Ali Azimi - Amirkabir University of Technology

Supervised MSc Theses

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Thesis title

By

Date

1

Dynamic Simulation of Wheeled Mobile Robots: A Comparative study of Multistep Methods

ALIREZA EBRAHIMI

2024 Aug

2

Intelligent Minimization of Energy Consumption in Online Operation by a Group of Load-Carrying Multirotors

HEIDAR SAFARI & MANSOUR KABGANIAN

2024 Jul

3

Cartesian Stiffness Matrix Analysis and Identification in Parallel Robots Based on Limited Measurements

AREFEH HAMIDIPOUR

2024 Jun

4

RHex trajectory following based on machine learning techniques

KIMIA KHOSRAVI SOOFI

2024 Feb

5

Musculoskeletal modelling of a person with lumbar deformity using gait analysis and OpenSim software

NOOSHIN JAVADI ASL

2023 Sep

6

Machine Learning-based and data-driven modeling for contact simulation in mobile robots

AMIR BAYAT

2023 Sep

7

control and moving target tracking optimization for a fish robot

MAHDI GORJI & ALI KAMALIE IGLIE

2023 Mar

8

Wheel-soil interaction under variable gravity condition and its effect on velocity field of soil particles

SEPEHR GHAZIMORADI

2023 Mar

9

Musculoskeletal modeling of patients spine with sagittal misalignment and predicting the effect of surgery on spinal loading

MOHAMMAD ALI HEIDARPOUR

2023 Mar

10

Dynamic Modeling and Simulation of Rhex Robot on Soft Soil

SABER ESTIRI

2023 Mar

11

Wheel-soil interaction modeling by velocity field analysis

AMIRHOSSEIN RAHIMI

2022 Mar

12

Elevator performance optimization using differential evolution method and nonlinear controller

ALIREZA OMIDI BIDGOLI

2022 Mar

13

Wheel and ground contact analysis: Model-based vs. Data-driven methods

MAHDI MALEKI & Afshin Taghvaeipour

2021 Oct

14

Kinetic analysis of vibratory bowl feeder in Orienting of bottle caps for packaging line

ELHAM BIABI & MOHSEN REZAEIAN AKBARZADEH

2021 Oct

15

Optimal Design, Modeling and Control of a Hand Rehabilitation Glove

ZAHRA BONAKDAR

2025 Sep

16

Optimal path planning of an articulated wheeled mobile robot on unstructured terrain and soft soil

ALI MOHABBATI ARANI

2025 Mar

17

Adaptive Moving Target Tracking Using Trajectory Prediction and Dynamic Planning for a Robotic Fish

MAHDIYE NOURI KHABAZ & ALI KAMALIE IGLIE

2025 Mar

18

Dynamic modeling, controller design and PIL test for two Multi-rotors carrying a load

MOHAMMAD MOHAMMAD SADEGHI & MANSOUR KABGANIAN

2025 Mar

19

Software implementation of intelligent algorithms on quadruped walking robot

NAEMEH MOHAMMADPOURZEROUMI

2025 Feb

20

Modeling and Control of a Quadruped Robot for Locomotion on Rough Terrain and Stairs with Various Gaits Using Model Predictive Control

POUYA MANSOURI

2025 Aug

Journal Papers

1

EBRAHIMI ALIREZA ، Azimi Ali ، MOHAMMADI AGHDAM MOHAMMAD, "Impact of numerical integrators on the stabilization of holonomic and nonholonomic constraints in the Baumgarte method", Engineering With Computers, 2026 Feb vol. 42, no. , pp.1-23, 2026.

2

DOAKHAN MOEIN ، KABGANIAN MANSOUR ، Azimi Ali, "Aerial Payload Transportation with Energy-Efficient Flexible Formation Control of Quadrotors", European Journal of Control, 2025 Oct vol. , no. , pp.1-13, 2025.

3

MOHAMMADPOURZEROUMI NAEMEH ، FOZI MEYSAM ، EBADZADEH MOHAMMAD MEHDI ، Azimi Ali ، KAMALIE IGLIE ALI, "Proximal policy optimization with adaptive generalized advantage estimate: critic-aware refinements", Journal of Mathematical Modeling, 2025 Oct vol. , no. , pp.1-14, 2025.

