Senior Intelligent Control, Machine Learning, Embedded Software, and Model-based Simulation Developer
Email: a.nasr@uwaterloo.ca
Phone: (+1) 519-888-4567 ext 33598
Education
• PhD in Systems Design Engineering, University of Waterloo (Canada), 2022
• MSc in Mechatronics Engineering, K.N. Toosi University of Technology (Iran), 2016
• BSc in Mechanical Engineering, Isfahan University of Technology (Iran), 2013
Software Skills
• Programming (Software/Language/Device): MATLAB/Simulink, LabVIEW, C/C++, Python, PLC Ladder logic (Siemens, Delta, and Vigor), AVR/Arduino
• Modeling/Engineering Applications: MATLAB (Simulink, Simscape Multibody, Deep Learning, Neural Networks, Genetic Algorithm, and Particle Swarm), Maple/MapleSim, MSC. Adams, Catia (Sketcher, Part Design, Assembly, and Drafting), SolidWorks
Postdoctoral Research Associate
• Designing and implementing platform software to support advanced application features
• Developing and C++ coding low-level device drivers by implementing CAN-bus and serial connections
• Conducting robust feature validation using unit, model-in-the-loop (MIL), software-in-the-loop (SIL), hardware-in-the-loop (HIL) testing
Graduate Research Assistant
• Developed and verified a high-fidelity adaptive model in MATLAB and MapleSim
• Developed multibody systems dynamic model, parameter identification of passive mechanism, optimized the actuator output, and conducted a comparative study of brushless motors for semi-active systems
• Conducted a comparative study and developed robust and predictive estimation of robot states (control-oriented motion intention) out of the noisy, stochastic, time-varying, and interrupted signals by machine learning modeling of ANN (artificial neural network), RNN (recurrent neural network), novel CNN (convolutional neural network), and novel RCNN (recurrent convolutional neural network)
• Developed a novel model-based and a novel fuzzy-logic control strategies for the wearable robots and simulated in Simulink as Model-in-the-Loop (MIL) with computational study of human-robot adaptation using nonlinear model predictive control (NMPC)
• Worked in a cross-functional team to investigate innovative advanced control strategies to efficiently design predictive multibody dynamic simulations; collaborating with the Technical University of Catalonia in Spain
• Implemented hardware-in-loop (HIL) real-time torque and motion control of an active wearable robot with CAN connection to the servo motor, and sensors of motor angle, IMU, and sEMG
Graduate Teaching Assistant
• Biomedical Measurement and Signal Processing (SYDE 544), Mr. Steven Pretty, Winter 2023
• Linear Systems and Signals (SYDE 252), Dr. Charbel Azzi, Fall 2022
• Linear Systems and Signals (SYDE 252), Prof. Gordon Savage, Spring 2022
• Introduction to Control Systems (SYDE 352), Prof. Gordon Savage, Winter 2022
• Digital Computation (SYDE 121), Mr. Jason Foster, Fall 2021
• Systems Models 1 (SYDE 351), Prof. Gordon Savage, Spring 2021
• Systems Models 1 (SYDE 351), Prof. Gordon Savage, Winter 2021
• Communications in Systems Design Engineering (SYDE 101), Dr. Igor Ivkovic, Fall 2020
• Systems Models 1 (SYDE 351), Prof. Stephen Birkett, Spring 2020
• Systems Models 1 (SYDE 351), Prof. Gordon Savage, Winter 2020
• Linear Systems and Signals (SYDE 252), Prof. Ning Jiang, Fall 2019
• Systems Models 1 (SYDE 351), Prof. Gordon Savage, Spring 2019
• Systems Models 1 (SYDE 351), Prof. Gordon Savage, Winter 2019
Honors and Awards
• 1st Place Award at 2022 SYDE Graduate Student Symposium, Issued by Department of Systems Design Engineering, Sep 2022
• 3rd Place Award at Waterloo.AI GRADflix competition, Issued by Waterloo Artificial Intelligence Institute, Sep 2021
• Best Paper Award in the Area of Multibody Dynamics, Issued by American Society of Mechanical Engineers (ASME), Aug 2021
• Best Paper Award in Control, Dynamic Systems, and Robotics fields, Issued by 7th International Conference of Control, Dynamic Systems, and Robotics, Nov 2020
• $121K Graduate Research Studentship (GRS) from the Natural Sciences and Engineering Research Council of Canada (NSERC) and the Canada Research Chairs (CRC) program for four years, Sep 2018
• $60K International Doctoral Student Award (IDSA), Issued by the University of Waterloo, Sep 2018
• 1st Ranked in the Mechatronics Groups at the Department of Electrical Engineering, Issued by Education Office, K.N. Toosi University of Technology, Jan 2016
• 2nd Place and One Gold Coin Award at the Creativity Exhibition of the ICROM2015, Issued by The 3rd International Conference on Robotics and Mechatronics, Nov 2015
• Full Scholarship or Tuition Waiver for Graduate Education, Issued by K.N. Toosi University of Technology, Sep 2013
• 1st Place and One Gold Coin Award at the Gravity Challenge, Issued by University of Payam Noor, Apr 2010
• Full Scholarship or Tuition Waiver for Undergraduate Education, Issued by Isfahan University of Technology, Sep 2009
Publication
[28] Nasr A, Bell S, Whittaker R L, Dickerson C R, and McPhee J. (2023) Robust machine learning mapping of sEMG signals to future actuator commands in biomechatronic devices, under journal review.
