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:: Dr.Shahri ::

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1- Faculty profile

Family Name: Mohammad Shahri

First Name: Alireza

• Title: Assistant Professor

Contact imformation:

Tel: +98 21 7789 6628 Fax: :+98 21 7789 3174 URL:

Email : shahri(At)iust.ac.ir

2- Higher Education

• Mar. 1995 – Aug. 1998: PhD in Electrical Engineering, Department of Electrical and Computer Engineering, University of Wollongong, Australia.

• Thesis title: “Intelligent Impact Control in Anti-Personnel Mine Detection”.

• Jul. 1992 - Jul. 1994: Master of Engineering (Honors), Department of Electrical and Computer Engineering, University of Wollongong, Australia.

• Thesis title: “Concurrent Object-Oriented Approach to Control of PAM”.

• Feb. 1979 - Sep. 1985: Bachelor of Science in Electrical Engineering, Department of Electrical Engineering, University of Khajeh Nasir Toosi, Tehran, Iran.

3- Expertise

Supervising Master and Undergraduate student Research Projects,

Developing of a Full Automatic Calibration Laboratory for Flow Measurement,

Conducting a Research Program on an AP Mine Detector Robot, including several research projects,

Conducting a Research Program on a XY-table Precision Motion Control,

Developing of an Interactive Multimedia Tutorial for Control Theory,

Developing a Hot Wheel Detection (HWD) and Hot Box Detection (HBD) Systems for railways safety, (Supported by an industrial grant).

Developing a Virtual Instrument based Control Laboratory (VICL tm ).

Conducting a Research Project to Locate, Identify and Rescue Disaster Victims Using Bluetooth Technology,

Establishing a Green-House Laboratory to Model and Develop Intelligence Green-House Control Algorithms (Supported by an industrial grant).

2001-2006: Islamic Azad University of Qazvin.

Positions: Research Deputy, Head of Mechatronics Research Laboratory (MRL)

Duties: Teaching and Research,

Control System Theory,

Mechatronics I, Mechatronics II, Advanced Instrumentation and Autonomous Mobile Robot.

Supervising Master and Undergraduate student Research Projects,

Conducting Several Research Projects on Process Control, Autonomous Mobile Robots, Outdoor Mobile Robot, Packaging Machine, PingPong Robot and CNC (Pipe-Cutting) Machines Funded by Industry Sections.

Supervising MRL ROBOCUP teams in ROBOCUP2003 which holds 3rd position of presentation soccer simulation league,

Supervising MRL ROBOCUP teams in ROBOCUP2004 which holds 1st position of Coach Soccer Simulation league,

Supervising MRL ROBOCUP teams in Newsland ROBOCUP2004 (open) which holds 2nd position of Rescue Simulation league,

Supervising MRL ROBOCUP teams in German Open -2005 which holds 1st position of Real Rescue Robot league.

Supervising MRL ROBOCUP teams in Osaka ROBOCUP2005 which holds 7th position of Real Rescue Robot league,

Chair of the first Iranian Conference on Mechatronics Engineering ICME2003, 28-29 May, 2003.

Establishing the First MSc Mechatronics Engineering Program in Iran (2003).

Coordinator of MSc Mechatronics Engineering Program.

Chair of Rescue Robot League Technical Committee, IranOpen2006.

Member of Rescue Robot League Technical Committee, International Robocup2006.

The following courses were taken during my work in SERC;

- Ballistic Missile Control Methods (Amir Kabir University of Technology),

- Microprocessor II and Interface Circuit (Tehran University),

- Digital Control (Amir Kabir University of Technology),

- VHDL, Hardware Description Language (Tarbiat Modarres University),

The following courses were taken to help my research for ME degree;

- C++ and Parallel C++ Programming Language (University of Wollongong),

- Object-Oriented Modeling and Design (University of Wollongong),

- Parallel Computing (University of Wollongong),

The following courses were taken to help my research for PhD degree;

- Neural Network (University of Wollongong),

- Advanced Robotics and Sensory Systems (University of Wollongong),

- Computer Controlled Systems (University of Wollongong).

