Ph.D. in Systems Design Engineering
University of Waterloo (UW), Ontario (Canada)
  • Cumulative GPA:
  • Supervisor: Prof. John McPhee
  • Thesis: 
2018 to 2022
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 2015
B.Sc. in Mechanical Engineering
Isfahan University of Technology (IUT), Isfahan (Iran)
2009 to 2013