Amir Gholami

2018

M.Sc., Mechanical Engineering - Applied Design - Dynamic, Control and Vibration

Qazvin I. Azad University

Thesis title: Design of a driver model with haptic Steer-By-Wire interface for remote control of ground vehicles

• Grade: 20/20

Supervisor: Dr. Majid Majidi Advisor: Dr. Somayeh Raeis Dana

GPA: 3.82/4 (Ranked First)

2014

B.Sc., Mechanical Engineering - Solid Design

Takestan I. Azad University

Thesis title: Study of Clean Development Mechanism (CDM) to reduce energy consumption and greenhouse gases emissions in the industry: Selecting a suitable methodology for replacing old electromotors

• Grade: 20/20

Supervisor: Dr. Naghi HadjiZadeh Niary

Advisor: Dr. Mohammad Ahanchian

July 2019

• 1st place of International Humanoid Teen Size Robot League,

MRL-HSL, RoboCup 2019 - Sydney, Australia.

• 1st place of International Humanoid Teen Size Drop-In Challenge,

MRL-HSL, RoboCup 2019 - Sydney, Australia.

• 2nd place of International Humanoid Teen Size Technical Challenge,

MRL-HSL, RoboCup 2019 - Sydney, Australia.

• 3rd place of International Humanoid Teen Size Best Humanoid Robots,

MRL-HSL, RoboCup 2019 - Sydney, Australia.

Dec 2018

• 1st place of International Humanoid Kid Size Robot League,

MRL-HSL, RoboCup Asia Pacific 2018 - Kish Island, Iran.

• 1st place of International Humanoid Kid Size Technical Challenge,

MRL-HSL, RoboCup Asia Pacific 2018 - Kish Island, Iran.

• 1st place of International Humanoid Teen Size Robot League,

MRL-HSL, RoboCup Asia Pacific 2018 - Kish Island, Iran.

• 1st place of International Humanoid Teen Size Technical Challenge,

MRL-HSL, RoboCup Asia Pacific 2018 - Kish Island, Iran.

Jun 2018

• 2nd place of International Humanoid Kid Size Robot League,

MRL-HSL, RoboCup 2018 - Montreal, Canada.

• 3rd place of International Humanoid Kid Size Drop-In Challenge,

MRL-HSL, RoboCup 2018 - Montreal, Canada.

• 2nd place of International Humanoid Teen Size Robot League,

MRL-HSL, RoboCup 2018 - Montreal, Canada.

• 3rd place of International Humanoid Teen Size Technical Challenge,

MRL-HSL, RoboCup 2018 - Montreal, Canada.

• 1st place of International Humanoid Teen Size Drop-In Challenge,

MRL-HSL, RoboCup 2018 - Montreal, Canada.

Mar 2018

• 1st place of International Humanoid Kid Size Robot IranOpen Competitions - Tehran, Iran
• 1st place of International Humanoid Teen Size Robot IranOpen Competitions - Tehran, Iran

Dec 2017

• 1st place of International Humanoid Kid Size Robot League,

MRL-HSL, RoboCup Asia Pacific 2017 - Bangkok, Thailand.

• 1st place of International Humanoid Kid Size Technical Challenge,

MRL-HSL, RoboCup Asia Pacific 2017 - Bangkok, Thailand.

• 1st place of International Humanoid Kid Size Drop-In Challenge,

MRL-HSL, RoboCup Asia Pacific 2017 - Bangkok, Thailand.

Jul 2017

• 1st place of International Humanoid Kid Size Technical challenge,

MRL-HSL Kid size team, RoboCup 2017 - Nagoya, Japan.

Mar 2017

• 1st place of International Humanoid Kid Size Robot IranOpen Competitions - Tehran, Iran

2017-2018

• MRL graduate Scholarship in Humanoid robots Lab

2011

• Best researcher in Takestan I.Azad University

• Humanoid Robots
• Autonomous Vehicle Control
• Estimation and Filtering
• Machine Learning

Mar 2020

• Gholami, A., Majidi, M., Raeisdana, S., & Tavoosi, V. (2020). A Preview and neuromuscular driver model design with torque feedback for simulate intelligent vehicles equipped with steer by wire system. Modares Mechanical Engineering, 20(3), 0-0.

Dec 2019

• Mahmudi, H., Gholami, A., Delavaran, M.H., Khatibi, S., Bazargan, S., Moradi, M., Alaee, B., Rahmani, A., Firouzmandi Bandpey, K., Fallahzadeh, P., Teimouri, M. (2019). MRL Champion Team Paper in Humanoid TeenSize League of RoboCup 2019. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham

Dec 2019

• Gholami, A., Moradi, M., Majidi, M. (2019). A simulation platform design and kinematics analysis of MRL-HSL humanoid robot. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham

2019

• Tavoosi, V., Gholami, A., Marzbanrad, J. (2019). Lateral control of the three-axle four-wheel drive vehicle using back stepping control. International Conference on Modern Power Trains. Iran University of Science and Technology.

Jan 2019

• Gholami, A., & Majidi, M. (2019). Development of a neuromuscular driver model with an estimation of steering torque feedback in vehicle steer-by-wire systems. Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 1464419319829980.

2019

• Mahmoudi, H., Fatehi, A., Gholami, A., Delavaran, M. H., Khatibi, S., Alaee, B., Tafazol, S., Abbasi, M., Yeghane Doust, M., Jafari, A., and Teimouri, M. (2019). MRL-HSL Team Description Paper for Humanoid KidSize League of RoboCup 2019. In Proceedings of the 22nd International RoboCup Symposium. Sydney, Australia.

