About
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8K followers
Experience & Education
Licenses & Certifications
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Lean Six Sigma Black Belt (ICBB)
International Association for Six Sigma Certification
Issued ExpiresCredential ID GR814000720MK -
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Public Speaking and Engineering Communication
Graduate Research Center, UCI
Publications
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Vibrational control: A hidden stabilization mechanism in insect flight
Science robotics
It is generally accepted among biology and engineering communities that insects are unstable at hover. However, existing approaches that rely on direct averaging do not fully capture the dynamical features and stability characteristics of insect flight. Here, we reveal a passive stabilization mechanism that insects exploit through their natural wing oscillations: vibrational stabilization. This stabilization technique cannot be captured using the averaging approach commonly used in literature…
It is generally accepted among biology and engineering communities that insects are unstable at hover. However, existing approaches that rely on direct averaging do not fully capture the dynamical features and stability characteristics of insect flight. Here, we reveal a passive stabilization mechanism that insects exploit through their natural wing oscillations: vibrational stabilization. This stabilization technique cannot be captured using the averaging approach commonly used in literature. In contrast, it is elucidated using a special type of calculus: the chronological calculus. Our result is supported through experiments on a real hawkmoth subjected to pitch disturbance from hovering. This finding could be particularly useful to biologists because the vibrational stabilization mechanism may also be exploited by many other creatures. Moreover, our results may inspire more optimal designs for bioinspired flying robots by relaxing the feedback control requirements of flight.
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A New Bio-inspired Flying Concept: The Quad-Flapper
AIAA Scitech 2019 Forum
See publicationrecent application of contemporary flight controller technologies to quadcopter UAVs
(Unmanned Aerial Vehicles) has allowed for a new era of improved performance, flight times,
and stability. However, man-made vehicles perform shamefully worse in comparison to natural
fliers (birds and insects) in terms of stability, agility, and maneuverability. By combining the
flight control theory of a quadcopter UAV with bio-inspired flight dynamics observed in nature,
we fabricated a new…recent application of contemporary flight controller technologies to quadcopter UAVs
(Unmanned Aerial Vehicles) has allowed for a new era of improved performance, flight times,
and stability. However, man-made vehicles perform shamefully worse in comparison to natural
fliers (birds and insects) in terms of stability, agility, and maneuverability. By combining the
flight control theory of a quadcopter UAV with bio-inspired flight dynamics observed in nature,
we fabricated a new aerial vehicle referred to as a "Quadflapper". In this paper, we seek to
demonstrate the viability of this vehicle through standardized testing of maneuverability and
agility of a quadcopter and Quadflapper with similar tuning and physical characteristics. A
histogram graph of the error magnitude distribution is studied for a particular case. Our
experimental results suggest that the Quadflapper performs better in terms of agility. These
results validate a flapping-wing propulsion system as a viable alternative to a rotary-wing
propulsion system in small-scale UAVs. -
A New Vibrational Control System in Nature: Flapping Flight
AIAA Scitech 2019 Forum
Vibrational control is an open loop stabilization technique via the application of highamplitude, high-frequency oscillatory inputs. The averaging theory has been the standard technique for designing vibrational control systems. However, it stipulates too high oscillation frequency that may not be practically feasible. Therefore, although vibrational control is very robust and elegant (stabilization without feedback), it is rarely used in practical applications. The only well-known example is…
Vibrational control is an open loop stabilization technique via the application of highamplitude, high-frequency oscillatory inputs. The averaging theory has been the standard technique for designing vibrational control systems. However, it stipulates too high oscillation frequency that may not be practically feasible. Therefore, although vibrational control is very robust and elegant (stabilization without feedback), it is rarely used in practical applications. The only well-known example is the Kapitza pendulum; an inverted pendulum whose pivot is subject to vertical oscillation. the unstable equilibrium of the inverted pendulum gains asymptotic stability due to the high-frequency oscillation of the pivot. In this paper, we provide a new vibrational control system from Nature; flapping flight dynamics.