Computer Skills

Operating System: WindowsXP, and Linux.

Programming Language: C++, Parallel C++, VISUAL BASIC, PicBasicPro and Labview.

MATLAB Toolbox: Control, Signal Processing, Fuzzy Logic, Neural Networks (ASMOD, LOLIMOT), and SIMULINK.

4- Taught Couses

Control System Theory,

Instrumentation and Measurement Systems,

Advanced Instrumentation,

Mechatronics I,

Mechatronics II,

Autonomous Mobile Robot,

Industrial Computer Networks (Fieldbuses),

5- Research and Industrial Projects:

6- Journal Papers :

1 M. Shahri, F. Naghdy, and P. Ciufo, "Concurrent behaviour analysis of an array manipulator", Transputer and OCCAM Engineering Series, Volume 37, pp. 318-327, IOS Press, 1994.

2 A. M. Shahri, F. Naghdy, “Concurrent Object-Oriented Modelling and Control of Parallel Array Manipulator”, Parallel Computing: Technology and Practice, Volume 43, pp. 138-148, IOS Press, 1995.

3 Talaie, Afshad. Shahri, Alireza M. Talaie, Farhad, “Adaptive Spline Modeling of Observation Data (ASMOD): A Solution to the Problems in Conducting Polymer-based Sensors”, Journal of Synthetic Metals, p 63-67, v 79 n 1 Apr. 30 1996.

4 A. M. Shahri, F. Naghdy, “Detection of Anti-Personnel Mines Using Mechatronics Approach,” in Detection and Remediation Technologies for Mines and Minelike Targets III, Abinash C. Dubey, James F. Harvey, J. Thomas Broach, Editors, Proceedings of SPIE, Vol. 3392, pp. 808-818, 1998.

5 A. M. Shahri, F. Naghdy, “Anti_Personnel Mine Detection Manipulator”, in Field and Service Robotics, edited by Alexander Zelinsky, Springer, London, ISBN 1-85233-039-2, pp 500-506, 1998 .

6 A. M. Sharhi, “Neuro-Fuzzy Compliance Control of Peg-in-Hole Insertion”, International Journal of Engineering Science, vol. 13, no. 1, pp. 151-165, 2002.

7 A. M. Shahri, “NeuroFyzzy Impact Control (NFIS) for Anti-Prsonnel (AP) Mines Detection”, Asian Journal of Control, Vol. 4, No. 2, pp. 127-137, 2002.

8 Ali M. Shahri, Farid Babaei, “LOLIMOT NeuroFuzzy Friction Modelling and Control Algorithm for Precision Motion Control,” Submitted to the International Journal of Engineering Science.

9 Ramin Fathzadeh, Vahid Mokhtari and Ali M. Shahri, “ Coaching with Expert System implemented in Robocup Soccer Coach Simulation,” in A. Bredenfeld et al. (Eds.): RoboCup 2005, LNAI 4020, pp. 488 – 495 , Springer Verlag, Berlin, 2006.

10 Roozbeh Keshmiri, Ali M. Shahri, Intelligent ABS Fuzzy Controller for Diverse Road Surfaces,” in International Journal of Mechanical Systems Science and Engineering, Vol. 1, No. 2, pp. 62-68, 2007.

11 H. Mirinejad, S. H. Sadati, S. Hasanzadeh, A.M. Shahri and M. Ghasemian, “Design and Simulation of an Automated System for Greenhouse using LabVIEW” , American-Eurasian J. Agric. & Environ. Sci., 3 (2): 279-284, 2008.

12 Khoshnam Shojaee, A. M. Shahri, "Iterated Kalman Filters for Simultaneous Localization and Mapping for Autonomous Mobile Robots" under review for publication in International Journal of Engineering Science.

13 Khoshnam Shojaee, A. M. Shahri, “ Towards Estimation Error Reduction in Unscented SLAM Algorithm for an Autonomous Mobile Robot ”, under review for publication in the Journal of ROBOTICA .

