGN OF INTEGRAL SLIDING MODE CONTROLLER FOR SERVO DC MOTOR", Al-Nahrain Journal for Engineering Sciences (NJES) Vol. 20 No. 3, 2017 pp.685-691
Ahmed T. Sadiq, Firas A. Raheem, Noor Alhuda F. Abbas, "OPTIMAL TRAJECTORY PLANNING OF 2-DOF ROBOT ARM USING THE INTEGRATION OF PSO BASED ON D* ALGORITHM AND CUBIC POLYNOMIAL EQUATION", The First International Conference for Engineering Researches Middle Technical University, Baghdad – Iraq, 02 March, 2017
Firas A. Raheem, Asmaa A. Hussain, "MODIFIED C-SPACE ANALYSIS AND CONSTRUCTION FOR TWO-LINK ROBOT ARM", The First International Conference for Engineering Researches Middle Technical University, Baghdad – Iraq, 02 March, 2017
Firas A. Raheem, Azad R. Kareem, Amjad J. Humaidi, "INVERSE KINEMATICS SOLUTION OF ROBOT MANIPULATOR ENDEFFECTOR POSITION USING MULTI-NEURAL NETWORKS", Engineering and Technology Journal, Vol. 34, Part (A), No.7, 2016
Firas A. Raheem, Hind Z. Khaleel, Ahmad Raoof, Mohammad Nori, "HEXAPOD ROBOT STATIC STABILITY ANALYSIS USING GENETIC ALGORITHM SIMULATION AND EXPERIMENTAL WORK", Proceeding of 15th Scientific Conference 23-24 April 2016 Al Mansour University College, Baghdad – Iraq, 23 April 2016
Firas A. Raheem, Hind Z. Khaleel, "MODIFIED STABILITY ANALYSES FOR HEXAPOD ROBOT PATH PLANNING ON INCLINED PLANE", Third International Scientific Conference, for educators, scholars, undergraduates & PhD students of higher education establishments Publications – Novocherkassk – Russian Federation, 26 April 2016
Firas A. Raheem, Hind Z. Khaleel, "HEXAPOD ROBOT STATIC STABILITY ENHANCEMENT USING GENETIC ALGORITHM", Al-Khwarizmi Engineering Journal, Vol. 11, No. 4, 2015
Amjad J. Humaid, Hamid M. Hasan, Firas A. Raheem, "DEVELOPMENT OF MODEL PREDICTIVE CONTROLLER FOR CONGESTION CONTROL PROBLEM", Iraqi Journal of Computers, Communications, Control & Systems Engineering (IJCCCE), Vol.14, No.3, 2014
Siba Sharef, Firas A. Raheem, Laith K. Majeed, "DESIGN OF TRAJECTORY TRACKING CONTROLLER PLATFORM BASED ON INTEGRAL CONTROL", Engineering and Technology Journal, Vol.32, Part (A), No.11, 2014, University of Technology – Iraq
Siba Sharef, Firas A. Raheem, Shereen S. Jouma’a, "FUZZY LOGIC BASED IMAGE EDGE DETECTION ALGORITHM IN MATLAB" The Second Engineering Conference of Control, Computers and Mechatronics Engineering, Baghdad – Iraq, 25 Feb. 2014
Firas A. Raheem, Mohammad N. Ridha, Ivan I. Gorial, "TWO-LINK ROBOT MANIPULATOR OBSTACLE AVOIDANCE USING FUZZY LOGIC: SIMULATION AND EXPERIMENTAL WORK", The Second Engineering Conference of Control, Computers and Mechatronics Engineering, Baghdad – Iraq, 25 Feb. 2014
Firas A. Raheem, Hind Z. Khaleel, "STATIC STABILITY ANALYSIS OF HEXAGONAL HEXAPOD ROBOT FOR THE PERIODIC GAITS", The Second Engineering Conference of Control, Computers and Mechatronics Engineering, Baghdad – Iraq, 26 Feb. 2014
Firas A. Raheem, Ivan I. Gorial, "COMPARATIVE STUDY BETWEEN JOINT SPACE AND CARTESIAN SPACE PATH PLANNING FOR TWOLINK ROBOT MANIPULATOR USING FUZZY LOGIC", Iraqi Journal of Computers, Communications, Control & Systems Engineering (IJCCCE), Vol 13, NO. 2, 2013
