The 8th RSI International Conference on Robotics and Mechatronics (ICRoM 2020) is organized by the Robotics Society of Iran (RSI) with the support of the Academy of Sciences of IR Iran, and collaboration of related scientific societies. Due to the COVID-19 pandemic (Coronavirus), this year the conference will be held online as a virtual 1-day symposium to bring the relevant communities together, to exchange ideas, and to create fruitful connections between active researchers and industrial professionals in a virtual environment. A minimal number of original research papers reported on the leading edge of science and technology will be peer-reviewed and presented in this conference, but might be considered for IEEE/Explore indexing with the next year papers.
Speech Title: Bridging Between AI and Robotics for Business and Product Development
Contemporary control systems methodologies in Robotics have their origin in the classical control system theory. With the exceptions of increasing adoption of modern computers in the hardware implementations, the design and analysis has been limited to the original knowhow. Most advances steamed from the computer hardware and related software and sensors.
As long as the robotics field included operations in mostly structured environments there was limited need to explore complexity beyond the standard requirements of high speed and high repeatability. These along with the payload capacity, robot weight and power requirements provided the necessary specifications that could be met for most applications.
At some point in time the concerns of developers shifted to the end-effector in form of generic hands that can be used for a multitude of tasks. In this context light weight and associated compliance of end-effectors became an issue. Nonetheless, the known methodologies of control covered most of the additional requirements. The situation started to change when the required tasks to be performed became complex and variable, environments became unstructured and with human presence and the scope of the performance not fully known. This was brought up by the emergence of mobile robot and collaborative arms applications. It gave rise to requirements that could not be satisfied with the contemporary control systems methodologies. As a result, a new trust emerged, that of Artificial Intelligence. It provides tools to deal with situations that are basically complex, involving humans and are performed in variable environments that are not fully known. There is a need and an opportunity to fuse fundamental AI techniques with established robot control methods involving mobility, image processing, structural compliance, and modularity to be used in controlling robot systems operating in complex situations. There is a need to look at this quest from the critical point of view that currently AI serves well when the systems can be a priori trained or used in non-real time applications, ex. e-commerce, as opposed to robotics that are requiring real-time methods, which may pose limitations in the current use of AI. The presentation will address some of the issues pertinent to the technology of AI for use in robots operating in complex environments.
Dr. Goldenberg is the founder of the field of Robotics at University of Toronto where he has been since 1982 as a Professor of Mechanical and Industrial Engineering, cross appointed in the Institute of Biomaterials & Biomedical Engineering and the Electrical and Computer Engineering. Since 2011 he has been a Professor Emeritus. Dr. Goldenberg is also an Adjunct Professor at Ryerson University and Guest Professor at Nanjing University of Science and Technology, P.R. China.
Dr. Goldenberg has supervised to-date the largest number of graduate students in the Faculty of Applied Science and Engineering (46 PhD and 64 MASc). He has an exceptional publication record with over 8300 citations (128 archival journal papers, 294 papers in major conferences, 15 book chapters and 105 patents granted and applied).
From 1975 – 1981 Dr. Goldenberg has been an employee of SPAR Aerospace Ltd., of Toronto, working on the development of the first Space Shuttle Remote Manipulator System (Canadarm).
Dr. Goldenberg is the founder and now former President of Engineering Services Inc. (ESI) – www.esit.com, established in 1982. ESI is a high-technology company involved in the development of robotics-based automation and technology. Under his leadership the company has achieved significant growth and a global leading role in a wide range of industrial sectors. From 2000 – 2001 Dr. Goldenberg was also the President of Virtek Engineering Science Inc. (VESI), a high-technology company formed with the acquisition of part of ESI by Virtek Vision International Ltd., a company listed publicly. Dr. Goldenberg is also President of ANVIV Mechatronics Inc. (AMI), which he founded in 2006. ANVIV is a high-technology company involved in the development of mechatronics products. In May 2015 ESI has been acquired by a Chinese consortium located in Shenzhen, P.R. China. Dr. Goldenberg has continued to be the President of ESI after the acquisition until the Chinese consortium became a public company in November 2016 listed in Hong Kong and Dr. Goldenberg was appointed as Chief Technology Officer of the public company. He terminated this appointment on May 12, 2019.
