CV (Curriculum Vitae)

Ali NasrAli Nasr

Mechatronic and Robotic Engineer

 

I am ambitious in that challenge myself, push myself to broaden my horizons or achieve a difficult goal. Also being at the interface between Mechanics, Mechatronics and Control is amazing, dealing with a live challenge! I am interested in learning and using mechanics, mathematics, and physics to describe and deal with the natural world and robots. In this regard, I enjoy both computational science and experimental methods.

 

 

Please do not hesitate to contact me if you think either I can help you in a case or we can have a research collaboration.

 

Email: alinasriran@gmail.com

Profile: Linkedin  |  Google Scholar

My research interest lie broadly in the field of Robotics, Control and Mechatronics subject:

  • Robotics (Mobile, Serial, Parallel, Humanoid, Bipedal, Assistive, Modular, Micro, Flexible, and Printable)
  • Unmanned Aerial, Underwater, Aeronautical, Automated Vehicles, Spacecraft, and Space Systems
  • Decision Making, Coordination, Guidance, Navigation, Path, Trajectory, Task, and Motion Planning
  • Haptics, Human-Robot Interaction, Tele-Robotics, Rehabilitation, Motor Learning, Virtual Reality
  • Intelligent, Automation, Servo Systems, Sensor Networks, and Sensor Fusion
  • Mechatronic, Hybrid, Complex Dynamical, Time-Delayed Systems, and Large Flexible Structures
  • Control (Motion, Nonlinear, Adaptive, Predictive, Optimal, Fuzzy Logic, Decentralized, and Robust)
  • Modeling, Synthesis, Identification, Verification, Estimation, Optimization, Stability, and Filtering

Education

M.Sc. in Mechatronics Engineering

K.N. Toosi University of Technology (KNTU), Tehran (Iran)

  • Cumulative GPA: 4.0 of 4.0 (32 credits, Top Student)
  • Supervisor: Prof. S. Ali. A. Moosavian
  • Thesis: Multiple Impedance Control of Hybrid Parallel-Serial Manipulator for Object Manipulation Task
    • Proposing a Hybrid Cable Parallel-Serial Manipulator for Object Manipulation
    • Inverse, Forward Kinematic, Velocity, Acceleration, Workspace, Dynamic Mathematical Modelling and Validation by SimMechanics Virtual Software Model of Hybrid System and Cable
    • Redundancy Resolution Algorithm and Reduce Cable Redundancy by Mechanical Novelty
    • Dynamic Modelling, Redundancy Resolution Algorithm, Reduce Cable Redundancy by Mechanical Novelty and Dynamic Modelling of Cable
    • Optimization of Structural Design of a Constraint and Suspended Parallel Robot according to Stiffness, Sensitivity, Singularity, Workspace Volume Analysis by Genetic Algorithm
    • Proposing Algorithm and Implementation of Serial and Parallel Multiple Impedance Control for Object Manipulation, Optimization of Impedance Coefficients to Manage Interaction of Human-Robot Force/Moment
    • Design and Manufacturing of 8 Cable Constraint Parallel Robot, Image Processing (Vision) + IMU for Position/Orientation Feedback, Proposing Algorithm in Shortage of Rotary Winch Sensor, Nonlinear Position Control of Platform
2013 to 2016
B.Sc. in Mechanical Engineering

Isfahan University of Technology (IUT), Isfahan (Iran)

2009 to 2013
Certificate in Mathematics and Physics

Imam Mohammad Bagher College Preparatory School, Isfahan (Iran)

Cumulative GPA: 4.0 of 4.0

2008 to 2009
High School Diploma in Mathematics and Physics

Imam Mohammad Bagher High-School, Isfahan (Iran)