2019

• Mahmoudi, H., Fatehi, A., Gholami, A., Moradi, M., Fathi, E., Ghiasi Sani, A., Rahmani, G., Mohafezatkar, A., Karimi, A., Rahmani A., and Teimouri, M. (2019). MRL-HSL Team Description Paper for Humanoid TeenSize League of RoboCup 2019. In Proceedings of the 22nd International RoboCup Symposium. Sydney, Australia.

2018

• Teimouri, M., Fatehi, A., Mahmoudi, H., Sagharichi Ha, P., Gholami, A., Delavaran, M. H., Movafegh, F., Rahmani, G., and Fathi, E. (2018). MRL-HSL Kid size Team Description Paper for Humanoid KidSize League of RoboCup 2018. In Proceedings of the 21st International RoboCup Symposium, Montreal, Canada.

Aug 2014

• Gholami, A., & M. Ahanchian. (2014). Optimization of industrial electromotors to reduce green-gas effects based on global Clean development mechanism. In National Conference on Environmental Research in Iran. Aug 2014.

2020

• Design a servo motor (Project Leader)

We now on the decision to design a low-cost servo motor for humanoid robots. Consequently, we will able to design a small size humanoid robot with low-cost for students in schools.

2020

• Reinforcement learning push recovery of humanoid robots (Project Leader)

This project is our new perspective on our team. In this project, the humanoid robots will be able to learn to prevent from falling during dynamic walking and being stable.

2019

• Humanoid vertical jumping

This project is started for vertical jumping of humanoid robot for RoboCup technical-challenges competition in Sydney

2019

• COP calculations with Ground reaction force sensors (Project Leader)

The aim of this project is to setting upFSR sensors on the feet of the robot to control the stability of the humanoid robot during push recovery to keep the COP in the support polygon region

2018-2019

• Fuzzy control system for automatic transmission of commercial vehicles (Shifting-By-Wire) ·

In this project, we worked on a longitudinal vehicle dynamic to solve the shifting problems of commercial vehicles by wire to shift gears in the transmission to optimize fuel Consumption with the fuzzy interface

2018-2019

• MRL-HSL Humanoid robot simulator (Project Leader)

The simulator project of the MRL-HSL humanoid robot had been carried out to simulation algorithms such as walking, kicking, control of stability and another aspect to develop humanoid robots. In this project, we analysed forward and inverse kinematics of the humanoid robot with 20 DOF. Also rigid multibody of a humanoid robot and the simulation of the dynamic of the robot is presented in this project.

Jun 2018

• Yaw moment compensation of humanoid fast walking (Project Leader)

During the fast walking of the humanoid robot, the robot had a deviation in its path because of yaw moment, so the aim of this project is to compensate yaw moment of the humanoid robot during walking in various speed.

2018

• Walking pattern Generation of humanoid robots

In this project, the trajectory of the end effector of the humanoid robot is designed in order to reduce the strike of feet of the robot to the ground.

2017

• IMU data fusion with Kalman filtering

IMU sensor, means gyroscope and acceleration are the important sensors for feedback in any algorithms. So filtering the output of the sensor and fusion the data of IMU is in need of other projects which needs trustable feedback of this sensor.

2017

• Design a trajectory for the high kick of humanoid robots

A decrease in the speed of kicking algorithm and increase stability during kicking is the aim of this project.

2016

• Push recovery of humanoid robots (ankle, knee, hip Strategies)

The aim of this project is to fall avoidance of the robot during walking. Because the robot faces off against various disturbances and maintains the stability of humanoid is an important matter. In this project, we feedback of IMU to control the ankle, knee and hip actuators of the robot.

Jun 2016

• Van Der Pol Vibration

Simulations of Van Der Pol Vibration Oscillation System and design a sliding mode controller in order to stability around the balance point.

2019-present

• Senior assistant of supervisor, MRL humanoid robot lab, Qazvin I.Azad University

2018-present

• Team leader of mechanical group, MRL humanoid robot lab, Qazvin I.Azad University

2016-present

• Control of Dynamic Systems Engineer, MRL humanoid robot lab, Qazvin I.Azad University

2013-2016

• Member of board director, Parsian Banaye Caspian (PBC)

2014

• Internships in Pars Millang Co. industry

2010-2104

• Manager of robotic Team at TRT, Takestan I.Azad University

2018

• Teaching Assistant, Qazvin I.Azad University Course title: Modeling and simulation of dynamic systems, under the supervision of Dr. Majid Majidi

Performed all regular duties of a T.A. for a class size of 30 including Organized tutorial discussions, occasional lectures, office hours, consulting students, and marking term papers

2017

• Teaching Assistant, Qazvin I.Azad University Course title: Modern Control Engineering, under the supervision of Dr. Majid Majidi

Performed all regular duties of a T.A. for a class size of 30 including Organized tutorial discussions, occasional lectures, office hours, consulting students, and marking term papers

2017

• Teaching Assistant, Qazvin I.Azad University Course title: Introduction to computational and biological intelligence, under the supervision of Dr.Somayeh RaeisDana

Performed all regular duties of a T.A. for a class size of 30 including Organized tutorial discussions, occasional lectures, office hours, consulting students, and marking term papers

2017

• Speaker, Introduction to walking pattern generation of humanoid robots, Qazvin I.Azad University

May 2016

• Speaker, remote control of the autonomous vehicle with torque feedback, Qazvin I.Azad University

2013

• Speaker, Introduction to robotics, Takestan I.Azad University

• Programming

Matlab, Python, C++, Lua

• Software

Simulink, Simscape, Catia, SolidWorks, Abaqus, Carsim, Trucksim, Adams. Microsoft Office

2018-present

• Young Researchers and Elite Club

2016-present

• Mechatronic Research Laboratory (MRL)

2013-2014

• Student member of ASME

2010-2014

• Takestan Robotic Team (TRT)