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Vibrational Control in Flapping-Wing Micro-Air-Vehicles
IEEE
Flapping-Wing Micro-Air-Vehicles (FWMAVs) are bio-inspired air vehicles that mimic insect and bird flight. The dynamic behavior of these systems is typically described by a multi-body, multi-time-scale, nonlinear, time-varying dynamical system. Interestingly, this rich dynamics lead to unconventional stabilization mechanisms whose study essentially necessitates a mathematically rigorous analysis. In this paper, we use higher order averaging, which is based on chronological calculus, to show…
Flapping-Wing Micro-Air-Vehicles (FWMAVs) are bio-inspired air vehicles that mimic insect and bird flight. The dynamic behavior of these systems is typically described by a multi-body, multi-time-scale, nonlinear, time-varying dynamical system. Interestingly, this rich dynamics lead to unconventional stabilization mechanisms whose study essentially necessitates a mathematically rigorous analysis. In this paper, we use higher order averaging, which is based on chronological calculus, to show that insects and their man-made counterparts (FWMAVs) exploit vibrational control to stabilize their body pitching angle. Such an unconventional stabilization cannot be captured by direct averaging. We also experimentally demonstrate such a phenomenon by constructing an experimental setup that allows for two degrees of freedom for the body; forward motion and pitching motion. We measure the response of the body pitching angle using a digital camera and an image processing algorithm at different flapping frequencies. It is found that there is a flapping frequency threshold beyond which the body pitching response is naturally (without feedback) stabilized, which conforms with the vibrational control concept. Moreover, we also construct a replica of the experimental setup with the FWMAV being replaced by a propeller revolving at a constant speed, which results in a constant aerodynamic force, leaving no room for vibrational control. The response of the propeller-setup is unstable at all frequencies, which also corroborates the fact that the observed stabilization of the FWMAV-setup at high frequencies is a vibrational stabilization phenomenon.
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Experimental Demonstration of the Vibrational Stabilization Phenomenon in Bio-Inspired Flying Robots
IEEE Robotics and Automation Letters
Bio-inspired flying robots (BIFRs) are micro-air-vehicles that use biomimetic actuation (oscillatory flapping wing) for lift, propulsion, and control. The dynamic behavior of these bio-inspired systems is quite intricate to study as it is typically described by a multibody, multi-time-scale, nonlinear, time-varying dynamical system. However, this rich dynamics lead to unconventional stabilization mechanisms whose study essentially necessitates a mathematically rigorous analysis. Our recent…
Bio-inspired flying robots (BIFRs) are micro-air-vehicles that use biomimetic actuation (oscillatory flapping wing) for lift, propulsion, and control. The dynamic behavior of these bio-inspired systems is quite intricate to study as it is typically described by a multibody, multi-time-scale, nonlinear, time-varying dynamical system. However, this rich dynamics lead to unconventional stabilization mechanisms whose study essentially necessitates a mathematically rigorous analysis. Our recent efforts using differential geometric control theory revealed a vibrational stabilization mechanism induced on the body pitching due to the interaction between the fast wing flapping dynamics and the slow body dynamics. In this effort, we construct an experimental setup allowing for two degrees of freedom for the body; vertical motion and pitching motion. The objective is to experimentally verify and demonstrate the vibrational stabilization phenomenon in insect flight and its mimicking BIFRs.
