• 10 years of experience in electronic hardware design for mobile robots. • 8 years of experience as a robotics lecturer. • 6 years of experience in Project and Product management. • Worked in topics such as mobile robotics, social robotics, human and robot interaction, sensor fusion, embedded systems programming, and design and SLAM. • Researched and studied topics such as project and product management. • Interested in research, teamwork, and educational activities, promoting science, and writing applied articles.
Description: TL-OSR+ is a mobile robot based on open source software and hardware technologies. The robot has various sensors, open source technology with low price, automobile like mechanism and wireless camera. In this project the robot's construction and traits are discussed. The other part of the paper is about surveying and making wearable interface as a glove which is utilized as a novel tool to control robotics and mechatronics systems. By means of this glove, user is able to control the robot remotely in a real time method. The glove structure and performance procedure has been tested on the robot and results are discussed in the project. Mentioned robot is equipped with a wireless camera and can be controlled remotely via the glove and telecommunication protocols such as wireless and bluetooth. For the robot control, mixed reality glasses are designed and user can watch taken photos via glasses and feel himself virtually along with the robot in the environment. This project is about controlling the robot with the help of designed glasses interacting with wearable interface and sensor fusion.
Description: Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) January 1, 2014 , This paper presents the state-of-the-art for building a low cost mobile robot with open-source technology based on sensor fusion. Designing open-source educational robots has a great impact on empowering engineers and those interested in mobile robots. In the last decade, different robots have been designed and built for this purpose. In this project, with the help of sensors available on a 9-axis open-source IMU and a robot based on open-source hardware and control software, a graphical user interface has been implemented to view the condition of motion variables in a real-time manner and combine sensor data. Moreover, by implementing different filter programs, such as low-pass filter, complementary filter and by using KF implementation and deliberation this mobile robot becomes suitable for improving the accuracy of the robot in extracting parameters required for localization, mapping and robot navigation. Features of the developed robot, the so-called TL-OSR, can be regarded as: using open-source hardware and software with real-time performance, low price equipment, presenting a solution based on sensor fusion for better accuracy in robot navigation and using different types of sensors. This robot can be used as an suitable open-source platform as a new class of mobile robots for educational and research purposes in mechatronics and robotics.
Description: 13th Iranian Conference on Fuzzy Systems (IFSC). In this paper, a fuzzy algorithm is implemented on a FPGA-based mobile robot, called MRTQ (Mobile Robot of University of Tehran & Qazvin Azad University)-which could be regarded as an embedded system-for line tracking and obstacle avoidance purposes. MRTQ is a mobile robot platform which is developed for industrial researches and education purposes. As the first step, for the sake of validity of the proposed fuzzy rules, 30 rules in total are envisaged. Then, preliminary simulations are implemented in MATLAB. Moreover, as the main contribution of this work, the foregoing rules are implemented on FPGA. Several practical tests reveal the effectiveness of the proposed fuzzy rules for which MRTQ was able to track the path more precisely and softly in different speeds and avoid the detected obstacle through the path readily.