4

KHALOUJINI AMIRMASOOD ، FIRUZY RAD POUYA ، GHAFARIRAD HAMED ، Azimi Ali, "Analysis and modeling of nonlinear saturated behavior of layer jamming soft pneumatic bending actuator", Smart Materials and Structures, 2025 Mar vol. 34, no. 3, pp.1-15, 2025.

5

BAYAT AMIR ، Azimi Ali ، Taghvaeipour Afshin, "Terrain parameter identification for wheeled mobile robots using deep neural networks", Mechanics Based Design of Structures and Machines, 2024 Nov vol. 0, no. 0, pp.1-26, 2024.

6

RAHIMI AMIRHOSSEIN ، Azimi Ali ، GOUDARZI TAHA, "A Cam Clay constitutive relation for semi-analytical elasto-plastic modeling of wheel-soil interaction for fast applications", Mechanics Based Design of Structures and Machines, 2024 Nov vol. 000, no. 0, pp.1-22, 2024.

7

KHOSHNAZAR MOHAMMAD ، DASTRANJ MOHAMMAD ، Azimi Ali ، MOHAMMADI AGHDAM MOHAMMAD ، Paulo Flores, "Application of the Bezier integration technique with enhanced stability in forward dynamics of constrained multibody systems with Baumgarte stabilization method", Engineering With Computers, 2023 Aug vol. 0, no. 0, pp.1-15, 2023.

8

DOAKHAN MOEIN ، KABGANIAN MANSOUR ، Azimi Ali, "Robust Adaptive Control for Formation-Based Cooperative Transportation of a Payload by Multi Quadrotors", European Journal of Control, 2023 Jan vol. 69, no. 0, pp.100763-100763, 2023.

9

DOAKHAN MOEIN ، KABGANIAN MANSOUR ، Azimi Ali, "Cooperative payload transportation with real-time formation control of multi-quadrotors in the presence of uncertainty", Journal of The Franklin Institute-Engineering and Applied Mathematics, 2023 Jan vol. 360, no. 2, pp.1284-1307, 2023.

10

Parisa Azimi ، Taravat Yazdanian ، Edward C. Benzel ، Azimi Ali ، Ali Montazeri, "3D-printed navigation template in cervical spine fusion: a systematic review and meta-analysis", European Spine Journal, 2020 Sep vol. 30, no. 0, pp.389-401, 2020.

11

Azimi Ali ، Daniel Holz ، Jozsef Kovecses ، Jorge Angeles ، Marek Teichmann, "A Multibody Dynamics Framework for Simulation of Rovers on Soft Terrain", Journal of Computational and Nonlinear Dynamics, 2015 May vol. 10, no. 3, pp.1-12, 2015.

12

Azimi Ali ، Jozsef Kovecses ، Jorge Angeles, "Wheel-Soil Interaction Model for Rover Simulation and Analysis Using Elastoplasticity Theory", Ieee Transactions On Robotics, 2013 Jul vol. 29, no. 5, pp.1271-1288, 2013.

13

Azimi Ali ، Martin Hirschkorn ، Bahareh Ghotbi ، Jozsef Kovecses ، Jorge Angeles ، Peter Radziszewski ، Marek Teichmann ، Martin Courchesne ، Yves Gonthier, "Terrain modelling in simulation-based performance evaluation of rovers", Canadian Aeronautics and Space Journal, 2011 Apr vol. 57, no. 1, pp.24-33, 2011.

Conference Papers

1

MOHAMMADPOURZEROUMI NAEMEH ، FOZI MEYSAM ، EBADZADEH MOHAMMAD MEHDI ، Azimi Ali ، KAMALIE IGLIE ALI, "Proximal Policy Optimization with Adaptive Generalized Advantage Estimate,", The First International Conference on Machine Learning and Knowledge Discovery (MLKD 2024), Dec 2024.