Other authorsSee publication
Courses
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Advanced biomems
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Digital control systems
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Dynamics
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Electrical circuits
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Engineering Mathematics
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Engineering analysis
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Filter design
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Geometric nonlinear controllability
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Industrial control
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Industrial networks
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Instrumentation
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Linear algebra
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Linear control systems
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Linear systems
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Mechatronics
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Modern control systems
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Optimal control
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Optimization methods
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Power systems
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Robotics
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Signal and systems
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Statics
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Projects
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An Experimental Study In Flapping Wing Micro Air Vehicles Using Geometric Nonlinear Controllability Analysis
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In general, oscillatory control inputs can create stabilizing effects meaning unstable equilibrium of a system can gain stability due to sufficiently high amplitude high-frequency oscillatory control input without any closed loop control. A famous case study in this regard is inverted pendulum Inverted pendulum has an unstable equilibrium which can be stabled due to sufficiently high amplitude high frequency of the pivot. A typical range for frequency is 30 to 50 Hz and 3 mm for the movement of…
In general, oscillatory control inputs can create stabilizing effects meaning unstable equilibrium of a system can gain stability due to sufficiently high amplitude high-frequency oscillatory control input without any closed loop control. A famous case study in this regard is inverted pendulum Inverted pendulum has an unstable equilibrium which can be stabled due to sufficiently high amplitude high frequency of the pivot. A typical range for frequency is 30 to 50 Hz and 3 mm for the movement of the pivot. This stability is only to movement of the pivot and there is no closed loop control involved. This concept has been referred to as vibrational stability. It is believed that some birds and insects benefit from vibrational stability about the pitch axis of the body while they are hovering.
In this project author has tried to implement some of the related materials of the “Geometric nonlinear controllability” course to his research in which an experimental setup has been made to investigate existence of vibrational stability in a small size flapping wing micro air vehicle (which would be referred to as FWMAV from now) This setup only investigate stability of the FWMAV about pitch axis of its body.
First using the differential geometry, we studied linear and nonlinear controllability of the system in a particular configuration with one control input and four states. Then we investigated linear and nonlinear controllability of the same system while considering six states and only one control input. And at the end, we compared first-order (direct) averaging and second-order averaging stability analysis of the same system to see if higher-order averaging can provide a better stability analysis. -
Formulating Forward kinematics, Inverse kinematics and robot Jacobian of several parallel and serial robots and simulating them
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See projectFormulated and Simulated forward kinematics and Inverse kinematics of several robots including:
Adept 800 SCARA robot, Spherical Wrist, PUMA Arm, 3-RPR Planar Platform Robot, NASA TRR arm
Calculated Denavit Hartenberge parameters of listed robots.
Generated the robot Jacobian of listed robots. -
Design and Analysis of a Deadbeat controller for a multiple-input-multiple-output plant
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A quadruple tank process as a MIMO plant was selected then dynamic equations were linearized and state space equations of this plant were extracted. Next, discrete state space equations were calculated and finally, a state feedback was designed to achieve a deadbeat response. Another part of this project was to design a state observer.
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Real-Time Information Exchange between Computer & Embedded Systems
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Prepared a presentation on ways of Real-Time Information Exchange between the computer (mostly via Matlab) and embedded systems.
Gained a Solid understanding of communication technologies/protocols: TCP/IP, CAN Bus, serial, SPI, Fieldbus, Profibus, ProfiNET, Ethernet/IP, EtherCAT -
Design and simulation of a FET differential amplifier based on 0.18um technology
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A MOSFET differential amplifier circuit was designed using 0.18um technology. This amplifier was simulated in HSPICE and characteristics of this amplifier such as gain, frequency response, and maximum swing were extracted.
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Fabrication of several lab circuits (function generator, Power supply, Digital Multimeter and Dimer )
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In this project, a few circuits were fabricated including:
1-A function generator capable of generating sinusoidal, square, triangular, sawtooth and pulse wave with control over the frequency range of 0.01Hz to 1MHz using XR2206 IC.
2-A Digital multimeter and amperemeter using ICL7106 IC.
3-A 12 volt power supply using a transformer.
4-A dimer circuit to control system's input power using BT137 triac.
Languages
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Persian
Native or bilingual proficiency
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English
Professional working proficiency
Organizations
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American Society of Mechanical Engineers
Member
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