Introduction
"Amir Gholami research is focussed on dynamic systems and control. He works on several systems such as humanoid robots and autonomous vehicles in terms of to develop robust autonomous systems that are able to maintain their stability. He is also interested in reinforcement learning, estimation and filtering"
Education
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
Awards & Honors
Certificates
Certificate in Third National Championship RoboCup Shiraz
Certificate of Advanced Robotics
Certificate of Catia
Certificate of Industrial Drawing
Certificate of maintenance parts, engineering tools and utility
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.
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.
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
Research interests
Humanoid Robots
Autonomous Vehicle Control
Estimation and Filtering
Machine Learning
Publications
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.
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
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.
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.
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.
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.
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.
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.
Academic Projects
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.
Professional Experience
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
Teaching Experience
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
Computer Skills
Programming
Matlab, Python, C++, Lua
Software
Simulink, Simscape, Catia, SolidWorks, Abaqus, Carsim, Trucksim, Adams. Microsoft Office
Memberships
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)