Cumulative GPA: 4.0 of 4.0

2005 to 2008

Work

Research Assistant

S.A.A. Moosavian

Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems (ARAS) Lab, Department of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran)
  • Modelling and Validation of a Spatial 8 Cable-Driven Parallel Robot Equipped with a 6 DoF Serial Manipulator
    • Implementing Different Control Method on Virtual Dynamic Model for Object Manipulation in Present of External Force
    • Shape Designing and Manufacturing Winch, Frame and Platform by Considering Kinematic and Dynamic Constraint
    • Calibrating Actuator, Providing Sensor and Actuator Connection, and Preparing Hardware in Loop Control System
    • Testing and Implementation Position Control, Modification Control Coefficient and Trajectory Planning and Decision Making in Different Maneuvers
  • Design and Control Analysis of Cable Parallel Robot Simulator
    • Inverse Kinematic, Dynamic Modelling, and Preparing SimMechanics Validation of Spatial 8 Cable-Driven Parallel Robot
    • Design of Cable Structure Attachment Optimized by Genetic Algorithm 
    • Mechanical Modelling Winch, Frame, and Platform by considering Kinematic and Dynamic Model
    • Simulation PD Partial, Feed-Forward, Modern, Feedback Linearization, Robust and Adaptive Control for Simulation Maneuvers in Present of Noise and Disturbance
  • Sub-Supervisor and Consultor
    • Control of Cable Driven Redundant Parallel Manipulator, Master Thesis, M.R. Mousavi
    • Optimal Motion Planning for Cable Robots with Uncertain Jacobian, Master Thesis, M. Ghanbari
    • Automated Ball Tracking Camera Manipulated by Cable Parallel Robot, Bachelor Project, N. Arteghzadeh and M.S. Nabipour
2014 to 2016
Research Assistant

M. Danesh

Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran)
  • Modelling, Designing, Manufacturing and Controlling an Industrial 6 DoF Serial Robotic Arm
    • Kinematic, Dynamic Modeling, Stiffness, Workspace, Dexterity and Manipulability Analysis
    • Design, Finite Element Analysis and Manufacturing Mechanical Parts, Links and Gripper
    • Calibration of DC Motor Actuator, Providing Sensor Connection and Preparing Hardware in Loop Control System by LabVIEW and Matlab
    • PID Control and Modification Control Coefficient in Different Maneuvers
    • Trajectory Planning and Decision Making by Programming a ARM-Controller
2015 to 2016
Internship

Kian Control Apadana Co., Isfahan (Iran)
2013

Teach

Academic Undergraduate Course
Introduction to Mechatronics

S. Behbahani, A. Nasr

Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran)
2015
Dynamics of Machinery

S.A.A. Moosavian, A. Nasr

Department of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Isfahan (Iran)
2015

Publication

Conference Paper
M. Mousavi, M. Ghanbari, A. Nasr, S.A.A. Moosavian, P. Zarafshan, "Sensory Feedback Performance Improvement on RoboCab: An Experimental Approach to Wire Driven Parallel Robot", In Robotics and Mechatronics (ICROM), 4th RSI International Conference on, IEEE
Detail of Conference Paper; Journal Page, Paper Maniuscript
2016
M.S. Nabipour, N. Arteghzadeh, S.A.A. Moosavian, A. Nasr, "Visual Servoing in a Cable Robot Using Microsoft Kinect v2 Sensor", In Robotics and Mechatronics (ICROM), 4th RSI International Conference on, ICRoM, IEEE
Detail of Conference Paper; Journal Page, Paper Maniuscript
2016
A. Nasr, S.A.A. Moosavian, "Multi-Criteria Design of 6-DoF Fully-Constrained Cable Driven Redundant Parallel Manipulator", In Robotics and Mechatronics (ICROM), 3rd RSI International Conference on, pp. 001-006, IEEE
Detail of Conference Paper; Journal Page, Paper Maniuscript, Video
2015
M.R. Sajadi, A. Nasr, S.A.A. Moosavian, H. Zohoor, "Mechanical Design, Fabrication, Kinematic and Dynamic Modeling, Multiple Impedance Control of a Wrist Rehabilitation Robot", In Robotics and Mechatronics (ICROM), 3rd RSI International Conference on, pp. 290-295, IEEE
Detail of Conference Paper; Journal Page, Paper Maniuscript
2015
Y. Parandian, H.Z. Arabshahi, A. Nasr, S.A.A. Moosavian, "Time Optimized Digital Image Processing of Ball and Plate System Using Artificial Neural Network", In Robotics and Mechatronics (ICROM), 3rd RSI International Conference on, pp. 146-151, IEEE
Detail of Conference Paper; Journal Page, Paper Maniuscript
2015
A. Nasr, F. Asadi, K. Azami, S. Ziaei-Rad, "An Optimization of Trunk Angle in Biped Robots in Generating a Stable Path in Up-Stair Walking", Mechanical Engineering, the 23rd Annual International Conference on, ISME
Detail of Conference Paper; Paper Maniuscript, Video
2015
Journal Paper
A. Nasr, S.A.A. Moosavian, "Multi-Objective Optimization Design of Spatial Cable-Driven Parallel Robot Equipped with a Serial Manipulator", Modares Mechanical Engineering, Vol. 16, No. 1, pp. 29-40, (in Persian)
Detail of Journal Paper; Journal Page, Paper Maniuscript
2016
Booklet
A. Nasr, M. Danesh, "Mechatronics Laboratory 2 Manual (in Persian)", Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran)
Detail of Booklet; Mechatronics Laboratory 2 Manual
2013
A. Nasr, R. Tikani, "Mechatronics Laboratory 1 Manual (in Persian)", Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran)
Detail of Booklet; Mechatronics Laboratory 1 Manual
2013