2

NAZARI MOGHADDAM MOHAMMADHOSSEIN ، MOJARRADI MOHAMMAD ، RASOULZADE HOOMAN ، YARI MAYAB MOHAMMAD TAHA ، Azimi Ali ، KAMALIE IGLIE ALI, "Manufacturing and Simulation of a Tracked Mobile Robot for Harsh Terrain and High-Impact Conditions,", The 12th RSI International Conference on Robotics and Mechatronics (ICRoM 2024), Dec 2024.

3

BONAKDAR ZAHRA ، LOTFI ABOLFAZL ، GHAFARIRAD HAMED ، Azimi Ali, "Design and Characterization of a Soft Rehabilitation Glove Structure to Optimize the Interaction Forces,", 12th RSI International Conference on Robotics and Mechatronics (ICRoM), Dec 2024.

4

KHALOUJINI AMIRMASOOD ، FIRUZY RAD POUYA ، GHAFARIRAD HAMED ، Azimi Ali, "Behavior Analysis of Soft Bending Actuators Equipped with Layer Jamming Mechanism,", The 11th RSI International Conference on Robotics and Mechatronics (ICRoM 2023), Dec 2023.

5

ZAKERI ALIREZA ، Azimi Ali, "Towards the conceptual design of the pedestal of mobile antennas with multiple degrees of freedom,", Eighth international Conference on Knowledge and Technology of Mechanical, Electrical Engineering and Computer Of Iran, Mar 2023.

6

BAYAT AMIR ، Azimi Ali ، Taghvaeipour Afshin, "Neural network estimation of soil reaction in rigid wheel and soft terrain interaction based on modified dynamic model,", The 10th RSI International Conference on Robotics and Mechatronics (ICRoM 2022) IEEE, Nov 2022.

7

BAYAT ERFAN ، Azimi Ali ، NADERAN TAHAN HAMID ، MORTAZAVI SEYED MOHAMMAD ، Parisa Azimi, "Experimental Analysis of Ultrasound Transducers' Directivity and its Effects in Tumor Eradication,", The 28th Annual International Conference of Iranian Society of Mechanical Engineers-ISME2020, May 2020.

8

Azimi Ali ، Daniel Holz ، Jozsef Kovecses ، Jorge Angeles ، Marek Teichmann, "Dynamics Simulation of Rovers on Soft Terrain: Theory, Algorithms, and Experimental Validation,", ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), Aug 2014.

9

Daniel Holz ، Azimi Ali ، Marek Teichmann ، Jozsef Kovecses, "MOBILITY PREDICTION OF ROVERS ON SOFT TERRAIN: EFFECTS OF WHEEL- AND TOOL-INDUCED TERRAIN DEFORMATIONS,", Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Jul 2012.

10

Azimi Ali ، Daniel Holz ، Jozsef Kovecses ، Jorge Angeles ، Marek Teichmann, "Efficient dynamics modeling for rover simulation on soft terrain,", 50th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition, Jan 2012.

11

Azimi Ali ، Jozsef Kovecses ، Jorge Angeles, "Wheel-soil interaction model for rover simulation based on plasticity theory,", 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011.

12

Bahareh Ghotbi ، Azimi Ali ، Jozsef Kovecses ، Jorge Angeles, "Sensitivity Analysis of Mobile Robots for Unstructured Environments,", ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2011.

Taught Courses

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Course title

Description

Headlines

Date

1

Dynamics

4051

2

Design of Machine Elements (I)

4051

3

Design of Component (II)

آشنایی با طراحی اجزا ماشین با محوریت انتقال قدرت شامل انواع یاتاقانهای لغزشی و غلتشی، چرخدنده ها، تسمه، زنجیر و سیستم های کلاچ و ترمز

4042

4

Optimum Design of Mechanical Components

آشنایی با تئوری بهینه سازی مسایل غیر خطی مهندسی و روشهای مختلف عددی در حل این نوع مسایل

4042

5

Dynamics

4041

6

Design of Machine Elements (I)

4041

7

Optimum Design of Mechanical Components

4032

8

Design of Component (II)

4032