Mohammad Motaharfiar

” Paths are made by walking “

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Mohammad Motaharifar received the B.Sc. degree in electrical engineering from the Iran University of Science and Technology, Tehran, Iran, in 2009, the M.Sc. degree in electrical engineering from the Amirkabir University of Technology, Tehran, in 2011, and the  Ph.D. degree from the K. N. Toosi University of Technology , Tehran, Iran in 2019 all in electrical engineering.

He was a research assistant with the Real-Time Systems Laboratory, Electrical Engineering Department, Amirkabir University of Technology, from 2011 to 2014. He was a visiting research assistant with the Department of Electrical and Computer Engineering, Queens University, Kingston, ON, Canada, from September to December 2018.  He is currently a senior research associate with the Advanced Robotics and Automated Systems (ARAS), K. N. Toosi University of Technology. His research interests include medical robotics, nonlinear control, and robust control.

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Education
  •      Ph.D, Electrical Engineering (Control), K.N. Toosi University of

Technology (KNTU), Tehran, Iran

  •       M.Sc, Electrical Engineering (Control), Amirkabir University of

Technology (AUT), Tehran, Iran.

  •       B.Sc, Electrical Engineering (Control), Iran University of Science and Technology (IUST), Tehran, Iran.
Publications
  • Journal Papers:
  •  M. Motaharifar, H.A.Talebi, F. Abdollahi, and A. Afshar, Nonlinear Adaptive Output-Feedback Controller Design for Guidance of Flexible Needles, IEEE/ASME Transactions on Mechatronics, 2015.
  •  I. Sharifi, H.A. Talebi, M. Motaharifar, A framework for simultaneous training and therapy in multilateral tele-rehabilitation. Computers & Electrical Engineering. 2016.
  •  I. Sharifi, H.A.Talebi, M. Motaharifar, Robust Output Feedback Controller Design for Time‐Delayed Teleoperation: Experimental Results, Asian Journal of Control, 2017.
  •  P. Agand, M. Motaharifar,  H.D. Taghirad,   Decentralized Robust Control for Teleoperated Needle Insertion with Uncertainty and Communication Delay.  Mechatronics, 2017.
  • M. Motaharifar, H.D. Taghirad, K. Hashtrudi-Zaad, and S. F. Mohammadi, Control Synthesis and ISS Stability Analysis of Dual-User Haptic Training System Based on S-Shaped Function, IEEE/ASME Transactions on Mechatronics, 2019.
  • M. Motaharifar and H.D. Taghirad, A Force Reflection Robust Control Scheme with Online Authority Adjustment for Dual User Haptic System, Mechanical Systems and Signal Processing, 2019.
  • M. Motaharifar, H.D. Taghirad, and S. F. Mohammadi, A Robust Controller with Online Authority Transformation for Dual User Haptic Training System, Journal of Control, 2019 (in Persian).
  • M. Motaharifar, H.D. Taghirad, K. Hashtrudi-Zaad, and S. F. Mohammadi, Control of Dual User Haptic Training System with Online Authority Adjustment: An Observer-based Adaptive Robust Scheme, IEEE Transactions on Control System Technology, 2020.
  •  Conference Papers:
  •  M. Motaharifar, I. Sharifi, and H.A. Talebi, An Adaptive Observer-Based Controller Design for Time-Delay Teleoperation with Uncertainty in Environment and Parameters, American Control Conference (ACC), San Francisco, CA, USA, 2011.
  •   M. Motaharifar, H.A. Talebi, A. Afsharand F. Abdollahi, Adaptive Observer-based Controller Design for a Class of Nonlinear Systems with Application to Image Guided Control of Steerable Needles, American Control Conference (ACC), Montreal, Quebec, Canada, 2012.
  •   Sheikhveisi, I. Sharifi, M. Motaharifar and H.A. Talebi, A Control Methodology for Single-Master/Multi-Slave Two-Channel Transparent Teleoperation Systems, International  Conference on Control, Instrumentation, and Automation, Shiraz, Iran, 2012.
  •   M. Motaharifar, H. Farahat, and G. Zafarabadi, Nonlinear system identification of Damavand power plant using real data, International Power System Conference (PSC), Tehran, Iran, 2012 (In persian)
  •   M. Motaharifar,  I. Sharifi, H.A. Talebi, A. Afshar, and M. Dehghan, Path planning of steerable needles using Robust sampling-based Roadmap of Trees(RSRT), International Conference on Robotics and  Mechatronics, Tehran, Iran, 2013.
  •  M. Motaharifar, A. Bataleblu, H.D. Taghirad,  Adaptive control of dual user teleoperation with time delay and dynamic uncertainty.  Iranian Conference on Electrical Engineering, Shiraz, Iran, 2016.
  •  S. Abkhofte, M. Motaharifar, H. D. Taghirad, Adaptive control for force-reflecting dual user teleoperation systems, International Conference on  Robotics and Mechatronics (ICROM), Tehran, Iran, 2016.
  •  A. Bataleblu, M. Motaharifar, E. Abedlu, H. D. Taghirad. Robust H∞ control of a 2RT parallel robot for eye surgery, International Conference on  Robotics and Mechatronics, Tehran, Iran, 2016.
  •  P. Agand, M. Motaharifar,  H.D. Taghirad,   Teleoperation with Uncertain Environment and Communication Channel: an H∞ Robust Approach.  Iranian Conference on Electrical Engineering, Tehran, Iran, 2017.
  • M. Motaharifar, H.D. Taghirad. An Observer-based Force Reflection Robust Control for Dual User Haptic Surgical Training System. International. Conference on Robotics and Mechatronics (ICROM), Tehran, Iran, 2017.
  • Y. Salehi, M. A. Sheikhi, M. Motaharifar, H. D. Taghirad, Robust Control of a Non-minimum Phase System in Presence of Actuator Saturation, International Conference Control, Instrumentation, and Automation, Shiraz, Iran, 2017.
  • A. Iranfar, M. Motaharifar, and H. D. Taghirad, A Dual-User Teleoperated Surgery Training Scheme Based on Virtual Fixture. International Conference on Robotics and Mechatronics (ICROM), Tehran, Iran, 2018.
  • M. Motaharifar, A. Iranfar, and H. D. Taghirad, A Force Reflection Impedance Control Scheme for Dual User Haptic Training Systems, Iranian Conference on Electrical Engineering, Yazd, Iran, 2016.
Teaching

Spring 2020

Fall 2019

  • Electrical Circuits (QUT)
  • Signals & Systems (QUT)

Spring 2019

  • Control Systems Lab (Qom)
  • Digital Systems Lab (Qom)
  • Electrical circuits Lab (Qom)

Spring 2017

  • Electrical Circuits Lab (KNTU)

Fall 2016

  • Fundamentals of Electrical Engineering and Electronics (KNTU)
  • Electrical Circuits Lab (KNTU)

Spring 2016

  • Fundamentals of Electrical Engineering and Electronics (KNTU)
  • Electrical Circuits Lab (KNTU)
  • Logic circuits (IAU – Damavand Branch)

Fall 2015

  • Fundamentals of Electrical Engineering and Electronics
  • Electrical Circuits Lab
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