Control Mechanical Engineer

Hamid D. Taghirad

Professor

Faculty of Electrical and Computer Engineering

Department of Systems and Control Seyed Khandan Campus, Suite 321

K.N. Toosi University of Technology Tehran, Iran, 16314

Email: ********@****.**.** Tel: +98-21-840*-****

http://saba.kntu.ac.ir/eecd/taghirad Fax: +98-21-884*-****

Education: Ph.D. in Electrical Engineering 1997

McGill University, Montreal. Supervisors: Prof. P. Belanger and Prof. G. Zames

Thesis title: Robust torque control of harmonic drive systems, GPA 4/4.

M.Eng. in Mechanical Engineering 1993

McGill University, Montreal. Thesis title: Analysis, design,

Thesis title: Implementation and control of a hopping robot, GPA 4/4.

B. Eng in Mechanical Engineering 1989

Sharif University of Technology, Tehran, Iran.

The second-best student (2/45) in the department, GPA 3.75/4.

Research Experience:

Industrial Contracts @ Advanced Robotics and Automated Systems (ARAS)

Design and implementation of a 4DOF piston-casting industrial robot (D&A 101). Grant 22 K$

Design and implementation of an automatic radial welding robot for pipes ( D&A 110). Grant 150K$

Design of climbing robot for automatic washing of road lights (D&A 120). Grant 25 K$

Design and implementation of an automatic casting machine (D&A 201). Grant 320K$

Design and implementation of a semi-automatic light guided Grant 110K$

assembly table for electronic boards. (D&A 301)

Design and implementation of an automated quality control system for piston pins (D&A 310); Grant 205K$

including ultrasonic, Eddy current flaw detection units and dimension testing with sub -micron accuracy.

Development of Statistical Process Control (SPC) software (D&A 320). Grant 75 K$

Design and implementation of an automatic robotic cell: (D&A 401); Grant 115K$

including a 4DOF servo robot, a 5DOF robot, an indexing table and a quality control unit.

Analysis and design of Nekka Power Plant control logic (D&A 410). Grant 138K$

Design and Implementation of a planar cable-driven parallel redundant manipulator for Laser cutting Grant 102K$

Current Projects @ Robotics Lab, K. N. Toosi U. of Tech.

Cable Driven Redundant Parallel Manipulator 2005-Current

Analysis, Design and implementation of 6DOF over -constrained cable robot for extra precision 3D Laser Cutting

Adaptive Robust Control of Hard Disk Drives 2003-Current

Design of extra precise ARC controllers for single- and dual-stage HDD

Mobile Robotics 2006-Current

Analysis and Design of autonomous mobile robots for unstructured environments, by performing SLAM, Fast SLAM,

3D mapping, visual navigation.

Visual Servoing 2007-Current

Development of vision guided robots based on EKF pose estimation routines.

Telerobotics 2008-Current

Development of high-fidelity force feedback master-slave telerobots, using a 6DOF Haptic device and a 3DOF flexible

link robot teleoperated via internet.

Other Projects @ Robotics Lab, K. N. Toosi U. of Tech.

Flexible Joint Robots 1993-2007

Design and implementation of composite H, composite QFT, Nonlinear H, and supervisory control schemes on

FJRs to avoid actuator saturation.

High Precision Parallel Shoulder Manipulator 2001-2006

This mechanism is designed based on biological structure of human shoulder, and is a 3 DOF redundant parallel

manipulator. Kinematics analysis and controller synthesis is implemented on this manipulator.

Cybernetics Robotics 2003-2008

Modeling and Control of artificial arm prosthesis based on acquired and classi fied neuro-cybernetic signals (EMG).

Intelligent Pigs 2001-2003

Analysis of MFL and UT methods used in Pipeline Inspection Gauges (PIG).

Robotics Lab, Center for Intelligent Machines (CIM), McGill. 1993-1997

Implementation of robust H torque control of harmonic drive systems through intelligent built-in torque sensor

developed for harmonic drives.

International Submarine Engineering Ltd, BC, Canada 1995-1996

Subcontract job to STEAR project; modeling, parameter identification and robust torque control of a robot joint

actuated with harmonic drive.

Ambulatory Robotics Lab, CIM, McGill 1991-1993

Design and implementation of an under-actuated one-legged hopping robot and developing stabilizing control

strategies implemented on the robot.

Teaching Experience:

Undergraduate Courses: 1997-current

Signals and systems, linear control, modern control, industrial control, instrumentations, digital control, principles of

nonlinear control at K.N. Toosi U. of Tech, control engineering at McGill University (1996).

