PhD Candidate
Ali Nasr• Graduate Research Assistant at the Motion Research Group (MoRG)
• Graduate Teaching Assistant at the Systems Design Engineering Department
• Ph.D. Candidate in Systems Design Engineering at the University of Waterloo

a.nasr@uwaterloo.ca                  ☎ (519) 888-4567 x33598                 ☖ E3-3168

Biography

Ali Nasr is a Ph.D. Candidate in BioMechaTronics Design Engineering at the University of Waterloo, a Graduate Research Assistant with Prof. John McPhee (Tier I Canada Research Chair in Biomechatronic System Dynamics), and a Graduate Teaching Assistant at the Department of Systems Design Engineering.

Ali specializes in robotic engineering, with an emphasis on modelling, control, optimization, and automation of robotic and mechatronic systems. His doctoral research focuses on 1) modeling and simulation of upper-limb biomechatronic (human-exoskeleton) systems with active and passive actuation, 2) modeling muscle biomechanics using artificial intelligence/machine learning for autonomous exoskeleton control during object manipulation and rehabilitation, 3) model predictive controlling of an active exoskeleton robot using stochastic myoelectric biosignal, and 4) part design, manufacturing, and controlling first prototype of waterloo shoulder exoskeleton robot.

Ali is the most highly skilled engineer in:
• MATLAB/Simulink, MapleSim, and LabVIEW
• Dynamic Modelling, Control Systems Designing, Robot Programming, and Motion Planning
• C++, Python, Algorithm Design, Machine Learning, and Ladder logic
• PLC Programming (Siemens, Delta, and Vigor), Simatic Manager, AVR/Arduino, and Industrial Automation
• Catia (Sketcher, Part Design, Assembly, and Drafting), SolidWorks, and Computer Numerical Control (CNC)

Education

Ph.D. Candidate in BioMechaTronics Design Engineering, 2018 - Present
University of Waterloo, Waterloo (Canada)
Thesis: Dynamics and Model-Based Control of Upper-limb Robotic Exoskeletons
M.Sc. in Mechatronics Engineering, 2013 - 2016 ( verified by World Education Services of Canada)
K.N. Toosi University of Technology (KNTU), Tehran (Iran)
Thesis: Multiple Impedance Control of Hybrid Parallel-Serial Manipulator for Object Manipulation Task
B.Sc. in Mechanical Engineering, 2009 - 2013 ( verified by World Education Services of Canada)
Isfahan University of Technology (IUT), Isfahan (Iran)
Project: Joint Space Energy Optimization of Tethered Space Robot to Achieve End-Effector Optimal Path

Publication

Ali Nasr, Jiayuan He, Ning Jiang, and John McPhee. "Activation Torque Estimation of Muscles by Forward Neural Networks (Forward-MuscleNET) for sEMG-Based Control of Assistive Robots" In 7th International Conference of Control, Dynamic Systems, and Robotics (CDSR’20), 2020.
Ali Nasr, and John McPhee. "Control-Oriented Muscle Torque (COMT) Model for EMG-Based Control of Assistive Robots" In 7th International Conference of Control, Dynamic Systems, and Robotics (CDSR’20), 2020.
Ali Nasr, Arash Arami, John McPhee. "Optimal Cost Function for Predicting Upper-limb Movement with External Load" In 16th annual Ontario Biomechanics Conference (OBC2019), 2015.
• Masoud Ghanbari, Mohammad Reza Mousavi, S. Ali A. Moosavian, Ali Nasr, and Payam Zarafshan. "Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-driven Parallel Robot" In 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM), pp. 33-38. IEEE, 2017.
• Mohammadreza Mousavi, Masoud Ghanbari, Ali Nasr, S. Ali A. Moosavian, and Payam Zarafshan. "Sensory Feedback Performance Improvement on Robocab: An Experimental Approach to Wire-driven Parallel Manipulator" In 2016 4th International Conference on Robotics and Mechatronics (ICROM), pp. 477-482. IEEE, 2016.
• Maryam Sadat Nabipour, Nima Arteghzadeh, S. Ali A. Moosavian, and Ali Nasr. "Visual Servoing in a Cable Robot using Microsoft Kinect V2 Sensor" In 2016 4th International Conference on Robotics and Mechatronics (ICROM), pp. 560-565. IEEE, 2016.
Ali Nasr, and S. Ali A. Moosavian. "Multi-objective Optimization Design of Spatial Cable-driven Parallel Robot Equipped with a Serial ManipulatorModares Mechanical Engineering 16, no. 1 pp. 29-40, 2016.
Ali Nasr, and S. Ali A. Moosavian. "Multi-criteria Design of 6-DoF Fully-constrained Cable Driven Redundant Parallel Manipulator" In 2015 3rd RSI International Conference on Robotics and Mechatronics (ICROM), pp. 001-006. IEEE, 2015.
• Mohammad Reza Sajadi, Ali Nasr, S. Ali A. Moosavian, and Hassan Zohoor. "Mechanical Design, Fabrication, Kinematics and Dynamics Modeling, Multiple Impedance Control of a Wrist Rehabilitation Robot" In 2015 3rd RSI International Conference on Robotics and Mechatronics (ICROM), pp. 290-295. IEEE, 2015.
• Yasaman Parandian, Hannaneh Z. Arabshahi, Ali Nasr, and S. Ali A. Moosavian. "Time Optimized Digital Image Processing of Ball and Plate System Using Artificial Neural Network" In 2015 3rd RSI International Conference on Robotics and Mechatronics (ICROM), pp. 146-151. IEEE, 2015.
Ali Nasr, Farhad Asadi, Kian Azami, and Saeed Ziaei-Rad. "An Optimization of Trunk Angle in Biped Robots in Generating a Stable Path in Up-stair Walking.", In 23rd International Mechanical Engineering Conference (ISME 2015), 2015.

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Affiliation: 
University of Waterloo