[27] McPhee J, and Nasr A. (2024). Multibody system dynamics: A fundamental tool for biomechatronic system design. In Proceedings of the European Community on Computational Methods in Applied Science (ECCOMAS), Lisbon, Portugal.
[26] Nasr A, Inkol K A, and McPhee J. (2023). Comparison of assist-as-needed computed-torque and model predictive control of robotic upper-limb exoskeletons: An experimental and computational study of human-robot interaction. Under journal review.
[25] Nasr A, and McPhee J. (2023). Computational evaluation of exoskeleton controllers with a scalable biomechatronics model. In Proceedings of the 18th International Symposium on Computer Methods in Biomechanics and Biomedical Engineering, Paris, France.
[24] Nasr A, Hunter J, and McPhee J. (2023). Evaluation of a Machine Learning-driven Active-passive Upper Limb Exoskeleton Robot: Experimental Human-in-the-loop Study. Under journal review.
[23] Nasr A, Hashemi A, and McPhee J. (2023). Scalable Musculoskeletal Model for Dynamic Simulations of Upper Body Movement. Computer Methods in Biomechanics and Biomedical Engineering. DOI: 10.1080/10255842.2023.2184747
[22] Febrer-Nafria M, Nasr A, Ezati M, Brown P, Font-Llagunes J M, McPhee J. (2022). Predictive multibody dynamic simulation of human neuromusculoskeletal systems: A Review. Multibody System Dynamics. DOI: 10.1007/s11044-022-09852-x
[21] Nasr A, Bell S, and McPhee J. (2022). Optimal design of active-passive shoulder exoskeletons: A computational modeling of human-robot interaction. Multibody System Dynamics. DOI: 10.1007/s11044-022-09855-8
[20] Nasr A, and McPhee J. (2022). Multibody constrained dynamic modelling of human-exoskeleton: Toward optimal design and control of active-passive wearable robots. In Proceedings of the 6th Joint International Conference on Multibody System Dynamics and The 10th Asian Conference on Multibody Dynamics, New Dehli, India.
[19] Nasr A and McPhee J. (2022). Biarticular MuscleNET: A machine learning model of biarticular muscles. In Proceedings of the North American Congress of Biomechanics (NACOB), Ottawa, Canada.
[18] Nasr A, Hashemi A, and McPhee J. (2022). Model-based mid-level regulation for assist-as-needed hierarchical control of wearable robots: A preliminary study of human-robot adaptation. Robotics 11 (1) 20. DOI: 10.3390/robotics11010020
[17] Nasr A, Ferguson S, and McPhee J. (2022). Model-based design and optimization of passive shoulder exoskeletons. ASME. Journal of Computational and Nonlinear Dynamics. DOI: 10.1115/1.4053405
[16] Nasr A, Inkol K A, Bell S, and McPhee J. (2021). InverseMuscleNET: Alternative machine learning solution to static optimization and inverse muscle model. Frontiers in Computational Neuroscience. DOI: 10.3389/fncom.2021.759489
[15] Nasr A, Bell S, He J, Whittaker R L, Jiang N, Dickerson C R, and McPhee J. (2021). MuscleNET: Mapping electromyography to kinematic and dynamic biomechanical variables. Journal of Neural Engineering. vol. 18, no. 4, p.0460d3. DOI: 10.1101/2021.07.07.451532.
