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Associate Professor

Mustafa Shabbir KURBANHUSEN

Deputy Director, Applied Research Office (ARO)
Associate Professor
PhD (Robotics), Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
Cluster:
Engineering
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SIT Appointments

  • Deputy Director, Applied Research Office (ARO)
    – Present
  • Associate Professor
    – Present
  • Data Protection Officer (Research Data)
    –
  • Advisory Panel Member, Lean Transformation Innovation Centre
    –
  • Deputy Programme Director, SIT-NU BEng (Hons) Mechanical Design and Manufacturing Engineering
    –
  • Deputy Programme Director, NU BEng (Hons) Mechanical Design and Manufacturing Engineering
    –
  • Academic Advisor, Industry & Community Group
    –
  • Assistant Professor
    –

Education

  • PhD (Robotics), Mechanical and Aerospace Engineering
    Nanyang Technological University , Singapore
  • Bachelor of Engineering (First Class Honours), Mechanical & Production Engineering
    Nanyang Technological University , Singapore

Achievements

  • Nominee for SIT Teaching Excellence Award AY2021
  • SIT Teaching Excellence Award AY2018
  • SIT Teaching Excellence Award AY2016
  • Best Industry Project Award, Singapore Institute of Manufacturing Technology, A*STAR
  • A*STAR Postdoctoral Fellowship: Carnegie Mellon University, USA (Prof. Kenji Shimada’s Laboratory)
    –
  • Best Paper Award, ASME Design & Technical Conferences (Mechanism & Robotics)
  • A*STAR Postdoctoral Fellowship: University of Delaware, USA (Prof. Sunil Kumar Agrawal’s Laboratory)
    –
  • Best Paper Award, IEEE Conference on Sustainable Utilization and Development in Engineering and Technology
  • ‘Speak Out for Engineering’ Winner, Institute of Mechanical Engineers (Singapore Branch)
  • Andrew Fraser Prize Award, Institute of Mechanical Engineers (Singapore Branch)
  • Best Student Award, Singapore Institute of Manufacturing Technology, A*STAR
  • First Prize in Poster Presentation Category, Inaugural A*GA-NGS Graduate Symposium
  • A*STAR Graduate Scholarship, Nanyang Technological University
    –
  • MENDAKI Anugerah Cemerlang & SINDA Academic Excellence Awards

Professional Memberships

  • Specialist Adult Educator (Curriculum Development), Institute of Adult Learning
    – Present
  • Member, Institute of Electrical and Electronics Engineers (IEEE)
    – Present
  • Scientific Committee Member, 2020 Applied Learning Conference, Singapore
    –
  • Scientific Committee Member, 2018 Applied Learning Conference, Singapore
    –
  • Organising Committee, 2017 IEEE International Conference on Robotics and Automation
    –
  • Organising Committee, 2013 IFToMM International Symposium on Robotics & Mechatronics
    –

Corporate Experience

  • Team Lead, Industrial Robotics Team, Singapore Institute of Manufacturing Technology, A*STAR
    –
  • Scientist, Singapore Institute of Manufacturing Technology, A*STAR
    –

Research Interests

  • Theoretical Kinematics
  • Mechanism Design
  • Cable-Driven Robots
  • Robot Calibration
  • Lean Manufacturing

Current Projects

  • Dextrous, strong yet soft robots - DESTRO
    – Present

    Co-Principal Investigator, Italy-Singapore Science and Technology Cooperation, A*STAR

    With a team of collaborators spanning from various IHLs from Singapore and Italy, this project aims at innovating the design of soft robot arms, by developing model informed methods for designing and building soft robot arms with high dexterity and strength, responding to task and environment specifications, inspired by muscular hydrostats.

     

  • Automated Protein Profiling and Functional Characterization Platform
    – Present

    Co-Principal Investigator, Singapore Food Story R&D Programme Theme, A*STAR

    This project aims to achieve the following:

    1. To generate proteomic profiling information (composition, anti-nutrient, and allergen factor) via high throughput MS-technology, comparable nutritional value via in vitro digestibility, and amino acid profile for commercial ingredients and proteins extracted from this project.
    2. To develop scalable protein extraction and fractionation process with minimal waste, optimized water and energy usage with a design of concept pilot plant for manufacturing.
    3. To establish automated protein functional characterization processes to generate a key protein functional property database for commercial and in-house extracted protein ingredients and build a database to cluster ingredients with targeted food applications.
    4. To develop two Asian-oriented plant-based meat or other food product prototypes as proof of concept.