Alexey Bulgakov, Firas A. Raheem, Ivan I. Gorial, "JOINT SPACE PATH PLANNING OF A ROBOT MANIPULATOR USING FUZZY LOGIC", Academic Fundamental Research of Young Scientists from Russia and Germany in Conditions of Global World and New Culture of Scientific Publications – SRSPU, Novocherkassk, Russian Federation, 04 Oct. 2012
Waladin K. Said, Firas A. Raheem, Lina S. Chato, "APPLICATION OF KALMAN ESTIMATION TECHNIQUES WITH FUZZY LOGIC TO A SYNCHRO DIGITIZER", Iraqi Journal of Computers, Communications, Control & Systems Engineering (IJCCCE), , Vol 12, NO. 1, 2012
Firas A. Raheem, "OBSTACLE AVOIDANCE AND CARTESIAN TRAJECTORY PLANNING OF ROBOT MANIPULATOR USING MODIFIED BEZIER CURVE", Modeling, Theory, Methods and Facilities X (10th) International Scientific- Practical Conference Novocherkassk – Russian Federation, 05 April 2010
Firas A. Raheem, "NEURO-FUZZY STRUCTURE FOR MOTION CONTROL OF A ROBOT MANIPULATOR", Proceedings of The Universities of North-Caucasian Region, Engineering Sciences, No. 1, 2009, Russian Federation
Firas A. Raheem, "COMPLEX INTELLIGENT SYSTEM FOR PLANNING AND CONTROL OF ROBOT MANIPULATOR IN UNKNOWN DYNAMIC ENVIRONMENT", New Techniques for Motion Control of Technical Objects 9th International Scientific- Technical Conference, Novocherkassk – Russian Federation Dec. 2008
Firas A. Raheem, "COMPLEX INTELLIGENT SYSTEM FOR PLANNING AND CONTROL OF ROBOT MANIPULATOR IN UNKNOWN STATIC ENVIRONMENT", Problems of Synergetics in Tribology, Materials Science and Mechatronics Vii (7th) International Scientific- Practical Conference, Novocherkassk – Russian Federation, 03 Nov. 2008
Alexey Bulgakov, Firas A. Raheem, "FUZZY LOGIC STRUCTURE FOR ON-LINE CONTROL OF ROBOT MANIPULATOR IN UNKNOWN ENVIRONMENT: EXPERIMENTAL WORK", 53 International Scientific Colloquium of Technical University Ilmenau, Germany, 08-12 Sept. 2008
Firas A. Raheem, "NEURO-FUZZY STRUCTURE FOR ONLINE PLANNING OF ROBOT MANIPULATOR IN UNKNOWN DYNAMIC ENVIRONMENT", Proceedings of The Universities of North-Caucasian Region, Engineering Sciences Vol. 6, Russian Federation, 2008
Alexey Bulgakov, Firas A. Raheem, "NEURO-FUZZY STRUCTURE FOR ONLINE PLANNING OF ROBOT MANIPULATOR IN UNKNOWN ENVIRONMENT", Proceedings of The Universities of North-Caucasian Region, Engineering Sciences, Special Issue: Problems of Mechatronics, pp 117-122, 2008, Russian Federation
Alexey Bulgakov, Firas A. Raheem, "ADAPTIVE NEURO-FUZZY CONTROLLER FOR ONLINE OBSTACLE AVOIDANCE OF A ROBOT MANIPULATOR", Journal of Mechatronics, Automation and Control (МАУ), No. S12, 2007, p 2-8, Moscow, Russian Federation
Firas A. Raheem, "FUZZY LOGIC STRUCTURE FOR ONLINE CONTROL OF ROBOT MANIPULATOR IN UNKNOWN ENVIRONMENT", Proceedings of The Universities of North-Caucasian Region, Engineering Sciences, No. 6, pp 15-21, Dec 2007, Russian Federation
Waladin K. Said, Firas A. Raheem, "THE APPLICATION OF NEURAL NETWORKS FOR ANGULAR POSITION MEASUREMENTS IN SYNCHRO-DIGITIZER SYSTEM", Theory, Methods and Facilities of Measurement, Control and Diagnostics Viii (8th) International Scientific-Practical Conference, Novocherkassk – Russian Federation, 28 Sept 2007
Waladin K. Said, Firas A. Raheem, "DSEIGN AND IMPLEMENTATION OF A SUCCESSIVE APPROXIMATION TYPE SYNCHRO DIGITIZER", Iraqi Journal of Computers, Communications, Control & Systems Engineering (IJCCCE), Vol 4, NO. 1, 2004