Graduate Courses: 1997-current

Nonlinear control, robust H control, robotics, parallel robots, digital control, linear system theory, advanced

industrial control, advanced dynamics at K.N. Toosi U. of Tech, Robotics at McGill University (2005).

Supervising Experience:

6 Ph.D. Students: 2000-current

54 M.Sc. students graduated 1997-2010

63 B.Sc. students graduated 1997-2010

Conference Workshops:

KNTU CDRPM, from need to implementation, McGill University, Montreal 2010

Mobile Robot design as a Mechatronic Product, ICCE 08, Tehran 2008

Mechatronic design of a dual stage hard disk drive, ICME 06, Tehran 2006

Analysis and design of H and QFT control, ICEE 98, Tehran 1998

Robot evolution, the development of Antrobotics, Zahedan, Iran 1997

H control in practice; McGill University, Montreal 1995

Occupations:

Iranian Robotics Society, Tehran, Member of the board 2011-current

ETS University, Control and Robotics Lab, Montreal, Visiting Professor Summer 2010

Iranian Society of Mechatronics, Tehran, Vice President and member of the board 2007-2011

K.N. Toosi U. of Tech, Tehran, Director of the Office of International Scientific Cooperation (OISC) 2007-2010

McGill University, Center for Intelligent Machines, Montreal, Visiting Professor 2005-2006

Iranian Society of Mechatronics, Tehran, Member of the board 2004-2007

K.N. Toosi U. of Tech, Tehran, Director of the Department of Systems and Control 2003-2005

K.N. Toosi U. of Tech, Tehran, Professor. 2010-current

K.N. Toosi U. of Tech, Tehran, Associate Professor. 2005-2010

K.N. Toosi U. of Tech, Tehran, Assistant Professor. 1997-2005

K.N. Toosi U. of Tech, Tehran, Faculty of ECE, Dean of Research. 1999-2001

K.N. Toosi U. of Tech, Tehran, Faculty of ECE, Director of Computer Center 1998-2001

K.N. Toosi U. of Tech, Tehran, Faculty of ECE, Director of Industrial Control Lab 1997- current

K.N. Toosi U. of Tech, Tehran, Faculty of ECE, Director of Robotics Lab 2001- current

Advanced Robotics and Automated Systems (ARAS), Head of Electrical Engineering Dept. 1997- current

Pargasiran Co. LTD, Tehran, Mechanical engineer researcher. 1990-1991

Dept. of Ports and Shipping, Tehran, Mechanical engineer. 1991

Sharif University Research Center, Tehran, control engineer. 1986-1989

Awards:

Best university teaching professor prize 2010

Quebec Merit Fellowship 2005

Best university teaching professor prize 2002

Best university researcher prize 2001

J.C. McConnell Memorial McGill Major Fellowship 1995-97

The most prestigious award offered only to top 5% of the students in each department ; for 3 years.

David Stewart Memorial McGill Major Fellowship, one year 1993

John Bonsal Porter Graduate Scholarship 1992

Faculty of Graduate Studies, McGill University, Four tuition fee waivers. 1992-94

Ministry of Culture and Higher Education Scholarship 1991

The third-best/600 student in the competitive examination for continuing educa tion abroad; six-year scholarship

toward Ph.D. studies.

Publications:

5 books, and over 160 peer-reviewed journal and conference publications. Full publications available @

http://saba.kntu.ac.ir/eecd/aras/publications.htm

Selected Books:

1. H.D. Taghirad, An Introduction to Automation an Industrial Process Control, with Presentation of Siemens Step7

nd

PLC, 2 Edition, K.N. Toosi University of Technology Publication, 2009 (In Persian).

nd

2. H.D. Taghirad, An Introduction to Modern Control, K.N. Toosi University of Technology Publication, 2 Edition,

2010 (In Persian).

3. H.D. Taghirad, Parallel Robots: Mechanics and Control, CRC press, to be completed in 2012.

Selected Journal Papers:

1. H.D. Taghirad and Y.B. Bedoustani, An Analytic-Iterative Redundancy Resolution Scheme for Cable-Driven

Redundant Parallel Manipulators, to appear in IEEE Transactions on Robotics, Dec. 2011.

2. N. Pourafar, H.D. Taghirad, and M. Haeri, Model predictive control of nonlinear discrete time systems: An LMI

approach, IET Control Theory and Applications, Vol. 4, No. 10, pp. 1922-32, 2010.

