Mehdi Roozegar, Phd Email & Phone Number

Montreal, Quebec, Canada

Montreal, Canada Area

Montreal, Canada Area

- Developed a real-time stable motion controller and IK solver for our robot to track a trajectory with a desired speed profile, while passing through singularities, considering joint speed bounds and robot limitations- Applied Machine Leaning algorithms (Deep Reinforcement Learning, Double Deep Q-Network, Actor-Critic Network, DDPG, HER, PPO, ...) to find the shortest path between any points in the workspace of the robot using TensorFlow and OpenAI- Designed a motion controller to follow a displacing (moving) trajectory in the workspace of the robot with a desired speed profile- Planned a trajectory with a desired speed profile between any arbitrary states using OMPL, while respecting robot limitations and handling singularities- Created a new sampler to sample valid states within the desired bounds in the workspace of the robot, required for motion planning- Conditioned the speed profile of a pre-planned path to avoid discontinuities, jerks and high joint speeds, and achieved a smooth motion by the robot - Fixed the bugs of the system, including self-collision, deviation from pre-planned trajectories, slowing down, discontinuities and jerks

Montreal, Canada Area

- Derived a detailed mathematical model of the proposed multi-speed transmission system (MSTS) designed for electric vehicles (EVs), including kinematics and dynamics modelling.- Estimated the unmeasurable states and the unknown loads/disturbances applied to the proposed transmission system employing the Kalman filter, the Luenberger observer and neural networks (NNs), required for control purposes.- Formulated the gear-shifting problem in the electric transmission in the space of angular velocities from a control point of view.- Achieved the optimal trajectory for a swift and seamless gear-shifting in the electric transmission using calculus of variation (CoV) and blending polynomials, which guaranteed jerk continuity.- Developed a new topology-change model to address the topology changes in the electric transmission during gear-shifting in collaboration with another PhD student, Y. D. Setiawan.- Established a two-phase control algorithm for a desired gear-shifting in the electric transmission applying a supervisory controller (gain-scheduling) and a genetic algorithm (GA).- Designed a linear quadratic integral (LQI) controller for gear-shifting in the electric transmission based on polynomial transition functions.- Formulated and solved a novel optimal control problem for over-actuated systems with control terminal constraints, which guaranteed smooth system operation over extended periods of time. - Proposed a new approach for smooth optimal control of over-actuated systems, applicable to linear quadratic tracking (LQT) problem for linear time-varying (LTV) systems.- Found the optimal trajectory and control inputs for gear-shifting in the MSTS based on Bellman's dynamic programming (DP).

Montreal, Canada Area

- Mechanical Laboratories (MECH 362): Supervised more than 100 groups of students for conducting the experiments precisely and writing the pre-lab and final reports properly, in collaboration with a team of 4 TAs. Checked and marked the reports. Evaluated the lab performance of each student separately. - Advanced Mechanics of Systems (MECH 419/642): Gave course tutorials each week to more than 35 students. Solved challenging problems and answered the students' questions. - Dynamics (MECH 220): Gave course tutorials each week to more than 80 students. Solved challenging problems and answered the students' questions. Marked one of the midterm exams. - Mechanical Vibrations (MECH 315): Marked the 2 midterms and the final exam. Evaluated the attributes of KB (knowledge base for engineering) and PA (problem analysis) for each student separately.

Tehran Province, Iran

- Designed an adaptive controller for trajectory tracking of a nonholonomic spherical robot using a model-reference adaptive system (MRAS).- Deduced the mathematical model of a spherical robot on a variable-slope inclined plane based on Lagrange approach and controlled its motion applying a terminal sliding mode controller (TSMC).- Estimated the nonlinear parameters of a spherical robot adaptively employing a modified speed gradient algorithm based on fuzzy logic systems. - Derived the dynamics of a spherical robot moving on an inclined plane based on Newton-Euler method and controlled its motion utilizing PID controllers based on genetic algorithms and fuzzy logic systems. - Planned the optimum trajectory and controlled the motion of a spherical robot in environments with/without obstacles using dynamic programming (DP) and image processing.- Analyzed the observability of the nonlinear, nonholonomic pendulum-driven spherical robot. - Estimated the unavailable states of a spherical robot utilizing the extended Kalman filter (EKF) for nonlinear systems, required for control purposes.- Autonomously navigated and controlled a spherical robot in dynamic environments applying the extended classifier systems (XCS) and reinforcement learning (RL), in collaboration with a team of 4 members.- Controlled an unmanned bicycle employing an adaptive critic-based neuro-fuzzy controller in collaboration with another graduate student, Ali Shafiekhani.- Worked as a research assistant in dynamics of machinery and vibrations laboratory.- Devised a 4-bar linkage mechanism with variable lengths for multitask applications based on fuzzy theory and control.- Designed and controlled a suspension system for a vehicle using modern and optimal control techniques. - Investigated the variable-friction haptic displays.- Controlled the vibrations of a cantilever beam applying piezoelectric layers based on optimal control approaches.

- Adaptive Control (Graduate): Evaluated the assignments and the reports prepared by the students. - Advanced Engineering Mathematics (Graduate): Gave course tutorials each week to more than 30 students. Solved challenging problems and assessed the students' assignments.- Dynamics of Machinery and Vibrations Laboratory: Supervised more than 60 groups of students for doing the experiments precisely, in collaboration with a team of 5 TAs. Checked and evaluated the final reports.- Engineering Mathematics: Gave weekly tutorials to more than 20 students. Solved challenging problems.- Dynamics: Gave weekly tutorials and quizzes to more than 40 students. Solved challenging problems.- Dynamics of Machinery: Gave weekly tutorials to more than 30 students. Solved challenging problems.

- Attended the HSE (health, safety and environment) workshops. - Worked as a member of maintenance engineering team.- Investigated different parts of the company, such as the piping system, the pressure vessels, solid structures, lathe and CNC machines.- Prepared and documented a final report on everything learned in the company.

Doctor Of Philosophy (Ph.D.), Mechanical Engineering

Master’S Degree, Mechanical Engineering

Bachelor’S Degree, Mechanical Engineering