Mohamad Shafiee Motahar

** **** ******, *** *, Newark DE, 19711 ac0ftf@r.postjobfree.com 302-***-**** http://udel.edu/~motahar

SUMMARY

7+ years experience in the design and development of control systems: analyzing multi-body kinematics and dynamics, modeling and simulation in MATLAB\Simulink, path planning for robotic systems, machine learning and neural networks.

Advanced working knowledge of FEM software ANSYS, analysis software MATLAB and programming language C++.

Strong research and problem solving skills and excellent team player.

WORKING EXPERIENCE

Mechanical Engineer, Robotic Locomotion Lab, University of Delaware 09/11-05/17

Research Project: Cooperation and Motion Planning of Bipedal Robots with Dynamic Walking Gaits

Simulated the complete dynamic walking gait of a 3-D bipedal robot in MATLAB\Simulink: derived forward kinematics and symbolic equations of motion, designed feedback controllers to stabilize the walking gait, solved a constrained optimization problem to find energy efficient gaits, and animated the walking gait.

Developed a framework for path planning of 3-D dynamically walking bipedal robots in environments cluttered with obstacles. The stability of the robot is encoded in the motion planning algorithm.

Designed a feedback controller for the cooperative task of a 3-D bipedal robot and a leader, enabling the biped to follow the commands of the leader through haptic sensory information.

Improved the energy consumption in a cooperative transportation task with two walking bipedal robots through the design of an impedance controller on biped’s manipulator.

Simulated the dynamic motion of a quad-rotor in MATLAB and designed an optimal controller that minimizes the cost of transportation.

Developed a code in MATLAB to train a multilayer feed forward Neural Network, capable of modeling nonlinear systems.

Developed a code in MATLAB to solve a constrained optimization problem based on Genetic Algorithms.

Mechanical Engineer, Center of Nano Science and Technology, Sharif University of Technology 09/08-02/11

Research Project: Modeling and Structural Analysis of Composite Materials

Improved the machinability aspects of metal matrix composites and proposed the optimum machining parameters based on data-driven modeling.

Developed a finite element code in MATLAB for static analysis of structures using triangular, quadrilateral and truss elements.

Improved the accuracy and computational time of FEM through the design of a novel spherical super element, suitable for structural analysis of laminated spheres.

Analyzed the static and vibrational behavior of carbon nanotube reinforced composites using ANSYS.

Optimized stress distribution in a pressure vessel made of functionally graded materials by seeking the optimum functional form of material properties using Genetic Algorithms.

Mechanical Engineer Intern, Saipa Press, Tehran, Iran 06/08-09/08

Improved the design of a press frame through the stress and deformation analysis using ANSYS.

Reviewed mechanical drawings and created quality control reports.

Mechanical Engineer Intern, Pars Exhaust, Tehran, Iran 06/07-09/07

Investigated the vibrational analysis of automobile exhaust system using ANSYS.

EDUCATION

Mechanical Engineering (Ph.D.), University of Delaware, Newark, DE, GPA: 3.75/4.0 05/17

Mechanical Engineering (M.S.), Sharif University of Technology, Tehran, Iran, GPA: 3.53/4.0 02/11

Mechanical Engineering (B.S.), Amirkabir University of Technology, Tehran, Iran, GPA: 3.51/4.0 08/08

OTHER RESEARCH PROJECTS

Conducted an experiment to optimize the design of a distribution media in VARTM process of composite manufacturing, and simulated the process using Liquid Injection Molding Simulator (LIMS).

Simulated the nonlinear energy equation of air-fuel cycle in an internal combustion engine in MATLAB\Simulink and investigated the effect of system parameters on pressure and temperature profiles.

SKILLS

Programming: C++, MATLAB and Simulink

Analysis and Design: ROS, Gazebo, AutoCAD, Solid Works, ANSYS, LIMS, Working Model, Lab View

Typesetting: Latex, Microsoft Office

HONORS & AWARDS

Received the Professional Development Award at University of Delaware, in 2016.

Ranked 19th in the final stage of national mechanical engineering Olympiad in Iran, in 2008.

Ranked 6th in the nationwide mechanical engineering exam for M.Sc. admission among 24,000 participants in Iran, in 2008.

Ranked 389th in the nationwide university entrance exam among 340,000 participants in Iran, in 2004.

Admitted to the Exceptional Talented high school (Allameh Helli) in Tehran, Iran, in 2000.

SELECTIVE COURSES

Introduction to C programming, Intelligent systems and machine learning, Robotics, Design of industrial control, Applied nonlinear control, Optimal control, Robust control, Finite element methods, Condition monitoring and fault detection, Application of hydraulic systems, Experimental modal analysis, Continuum Mechanics, Internal combustion engines, Principles of composite manufacturing.

SELECTIVE PUBLICATIONS

1.M. S. Motahar, S. Veer, I. Poulakakis, Composing Limit Cycles for Motion Planning of 3D Bipedal Walker, In Proceedings of the IEEE Conference on Decision and Control, 2016, pp. 6368-6374.

2.S. Veer, M. S. Motahar, I. Poulakakis, Local Input-to-State Stability of Dynamic Walking Under Persistent External Excitation using Hybrid Zero Dynamics, In Proceedings of the American Control Conference, 2016, pp. 4801-4806.

3.M. S. Motahar, S. Veer, I. Poulakakis, Integrating Dynamic Walking and Arm Impedance Control for Cooperative Transportation, In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015, pp. 1004-1010.

4.S. Veer, M. S. Motahar, I. Poulakakis, On the Adaptation of Dynamic Walking to Persistent External Forcing using Hybrid Zero Dynamics Control, In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015, pp. 997-1003.

5.R. Yousefi, M. S. Motahar, H. Faghani, M. Boroushaki, Optimization of Machinability of the Powder Extruded Al-SiC MM Composites Using ANN Analysis and Genetic Algorithm, In Proceedings of the Powder Metallurgy World Congress, 2010, pp. 441-450.

6.M. S. Motahar, S. Veer, I. Poulakakis, Steering a 3D Limit-Cycle Walker for Collaboration with a Leader, Submitted to the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017.

7.S. Veer, M. S. Motahar, I. Poulakakis, Adaptation of Limit-Cycle Walkers for Collaborative Tasks: A Supervisory Switching Control Approach, Submitted to the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017.

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