Research

Scientific Project
Design and Control Analysis of Cable Parallel Robot Simulator
A. Nasr, S.A.A. Moosavian
Department of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran)
Detail of Scientific Project; Video of SimMech Analysis of of Cable Parallel Robot Simulator
2016
Modelling, Designing, Manufacturing and Controlling an Industrial 6 DoF Serial Robotic Arm
A. Nasr, M.R. Sajadi, M. Danesh
Mechanical Engineering Department, Isfahan University of Technology (IUT), Isfahan (Iran)
Detail of Scientific Project; Video Object Manipulation by Industrial Serial Robot, Video of Inventor Model of Industrial 6 DoF Serial Robotic Arm, Video of No Control of Industrial 6 DoF Serial Robotic Arm, Video of SimMech Virtual Analysis of Industrial 6 DoF Serial Robotic Arm
2014 to 2015
Thesis
Multiple Impedance Control of Hybrid Parallel-Serial Manipulator for Object Manipulation Task
A. Nasr, S.A.A. Moosavian
Department of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran)
Detail of Thesis; Video: Introduction to Hybrid Cable Driven Parallel Robot+Serial Manipulator, Video: SimMech Simulation of Hybrid Cable Driven Parallel+Serial Manipulator, Video: Object Manipulation by Hybrid Cable Driven Parallel+Serial Manipulator, Video: Manufacturing Cable Driven Constraint Parallel Robot RoboCab, Video: Cable Winch of Parallel Robot
2014 to 2016
Joint Space Energy Optimization of Tethered Space Robot for End-Effector Optimal Path
A. Nasr, M. Keshmiri
Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran)
Detail of Thesis; Presentation, Video of Trajectories Parallel to the Local Horizontal, Video of Trajectories Inclined at an Angle Measured from the Local Vertical, Video of Circular Arc Trajectories of Tether Space Robot, Video of Determination of End-Effector Path with Zero Torque at All Joint, Near-Constant Torque
2013
Course Project
Linear and Modern Control of the Aircraft Attack Angle
A. Nasr, A. Khorasani, H.D. Taghirad
Faculty of Electrical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran)
Detail of Course Project; Report of Linear and Modern Control of the Aircraft Attack Angle Project
2015
Linear, Nonlinear, Robust and Adaptive Control of a 3 DoF Cable Driven Parallel Robot
A. Nasr, S. Azadi
Faculty of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran)
Detail of Course Project; Report of Linear, Nonlinear, Robust and Adaptive Control of a 3 DoF Cable Driven Parallel Robot Project
2015
Kinematics, Dynamics Model and Nonlinear Control of a (Stewart-Gough) 6RUS Parallel Robot
A. Nasr, H.D. Taghirad
Faculty of Electrical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran)
Detail of Course Project; Report of Kinematics, Dynamics Model and Nonlinear Control of a (Stewart-Gough) 6RUS Parallel Robot Project, Video of Controlling the (Stewart-Gough) 6RUS Parallel Robot
2014
Modelling, Nonlinear and Impedance Control of a 7 DoF Serial Manipulator
A. Nasr, F. Asadi, S.A.A. Moosavian
Department of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran)
Detail of Course Project;
2014
Fuzzy Control of Truck-Trailer Auto Parking in the Presence of Obstacles
A. Nasr, A. Ghaffari
Department of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran)
Detail of Course Project; Video of Fuzzy Control of Truck-Trailer Auto Parking, Video of Fuzzy Control of Truck-Trailer Auto Parking in the Presence of Obstacles, Presentation of Fuzzy Control of Truck-Trailer Auto Parking, Report of Fuzzy Control of Truck-Trailer Auto Parking in the Presence of Obstacles Project
2014
Temperature Fuzzy Control of a Shower Water
A. Nasr, A. Ghaffari
Department of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran)
Detail of Course Project; Report of Temperature Fuzzy Control of a Shower Water Project
2014
Forward Kinematic and Dynamic Equation Modelling of a Surgical Robotic Arm
A. Nasr, S. Nematinia, S.H. Sadati
Department of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran)
Detail of Course Project; Report of Forward Kinematic and Dynamic Equation Modelling of a Surgical Robotic Arm Project
2014
Designing Lab-VIEW Panel which Simultaneously Control 3 Stepper Motors of CNC
A. Nasr, M. Danesh
Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran)
Detail of Course Project; Report of Designing Lab-VIEW Panel which Simultaneously Control 3 Stepper Motors of CNC Project
