Farbod Fahimi, Ph.D.

 

 

Dr. Farbod Fahimi

Assistant Professor, Mechanical & Aerospace Engineering

Biography

Dr. Fahimi has over 10 years of research experience in dynamic modeling, system identification, linear and nonlinear controls, with applications to robotic system and autonomous vehicles. He received a PhD degree in Mechanical Engineering on dynamic modeling of flexible multi-body systems in 1999. He has graduated 8 Masters students, and has offered several senior design projects. He is currently supervising several full time and part time graduate students. He has taught several undergraduate and graduate level courses such as Dynamics, Vibrations, System Dynamics, Elasiticty, Finite Element Method, Introduction to Robotics, and Advanced Robotics. He has authored a graduate level text book titles: Autonomous Robots; Modeling, Path Planning, and Control.

Dr. Fahimi's Curriculum Vitae

Education

  • Ph.D., Mechanical Engineering, Sharif University of Technology, Tehran, 1999
  • M.S., Applied Mechanics, Sharif University of Technology, Tehran, 1994
  • B.S., Mechanical Engineering, KNT University of Technology, Tehran, 1991

Classes Taught

  • MAE/CE 271 – Statics
  • MAE/CE 272 – Dynamics
  • MAE 695ST – Introduction to Robotics
  • MAE 695ST – Advanced Robotics

