Assistant Engineering

ABBAS KHORRAM EIT

E-mail: *******.*@*****.***

Address: ***-**** **** **.

Victoria, BC Canada, V8S 1Z4

Cell Phone: 250-***-****

PROFESSIONAL PROFILE

Specialized in Control systems and Robotics.

4 years of graduate work experience focusing on Control Engineering for Space,

Teleoperation and Haptic applications.

Hands-on work experience in system identification and modeling, simulation,

design and setting up control systems.

Proven teaching, leadership and decision making skills as well as ability to learn

fast and follow directions.

Able to develop innovative solutions to difficult problems, generally on the spot.

EDUCATION

Sep 2010- M.Eng Mechanical Engineering

Aug 2013 University of Victoria, Victoria, BC, Canada

Final Project: Bilateral Teleoperation with time delays: damping

injection scheme.

Sep 2008- MASc. Space Technology and Planetary Exploration

Aug 2009 University of Surrey, Guildford, United Kingdom

Thesis: Modelling and control of a robot arm for planetary Exploration

(First Class).

Sep 2005- B.Eng Electronic Engineering

May 2008 University of Surrey, Guildford, United Kingdom

Final Project: Designing and Control of an Autonomous Microarial

Quad rotor (First Class).

RELEVANT SKILLS

Techniques Theory C/Languges Software

PCB assembly, Analogue/Digital circuit C/C++ Matlab

soldering and design and analysis (Simulink)

debugging

Code debugging Signals and Matlab Visual

communications Studio

Data acquisition and Digital signal processing Maple LabView

instrumentation and data compression

System identification Kinematics and Dynamics

of manipulators and

Robotics

Teleoperation Classical and Modern

Control (PID, Lyapunov,

Sliding Mode)

Haptics Guidance, Navigation and

Control

Convex and Non Convex

Optimization

ABBAS KHORRAM PAGE 2

WORK EXPERIENCE

Graduate Research Assistant

Sep 2010-

Aug 2013 University of Victoria, Victoria, BC, Canada

Research: Bilateral Teleoperation with time delays: damping

injection scheme

Experimental validation of stabilizing controllers (Lyapunov) for

a non-linear bilateral teleoperator with constant time delay in

free and contact motions.

Design and setting up a 1-DOF bilateral teleoperator using a

pair of 3-DOF Novint Falcon robots on a single PC with

synthetic time delys via Visual Studio.

Modelling and simulation of the teleoperation set up in Matlab

(Simulink) software for experimental results validation.

System identification (variable damping) of Novint Falcon robots

via least square, time and frequency methods.

Modelling the static friction of the Novint Falcon robots via the

Reset Integrator model.

Setting up a virtual Haptic interaction (Force Feedback) for

contact motion scenarios.

Data compression and truncation through Discrete Cosine

Transform (DCT) in between local and remote manipulators.

Sessional Lecturer

Jan 2011-

May 2011 University of Victoria, Victoria, BC, Canada

Instructed and tutored course of Engineering Fundamentals (statics) in

parallel with an assistant professor. The lectures consisted of 120 first

year students from mechanical, electrical and computer disciplines.

Teaching experience as Teaching Assistant in

University of Victoria in Instrumentation, Robotics, Kinematics

and Mechanisms.

Graduate Research Assistant

Sep 2008-

Aug 2009 University of Surrey, Guildford, United Kingdom

Research: Modelling and control of a robot arm for planetary

Exploration

Deriving the forward kinematics of in house 6-DOF Mitsubishi

MELFA RV-1A serial robot arm via Composite Homogenous

Transformation (CHT) matrices and Denavit-Hartenburg (DH)

parameters.

ABBAS KHORRAM PAGE 3

WORK EXPERIENCE CONTINUED

Deriving the manipulator’s equations of motion (Forward

Dynamic Model) using the Lagrange-Euler formulation.

Planning the manipulator trajectory through Pick-and-Place

method and computing joint’s rate, acceleration and mechanical

shock from corresponding polynomials.

Computing the necessary torques to be applied to joints using

Proportional-Integral-Derivative control strategy for independent

joint structures.

Validation and verification of the forward kinematics and

dynamics models and controller design via simulation utilizing

Maple and Matlab software.

Publication:

Khorram A., Parsa S. and Saaj CM., “Trajectory planning and control

of robot arm for planetary surface sample missions”, Proceedings of

the 60th International Aeronautical Congress 2009 (IAC-09.A3.I.2),

Daejeon, Republic of Korea, 12-16 October 2009.

REFERENCES

REFERNCES ARE AVAILABLE UPON REQUEST

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