2013
Design and Programming a 3 DoF Robot Controller Circuit Board
A. Nasr, M. Danesh
Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran)
Detail of Course Project; Report of Design and Programming a 3 DoF Robot Controller Circuit Board Project
2013
Hydraulic Circuit and PLC Program Design for Ring Rolling Machine
A. Nasr, M.R. Forouzan
Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran)
Detail of Course Project; Report of Hydraulic Circuit and PLC Program Design for Ring Rolling Machine Project
2013
Control System Design of Nonlinear Inverted Pendulum System
A. Nasr, M.J. Sadigh
Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran)
Detail of Course Project; Report of Control System Design of Nonlinear Inverted Pendulum System Project
2013
Dynamics Simulation of Inverse Double Pendulum with Lack of Actuator
A. Nasr, V. Tikani
Faculty of Engineering, University of Isfahan (UI), Isfahan (Iran)
Detail of Course Project; Video of Dynamics Simulation of Inverse Double Pendulum with Lack of Actuator Project
2013
Analysis of Body Angle Parameter Effect and Stable Path Planning of 2 Legged Robot (Biped)
A. Nasr, M.J. Sadigh
Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran)
Detail of Course Project; Report of Analysis of Body Angle Parameter Effect and Stable Path Planning of 2 Legged Robot (Biped) Project, Video of Stable Path Planning of 2 Legged Robot (Biped) by Controlling Body Angle Parameter
2012
Machine Elements Design of Grain Silo Gearbox
A. Nasr, M. Badrossamay
Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran)
Detail of Course Project; Report of Machine Elements Design of Grain Silo Gearbox Project
2012
Presentation
Dynamic Modeling and Control of Parallel Robots Presentation
A. Nasr, S.A.A. Moosavian, M.A. Shooredeli
Faculty of Electrical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran)
Detail of Presentation; Video of Dynamic Modeling and Control of Parallel Robots Presentation, Report of Dynamic Modeling and Control of Parallel Robots Presentation
2014
Introduction to Quadrupedal or Four-Legged Robots Presentation
A. Nasr, M.A. Shooredeli
Faculty of Electrical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran)
Detail of Presentation; Video of Introduction to Quadrupedal or Four-Legged Robots Presentation, Report of Introduction to Quadrupedal or Four-Legged Robots Presentation
2014
Hydraulic Variable Displacement Pump and Fluid Research
A. Nasr
Kian Control Apadana Co., Isfahan (Iran)
Detail of Presentation; Report of Hydraulic Variable Displacement Pump and Fluid Research
2013
Balancing of Flexible Rotors Presentation
A. Nasr, S. Asadollahi, A. Aflakian, S. Ziaei-Rad
Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran)
Detail of Presentation; Presentation of Balancing of Flexible Rotors
2013
Design, Analysis and Manufacture of UGV Robot Presentation
A. Nasr, M.R. MohammadZadeh, S. Akbarzadeh
Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran)
Detail of Presentation; Presentation of Design, Analysis and Manufacture of UGV Robot
2012
  • Paper Sub-Reviewer at the 4th RSI International Conference on Robotics and Mechatronics (ICROM), 2016
  • Research Grants Awarded by Iran's National Elites Foundation (INEF), 2016
  • Awarded member of the Iran's National Elites Foundation (INEF) According to the High Academic Criteria, 2016
  • Top Student of Mechatronics Groups at the Department of Electrical Engineering of K.N. Toosi University of Technology (KNTU), 2016
  • Awarded Creative Contest Scholarships at the Creativity Exhibition of the 3rd International Conference on Robotics and Mechatronics (ICROM), 2015
  • Research Scholarship Awarded by K.N. Toosi University of Technology (KNTU), 2014
  • Ranked 1st in Fast CAD Designing Competition, Isfahan University of Technology, 2013
  • Ranked 2nd in the Regional National Olympiad Skills in Mechatronic filed (Qualification of the International "WorldSkills Competition", Sãu Paulo 2015, Brazil), 2013
  • Ranked 1st among 110 student teams and Innovation Award at Egg Savior Competition of Payame Noor University, 2010
  • B.Sc. Scholarship awarded by Isfahan University of Technology (IUT), 2009
  • Ranked in the first 0.5% of Iranian University Entrance Exam, 2009.