14 Asghar Mohammadian, Ali M. Shahri, “Presenting a New Method of SLAM for Two Mobile Robots” under review for publication in the journal of Mechatronics The Science of Intelligent Machines A Journal of IFAC.

7- Confrence papers:

1 A. M. Shahri, F. Naghdy, “Concurrent Behaviour Analysis of an Array Manipulator”, Proceedings of the 6th Australian Transputer and Occam User Group Conference (PCAT-93), pp. 318-327, Wollongong Australia, 1993.

2 A. M. Shahri, F. Naghdy, “Concurrent Object-Oriented Modeling and Control of Parallel Array Manipulator”, Proceedings of the 7th Australian Transputer and Occam User Group Conference (PCAT-94), Wollongong Australia, 8-9 November 94, PARALLEL COMPUTING: Technology and Practice, Volume 43, pp. 138-148, IOS Press, 1995.

3 A. M. Shahri, F. Naghdy, “Object-Oriented Modelling of Programmable Array Manipulator”, Proceedings of the Third Iranian Conference on Electrical Engineering (ICEE-95), pp. 121-130, May 15-18, 1995.

4 B. Evans, A. M. Shahri, C. Cook, “Developing a Mechatronics Laboratory at the University of Wollongong”, Proceedings of the Second International Conference on Mechatronics and Machine Vision in Practice (M2VIP’95), City University of Hong Kong, pp.315-319, 12th-14th September 1995.

5 A. M. Shahri, F. Naghdy, “Neuro-Fuzzy Adaptive Torque Control of a SCARA Robot”, Proceedings of the Australian New Zealand Conference on Intelligent Information Systems (ANZIIS 96), IEEE 96TH8234, pp. 241-244, Adelaide, South Australia, 18-20 November 1996.

6 A. M. Shahri, F. Naghdy, “Adaptive Neuro-Fuzzy Compliance Control with the Ability of Learning”, Proceedings of International Conference on Intelligent and Cognitive Systems (ICICS-96), pp. 74-79, Tehran, Iran, September 23-26, 1996.

7 A. M. Shahri, F. Naghdy, “Intelligent Compliance Control in Anti-Personnel Mine Detection”, Proceedings of Fourth Annual Conference on Mechatronics and Machine Vision in Practice (M2vip97), IEEE Computer Society, pp. 84-91, Toowoomba, Australia, September 23-25 1997.

8 A. M. Shahri, F. Naghdy, P. Nguyen, “Neuro-Fuzzy Compliance Control with the Ability of Skill Acquisition from Human Experts”, Proceedings of First International Conference on Conventional and Knowledge-Based Engineering Systems (KES’97), pp. 442-448, Vol 2, IEEE 97TH8250, Adelaide, Australia, May 21-23 1997.

9 A. M. Shahri, F. Naghdy, “Anti_Personnel Mine Detection Manipulator”, Proceedings of the International Conference on Field and Service Robotics (FSR’97), Australian Robot Association INC., Canberra, Australia, pp. 523-530, 8-10 December 1997.

10 A. M. Shahri, F. Naghdy, “Detection of Anti-Personnel Mines Using Mechatronics Approach,” Proceedings of the International Conference of Detection and Remediation Technologies for Mines and Minelike Targets III (SPIE’98), pp. 808-818, USA, 13-17 April 1998.

11 A. M. Shahri, F. Naghdy, “Neuro-Fuzzy Impact Control (NFIC) for Anti-Personnel (AP) Mines Detection”, Proceedings of the Fifth International Conference on Control, Automation, Robotics and Vision (ICARCV98), Singapore, 8-11 December, pp714-718, 1998.

12 A. M. Shahri, F. Naghdy, “Anti-Personnel Mine Detection Algorithm Based on a Multi Probe Robotics Arm”, Proceeding of The International Advanced Robotic Program- The First International Workshop on Robotics for Humanitarian Demining, pp. 77-85, Sep. 14-16, 1998.

