About me

Research Interests

  • Optimal control theory and implementation
  • Agile or energy-conservative maneuvers
  • Autonomous systems
  • Analytical dynamics
  • Path and motion planning algorithms
  • Multi-robot and swarm systems

Education

  • 2012 - 2018
    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

Doctor of Philosophy

I started my PhD in August 2012 at WPI's Robotics Program. As my PhD dissertation, I explored the effect of input signal limitations on the performance of control functions. This study, lead to proposing a formal setting to identify a subset of regularization problems that are regularizable with a projected linear feedback function only in a subset of the state space. However, it is possible to transfer the states of the system to this regularizable set via a nonlinear feasible control function. Given the identified set of problems, namely conditionally controllable, we then investigated appropriate techniques to systematically synthesize control functions by cascading linear and nonlinear control functions.

In addition to my main PhD research, I was also involved in several other projects and have lead multiple teams of masters and undergraduate students. Some of these projects are listed in the following box.

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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Master of Science in Mechatronics

I started my MS studies in Mechatronics on September 2009 at Sharif University of Technology, 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 Sharif University, International campus and directed a team of ten undergraduate and master students to build a planetary rover robot.

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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Bachelor of Science in Mechatronics

I started my undergraduate in Mechatronics on September 2003 at Sharif University of Technology, 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 few 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.

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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Awards and honors