robot (2004) New Fuzzy Neural Network design using Genetic Algorithm for trajectory tracking of mobile robot (2004) Planning Walking Patterns for a BIPED robot using FNN-GA (2004) Robotët në procesin e arsimit nëpërmjet lojës së futbollit (2004) Path-Planning and trackingfor a BIPED robot using FNN-GA (2004) Design of WATT-II type of six-bar mechanism using Burmester curves and inversion method (2005) Optimization of BIPED gait synthesis using Fuzzy Neural Network Controller (2005) Contribution to the synthesis for a BIPED during the single support phase (2007) Design of Genetic Algorithm for optimisation of Fuzzy Neural Network Controller (2007) Synthesis of a sagittal gate for a biped robot during the single support phase (2007) Design and Simulation of Autopilot based on Fuzzy Logic Controller (2008) Planar kinematics analysis method of seven-bar mechanism using vector loops and verification results experimentally (2008) Problemet e transportit dhe dizajnimit të sistemeve prodhuese (2008) The problem of transport in designing the production systems (2009) A fuzzy – genetic algorithm and obstacle path generation for walking robot with manipulator (2010) Analiza dhe disajnimi i sistemit të varjes për gjysmën anësore të automjetit me 2SHLL (2010) Fuzzy Logic Control and 3D Simulation of road Vehicle (2010)