In mathematics, computer science and operations research, mathematical optimization or mathematical programming, alternatively spelled optimisation, is the selection of the best element (with regard to some criterion) from some set of available alternatives.
In the simplest case, an optimization problem consists of maximizing or minimizing a real function by systematically choosing input values from within an allowed set and computing the value of the function. The generalization of optimization theory and techniques to other formulations constitutes a large area of applied mathematics. More generally, optimization includes finding "best available" values of some objective function given a defined domain (or input), including a variety of different types of objective functions and different types of domains.


  1. Multi-Objective Optimization Design of Spatial Cable-Driven Parallel Robot Equipped with a Serial Manipulator , Modares Mechanical Engineering, Vol. 16, No. 1, pp. 29-40, (in Persian) , 2016
  2. 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 , 2015
  3. 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 , 2015

Research Experience

  1. Multiple Impedance Control of Hybrid Parallel-Serial Manipulator for Object Manipulation Task , Department of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran) , 2016