13 R. Asgari, A. M. Shahri, M. Farrokhi, “Adaptive Fuzzy Control of a Mine Detector Arm”, Proceedings of 9th Iranian Conference on Electrical Engineering ICEE-2001, pp. 161-168, May 7-9 2001.

14 A. M. Shahri, F. Naghdy, M. Reslan, “Interactive Multimedia Tools for Teaching Automatic Control Systems”, Proceedings of the World Internet & Electronic Cities Conference (WIECC-2001), pp.101-107, Kish Island, Iran, May 1-3 ‏ 2001.

15 A. M. Shahri, R. Asgari, “Adaptive Fuzzy Force Control of an Anti-Personnel (AP) Mine Detector Robot”, Proceedings of IEEE Canadian Conference on Electrical and Computer Engineering Conference, pp. 99-104, May 14-16 2001.

16 A. M. Shahri, “Advanced Control e-Laboratory (ACeL) Based on Virtual Instrumentation,” Proceedings of IEEE Canadian Conference on Electrical and Computer Engineering (CCECE-2003), pp. 1-4, Montreal, Canada, May 4-7, 2003.

17 A. M. Shahri, B. Bader, A. Naghdi, “ Virtual instrument based control e-laboratory (VICL),” 3rd IFAC Symposium on Mechatronic Systems, Sydney, September 6-8, 2004.

18 Ramin Fathzadeh, Vahid Mokhtari and Ali M. Shahri, “ On-line Learning with Rule based Expert System,”, Proceedings of the Second International Conference Language & Technology, pp. 419-422, Poland, 2005.

19 Alireza Fasih, Ali M. Shahri, “Implementation of Three Dimensional Virtual Robots and Environments for Telerobotic Systems,” Proceedings of 6th International Workshop on Research and Education in Mechatronics (REM2005), Annecy, France, June 30th-July 1st, 2005.

20 Ramin Fathzadeh, Vahid Mokhtari and Ali M. Shahri, “ Coaching with Expert System implemented in Robocup Soccer Coach Simulation,” in A. Bredenfeld et al. (Eds.): RoboCup 2005, LNAI 4020, pp. 488 – 495 , Springer Verlag, Berlin, 2006.

21 A. M. Shahri, M. Ramezani, A Supervisory Fuzzy Collision Avoidance in a Dynamic Environment, ” Proceedings of the 14th Iranian Conference on Electrical Engineering (ICEE2006) .

22 Ali M. Shahri, Mehdi Jadaliha, “A Novel Decomposed Modeling Approach for a Nonlinear Complicated System,” Proceedings of the 14th Iranian Conference on Electrical Engineering (ICEE2006).

23 Ali M. Shahri, Khoshnam Shojaie “A Comparison on Kalman Filter Families to improve SLAM Algorithm on a Mobile Robot,” Proceedings of the 15th Iranian Conference on Electrical Engineering (ICEE2007).

24 Ali M. Shahri, M. Ramezani “Design of Intelligent Controller for Mobile Robot Collision Avoidance in an Unknown Dynamic Environment ,” Proceedings of the 15th Iranian Conference on Electrical Engineering (ICEE2007).

25 A. Saderzadeh, M.Mehdi Sanaatiyan, A. Shahri, “Inertial measurement unit error handling for mobile robot: expert algorithms approach,” Proceedings of 8th International Workshop on Research and Education in Mechatronics (REM2007), pp. 75-82, Tallinn, Estonia, June 14 - 15, 2007.

26 A. M. Shahri, A. Mirzabeigi, “Comparison and Implementation of different Control Strategy for a Mobile Robot Guidance,” Proceedings of the 15th International Mechanical Engineering Conference (ICME2007), pp. ? , Tehran, Iran, 15-17 May 2007.

27 Asghar Mohammadian, Ali M. Shahri, “A new approach for Multi-Robot SLAM ,” Proceedings of 7th Iranian Conference on Fuzzy Systems and 8th Conference on Intelligent Systems (ISFS2007), pp. , Mashad, Iran, August 29 - 31, 2007.

