Ewch i’r prif gynnwys
Seyed Amir Tafrishi

Dr Seyed Amir Tafrishi

Darlithydd mewn Roboteg a Systemau Ymreolaethol

Yr Ysgol Peirianneg

Email
TafrishiSA@caerdydd.ac.uk
Telephone
+44 29208 76176
Campuses
Adeiladau'r Frenhines - Adeilad y Dwyrain, Ystafell Ystafell E/3.16, 5 The Parade, Heol Casnewydd, Caerdydd, CF24 3AA
Users
Ar gael fel goruchwyliwr ôl-raddedig

Trosolwyg

Dr Seyed Amir Tafrishi is a Lecturer in Robotics and Autonomous Systems at the Engineering School of Cardiff University, UK. Also, He is part of the Robotics and Autonomous Intelligent Machines (RAIM) group.

Previously, He was a Specially Appointed Assistant Professor at Smart Robots Design Lab in Robotics Department, Tohoku University Japan. He worked in the  Adaptable AI-enabled Robots to Create Vibrant Societies group as part of Moonshot R & D project initiated by the Japanese Government. The project was aimed at developing assistive and cooperative robots for future welfare facilities. A new shared autonomy concept under safety constraints between human and robot interaction was proposed. Also, there were other achievements in the areas of assistive-compliant actuators and safety quantification.

He received his PhD from Mechanical Engineering Department, Kyushu University, Fukuoka, Japan. He did his M.Sc. studies in Control Systems Engineering at the Department of Automatic Control and Systems EngineeringUniversity of Sheffield, Sheffield, United Kingdom.

Since 2015, he has been a visiting researcher at Autonomous Systems and Robotics Research Group, Sheffield, UK, Mechatronic Lab. at Middle East Technical University, Turkey, Fluid Mechanics Laboratory at the University of Tabriz; and the Control Engineering Lab at Kyushu University.

Note: Please refer to my webpage for more details 

Cyhoeddiad

2024

2023

2022

2021

2020

2019

2018

2017

Cynadleddau

Erthyglau

Ymchwil

Research Summary 

The central theme of our research is bridging the gap between motion control theory and advanced actuators for designing state-of-art robots. The research studies focus on exploiting the physics of advanced mechanisms for real-world applications. 


Our research motivation is inspired by studies in mathematical theories on geometric mechanics, variable impedance, estimation, control theory and shared autonomy etc. In parallel, we develop new mechanisms and control theories for applications for human assistance and advanced mobile robots. 


We are currently exploring the development of reconfigurable rolling robots, agile grasping mechanisms and underactuated compliant actuators. Applications of these studies are not limited to human assistance, hybrid mobile robots, and industrial applications. 

Research Interests

Robotics, mechanism design, underactuated systems, dexterous manipulation, motion planning, geometric mechanics, assistive robots, nonlinear control

Previous Researches

A new "CARE" framework on welfare with cooperative robots under safety and shared autonomy

How to quantify the safety of human motion using a single IMU

An assistive geometric controller without any desired configuration for operating with mobile robots

Can attaching ferromagnetic materials improve the motion estimation of IMU sensors?

Path planning of spin-rolling sphere on different manifolds

Geometric filter for object detection and tracking

Singular-free inverse dynamics for underactuated robots

A novel underactuated rolling robot with fluid propulsion

Addysgu

  • EN4062 / ENT794, Advanced Robotics, semester gwanwyn, 2023 - presennol
  • EN3062, Roboteg a Phrosesu Delweddau, semester yr Hydref, 2023 - presennol

Bywgraffiad

Addysg

  • 2021, PhD mewn Peirianneg Fecanyddol, Roboteg a Rheolaeth Fawr, Prifysgol Kyushu, Fukuoka, Japan
  • 2018, Myfyriwr Ymchwil, Peirianneg Fecanyddol, Prifysgol Kyushu, Fukuoka, Japan
  • 2014, M.Sc. yn Peirianneg Systemau Rheoli, Prifysgol Sheffield, Sheffield, Y Deyrnas Unedig
  • 2013, B.Sc. mewn Peirianneg Drydanol, Islamaidd Prifysgol Azad Tabriz, Tabriz, Iran

Aelodaethau proffesiynol

Aelodaeth

  • Sefydliad y Peirianwyr Trydanol ac Electroneg (IEEE), Aelod, 2017-presennol,
  • Gweithwyr Proffesiynol Ifanc IEEE, Aelod, 2018-presennol,
  • Cymdeithas Roboteg ac Awtomeiddio IEEE, Aelod, 2018-presennol,