3. S. Ozgoli and H.D. Taghirad, Fuzzy error governor: A practical approach to counter actuator saturation on flexible

joint robots, Mechatronics, 19-200*-***-****.

4. H.D. Taghirad and M. Nahon, Dynamic Analysis of A Macro-Micro Redundantly Actuated Parallel

Manipulator, Advanced Robotics, Vol. 22 No. 3, pp 949 981, Sept. 2008.

5. H.D. Taghirad and E. Jamei, Robust Performance Verification of IDCARC Controller for Hard Disk Drives, IEEE

Transactions on Industrial Electronics, Vol. 55, No. 1, pp 448-456, Jan. 2008.

6. S. Ozgoli and H.D. Taghirad, A Survey on the Control of Flexible Joint Robots, Asian Journal of Control, Vol. 8, No. 4,

pp. 1-15, December 2006.

7. H.D. Taghirad and M.A. Khosravi, Stability analysis and robust composite controller synthesis for flexible joint

robots, Advanced Robotics, RSJ, Vol 20, No. 2, pp 181-211, Feb. 2006.

8. H.D. Taghirad and P.R. Belanger, H -based robust torque control of harmonic drive systems, Journal of Dynamic

Systems, Measurements, and Control, ASME Pub., Vol. 123, No. 3, pp 338-345, Sept. 2001.

9. H.D. Taghirad and P.R. Belanger, Intelligent built-in torque sensor of harmonic drive systems, IEEE Transactions on

Instrumentation and Measurements, Vol. 48, No. 6, pp 1201-1207, Dec 1999.

10. H.D. Taghirad and P.R. Belanger, Modeling and parameter identification of harmonic drive systems, Journal of

Dynamic Systems, Measurements, and Control, Vol. 120, No. 4, pp 439-444, ASME Pub., Dec. 1998.

Selected Conference Publications:

1. M. A. Khosravi and H.D. Taghirad, Dynamic Analysis and Control of Cable Driven Robots Considering Elasticity in

Cables, in the proceedings of CCToMM M3 Symposium, Montreal, Canada, July 2011.

2. R. Oftadeh, M.M. Aref, and H.D. Taghirad, Explicit Dynamics Formulation of Stewart Gough Platform: A Newton-

Euler Approach, in the proceedings of IEEE IROS 10, Taiwan, Oct. 2010.

3. A. Shariati, H.D. Taghirad and B. Labibi, Delay-Dependent H Control of Linear Systems with Time-Varying Delays

Using Proportional-Derivative State Feedback, in the proceedings of IEEE MED CCA, Morocco, June 2010.

4. A. Vafaei, M.M. Aref, and H.D. Taghirad, Integrated Controller For An Over Constrained Cable driven parallel

manipulator: KNTU CDRP, in the proceedings of IEEE ICRA 10, USA, May 2010.

5. Hossein Beikzadeh, Hamid D. Taghirad, Robust H Filtering for Nonlinear Uncertain Systems Using State -

Dependent Riccati Equation Technique, in the proceedings of IEEE CDC 09, Shanghai, China, Dec. 2009.

6. Azadeh Zarif Loloei, Mohamad M. Aref, and Hamid D. Taghirad, Wrench Feasible Workspace Analysis of Cable -

Driven Parallel Manipulators Using LMI Approach, in the proceedingsof IEEE/ASME AIM 09, Singapore, 2009.

7. Amir Hossein Tamjidi, Hamid Taghirad, Ali Aghamohammadi, On the Consistency of EKF-SLAM: Focusing on the

Observation Models, in the proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems,

St. Louis, USA, 2009.

8. A. R. Norouzzadeh Ravari, H. D. Taghirad, A. H. Tamjidi, Vision-Based Fuzzy Navigation of Mobile Robots in

Grassland Environments, in the proceedings of IEEE/ASME AIM 09, Singapore, 2009.

9. H. Taghirad and P. Sheykholeslam, Adaptive Robust Controller Design for Dual-Stage Hard Disk Drives, In the

proceedings of the IEEE conference on Advanced Intelligent Mechatronics, Zurich, Switzerland, Sept 2007.

10. H. Sadjadian and H.D. Taghirad, Impedance Control of the Hydraulic Shoulder: A 3 -DOF Parallel Manipulator, IEEE

International Conference on Robotics and Biomimetics, pp 526-531, China, Dec. 2006.

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