28 Kaveh Ahmadi, Ali M. Shahri, “Comparison of Different Sensory Data Fusion Strategy in Map Building By Mobile Robots Equipped with Ring of Sonar,” Proceedings of 7th Iranian Conference on Fuzzy Systems and 8th Conference on Intelligent Systems (ISFS2007), Mashad, Iran, August 29 - 31, 2007.

29 Roozbeh Keshmiri, Ali M. Shahri, “Intelligent ABS Fuzzy Controller for Diverse Road Surfaces,” Proceedings of Proceedings of World Academy of Science, Engineering and Technology, Volume 23, August 2007 , ISSN 1307-6884, pp. 292-297, Germany, August 24 - 26, 2007.

30 K. Shojaie, K. Ahmadi, A. Shahri, “ Effects of Iteration in Kalman Filters Family for Improvement of Estimation Accuracy in Simultaneous Localization and Mapping ,” Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2007), Zurich, Switzerland, September 4-7, 2007.

31 M. Khodabandeh, M. Analoui and A. M. Shahri, Target Differentiation Using Sonar Data for Robot Applications; Neural Network Approach ,” Proceedings of 2007 International Conference on Control, Automation and Systems (ICCAS2007), pp. 1958-1961, Seoul, Korea, October 17 - 20, 2007.

32 A. M. Shahri, A. Mirzabeigi, “Comparison and Implementation of different Control Strategy for a Mobile Robot Guidance,” Proceedings of the 15th International Mechanical Engineering Conference (ICME2007), Tehran, Iran, 15-17 May 2007.

33 Mohammad Reza Zaheri, Peyman Moghadam, Alireza M. Shahri, “Calibrating Compass for Mobile Robot and Its Experimental Results on Arian Robot,” Proceedings of the International Conference on Robotics, Vision, Information and Signal Processing ROVISP2007 , pp. 883-885, Malaysia, 28-30 November 2007.

34 Hasanzadeh Barani, A. M. Shahri, Model Predective Control of Greenhouse Climate Control ,” Proceedings of the 16th International Mechanical Engineering Conference (ICME2008), Tehran, Iran, 14-16 May 2008.

35 Khoshnam Shojaie, Alireza Mohammad Shahri, “Iterated Unscented SLAM Algorithm for Navigation of an Autonomous Mobile Robot,” accepted for IEEE/RSJ 2008 International Conference on Intelligent RObots and Systems (IROS08), 22-26 Sep. 2008.

36 Fahit Gharibnezhad, Ali M. Shahri, “ Elliptec Piezo electric motor: Modeling and Control using Fuzzy approaches,” Proceeding of the 5th International Symposium on Mechatronics and its Applications (ISMA08), Amman, Jordan, May 27-29, 2008.

37 Asghar Mohammadian, Ali M. Shahri “ Presenting a New Method of SLAM for two Mobile Robots ,” Proceeding of the 5th International Symposium on Mechatronics and its Applications (ISMA08), Amman, Jordan, May 27-29, 2008. 

38 R. Sabzevari, A. M. Shahri, A. R. Fasih, “Object Detection and Localization System Based on Neural Networks for Robo-Pong,” Proceeding of the 5th International Symposium on Mechatronics and its Applications (ISMA08), Amman, Jordan, May 27-29, 2008.

39 Mahdi Jadaliha, Ali M. Shahri, “Congnitive Pedestrian Navigation with Inertial Measurements,” submitted to IEEE International Conference on Robotics and Biomimetics (ROBIO-2008), Bangkok, Thailand, December 14 -17, 2008.

40 Iraj Valinejad, Ali M. Shahri. Mahdi Arabiha, “ Design and Implementation of a Fertilizer for Irrigating System of a Hydroponics Greenhouse,” Proceeding of the 5th National Conference on Agriculture Machinery Design, Mashad, Iran, 25-27 August 2008.