     

  • Embedded Fastener Inspection and Monitoring
    – Present

    Co-Principal Investigator, Urban Mobility Grand Challenge Fund, Land Transport Authority

    Anchor bolts play a crucial role in fastening railway structures to train tunnels and viaducts. However, these steel bolts can experience corrosion damage at an accelerated rate due to the wet and humid conditions of the Singapore tropical weather. Since anchor bolts are typically embedded into concrete structures, the conditions of embedded sections of the bolts are unknown from visual inspection alone. This project aims to improve the existing manual and limited inspection process of embedded anchor bolt fasteners via the design of customized ultrasonic testers, development of an accompanying assessment algorithm based on machine learning, as well as identify productivity enhancements in the existing process with the potential of implementation using automation technologies.

     

Past Projects

  • Intelligent Ground-Aerial Robots for Closed Quarters Interactive Operations
    –

    Co-Principal Investigator, A*STAR National Robotics Programme

    The project aimed to develop a new and highly novel generation of ground-aerial robotic system with a tethering aerial manipulator to support advanced operations in close quarters. The developed system comprised of an aerial unit which was based on a venerable multirotor unmanned aerial vehicle and tethered to a mobile ground unit. The aerial unit was also designed with a novel cable-driven lightweight dexterous manipulator to perform aerial-based interactions such as inspection, manipulation and sample collection. 

     

  • Robotics for Construction 4.0: High Load Agile Mobile Manipulation System For Multi-Level Field Construction
    –

    Co-Principal Investigator, A*STAR National Robotics Programme

    This project aimed to address the accessibility of construction robots in different types of constrained built environments by introducing high 'payload-to-weight ratio' mobile manipulation system, designed to enable construction robots (for various tasks like spray painting, concrete coating, drilling, and installation) to be easily transported and set up by human workers. With the key customer need arising from wall polishing, a reconfigurable cable-driven wall polishing robotic system was developed, which is currently under exploration with potential end-users for commercialization opportunities.

    Jointly filed (with NTU) a Singapore Provisional Patent, titled 'Reconfigurable Cable-Driven Robotic System For Construction Tasks' (Application Number: 10202301971R).

     

  • Online Financial Tool for Holistic Evaluation of Innovation Projects
    –

    Co-Principal Investigator, SALT Grant, Singapore Institute of Technology

    Prior to the development of a commercially viable solution, it is critical to address questions such as is it worth spending the money to develop this new solution, what is the payback period, what are the Net present value of the project, profitability index and internal/accounting rate of return. The answers to these financial-related questions are critical to any organization. Hence, this project aims to develop a holistic online-based approach to learn financial concepts.

    Refer here for the developed online learning tool: https://libguides.singaporetech.edu.sg/accounts/fpe

     

  • Advanced Structural Health Inspection and Monitoring with Automation
    –

    Co-Principal Investigator, Strategic Fund, Singapore Institute of Technology

     

  • A study on the use of quiz-based learning environment in enhancing student learning for the subject of Mechanics
    –

    Co-Principal Investigator, SALT Grant, Singapore Institute of Technology

    The learning of engineering topics is a challenging task as these topics often involve complex engineering concepts and principles, as well as the need to deal with complicated formulas and equations. This study introduced a group-style quiz-based learning approach, in which each tutorial session consisted of two quizzes, with reflection sessions after each quiz. The first quiz consisted of questions of simpler and more straightforward nature to assess the basic understanding of concepts, while the questions in the second quiz were more complex, which assessed if the student had a good grasp of the concepts taught. The second quiz also involved a prior group-based brainstorming to facilitate peer-learning and self-internalization, before each student proceeds to answer the quiz questions individually. The results obtained are encouraging and it is evident that the students are enjoying the tutorials with classes bustling with conversations and students consistently engaged in discussion and interacting with one another.