As of May 2019, Dr. Goldenberg has returned to the University on part-time basis to work on graduate research in the use of Artificial Intelligence in advanced Robotics, focusing on Personal Service Robots. He also continues his business activities in several ventures in this domain through ANVIV Mechatronics Inc., the company he founded in 2006.
Dr. Goldenberg is a Life Fellow of the Institute of Electrical and Electronics Engineers, Inc. (IEEE), a Fellow of the American Society of Mechanical Engineers (ASME), a Fellow of the Engineering Institute of Canada (EIC), a Fellow of the Canadian Academy of Engineering (CAE), a Fellow of The American Association for the Advancement of Science (AAAS), a Member of the Professional Engineers of Ontario (PEng), and a Designated Consulting Engineer in Ontario. He is the recipient of the 2010 PEO Engineering Medal for Entrepreneurship and the 2013 EIC Sir John Kennedy Medal for Outstanding Merit in the Engineering Profession.
Dr. Goldenberg is a former editor of the archival international journal IEEE Transactions on Robotics and Automation, and a member of the editorial boards of Robotica, Robotics in Japan, Journal of Robotics, Robotics Journal, Scientific World Journal, Industrial Engineering and Management Journal, SOJ Robotics and Automation, International Journal of Automation and Computing and others.
Dr. Goldenberg obtained his PhD in 1976 from the University of Toronto, and his MSc and BSc degrees from the Technion, Israel Institute of Technology, in 1969 and 1972, respectively. Dr. Goldenberg was born in Bucharest, Romania.
The 7th International Conference on Robotics and Mechatronics (ICRoM 2019) was held in Sharif University of Technology . ICRoM 2019 was organized by the Robotics Society of Iran (RSI) with collaboration of other scientific societies in particular the Iranian Society of Mechatronics (ISM). ICRoM 2019 short video clip (on Aparat). ICRoM 2019 received 151 paper submissions. The reviews were carried out by the Conference Program Committee, which involved 12 associate editors and about 91 reviewers coordinated by the Steering Committee. Each paper underwent at least two quality reviews, and based on the associate editors recommendations, ﬁnally 49 papers were selected for oral presentation organized in 12 sessions in four parallel tracks, and 53 papers for poster presentation. Moreover, there are special tracks at the ICRoM 2019, including creativity exhibition and robotic contest round-table and an industrial panel, which are aimed to further boost up dissemination of robotic solutions into the industry and service sectors of the country. Moreover, 3 technical workshops were organized to be presented by the leading international researchers in the ﬁeld of robotics.
Received his BSc in mechanical engineering and also pure mathematics from Sharif University of Technology, Tehran, Iran in 2002. He received his MSc and PhD in Mechanical Engineering, in the field of dynamics and control, from the same University in 2004 and 2008, respectively. At present, he is a professor in mechanical engineering at Sharif University of Technology. His research interests include dynamical systems, control theory and stochastic systems. He has led numerous industrial research projects in the fields of automation, control and navigation. One of his recent areas of interest is inertial sensor based motion capturing systems; and he has supervised several master and doctoral projects in this field.
Speech: Inertial-sensor-based motion capture using nonlinear filtering methods
Human motion tracking has many applications in biomedical and industrial services. Motion analysis in sport science, virtual reality production in the gaming and entertainment industry, rehabilitation and medical industry are areas in which motion capture systems have played an important role. Motion capture systems have different types from camera-based systems to inertial sensor (accelerators-gyros) based wearable ones. Optical systems are usually very expensive and have functions limited to indoor studios. In contrast, low-cost inertial/magnetic sensors can be used in outdoor and large environments to obtain the orientation of the human body segments in human motion capture systems. In this speech, at first a historical review of various methods of motion capture systems is presented. Then quaternion-based nonlinear filter algorithms to combine inertial/magnetic sensors measurements for tracking of human body movements are discussed. In order to have a better estimation of the orientation of the body segments, constraint equations are developed based on the relative velocity and position of the body joints with respect to the inertial sensors attached to the segments. Also to compensate for fast body motions, the measurement covariance matrix is updated in such a way that the filter uses gyros when large accelerations are involved. To improve the accuracy and reliability of system, it is discussed that how the installation location of the sensors on the body segment can be estimated as well as the sensor non-idealities such as misalignment, non-orthogonality and biases. Also an algorithm for data fusion of the inertial sensor-based motion capture and the Kinect, which is also a low-cost camera-based system utilized for motion analysis, is presented. To this end, a new measurement model of the fusion is obtained that can compensate for the inertial sensors drift problem in high dynamic motions and also joints occlusion in the Kinect. The proposed algorithms are evaluated experimentally by an optical tracking system as the ground truth reference. The results show the effectiveness and good performances of the proposed algorithms.