41 Asghar Mohammadian, Ali M. Shahri “ The Effect of Number of Landmarks in Memory Management Methods on Simulation of Mobile Robot's Simultaneous Localization And Map biulding ,” Proceedings of t he second Joint Congress on Intelligent and Fuzzy Systems (ISFS2008) , Tehran, Iran, August 29 - 31, 2008.

42 Fahit Gharibnezhad, Ali M. Shahri, “ Elliptec piezoelectric electric modeling using GMDH and FUZZY-GMDH and comparison ,” Proceedings of t he second Joint Congress on Intelligent and Fuzzy Systems (ISFS2008) , Tehran, Iran, August 29 - 31, 2008.

43 Khoshnam Shojaei, Ahmadreza Tarakameh, Alireza M. Shahri, “ Adaptive Trajectory Tracking of WMRs based on Feedback Linearization Technique ,” Proceedings of the 2009 IEEE International Conference on Mechatronics and Automation (ICMA2009) , pp. 729-734, Changchun, China, August 9 - 12, 2009.

40 Hamid Nickhah, Ali M. Shahri, “A Fuzzy Temperature and Humidity Controller for an Intelligent Greenhouse to Minimize Fuel Consumption ,” submitted to 5th National Conference on Agriculture Machinery Design, Mashad, Iran, 25-27 August 2008. 

8- Books:

9- Professional Activities

• Member of IEEE, Control Systems and Robotics and Automation Societies.

• Member of Iranian Society of Instrumentation & Control Engineers.

• Member of Iranian Society of Mechatronics Engineers.

• Member of Iranian Robocup National Committee.

10- Technical Report :

1985-1991: Electronics and Control Department, Sharif Engineering Research Center (SERC), Ministry of Jahad Sazandegi, Tehran, Iran.

Positions: Research Assistant (1985 - 1987),

Senior Researcher (1987 - 1989),

Head of Electronics Department (1989 - 1991).

Duties: I have conducted several instrumentation projects to assist research projects in control process of rocket fuel production plant such as;

- Digital R.P.M. meter,

- Chemical liquid level controller using optic sensors,

- Digital temperature controller for rocket fuel furnace,

- Minimum System based Z-80 applied in a position control system.

I also conducted a test-stand laboratory development for dynamic analysis of the rocket thrust and its chamber pressure, including several instrumentation projects such as;

- Microprocessor based (Z-80) data acquisition system,

- Precision instrumentation amplifier for load-cell and pressure sensors,

- Low noise laboratory based on military standards.

I was a member of a research group to study the effects of the high acceleration of a rocket on electronic circuits. The following projects are parts of my activities in the group;

- FSK MODEM with the Re-constructive Clock Circuit,

- High precision 3 Phase, 400 Hz sinusoidal wave generator for a gyroscope,

- Initial acceleration and velocity measurement of a rocket.

During my responsibility as the head of the electronics group I have conducted;

- A research project on different algorithms for digital filters and controllers implementation based on the Intel processors family. As the result a software package is developed and an internal report is published on “Digital Filters Implementation”.

- A co-operative project with Sonar group to design a video interface for an Echo Sounder system to be used as a fish finder.

1992-1998: Electrical and Computer Engineering Department, University of Wollongong.

Positions: Part-time Teaching Fellow (1992 - 1994),

Part-time Associate Lecturer (1994 - 1998)

Duties: Basic electricity, Electronics, Electrical machine, Digital, Control and Assembly Language laboratory demonstrator,

Basic Electricity, Electronics and Control Tutor,

Control laboratory development based on a dc servo motor package,

Robotics laboratory development based on visual basic interface with a 6 DOF robot,

1998-2006: Electrical Engineering Department, Iran University of Science and Technology.

11- Postgraduate Projects:

12- Honors, Recognition and Outstanding Achievements for Teaching and Research: • • Kharazmi award for designing and implementing of the team-work “PAYK” project to communicate with a launched rocket and record data from test points to test navigation instruments, electronics components, and boards (1989).

• ME (Hons) Scholarship (OPRA) granted by Australian government, (1992).

• PhD Scholarship (OPRA) granted by Australian government (1995).

13- Research Labs:

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