     

  • A*STAR SERC Industrial Robotics Programme
    –

    Co-Principal Investigator

     

  • A*STAR SERC Social Robotics Programme
    –

    Co-Principal Investigator

     

Journal Papers

  • S.K. Mustafa and S.K. Agrawal. ''On the Force-Closure Analysis of n-DOF Cable-Driven Open Chains Based on Reciprocal Screw Theory'', IEEE Transactions on Robotics, vol. 28(1), pp 22-31, 2012. DOI: 10.1109/tro.2011.2168170.

  • W.B. Lim, G. Yang, S.H. Yeo and S.K. Mustafa. ''A generic force-closure analysis algorithm for cable-driven parallel manipulators'', Journal of Mechanism and Machine Theory, vol. 46, pp. 1265-1275, 2011. DOI: https://doi.org/10.1016/j.mechmachtheory.2011.04.006.

  • G. Yang, S.K. Mustafa, S.H. Yeo, W. Lin and W.B. Lim. ''Kinematic Design of an Anthropomimetic 7-DOF Cable-Driven Robotic Arm'', Frontiers of Mechanical Engineering, Springer, vol. 6(1), pp 45-60, 2011. DOI: 10.1007/s11465-011-0205-3.

  • S.K. Mustafa, G. Yang, S.H. Yeo, W. Lin and I.-M. Chen. ''Self-Calibration of a Biologically-Inspired 7-DOF Cable-Driven Robotic Arm'', IEEE/ASME Transactions on Mechatronics, vol. 13(1), pp 66-75, 2008. DOI: 10.1109/tmech.2007.915024.

  • S.K. Mustafa, G. Yang, S.H. Yeo and W. Lin. ''Optimal Design of a Bio-Inspired Anthropocentric Shoulder Rehabilitator'', Journal of Applied Bionics and Biomechanics, vol. 3(3), pp 199-208, 2006. DOI: 10.1533/abbi.2006.0029.

  • C.B. Pham, S.H. Yeo, G. Yang, S.K. Mustafa and I.-M. Chen. ''Force-Closed Workspace Analysis of Cable-Driven Parallel Mechanisms'', Journal of Mechanism and Machine Theory, vol. 41, pp. 53-69, 2005. DOI: 10.1016/j.mechmachtheory.2005.04.003.

Conferences

  • L. Martua, M.S. Kurbanhusen and C.N. Aung. "Investigation to Enhance the Actuation Force Transmission of Cable-Driven Continuum Manipulators with Tethering Lines", 9th Intl. Conf. of Asian Society for Precision Engg. and Nanotechnology, Singapore, 2022. DOI: 10.3850/978-981-18-6021-8_OR-02-0208. https://rpsonline.com.sg/proceedings/aspen2022/pdf/OR-02-0208.pdf

  • L. Martua and M.S. Kurbanhusen. "Design of a Cable-Driven Continuum Manipulator for Applications in Confined Spaces at Elevated Heights", 9th Intl. Conf. of Asian Society for Precision Engg. and Nanotechnology, Singapore, 2022. DOI: 10.3850/978-981-18-6021-8_OR-02-0100. https://rpsonline.com.sg/proceedings/aspen2022/pdf/OR-02-0100.pdf

  • L. Martua and M.S. Kurbanhusen. "Investigation on the Process Parameters of an Automated Wall Grinding Robotic System", 9th Intl. Conf. of Asian Society for Precision Engg. and Nanotechnology, Singapore, 2022. DOI: 10.3850/978-981-18-6021-8_OR-02-0212. https://rpsonline.com.sg/proceedings/aspen2022/pdf/OR-02-0212.pdf

  • M.Q. Wahab and M.S. Kurbanhusen. "Design and Development of a Concrete Surface Roughness Assessment Device", 9th Intl. Conf. of Asian Society for Precision Engg. and Nanotechnology, Singapore, 2022. DOI: 10.3850/978-981-18-6021-8_OR-02-0216. https://rpsonline.com.sg/proceedings/aspen2022/pdf/OR-02-0216.pdf