Moharam Habibnejad Korayem received his BSc (Hon) and MSc in Mechanical Engineering from the Amirkabir University of Technology in 1985 and 1987, respectively. He has obtained his PhD degree in mechanical engineering from the University of Wollongong, Australia, in 1994. He is a Professor in mechanical engineering at the Iran University of Science and Technology. He has been involved with teaching and research activities in the robotics areas at the Iran University of Science and Technology for the last 25 years. His research interests include dynamics of elastic mechanical manipulators, trajectory optimization, symbolic modeling, robotic multimedia software, mobile robots, industrial robotics standard, robot vision, soccer robot, and the analysis of mechanical manipulator with maximum load carrying capacity. He has published more than 670 papers in international journals and conferences in the robotic area.
Speech: Recent Advances in Flexible Manipulators and Applications
Utilization of flexible link manipulators has been rising recently due to their wide range of applications in industry, medicine, aerospace, instrumentation, satellites and industrial automation. Such manipulators are replacing rigid links with larger dimensions and more weight in various industries. This talk will present the dynamic model of a flexible manipulator composed of N elastic links and robot actuators for which structural vibration is considered in order to determine dynamic load carrying capacity (DLCC). In view of the concurrent linear and rotary motions of the link caused by revolute-prismatic joints, the interaction of joint’s structural vibration and link fluctuation is taken as an effective model parameter. To model the expressed hub oscillation with respect to the link, the assumed modes method and mode shapes of Euler-Bernoulli beam with independent generalized modal coordinate with respect to the link are employed. The obtained equations are simultaneously solved in the coupled form and the simulation results are compared with a similar experimental setup, indicating that the flexible manipulator model with elastic link, hub and joints yields satisfactory results. Finally, several related projects which are conducted in the IUST Robotics Laboratory will be presented.
Hossein Rouhani is an assistant professor in the Department of Mechanical Engineering at the University of Alberta since 2015. He received a PhD degree in Biotechnology and Bioengineering from the Swiss Federal Institute of Technology in Lausanne (EPFL) in 2010 where he was a postdoctoral fellow in 2011. Dr. Rouhani was then a Postdoctoral Fellow in the Institute of Biomaterials and Biomedical Engineering at the University of Toronto from 2012 to 2015. Dr. Rouhani is the director of Neuromuscular Control and Biomechanics Laboratory at the University of Alberta, and his fields of research are musculoskeletal biomechanics, biomedical instrumentation design, and development of wearable neuro-rehabilitative technologies. Within his translational research program, Dr. Rouhani has had several collaborative research projects with university hospitals, such as University Hospital of Lausanne, Toronto Rehabilitation Institute, and Glenrose Rehabilitation Hospital. Dr. Rouhani is a recipient of two postdoctoral fellowship awards from the Swiss National Science Foundation. He is also an associate editor of the IEEE Canadian Journal of Electrical and Computer Engineering, and Frontiers in Sports and Active Living, and a co-chair of Alberta Biomedical Engineering Conference. He is also the congress chair for 2021 International Congress of the Canadian Society of Mechanical Engineers (CSME) and the vice-chair of the CSME technical committee for Biomechanics and Biomedical Engineering.
Speech: Closed-loop controlled neural prosthesis:Reverse engineered human body to enable human
People with disability represent the biggest minority in the world. Disabilities constrain physical activities, independence, and quality of life. Conditions such as brain and spinal cord injury, and multiple sclerosis may lead to long-term disabilities that require healthcare services. The worldwide increase in life expectancy and population growth challenge the healthcare system in the next decades due to a shortage of healthcare resources. Solutions to reduce the disability and dependence are needed to alleviate such challenges. Neural prostheses are devices that can substitute the impaired neuromuscular system and restore motor functions. A majority of the developed and clinically implemented neural prostheses are open-loop systems unable to adjust their function in response to perturbations or change in the environmental or physiological conditions. Closed-loop controlled neural prostheses are suggested to address this short-coming. In this talk, we present a bio-inspired approach to develop closed-loop controlled neural prostheses, as the reverse engineered neuromuscular system. We will discuss modelling the function of different components of the neuromuscular control system, assessment of the body motion in real-time and artificial activation of the skeletal muscles to restore motor functions. Details of the development and experimental implementation of a neural prosthesis for standing balance will be presented as an example of our proposed approach.
