Robotic Hand-Held Surgical Device: Evaluation of End-Effector's Kinematics and Development of Proof-of-Concept Prototypes. - Ali Hassan Zahraee; Jérôme Szewczyk; Jamie Kyujin Paik; Guillaume Morel (MICCAI (3), 2010)

Mechatronic design of a hand-held instrument with active trocar for laparoscopy. - Ali Hassan Zahraee; Benoît Herman; Jérôme Szewczyk (ICRA, 2011)

Ergonomic and gesture performance of robotized instruments for laparoscopic surgery. - Benoît Herman; Ali Hassan Zahraee; Jérôme Szewczyk; Guillaume Morel; Christophe Bourdin; Jean-Louis Vercher; Brice Gayet (IROS, 2011)

Real-time covariance tracking algorithm for embedded systems. - Andrés Romero Mier y Terán; Lionel Lacassagne; Ali Hassan Zahraee; Michèle Gouiffès (DASIP, 2013)

High level transforms for SIMD and low-level computer vision algorithms. - Lionel Lacassagne; Daniel Etiemble; Ali Hassan Zahraee; Alain Dominguez; Pascal Vezolle (WPMVP@PPoPP, 2014)

Covariance tracking: architecture optimizations for embedded systems. - Andrés Romero Mier y Terán; Lionel Lacassagne; Michèle Gouiffès; Ali Hassan Zahraee (EURASIP J. Adv. Signal Process., 2014)

PipeSLAM: Simultaneous localisation and mapping in feature sparse water pipes using the Rao-Blackwellised particle filter. - Ke Ma 011; Michele M. Schirru; Ali Hassan Zahraee; Rob Dwyer-Joyce; Joby B. Boxall; Tony J. Dodd; Richard Collins; Sean R. Anderson (AIM, 2017)

Robot mapping and localisation in metal water pipes using hydrophone induced vibration and map alignment by dynamic time warping. - Ke Ma 011; Michele M. Schirru; Ali Hassan Zahraee; Rob Dwyer-Joyce; Joby B. Boxall; Tony J. Dodd; Richard Collins; Sean R. Anderson (ICRA, 2017)