[14] Nasr A, Ferguson S, and McPhee J. (2021). Model-based design and optimization of passive shoulder exoskeletons. In Proceedings of the ASME 2021 Virtual International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC-CIE), vol. 85468, p. V009T09A029. DOI: 10.1115/DETC2021-69437
[13] Nasr A, Laschowski B, and McPhee J. (2021). Myoelectric control of robotic leg prostheses and exoskeletons: A review. In Proceedings of the ASME 2021 Virtual International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC-CIE), vol. 85444, p. V08AT08A043. DOI: 10.1115/DETC2021-69203
[12] Nasr A, He J, Jiang N, and McPhee J. (2021). Muscle modelling using machine learning and optimal filtering of sEMG signals. In Proceedings of the 45th American Society of Biomechanics (ASB) Annual Conference, pp. 85.
[11] Nasr A, He J, Jiang N, and McPhee J. (2020). Activation torque estimation of muscles by forward neural networks (Forward-MuscleNET) for sEMG-based control of assistive robots. In Proceedings of the 7th International Conference of Control, Dynamic Systems, and Robotics (CDSR’20). DOI: 10.11159/cdsr20.146.
[10] Nasr A, and McPhee J. (2020). Control-oriented muscle torque (COMT) model for EMG-based control of assistive robots. In Proceedings of the 7th International Conference of Control, Dynamic Systems, and Robotics (CDSR’20). DOI: 10.11159/cdsr20.144.
[9] Nasr A, Arami A, and McPhee J. (2019). Optimal cost function for predicting upper-limb movement with external load. In Proceedings of the 16th annual Ontario Biomechanics Conference (OBC2019).
[8] Ghanbari M, Mousavi M, Moosavian SAA, Nasr A, and Zarafshan P. (2017). Experimental analysis of an optimal redundancy resolution scheme in a cable-driven parallel robot. In Proceedings of the IEEE 5th RSI International Conference on Robotics and Mechatronics (ICRoM2017), pp. 33-38. DOI: 10.1109/ICRoM.2017.8466229.
[7] Mousavi M, Ghanbari M, Nasr A, Moosavian SAA, and Zarafshan P. (2016). Sensory feedback performance improvement on Robocab: An experimental approach to wire-driven parallel manipulator. In Proceedings of the IEEE 4th International Conference on Robotics and Mechatronics (ICRoM2016), pp. 477-482. DOI: 10.1109/ICRoM.2016.7886787.
[6] Nabipour M, Arteghzadeh N, Moosavian SAA, and Nasr A. (2016). Visual servoing in a cable robot using microsoft kinect V2 sensor. In Proceedings of the IEEE 4th International Conference on Robotics and Mechatronics (ICRoM2016), pp. 560-565. DOI: 10.1109/ICRoM.2016.7886803.
[5] Nasr A, and Moosavian SAA. (2016). Multi-objective optimization design of spatial cable-driven parallel robot equipped with a serial manipulator. Modares Mechanical Engineering 16, no. 1, pp. 29-40.
[4] Nasr A, and Moosavian SAA. (2015). Multi-criteria design of 6-DoF fully-constrained cable driven redundant parallel manipulator. In Proceedings of the IEEE 3rd RSI International Conference on Robotics and Mechatronics (ICRoM2015), pp. 001-006. DOI: 10.1109/ICRoM.2015.7367591.
[3] Sajadi MR, Nasr A, Moosavian SAA, and Zohoor H. (2015). Mechanical design, fabrication, kinematics and dynamics modeling, multiple impedance control of a wrist rehabilitation robot. In Proceedings of the IEEE 3rd RSI International Conference on Robotics and Mechatronics (ICRoM2015), pp. 290-295. DOI: 10.1109/ICRoM.2015.7367799.
[2] Parandian Y, Arabshahi HZ, Nasr A, and Moosavian SAA. (2015). Time optimized digital image processing of ball and plate system using artificial neural network. In Proceedings of the IEEE 3rd RSI International Conference on Robotics and Mechatronics (ICRoM2015), pp. 146-151. DOI: 10.1109/ICRoM.2015.7367775.
[1] Nasr A, Asadi F, Azami K, and Ziaei-Rad S. (2015). An optimization of trunk angle in biped robots in generating a stable path in up-stair walking. In Proceedings of the 23rd International Mechanical Engineering Conference (ISME2015).
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