The 6th International Conference on Robotics and Mechatronics (ICRoM 2018) was held in Iran University of Science and Technology . ICRoM 2018 was organized by the Robotics Society of Iran (RSI) with collaboration of other scientific societies in particular the Iranian Society of Mechatronics (ISM). ICRoM 2018 short video clip (on Aparat). ICRoM 2018 received 151 paper submissions. The reviews were carried out by the Conference Program Committee, which involved 12 associate editors and about 91 reviewers coordinated by the Steering Committee. Each paper underwent at least two quality reviews, and based on the associate editors recommendations, ﬁnally 49 papers were selected for oral presentation organized in 12 sessions in four parallel tracks, and 53 papers for poster presentation. Moreover, there are special tracks at the ICRoM 2018, including creativity exhibition and robotic contest round-table and an industrial panel, which are aimed to further boost up dissemination of robotic solutions into the industry and service sectors of the country. Moreover, 3 technical workshops were organized to be presented by the leading international researchers in the ﬁeld of robotics.
Saeed Behzadipour received his BSc and MSc in Mechanical Engineering from Sharif University of Technology in 1998 and 2000, respectively. He received his PhD in Mechanical engineering from University of Waterloo, in 2005. He was an assistant professor in Mechanical Engineering in University of Alberta, Canada from 2005 to 2011. He is an associate professor of Mechanical Engineering at Sharif University of Technology and director of Djawad Movafaghian Research Center in Neurorehabilitation. His research interests include rehabilitation engineering and robotics.
Speech : Biomechanical challenges in Robotic Exoskeletons
Robotic exoskeletons are predicted to have a market size of 2.8 billion dollars by 2023. It is considered as a valuable human enhancing technology in physical activities as well as an assistive one for disabled people. The technology is at the crossroads of robotics, control, and biomechanical engineering. However the last one is less discussed in the literature. This talk will present the biomechanical challenges and problems encountered in this technology and the recent developments in the area. It briefly reviews the history of development of this technology and the intended applications from military to rehabilitation and the recent developments in the market. Then, the challenges of attaching a robotic kinematic chain to the human body with a complex kinematic will be discussed and the critical research problems will be presented. Finally, the motion planning of such robots and the biomechanical considerations of stability, safety and energy efficiency will be presented.
Dr. Davaie Markazi received his BSc and MSc in Mechanical Engineering from Iran University of Technology and Sharif University of Technology in 1982 and 1987, respectively. He received his PhD in Mechanical engineering from McGill University, Canada, in 1995. He is currently a Professor in the School of Mechanical Engineering, Iran University of Science and Technology. Dr. Markazi is one of the founders and the former Chair of the Iranian Society for Mechatronics. His research interests include digital and hybrid control of dynamic systems, adaptive fuzzy sliding control of nonlinear systems, networked control systems, Robotics, and Dynamic Analysis of Brain. Dr. Markazi has published numerous journal and conference papers and two books.
Speech: Recent Advances in Adaptive Fuzzy Sliding Mode Control and its Applications
Many well-known control approaches have already been developed for control of nonlinear uncertain systems in the literature. More specifically, a broad range of methods, namely, the Adaptive Fuzzy Sliding Mode Control (AFSMC) approach have been proposed, with the core idea of achieving robustness and lesser extent of information about the plant, since 1994. A new class of AFSMC methods have been developed and extended in the Mechatronics Lab of IUST since 2008. The proposed methods have been successfully applied to control of SISO/MIMO chaotic systems, MEMS resonators, Mechanisms with friction, Active vortex-induced vibration control, Pneumatic vibration isolation, Wheel slide protection of locomotives, Input-delayed uncertain systems, Anti-lock break system, Under-actuated AUVs, Proportional navigation of uncertain targets, active vibration control of thick piezo-laminated beams and position/force control of Hexapod robots. In this talk, a particular case study, namely, the hybrid position/force control of a Hexapod (Stewart Manipulator) using the AFSMC method will be discussed in a bit more detail. The important advantage of the proposed method is the ability to work with a highly simplified dynamic model of the robot, where the ignored part of the model dynamics has been considered as an state-dependent uncertainty. Such a complex problem has been successfully controlled by an extended version of the AFSMC method. Experimental verifications are performed on the position control loop of the Stewart Manipulator to depict the effectiveness.
