Research Projects

Robotics

  • Autonomous Deep Learning-Based Grasping and Obstacle Avoidance Path Planning (Oct. 2018 - March 2019)
    UC San Diego & San Diego State University

    Autonomous Path Planning

  • Predictior-Based Obstacle-Avoidance Control of Baxter with Input Delay (Oct. 2017 - present)
    UC San Diego & San Diego State University

    Predictior-Based Contorl

  • Design and Implement Adaptive Control for 7-DOF Baxter's Arm for Obstacle Avoidance (2017)
    UC San Diego & San Diego State University

    Model-Based Adaptive Contorl

  • Trajectory Optimization of 7-DOF Baxter's Arm Using Extremum Seeking (ES), GA and GS Methods (2016)
    UC San Diego & San Diego State University

    Trajectory Optimization Using Extremum Seeking

  • Whole-body Adaptive Locomotion and Manipulation (2014)
    European Community's 7th Framework Program Walk-Man (FP7-ICT-611832-2013)
    Italian Institute of Technology (IIT), Genoa, Italy

Walk-Man: Humanoid Robot for Rescue Missions

Dynamic Modeling & Control

  • Networked-Based Optimization and Control of Smart Valves (May 2015 - Jan. 2016)
    Dynamic Systems and Control Laboratory, SDSU

  • Output-Feedback Control Design for a MIMO Model of a 2-DOF Helicopter (Spring 2016)
    Robust and Multivariable Control (Course Project), UC San Diego

  • Classical, LQR, LQG, and H∞ State-Feedback control design for linear model of a SISO system (Winter 2015)
    Linear Control Design (Course Project), UC San Diego

  • Modeling, Design and Optimization of the Suspension System of a Ten-wheeled Vehicle (2013)
    Iran Khodro Research Center, Tehran, Iran

  • Investigation of Different Methods of Controlling Underactuated Mechanical Systems (2012)
    Nonlinear control systems course, Amirkabir University of Technology (Tehran Polytechnic)

  • Design of a Micro-Satellite Attitude Controller via Tracking Error Minimization (2011)
    Energy and Control Center of Excellence, Amirkabir University of Technology (Tehran Polytechnic)

  • Simulation and Singularity Analysis of a Control Moment Gyroscope (CMG) (2010)
    System Dynamics and Control Research Laboratory, Amirkabir University of Technology (Tehran Polytechnic)

  • Adaptive Control of the Double Inverted Pendulum (2012)
    Nonlinear control systems course, Amirkabir University of Technology (Tehran Polytechnic)

  • Control Design for Rotary Flexible links Using Classic, Modern and Optimal Methods and Evaluation with Experimental Results (2012)
    Nonlinear control systems course, Amirkabir University of Technology (Tehran Polytechnic)

Finite Element (Heat Transfer)

  • 3D Modeling and Analysis of Tool-Chip Interface Temperature using FEM and Empirical verification (2010)
    Department of Chemical Engineering, Amirkabir University of Technology (Tehran Polytechnic)

  • Analysis the Effect of Cutting Parammeters on Tool-Chip Interface Tempreture (2010)
    Department of Chemical Engineering, Amirkabir University of Technology (Tehran Polytechnic)

Chip Formation Process and Temperature Distribution

Others

  • Design and Manufacturing of a Three-axial Attitude Simulator (2010)
    System Dynamics and Control Research Laboratory, Mechanical Engineering Department, Amirkabir University of Technology (Tehran Polytechnic)

  • Control of Canned Filling and Packing Line with PLC (2009)
    Mechatronics course, Amirkabir University of Technology (Tehran Polytechnic)