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About

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Dr. Mohammadi is an Assistant Professor in the Department of Electrical and Computer Engineering (ECE) at the University of Michigan - Dearborn. He received the Ph.D. degree in Electrical and Computer Engineering from the University of Toronto, Canada in 2016. During his Ph.D. studies, he collaborated with the Norwegian Centre for Autonomous Marine Operations and Systems (a Centre of Excellence for research in Norway) on locomotion control of ground and swimming snake robots. In 2011, he received the Masters degree from the University of Alberta, Canada where he was with the Telerobotic & Biorobotic Systems Laboratory. He received the Bachelors degree in Electrical Engineering from Sharif University of Technology, Iran in 2009. He joined the Locomotor Control Systems Laboratory at the University of Texas, Dallas, as a Postdoctoral Research Associate in November 2016, where he was using neuromechanical principles in the context of feedback control theory to design wearable robot control systems. His research interests include bioinspired robotics, wearable robots, nonlinear control, hybrid systems, and mechatronics.

Academic Genealogy

My Academic Genealogy

My academic genealogy can be traced back to Vincenzo Brunacci who graduated from the University of Pisa in 1788 and was a professor of infinitesimal calculus (Matematica sublime) at the University of Pavia. His advisors were Pietro Paoli and Sebastiano Canovai. Through the postdoctoral supervisor of Kevin Passino (my academic grandfather!), i.e., Anthony Michel, I am also connected to Friedrich Leibniz, the father of Gottfried Wilhelm Leibniz, one of the founders of calculus.

My Erdős number is currently 5. I have coauthored with Robert D. Gregg, IV. The chain connecting me to Erdős is as follows: Robert D. Gregg, IV -> Shankar Sastry -> Stephen P. Boyd -> Persi W. Diaconis -> Paul Erdős.

Teaching

University of Michigan- Dearborn

ECE 543: Kinematics, Dynamics, and Control of Robots (incoming) – Winter 2020
Description: This course provides a systematic study of robotics, covering various topics in kinematics, dynamics, control, and planning for robot systems. The purpose of this course is to let students get familiar with the traditional mathematical description of a robotic system and understand fundamental concepts and principles in robotics, to enable students to derive equations of motion for robotic systems, analyze their kinematic and dynamic properties, and design control strategies, and also to have students gain knowledge and experience about commonly-used robotic systems and mechanisms. Starting with rigid body motion, we will learn a systematic way to describe a robot system that consists of multiple links connected through different kinds of joints. Kinematics will include forward and inverse kinematics and their analytical and constraints. Control will include the classic PID control, position and force control, and trajectory tracking. This course will also discuss some specific topics in robotics research, including robot manipulators, mobile and walking robots, and robot hands, in which we will see how the above principles and methods are being used together. Three lecture hours per week.

ECE 545: Introduction to Robotic Systems – Fall 2020
Description: This course introduces basic components of robotic systems, selection of coordinate frames, homogeneous transformations, solutions to kinematics of manipulators, obstacle avoidance and motion planning. Sensing technologies including basic computer vision and Kalman Filters will be covered. Three lecture hours per week.

ECE 4641: Robotics II – Fall 2019--20
Description: This is the second of a two-course sequence introducing foundational theory and applications of robotics engineering. The topics of this course include embedded computing, locomotion, localization, dead reckoning, inertial sensors and perception, navigation, multi-robotics systems, and human-robot interaction, and complex response processes. Three lecture hours and one three hour laboratory per week.

ECE 347: Applied Dynamics – Fall 2018--20, Winter 2019--20
Description: Introduction to rigid, multi-body dynamics tailored to the analysis and design of linkage-based robotic systems. Three dimensional kinematics, Eulerian angles, general m otion of rigid bodies subjected to various forcing functions. Matrix methods, numerial and software-based problem solving. Project required. Four lecture hours per week.

University of Texas at Dallas (as a guest lecturer)

BMEN 4310: Feedback Systems in Biomedical Engineering – Winter 2018 , Fall 2017
Description: Feedback Systems in Biomedical Engineering (3 semester credit hours) Notions of inputs, outputs, and states. Linearity versus nonlinearity. Deterministic versus stochastic systems. Top down versus bottom up modeling. Sensitivity and reduction of sensitivity via feedback. Introduction to stability. Feedback for stabilization and disturbance rejection. Numerical simulation and controller design via computational approaches.

MECH 6324: Robot Control – Fall 2016
Description: Robot Control (3 semester credit hours) Dynamics of robots; methods of control; force control; robust and adaptive control; feedback linearization; Lyapunov design methods; passivity and network control; control of multiple and redundant robots; teleoperation.

Contact

Office:

FCN 186, University of Michigan- Dearborn,

19000 Hubbard Drive, Dearborn, MI 48126

Email:
amohmmad (at) umich (dot) edu

Software

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The PHANToM devices (Geomagic® Inc., SC, USA) provide the users in industry and academia with an opportunity for research and education in virtual reality, haptics, robot motion control and teleoperation. Traditionally, one has to develop C/C++ codes using the OpenHaptics software development kit (SDK) in order to use these devices. The PHANSIM Toolkit is an academic/non-commercial Simulink toolkit for real-time motion control and teleoperation of the PHANToM haptic devices. [Download]

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