  • K.M. Yeo, C.B. Soh, C.K. Liew, P. Sampath, R.A.R. Khan, T.W. Ang, A.A.A. Talib, C.Y. Lim and M.S. Kurbanhusen. "Detection of Cut Notches and Corrosion on Anchor Bolts", 4th Singapore International Non-destructive Testing Conference and Exhibition, Singapore, 2022. https://www.ndt.net/search/docs.php3?id=27517

  • P. Jutasompakorn, I. Atmosukarto, M. S. Kurbanhusen, J. Q. H. Lim and A. X. Lishan, “An Online Finance-Based Self-Learning Tool: Comparative Study Between Business and Non-Business Students”, SIT Applied Learning Conference, 2022. DOI: 10.25447/sit.19210764.v1. 

  • P. Jutasompakorn, I. Atmosukarto, M. S. Kurbanhusen and A. X. Lishan, "A Finance-Based Self-Learning Online Platform for Holistic Evaluation of Innovation Projects", 2021 IEEE International Conference on Engineering, Technology & Education (TALE), 2021, pp. 01-07. DOI: 10.1109/TALE52509.2021.9678729.

  • S.H. Park, S.K. Mustafa and K. Shimada, "Learning Based Robot Control with Sequential Gaussian Process", IEEE Symposium Series on Computational Intelligence, Singapore, 2013. DOI: 10.1109/riiss.2013.6607939. (Best Paper Finalist) 

  • S.H. Park, S.K. Mustafa and K. Shimada, "Learning Based Robot Control with Localized Sparse Online Gaussian Process", IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, 2013. DOI: 10.1109/IROS.2013.6696503.

  • S.K. Mustafa and S.K. Agrawal, "Force-Closure of Spring-Loaded Cable-Driven Open Chains: Minimum Number of Cables Required & Influence of Spring Placements", IEEE International Conference on Robotics and Automation, Minnesota, USA, 2012. DOI: 10.1109/icra.2012.6224580.

  • S.K. Mustafa and S.K. Agrawal, "Reciprocal Screw-Based Force-Closure of Cable-Driven Closed Chains", ASME International Design Engineering Technical Conferences, Washington DC, USA, 2011. DOI: 10.1115/detc2011-47599. (Best Paper Award)

  • V. Vashista, S.K. Mustafa and S.K. Agrawal, "Experimental Studies On The Human Gait Using A Tethered Pelvic Assist Device (T-PAD)", IEEE International Conference on Rehabilitation Robotics, Zurich, 2011. DOI: 10.1109/icorr.2011.5975472.

  • S.K. Mustafa and S.K. Agrawal, "Reciprocal screw-based force closure of an n-DOF open chain: Minimum number of cables required to fully constrain it", IEEE International Conference on Robotics and Automation, Shanghai, China, 2011. DOI: 10.1109/icra.2011.5980260.

  • G.Z. Lum, S.K. Mustafa, H.R. Lim, W.B. Lim, G. Yang and S.H. Yeo, "Design and Motion Control of a Cable-Driven Dexterous Robotic Arm", IEEE Conference on Sustainable Utilization and Development in Engineering and Technology, Kuala Lumpur, Malaysia, 2010. DOI: 10.1109/student.2010.5686997. (Best Paper Award)

  • S.K. Mustafa, P.Y. Tao, G. Yang and I.-M. Chen. ''A Geometrical Approach for Online Error Compensation of Industrial Manipulators'', IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Montreal, Canada, 2010. DOI: 10.1109/aim.2010.5695784.

  • W.B. Lim, G. Yang, S.H. Yeo, S.K. Mustafa and I.M. Chen. ''A Generic Tension-Closure Analysis Method for Fully-Constrained Cable-Driven Parallel Manipulators'', IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. DOI: 10.1109/robot.2009.5152772.

  • S.K. Mustafa, G. Yang, S.H. Yeo and W. Lin. ''Kinematic Calibration of a 7-DOF Self-Calibrated Modular Cable-driven Robotic Arm'', IEEE International Conference on Robotics & Automation, Pasadena, California, 2008. DOI: 10.1109/robot.2008.4543381.

