M. Moallem

Papers

Total Citations

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About

M. Moallem’s research focuses on the intersection of control theory, robotics, and real-time systems, with key contributions in bilateral teleoperation and feedback scheduling for robotic assembly. His most cited work, “Discrete-time bilateral teleoperation: modelling and stability analysis” (2008, 34 citations), addresses a critical challenge in digital control: the loss of stability when continuous-time teleoperation controllers are discretized for practical implementation. By modeling and analyzing the discrete-time dynamics, Moallem reveals that naive discretization can destabilize haptic interactions, even when the continuous system is stable—a finding with direct implications for surgical robots and remote manipulation. This work has been foundational for researchers designing digital teleoperation systems, as it provides rigorous stability criteria for sampled-data control. Additionally, his paper “A feedback scheduling framework for real-time robotic assembly systems” (2009, 3 citations) introduces adaptive scheduling algorithms to manage computational resources in time-critical manufacturing tasks. While less cited, this work demonstrates his broader interest in bridging control theory with real-time computing constraints. Moallem’s contributions are particularly valued by engineers developing robust, digitally-implemented robotic systems, where his stability analyses help prevent costly failures in teleoperation and assembly applications.