Curriculum Vitae

Growing up in an atmosphere in which knowledge and education are highly appreciated, I was always motivated to keep going and discover those aspects of science that have gone unnoticed. Besides, I believe in the quite, "when I terminate the learning process, that moment will be my death." As a matter of fact, It is appealing to me when I am learning and applying the knowledge to solve problems. During my B.Sc. studies in Mechanical Engineering, I found myself enthusiastic about dynamic, control, robotic, and mechatronic courses, and challenges presented in that field of study. I tried to comprehend deeply my major courses, do perfectly my projects in order, and be creative in solving problems by robotic solution, in order to be useful in my future career. Meanwhile, I found myself passionate about the field of robotics and control. Not only does this field cover my favorite subjects in Mechanical Engineering, but it also introduces a multidisciplinary interaction with other fields such as Electronics, Computer, and, even Bio-mechanics. In this regard, the interaction between a processor manipulating data onto a variety of actuator and sensors to control a system incredibly fascinates me. From that time, I have used programming solution in different issue which is my first strength.

Thanks to getting a very high score at Graduate National University Entrance Exam and my distinguish CV in comparison to other applicants, consequently been awarded a full scholarship to pursue my M.Sc. studies at the KNTU and Research Scholarship for my thesis cost. Although my courses were held at two different departments, Electrical and Mechanical Engineering, I spend most of my time at Center of Excellence in Robotics and Control (ARAS) until late at night doing researches. In this regards, the 2.5-year period of my M.Sc. and working on my thesis taught me how to tackle problems from different angles and think independently. This experience provided me with extremely valuable outcomes: 1) How to think in a proper way on the problems to which there is no easy solution and may take much time to be solved. 2) How to efficiently manage time to carry out the arranged tasks over a time frame. 3) How to cooperate with other laboratory members to benefit from one's strength in the appropriate manner. Be consider that although the novelty of my thesis was about impedance control, I did not publish a relevant paper yet.

Finally, not only did my hard work lead us (Prof. Moosavian, me, and other laboratory members) to publish six papers, but also paved the way to get Creative Contest Scholarships Award at the Creativity Exhibition of the 3rd International Conference on Robotics and Mechatronics (ICROM), before I defended my thesis. Since my high successive academic records, I became the distinguished member of Iran's National Elites Foundation (INEF) and get Research Grants Award in order to continue researching and manufacturing robotic solution in the industries. These projects made me plan for future to become an academic person who has developed both theoretical and practical aspects of my research field. The period of being a Teaching Assistant (TA) at KNTU, working as industrial robotic engineer, proposing creative solution in dozen projects as well as mentoring Bachelor’s and Master's students in their projects related to mechatronics were all blissful to me and I can combine them with my interest in developing both theoretical and practical aspects of my research field. Researching about a great amount of issue and reading a great number of papers made me familiarize with the goal of research and hope that others do not misjudge me by just the application (such as cable robot) instead of my knowledge and skills.

Education (2)

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

  • I learned knowledge of different control algorithms and implementation method during courses such as Advanced Control Systems II (Adaptive and Robust Control), Control of Robots (Nonlinear and Impedance Control), Modern Control, Fuzzy Logic and Neural Networks, Parallel Robotics (Motion and Force Control), Control Systems Design, Mechatronics Laboratory I (Industrial Control and PLC), and Automatic Control, beside doing a great number of control projects.
  • I am able to model dynamic systems, as well as, I benefit from experience in simulation of mathematical model and validation by SimMechanics (Simscape Multibody of Simulink/Matlab).
  • I am familiar with haptic filed which is gained through my master thesis, which was about impedance control and human-robot interaction, and virtual reality, control of robots, and parallel robotics courses, and explored papers.
  • I experienced in 3D position detection by vision processing in my master thesis as feedback position data of the object/platform.
  • Projects in the field of parallel robots such as cable-driven, Stewart-Gough, and ball-and-plate brings the opportunity to familiarize and skilled in solving the challenges of parallel robots.
  • I enjoy strong hands-on instrumentation skills and strong programming skills (C++, MATLAB/Simulink, LabVIEW).
  • I am eager to write mathematical and programming complex algorithms in order to optimize, plan, and control a system.
  • Besides, I benefit from strong communication skills in English (both written and oral) and excellent interpersonal skills and attitudes (friendly, helpful, and good-natured).

Engineering Software:

  • MATLAB
     
  • Simulink (General, SimMechics, and Simscape Multibody)
     
  • MapleSim
     
  • CATIA (Sketcher, Part Design, Assembly, and Drafting)
     
  • LabVIEW
     
  • Familiar with: Minitab, Mathematica, SolidWorks, Inventor, ABAQUS, Simatic Manager, Codevision, ePLAN, and 20-Sim

General Software: Latex, Microsoft Office (Word, Excel, PowerPoint), Adobe Photoshop, and Camtasia

Operating Systems: Windows, MacOS, and Linux

Programming Language: C/C++, Python, and Ladder logic

Programming Controller: AVR/Arduino and PLC (Siemens, Delta, and Vigor)

Languages:

  • Persian: (Native)
  • English: TOEFL 98

Conference Paper
M. Ghanbari, M.R. Mousavi, S.A.A. Moosavian, A. Nasr, P. Zarafshan, "Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-Driven Parallel Robot", In Robotics and Mechatronics (ICROM), 5th RSI International Conference on, IEEE

Abstract, Paper Manuscript
2017
Sensory Feedback Performance Improvement on RoboCab: An Experimental Approach to Wire Driven Parallel Robot M.R. 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, p. 477-482, IEEE