  • S.K. Mustafa, G. Yang, S.H. Yeo and W. Lin. ''Self-Identification of the Joint Centre of a Cable-Driven Shoulder Rehabilitator'', IEEE International Conference on Robotics & Automation, Roma, Italy, 2007. DOI: 10.1109/robot.2007.364056.

  • S.K. Mustafa, G. Yang, S.H. Yeo, W. Lin and I.-M. Chen. ''Self-Calibration of a Biologically-Inspired Cable-Driven Robotic Arm'', IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Switzerland, 2007. DOI: 10.1109/aim.2007.4412467.

  • S.K. Mustafa, G. Yang, W. Lin, S.H. Yeo and C.B. Pham. ''Development of a Bio-Inspired Wrist Prosthesis'', IEEE International Conference on Robotics, Automation & Mechatronics, Bangkok, Thailand, 2006. DOI: 10.1109/ramech.2006.252716.

  • S.K. Mustafa, G. Yang, W. Lin, S.H. Yeo and C.B. Pham. ''A Biologically-Inspired Anthropocentric Shoulder Joint Rehabilitator: Workspace Analysis & Optimization'', IEEE International Conference on Mechatronics & Automation, Niagara Falls, Canada, 2005. DOI: 10.1109/icma.2005.1626696.

  • S.K. Mustafa, G. Yang, S.H. Yeo and W. Lin. ''Design Optimization of a Shoulder Joint Rehabilitator'', IEEE International Conference on Computational Intelligence, Robotics & Automation, Singapore, 2005.

  • G. Yang, H.L. Ho, W. Chen, W. Lin, S.H. Yeo and M.S. Kurbanhusen. ''A Haptic Device Wearable on a Human Arm'', IEEE Conference on Robotics, Automation and Mechatronics, Singapore, 2004. DOI: 10.1109/ramech.2004.1438924.

Books

  • S.K. Mustafa, W.B. Lim, G. Yang, S.H. Yeo, W. Lin and S.K. Agrawal. "Chapter 61: Cable-Driven Robots", Robotics & Automation, Handbook of Manufacturing Engineering and Technology, Springer-Verlag London, Vol. 4(8), pp 2169-2228, 2014. DOI: 10.1007/978-1-4471-4670-4_101.

  • P.Y. Tao, S.K. Mustafa, G. Yang and M. Tomizuka. "Chapter 56: Robot Work Cell Calibration and Error Compensation", Robotics & Automation, Handbook of Manufacturing Engineering and Technology, Springer-Verlag London, Vol. 4(8), pp 1995-2034, 2014. DOI: 10.1007/978-1-4471-4670-4_94.

  • W.B. Lim, G. Yang, S.H. Yeo and S.K. Mustafa. "Chapter 15: Modular Cable-Driven Robotic Arms for Intrinsically Safe Manipulation", Service Robots, IGI Global Publishers, 2012. DOI: 10.4018/978-1-4666-0291-5.ch015.

Teaching Modules

Engineering Systems, BEng (Hons)

  • SIE2105 - Mechanics of Solids
  • SIE3107 - Lean Management

Mechanical Design and Manufacturing Engineering, BEng (Hons)

  • MME3260 - Lean Manufacturing and Six Sigma
  • MME3001 - Integrated Work Study Programme (IWSP)
  • MME3191 - Capstone Project

Master of Engineering, MEng

  • IDC6633/IMC6633 - Application of Robotics & Automation for Smart Factory

Doctor of Engineering, DEng

  • IDC6633/IMC6633 - Application of Robotics & Automation for Smart Factory

Past

  • SIT4008 - Robotics 4N (3811)
  • SIT3002 - Design and Manufacture 3N (3686)
  • MEC3103 - Product Design Engineering
  • SIE2005 - Mechanics of Solids (4891)
  • SIE3002 - Group Design Project II (4786)
  • SIE3007 - Lean and Quick Response Repair (4926)
  • SIE3011 - Remanufacturing of Engineering Components (4946)
  • SIE3012 - Integrated Work Study Programme (IWSP) (4791)
  • MME1161 - Fabrication and Prototyping Practices (3566)
  • MME1261 - Design and Prototyping Practices (17226)
  • MME2161 - Lean Manufacturing & Six-Sigma (3611)