Gwasanaethau

  • Cyd-drefnydd Sesiwn,"Roboteg ac AI ar gyfer Awtomeiddio Cartref, Gofal Iechyd, ac Amgylchynol 2023
  • Symposiwm Rhyngwladol IEEE / SICE ar Integreiddiadau Systemau (SII), 2023, Atlanta, UDA
  • Cyd-gadeirydd sesiwn,"Nonlinear Systems I", Cynhadledd Rheoli America 2022 (ACC), Rhithwir, 2022, Atlanta,  UDA
  • Safonwr Sesiwn (MC), "Sesiwn Poster Rhithwir", Cynhadledd Llywyddion Prifysgol 8th Almaeneg-Japaneaidd HeKKSaGOn, 2021, Prifysgol Tohoku, Sendai, Japan

Safleoedd academaidd blaenorol

  • 2022 - Darlithydd Presennol, Ysgol Peirianneg, Prifysgol Caerdydd, Caerdydd, DU
  • 2021 - 2022 Athro Cynorthwyol a Benodir yn arbennig, Smart Robots Design Lab, Prifysgol Tohoku, Sendai, Japan
  • Cynorthwy-ydd Ymchwil 2018 - 2021, Lab Peirianneg Rheoli, Prifysgol Kyushu, Fukuoka, Japan
  • 2016- 2017 Cynorthwy-ydd Ymchwil, Adran Peirianneg Fecanyddol, Prifysgol Tabriz, Tabriz, Iran
  • 2015 - 2016 Ymweld Ymchwilydd, Adran Peirianneg Fecanyddol, Prifysgol Dechnegol y Dwyrain Canol, Ankara, Twrci
  • 2014 - 2015 Grŵp Ymchwil Ymchwilio, Systemau Ymreolaethol a Roboteg, Prifysgol Sheffield, Sheffield, Y Deyrnas Unedig

Pwyllgorau ac adolygu

Peer-Reviewed Journals

  • IEEE Robotics and Automation Letters (RA-L)
  • IEEE/ASME Transactions on Mechatronics
  • Multibody System Dynamics, Springer
  • International Journal of Control, Automation, and Systems
  • Part C: Journal of Mechanical Engineering Science, Sage

Peer-Reviewed Conferences

  • International Conference on Robotics and Automation (ICRA), 2017-2023
  • The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021-2023
  • IEEE/SICE International Symposium on System Integration (SII) 2016-2023
  • IFAC World Congress 2023.
  • IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), 2019
  • IEEE RSI International Conference on Robotics and Mechatronics (ICRoM) 2017.

Meysydd goruchwyliaeth

Er bod gen i ddiddordeb mewn pynciau amrywiol mewn roboteg a pheirianneg reoli, fy mhrosiectau ymchwil prif ffrwd presennol yw:

  • Dylunio, cynllunio cynnig a rheoli actuators cydymffurfio datblygedig ar gyfer robotiaid, 
  • Strategaethau ar gyfer rhyngweithio dynol-robot am gymorth,
  • Mecanweithiau locomotion uwch ar gyfer robotiaid symudol,
  • Cynllunio a rheoli ar gyfer tasgau deinamig, nonprehensile, a thrin hybrid,
  • Dylunio a rheoli mecanweithiau gafael ystwyth, 
  • Cynllunio cynnig a dylunio robotiaid rholio reconfigurable,
  • Strategaethau rheoli uwch sy'n seiliedig ar ynni ar gyfer robotiaid tanweithredol,  

Mae yna bynciau ymchwil rhyngddisgyblaethol a sylfaenol sydd hefyd yn ddiddordeb gennyf mewn gweithio arnynt, e.e. diogelwch mewn HRI, ymreolaeth a rennir, cynllunio cynnig gan fecaneg geometrig, systemau nonholonomig ac ati...

Goruchwyliaeth gyfredol

Qingmeng Wen

Qingmeng Wen

Arddangoswr Graddedig

Zekun Ning

Zekun Ning

Myfyriwr ymchwil

Themâu ymchwil

Arbenigeddau

  • Peirianneg rheoli, mecatroneg a roboteg
  • Dylunio caledwedd a phensaernïaeth Mecatroneg
  • Peirianneg rheoli
  • Roboteg deallus
  • Robotiaid a thechnoleg gynorthwyol