Mehdi Tale Masouleh received the B. Eng. M. Sc. and Ph.D. degrees in Mechanical engineering (Robotic) from the Laval University, Qubec, Canada, in 2006 , 2007 and 2010, respectively. He is currently a faculty member of Electrical and Computer Engineering at University of Tehran. He is also the director of Human-Robot Interaction Laboratory, known as TaarLab for its Persian abbreviation. His research interests are kinematics, dynamic and design of serial and parallel robotic systems, Humanoid, mobile robots and optimization techniques (interval analysis and convex optimization ) and learning-based approach for robotic applications. He is supervising several undergraduate and graduate students and published several papers in different filed of robotic mechanical systems. Some of industrial projects under the supervision of Mehdi Tale Masouleh are the development of several parallel mechanisms (Tripteron, Delta (3 and 4-DOF), Gough-Stewart platform and a cable-driven parallel robot), Haptic device for dental education simulation and extending a social robot (Sanbot) for Bank Services.
Speech: Human and Robot Interaction, From Academy to Industry
The Human Robot Interaction (HRI) field is rapidly developed by various activities, varying from robots design to creative programming skills and safety considerations. Knowing the fact that robotic science has evolved from desktop computers, to robust mobile and to eventually fill the gap between the virtual and physical worlds, but there are still plenty of tasks required before constructing an environment where robots and humans can interact concordantly with each other. HRI envisions an imminent future where robots scatter everywhere and work with human beings side by side. To exploit successfully robots in public environments, varietal foundations seem essential, such as robot mechanisms, sensation, perception, motion planning and programming. In this lecture, we touch upon several projects conducted in the Human and Robot Interaction Laboratory, where most of them are arisen from industry demands. In order to extend applications of robotic systems to every aspect of human life, which is a high leap for industrializing the HRI field, several mechanical and learning-based methods should be investigated. TaarLab, using both the hands-on experience and theoretical knowledge, is now pioneer for carrying out the foregoing methods by implementing them on its robots. Learning-based methods are crucial due to the fact that they can operate as a logical organ for robotic systems. Motion planning and environmental recognition are some of important duties of robots which require highly-developed learning-based algorithms to successfully interact with humans in public.
The 5th International Conference on Robotics and Mechatronics (ICRoM 2017) was held in University of Amir Kabir . ICRoM 2017 was organized by the Robotics Society of Iran (RSI) with collaboration of other scientific societies in particular the Iranian Society of Mechatronics (ISM). ICRoM 2017 short video clip (on youtube)
Mahdi Tavakoli is a Professor in the Department of Electrical and Computer Engineering, University of Alberta, Canada. He received his BSc and MSc degrees in Electrical Engineering from Ferdowsi University and K.N. Toosi University, Iran, in 1996 and 1999, respectively. He received his PhD degree in Electrical and Computer Engineering from the University of Western Ontario, Canada, in 2005. In 2006, he was a post-doctoral researcher at Canadian Surgical Technologies and Advanced Robotics (CSTAR), Canada. In 2007-2008, he was an NSERC Post-Doctoral Fellow at Harvard University, USA. Dr. Tavakoli’s research interests broadly involve the areas of robotics and systems control. Specifically, his research focuses on haptics and teleoperation control, medical robotics, and image-guided surgery. Dr. Tavakoli is the lead author of Haptics for Teleoperated Surgical Robotic Systems (World Scientific, 2008).
Speech Title: Closed-loop Control for Improving Needle Steering in Soft Tissue
This presentation will demonstrate the potentials of robotics technologies for improving healthcare by enhancing needle-based surgeries and therapies. In permanent implant brachytherapy, needles loaded with radioactive seeds are used to reach planned locations in the prostate, where the seeds are deployed. Accurate seed placement is a key factor that influences the effectiveness of the procedure. However, current manual techniques can place seeds with an accuracy of only about 5 mm, which is a substantial error given the average prostate size. We will discuss mechatronic technologies for precisely steering a needle towards its intended location using feedback control. Closed-loop control of needle in tissue is challenging due to measurement errors, unmodelled dynamics created by tissue heterogeneity and motion of targets within the tissue, only to name a few. We will review recent progress made in this area including modelling needle-tissue interaction, sensing needle deflection, and controlling the needle trajectory.
