About me

I am a PhD candidate in robotics engineering program at Worcester Polytechnic Institute (WPI), and a member of Soft Robotics Laboratory. I received my BS and MS in Mechatronics from Sharif University of Technology, Iran, in February 2009 and January 2012, respectively. During my undergraduate and graduate studies, I was ranked the second top student among all the Mechatronics students in Sharif University of Technology, International campus, classes of 2004 and 2009. In Aug. 2012, I joined WPI's Robotics Program. Since then, as a teaching assistant, I am a member of Academic and Research Computing (ARC) group, and responsible with MATLAB, SolidWorks and LabVIEW training sessions and personalize assistance for students with different projects. On April 2015, I was recognized for outstanding support and engagement with students at the annual Faculty Honors Convocation and received the Teaching Assistant of the Year Award. I honored to receive the Best Conference Paper Award for my publication titled as "Regionally Growing Random Trees: A synergistic motion planning and control algorithm for dynamic systems" at CASE & ISAM 2016 conference in Fort Worth, Texas.

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Research Interests

  • Modelling and control of dynamic systems
  • Autonomous systems
  • Path and motion planning algorithms
  • Analytical dynamics
  • Legged locomotion and bio-inspired robotics
  • Artificial intelligence
  • Embedded system design

Education

  • 2012 - 2017 (expected)
    PhD, Robotics Engineering
    Worcester Polytechnic Institute
  • 2009 - 2012
    MS, Mechatronics
    Sharif University of Technology, International campus
  • 2003 - 2009
    BS, Mechatronics
    Sharif University of Technology, International campus

PhD

I started my PhD studies in August 2012 at WPI's Robotics Program under supervision of Professors Cagdas Onal and Stephen Nestinger. My current research mostly focuses on control theory and nonlinear control. In general, a control function synthesis can be categorized into two classes of linear and nonlinear control. The advances in linear system theory and the available mathematical tools makes synthesis and analysis of linear controllers significantly simpler than of the nonlinear controllers. On the other hand, the nonlinear nature of real physical systems and limitations imposed on dynamic models due to linearization processes reduces the performance of the systems controlled by linear controllers. This lack of efficiency is more apparent in systems with large number of degrees of freedom and complex dynamics such as mobile robots, power plants, stock markets, human interactions etc. To date, unlike linear systems, the analytical methods that have been developed for nonlinear systems are not generalizable to be used in an algorithmic approach in synthesizing nonlinear controllers. Consequently, most of the nonlinear controllers are designed for specific platforms and are not generalizable. Additionally, the corresponding numerical methods developed for nonlinear systems are relatively slow and suffer from curse of dimensionality. In addition to my main PhD research, I am also involved in other projects and have lead multiple teams of MS and BS students.

PhD research

Cart-pole control using RGRT

PhD thesis: A combined motion planning and control algorithm which utilizes system nonlinearities to overcome actuator limits that restrict the performance of the conventional linear controllers

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Delta-rho robots

Collective manipulation and impedance control in swarm and multi-robot systems via a decentralized force distribution algorithm without any inter-agent communication

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Origami-based design

Hierarchical kinematic design of origami-based mechanisms and structures

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Research 1

Dynamic analysis and control of under-actuated dual-nacelle tiltrotor aerial vehicles

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MS

I started my MS studies in Mechatronics on September 2009 at Sharif University of Technology (SUT), International campus under supervision of Professor Gholamreza Vossoughi and Dr. Kambiz Ghaemi Osgouie. My MS thesis focuses on design and fabrication of a hybrid legged/wheeled duct cleaning robot which is capable of maneuvering in circular and rectangular air ducts with any orientation or surface material. During my MS studies I was the director of the robotic group at SUT, International campus and directed a team of ten undergraduate and MS students to build a planetary rover robot. I am honored to rank 2nd among all the Mechatronics MS students in SUT, International campus, class of 2009. I have finished my MS on January 2012.

MS research

Duct-Sweeper

MS thesis: Design and analysis of a novel duct cleaning robot, Duct-Sweeper, which utilizes a hybrid legged/wheeled locomotion system to maneuver in circular and rectangular air ducts with any orientation

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Xplorer

Xplorer: a planetary rover which is capable of maneuvering over uneven terrain with slopes up to 45 degrees and carrying a payload of 50 kg

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BS

I started my undergraduate in Mechatronics on September 2003 at Sharif University of Technology (SUT), International campus. My undergraduate capstone project was design and fabrication of a programmable codelock system as an open source blueprint. Additionally, during my undergraduate studies, I was working on other interesting projects such as: Crank-Rocker mechanism synthesis for a desired coupler curve using differential evolution and genetic algorithm optimization methods; Modeling, analysis and balance control of a tightrope walking robot; Design and analysis of a conveyor system for a car assembly line which provides simultaneous stack and feed functionalities. I have completed my undergraduate studies on January 2009 and honored to rank 2nd among all the Mechatronics BS students in SUT, International campus, class of 2003.

BS projects

Codelock

BS capstone project: design and fabrication of a low-cost programmable codelock system with ATmega16 microcontroller

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Research 1

Modeling, analysis and control synthesis of a 2 degree of freedom under-actuated simple tightrope walker

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Careers

As my first internship, I joined the logistic team at TAM Company in Tehran, Iran. Our project was to design an automated conveyer system to increase the fabrication efficiency of a car assembly line of Iran Khodro Company, Tehran, Iran. After successfully finishing this project, I joined Talashgaran Atabak Co. (October 2008 - August 2012), as an intern and later on I continued my career in the same company as the head of mechatronic team. Wherein I was responsible to lead a design team with focuses on design and implementation of smart home components and smart lightening systems.

Currently I am a member of Academic and Research Computing (ARC) group at WPI, and responsible with MATLAB, SolidWorks and LabVIEW training sessions. So far I have instructed more than 1000 students on introductory and advanced topics. In parallel to the training sessions, I help students from different majors with their academic projects.

Awards and honors