List of Publications

  • Siramdasu, Y., Fahimi, F., “Incorporating Input Saturation for Surface Vessel Control with Experiments,” Accepted for publication, Control and Intelligent Systems, 2012, 8 pages.
  • Dawson, M., Fahimi, F., Carey, J., “The development of a myoelectric training tool for above-elbow amputees,” The Open Biomedical Engineering Journal, 2012, vol. 6, pages 5-15.
  • Van Kleeck, C., and Fahimi, F., “Alternative trajectory-tracking control approach for marine surface vessels with experimental verification,” Robotica, Accepted for publication, 2011.
  • Fahimi, F., Autonomous robots: Modeling, path planning, and control, Springer, New York, Nov 2008, 345 pages. (http://www.springer.com/engineering/book/978-0-387-09537-0) Journal publications
  • Sweafford, J., Fahimi, F., “Using recurrent neural networks for model-based nonlinear control: An alternative approach,” IEEE Transactions on Control Systems Technology, pp. 1-15, 2015. Submitted.
  • Dinc, S., Fahimi, F., and Aygun, R., “Mirage: An O(n) time analytical solution to 3D camera pose estimation with multi-camera support,” Computer Vision and Image Understanding, pp. 1-18, 2015. Submitted.
  • Dinc, S., Fahimi, F., and Aygun, R. “Vision-based trajectory tracking for mobile robots using mirage pose estimation method,” IET Computer Vision, pp. 1-16, 2015. Accepted.
  • Khaligh, S. P., Fahimi, F., and Koch, C. R., “Control oriented modeling for nonlinear trajectory tracking Farbod Fahimi 12/15 control of small unmanned helicopters,” Journal of American Helicopter Society, pp. 1-44, 2015. Submitted.
  • Khaligh, S. P., Fahimi, F., and Koch, C. R., “A system identification strategy for nonlinear model of small-scale unmanned helicopters,” Journal of American Helicopter Society, pp. 1-39, 2015. Submitted.
  • Khaligh, S, Fahimi, F., Koch, R., “A fast inverse kinematic solution for the nonlinear actuating mechanisms of a small-scale helicopter,” Multibody System Dynamics, in press, pp.1-20, 2015.
  • Nolen, C., and Fahimi, F., “External disturbance compensation for simulated humanoid robots via a configuration control approach,” International Journal of Robotics and Automation, in press, pp. 1-8, 2015.
  • Fahimi, F., and Kode, S.S.P., “A universal trajectory tracking controller for mobile robots via modelfree on-line reinforcement learning,” Control and Intelligent Systems, vol 43, no. 1, pp. 56-64, 2015.
  • Hill, J., Fahimi, F., “Active disturbance rejection for walking bipedal robots using the acceleration of the upper limbs,” Robotica, vol. 33, no. 2, pp. 264-281, 2015.
  • Khaligh, S., Fahimi, F., and Koch, R. C., “A HIL testbed for initial controller gain tuning of a small unmanned helicopter,” Journal of Intelligent and Robotic Systems: Theory and Applications, vol. 73, no. 1-4, pp. 289-308, 2014.
  • Panathula, C. B., Fahimi, F., Shtessel, Y. B., “Slip eliminator for robots on slippery 3D terrains,” Control and Intelligent Systems, vol. 42, no. 2, pp. 167-175, 2014.
  • Griggs, L., Fahimi, F., “Introduction and testing of an alternative control approach for a robotic prosthetic arm,” The Open Biomedical Engineering Journal, vol. 8, pp. 93-105, 2014.
  • Siramdasu, S., and Fahimi, F., “Nonlinear dynamic model identification methodology for real robotic surface vessels.” International Journal of Control, vol. 86, no. 12, pp. 2315-2324, 2013.
  • Fahimi, F., “Full drive-by-wire dynamic control for 4-wheel-steer all-wheel-drive vehicles,” Vehicle System Dynamics, vol. 51, no. 3, pp. 360-376, March 1, 2013.
  • Siramdasu, Y., Fahimi, F., “Incorporating input saturation for surface vessel control with experiments,” Control and Intelligent Systems, vol. 41, no. 1, pp. 49-55, 2013.
  • Van Kleeck, C., and Fahimi, F., “Alternative trajectory-tracking control approach for marine surface vessels with experimental verification,” Robotica, vol. 31, no. 1, pages 25-33, 2013.
  • Panathula, C. B., Fahimi, F., Shtessel, Y. B., “Nonlinear model predictive control versus linear timevariant control for mobile robots prone to input saturation,” Nonlinear Engineering - Modeling and Application, vol. 1, no.1, 2012.
  • Dawson, M., Fahimi, F., Carey, J., “The development of a myoelectric training tool for above-elbow amputees,” The Open Biomedical Engineering Journal, 2012, vol. 6, pages 5-15.
  • Dawson, M., Carey, J., Fahimi, F., “Myoelectric training systems,” Expert Review of Medical Devices, September 2011, vol. 8, no. 5, Pages 581-589.
  • F. Fahimi, M. Saffarian, “The control point concept for nonlinear trajectory-tracking control of autonomous helicopters with fly-bar,” International Journal of Control, v 84, n 2, 2011, p 242-252.
  • Schoerling, D., Van Kleeck, C., Fahimi, F., Koch, C. R., Ams, A., and Löber, P., “Experimental test of a robust formation controller for marine unmanned surface vessels,” Autonomous Robots, v 28, n 2, 2010, p 213-230.
  • Saffarian, M., and Fahimi, F., “Non-iterative nonlinear model predictive approach applied to the control of helicopters' group formation,” Robotics and Autonomous Systems, v 57, n 6-7, 2009, p 749- 757.
  • Saffarian, M., and Fahimi F., "A model predictive framework for autonomous formation flight of Farbod Fahimi 13/15 helicopter groups," Control and Intelligent Systems, v 37, n 4, 2009, pages 1-7.
  • Fahimi, F., Nataraj, C., Ashrafiuon, H., “Real-time obstacle avoidance for multiple mobile robots,” Robotica, v 27, n , 2009, p 189-191.
  • Fahimi, S.V.S. Rineesh, C. Nataraj, 2008, “Formation controllers for under-actuated surface vessels and zero-dynamics stability,” International Journal of Intelligent Systems and Control, 2008, v 36, n 3, p 1-11.
  • Fahimi, F., “Full formation control for autonomous helicopter groups,” Robotica, v 26, n 2, March, 2008, p 143-156.
  • Fahimi, F., “Sliding mode formation control for under-actuated surface vessels,” IEEE Transactions on Robotics, v 23, n 3, June, 2007, p 617-622.
  • Fahimi, F., “Non-linear model predictive formation control for groups of autonomous surface vessels,” International Journal of Control, v 80, n 8, August, 2007, p 1248-1259.
  • Nikkhah, M., Ashrafiuon, H., Fahimi, F., “Robust control of under-actuated bipeds using sliding modes,” Robotica, v 25, n 3, May, 2007, p 367-374.
  • Fahimi, F., Browne, A., “Stiquito controlled! Making a truly autonomous robot,” IEEE Control Systems Magazine, v 26, n 2, 2005, p 92-94.
  • Fahimi, F., Ashrafiuon, H., Nataraj, C., “Obstacle avoidance for spatial hyper-redundant manipulators using harmonic potential functions and the mode shape technique,” Journal of Robotic Systems, v 20, n 1, January, 2003, p 23-33.
  • Fahimi, F., Ashrafiuon, H., Nataraj, C., “An improved inverse kinematic and velocity solution for spatial hyper-redundant robots,” IEEE Transactions on Robotics and Automation, v 18, n 1, February, 2002, p 103-107.
  • Meghdari, A., Fahimi, F., “On the first-order decoupling of dynamical equations of motion for elastic multi-body systems as applied to a two-link flexible manipulator,” Multi-body System Dynamics, v 5, n 1, 2001, p 1-20.
  • Esmailzadeh, E., Fahimi, F., “Optimal adaptive active suspensions for a full car model,” Vehicle System Dynamics, v 27, n 2, February, 1997, p 89-107.