The 4th International Conference on Robotics and Mechatronics (ICRoM 2016) was held in University of Tehran . ICRoM 2016 was organized by the Robotics Society of Iran (RSI) with collaboration of other scientific societies in particular the Iranian Society of Mechatronics (ISM). ICRoM 2016 short video clip (on youtube)
Dr. Ahmadi received his Bachelors in Mechanical Engineering from Sharif University in 1989, Master’s from Tehran University in 1992, and Ph.D. from McGill University (Center for Intelligent Machines) in 1998. As a postdoctoral fellow with the Electrical and Computer Engineering at Ecole Polytechnique de Montreal he conducted research on Telerobotics. He has then taken several senior industrial positions: with Opal-RT Technologies Inc. in Montreal, as the leader of the Advanced Robotics and Controls Group; with Quantum and Maxtor Corporations (Seagate today) in San Jose, California, as a senior servo engineer; and with the Institute for Aerospace Research of the National Research Council Canada in Ottawa, leading robotic design activities for a novel 8DOF robot for a high-speed wind tunnel facility. Dr. Ahmadi has been with the Department of Mechanical and Aerospace Engineering at Carleton University from 2005. He is a senior member of IEEE and a member of IEEE Robotics and Automation Society, as well as IEEE and Canadian Engineering in Medicine and Biology Societies. Dr. Ahmadi’s main interests are robot design for new applications, control systems, balance in walking for robots and human, and rehabilitation robotics. He has developed or contributed to various robotic projects including walking robots, mobile robots, robotic software, optimal trajectory planning for redundant robots, redundant manipulators design and control, rehabilitation robots for stroke and acute-care patients, balance aid devices, exoskeleton controllers, and flight simulation motion platforms. He is the founder and director of the Advanced Biomechatronics and Locomotion Laboratory (ABL) at Carleton University and a co-founder of GaitTronics Inc (together with his former students). Some of his research outcomes are already on the path for commercialization. For example, the mobility robotic system, Solowalk , has won a few awards from Ontario Brain Institute and Ontario Centres of Excellence and is being used in research at Ottawa Children’s Hospital with children with Cerebral Palsy and scheduled to be used with Geriatric patients. Dr. Ahmadi’s research has been covered by several media or news outlets such as Canadian Broadcasting Corporation (CBC) and Discovery Channel.
|Speech: Rehabilitation Robotics: A Design Perspective
Robotics is emerging as a viable solution to numerous medical applications. It can improve the quality and efficiency of healthcare system, reduce trauma in surgery, assist patients in walking, or provide automation in medical research laboratories. Areas such as surgery, rehabilitation, independently living, and radiotherapy, are among the areas that widely use robotic systems. The recent advancement in underlying mechatronics technologies, including computers, sensors, actuators, or intelligent control, have increased the capability of robots in executing complex tasks, thus improving their chance of adoption by medical community. Nevertheless, designing robots is a complex multidisciplinary iterative process, where designers are required to have skills and communicate their designs in various disciplines, and work in a collaborative environment to bring innovative projects to completion. This talk, starts by a quick overview of robotic system evolution and multidisciplinary design process, with special emphasis given to biomedical robotics. The speaker will follow by discussing the current research in rehabilitation robotics at Carleton University’s Advanced Biomechatronics and Locomotion laboratory (ABL). The presenter’s research spans from aerospace robotics to stroke rehabilitation, early mobilization, and assistive devices. Major issues such as stability of interactive controllers, sensing, safety, and learning controllers, will be highlighted.
In this conference, we received a total of 231 papers among which 63% were accepted, during this conference we welcomed 52% oral and 48% poster presentors. ICRoM 2015 papers were reviewed by 495 reviewers with 138 reviewers from outside the RSI society. Here is a short ICRoM 2015 video clip : ICRoM 2015 Clip You may follow this link to view ICRoM 2015 indexed papers in IEEE Xplore Digital Library : ICRoM 2015 papers