Abstract, Journal Page, Paper Manuscript, Google Scholar, EndNote, BibTeX
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, pp. 560-565, IEEE

Abstract, Journal Page, Paper Manuscript, Google Scholar, EndNote, BibTeX
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

Abstract, Journal Page, Paper Manuscript, Video, Google Scholar, EndNote, BibTeX
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

Abstract, Journal Page, Paper Manuscript, Google Scholar, EndNote, BibTeX
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

Abstract, Journal Page, Paper Manuscript, Google Scholar, EndNote, BibTeX
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

Abstract, Paper Manuscript, Video, EndNote, BibTeX
2015

Scientific Project
Wrist Rehabilitation Robot Modelling, Fabrication, and Impedance Control of a Wrist Rehabilitation Robot
M.R. Sajadi, A. Nasr, H. Zohoor
Center of Excellence in Design, Robotics, and Automation, Sharif University of Technology, Tehran (Iran)
2017
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)
2016
Modelling, Designing, Manufacturing and Controlling an Industrial 6 DoF Serial Robotic Arm
A. Nasr, M.R. Sajadi, M. Keshmiri
Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran)
2014
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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
2013
Dynamics Simulation of Inverse Double Pendulum with Lack of Actuator
A. Nasr, V. Tikani
Faculty of Engineering, University of Isfahan (UI), Isfahan (Iran)
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)
2012
Machine Elements Design of Grain Silo Gearbox
A. Nasr, M. Badrossamay
Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran)
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)
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)
2014
Hydraulic Variable Displacement Pump and Fluid Research
A. Nasr
Kian Control Apadana Co., Isfahan (Iran)
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)
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)
2012

Academic

  1. Research Assistant, 2014 to 2016
    S.A.A. Moosavian
    Center of Excellence in Robotics and Control, 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
  2. Research Assistant, 2013 to 2014
    M. Keshmiri
    Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran)
    • Joint Space Energy Optimization of Tethered Space Robot for End-Effector Optimal Path
      • Forward Kinematics, Workspace and Dynamic Modelling and Analysis a 4 dof Robot which is Connected to Space Shuttle
      • The main purpose of this project was to examine the planar kinematics and dynamics of a space robot tethered to an orbiting platform
      • Proposing a Nonlinear Control Algorithm of Redundant Robot Vibration by Just Changing in Cable Length
      • The model employed assumed that the tether is straight and rigid and that the center of mass of the system is coincident with that of the platform and traces a circular orbit around earth
    • 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 an ARM-Controller

Industrial

  1. Internship, 2013
    Kian Control Apadana Co., Isfahan (Iran)

Undergraduate

  1. Introduction to Mechatronics, 2015
    S. Behbahani, A. Nasr
    Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran)
  2. Dynamics of Machinery, 2015
    S.A.A. Moosavian, A. Nasr
    Department of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran)

  1. Paper Sub-Reviewer at the 4th RSI International Conference on Robotics and Mechatronics (ICROM), 2016
  2. Research Grants Awarded and Awarded Member of the Iran's National Elites Foundation (INEF) According to the High Academic Criteria, 2016
  3. Top Student of Mechatronics Groups at the Department of Electrical Engineering of K.N. Toosi University of Technology (KNTU), 2016
  4. Awarded Creative Contest Scholarships at the Creativity Exhibition of the 3rd International Conference on Robotics and Mechatronics (ICROM), 2015
  5. Research Scholarship Awarded by K.N. Toosi University of Technology (KNTU), 2014
  6. Ranked 1st in Fast CAD Designing Competition, Isfahan University of Technology (IUT), 2013
  7. Ranked 2nd in the Regional National Olympiad Skills in Mechatronic filed (Qualification of the International "WorldSkills Competition", Sãu Paulo 2015, Brazil), 2013
  8. Ranked 2nd in Hand Launch Glider Contest, Isfahan University of Technology (IUT), 2012
  9. Ranked 1st among 110 student teams and Innovation Award at Egg Savior Competition of Payame Noor University, 2010
  10. Ranked in the first 0.4% of Iranian University Entrance Exam and B.Sc. Scholarship awarded by Isfahan University of Technology (IUT), 2009.

  1. Laser Technologies and Industrial Application, Amirkabir University of Technology, May 12, 2015
  2. PLC Technician, Technical and Vocational Training Organization (TVTO), August 16, 2013
  3. Microsoft Office-Excel, Darsnameh, May 07, 2013
  4. Power Searching with Google, Darsnameh, March 24, 2013
  5. Time Management Fundamentals, Darsnameh, March 19, 2013
  6. Microsoft Office-Word, Darsenameh, September 16, 2012
  7. Microsoft Office-PowerPoint, Darsnameh, August 20, 2012
  8. Open Source Software and GNU/Linux (Basic), Darsnameh, August 17, 2012
  9. Blog Security, Darsnameh, July 21, 2012
  10. Backup Principles and Techniques,  Darsnameh, July 21, 2012
  11. Security in Computers and Internet (Basic), Darsnameh, June 15, 2012
  12. How can we write our CV?, Darsnameh, May 31, 2012
  13. Google Docs (Basic), Darsnameh, May 19, 2012
  14. Media Literacy, Darsnameh, May 10, 2012
  15. Mastering Email and Gmail, Darsnameh, April 26, 2012
  16. Videography, Darsnameh, February 27, 2012
  17. Writing weblog, Darsnameh, February 21, 2012
  18. Google Analytics (Basic), Darsnameh, January 24, 2012
  19. Twitter, Darsnameh, January 08, 2012