HAMED GHAFARIRAD - Amirkabir University of Technology

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Amirkabir University of Technology

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HAMED GHAFARIRAD

Associate Professor
Department of Mechanical Engineering
Construction & Manufacturing

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Email:

ghafarirad

aut.ac.ir

Phone:

(+9821) 64543422

h-index (Scopus):

13.00

Citations (Scopus):

374

Research Interests

Title

Start date

Mechatronics, Robotics, Vibration, Control

more information on:

Smartlab.aut.ac.ir

Supervised MSc Theses

Thesis title

Date

Design, Analysis and Manufacturing of Linear Piezo Motor

FATEMEH KARIMI
Other Supervisor: MohammadAzam Khosravi

2024 Oct

Design, construction and behavior analysis of piezoelectric linear actuators based on flexibl mechanisms

ABBAS DEHGHANI
Other Supervisor: S.MEHDI REZAEI

2024 Sep

Design and implementation of a robotic arm for safe grasping of objects from human hands

MASOUD RAHIMI GORJI
Other Supervisor: MohammadAzam Khosravi

2024 Sep

Design And Manufacturing of a Piezoelectric Based Liquid Droplet Dispensing System

POUYA FIRUZY RAD
Other Supervisor: S.MEHDI REZAEI

2024 Jun

Design, Modeling and Behaviour Analysis of Segmented Pneumatic Soft Bending Actuators

ALIREZA SABERI & Afshin Taghvaeipour
Other Supervisor:

2024 May

Modeling,analysis and control of twisted string actuator

ZAHRA NAGHIEI & MOHSEN BAHRAMI
Other Supervisor:

2024 Mar

Kinetostatic Analysis of a Planar Soft Bending Actuator Considering Weight Effect

MOHAMMAD BAGHERI DASTGERDI
Other Supervisor: MOHAMMAD ZAREINEJAD

2024 Feb

Design and manufacturing of Rehabilitation Glove Based on Compact Twisted String Actuator

KAMRAN TAHERI SARTANG

2024 Feb

Design, modeling and analysis of grasping by soft bending actuators

AHMAD REZA HAJEBI FARD
Other Supervisor: FARSHAD BARAZANDEH

2023 Jul

Modeling and Static Control of Pneumatic Soft Robotic Manipulator Based On Intelligent Learning Methods

ALI SHOJAEEZADEH & MAHYAR NARAGHI
Other Supervisor:

2023 Jul

design & implementation of Generator Inspection Robot

AMIRHOSSEIN BOZORGI & MohammadAzam Khosravi
Other Supervisor:

2023 Jun

Design, manufacturing and kinetostatic analysis of a micro-positioning compliant mechanism

MOHAMAD SAEED ERAMY MOTLAGH ARMAKI & Afshin Taghvaeipour
Other Supervisor:

2023 Mar

Design, Modeling and Control of a 2-DOF Piezoelectric Based Micro-Positioner

ARIAN SARGAZI SADEGH
Other Supervisor: MohammadAzam Khosravi

2022 Dec

Design, Modeling and Control of a Hand Rehabilitation Glove Using Soft Pneumatic Actuators

SEPIDEH AKBARI
Other Supervisor: S.MEHDI REZAEI

2022 Oct

Dynamic Position Estimation and Control of Piezoelectric Actuators by Charge-Based Self Sensing Method

AMIR MOHAMMAD SADRI KOUPAEI

2022 Oct

Desing improvement and haptic system control in a two-finger exoskeleton to simulate the sense of touching

MOHAMMAD SAVABI
Other Supervisor: MOHAMMADALI AHMADI PAJOUH

2022 Oct

Kinematic and Dynamic Modeling of flexible wave-link robot

MOHAMMAD REZA KOLANI
Other Supervisor: MOHAMMAD ZAREINEJAD

2022 Jun

Design and Development of a Soft Exosuit for Physical Assistance to Shoulder and Elbow Joints Flexion Movements in Sagittal plane for Activities of Daily Living

MOHAMMAD JAVAD ZALLAGHI & Afshin Taghvaeipour
Other Supervisor:

2022 Mar

Design، Modelling and Fabrication of a 2DoF robotic finger using tendon base self-adaptive differential mechanism to achieve objects optimal grasping

IMAN REZVANY & MOHAMMADALI AHMADI PAJOUH
Other Supervisor:

2022 Feb

Analytical, numerical and experimental investigation of thermoelastic behavior in bending piezoelectric actuators

MOHAMMAD AKBARI & Afshin Taghvaeipour
Other Supervisor:

2022 Jan

Implementation and Quasi Static Modeling of Soft Robotic Manipulator for Three Dimensional Positioning

SADEGH POURGHASEMI HANZA

2021 Dec

Design and Analysis of Body and Legs of Mobile Hexapod Robot

HOSSEIN POORBAFRANI
Other Supervisor: S.MEHDI REZAEI

2021 Oct

Modeling and Position and Force Control of 1-Dof Inflatable Arm

ALI JAFARI FESHARAKI
Other Supervisor: MOHAMMADALI AHMADI PAJOUH

2021 Sep

Coupled longitudinal-transverse vibration analysis of bending piezoelectric actuators

SEYED HESAM SOLEIMANZADEH MOUSAVI & Afshin Taghvaeipour
Other Supervisor:

2021 Sep

Design and dynamic analysis of a hexapod walking robot

ALIREZA PAHLEVANZADEH GARJAN & Afshin Taghvaeipour
Other Supervisor:

2021 Jan

Dynamic Modeling And Control Of Soft Actuator for Hand Rehabilitation

MOHAMMAD HADI NAMDAR GHALATI
Other Supervisor: AMIRABOLFAZL SURATGAR

2020 Sep

Design, manufacturing and kinematic modeling of hybrid soft actuators for three dimensional position

MORTEZA MOHAQEQI

2020 Aug

Hybrid (passive and active) noise reduction of kitchen hood

MEHRAN SAADABADI & ABDOLREZA OHADI HAMADANI
Other Supervisor:

2020 Jul

Design sensing system and experimental modelling of soft actuator for rehabilitation of finger

SHOKOUFEH DAVARZANI & MOHAMMADALI AHMADI PAJOUH
Other Supervisor:

2020 Feb

Vibration control of a flexible plate by filtered position feedback controller using selfsensing piezoelectric actuator

ALI KHISHTAN & S.MEHDI REZAEI
Other Supervisor:

2020 Feb

A study on statistically random and periodic composite materials

ZAHRA HOOSHMAND AHOOR & FIROOZ BAKHTIARI NEJAD
Other Supervisor:

2019 Sep

Design,Fabrication and Modeling of a Soft Actuator and its Application for Rehabilitation of Finger

MANSOOREH SHOARAYE NEJATI
Other Supervisor: MOHAMMADALI AHMADI PAJOUH

2019 Sep

Design and Kinematic and Dynamic Analysis of a planar Microrobot with Piezoelectric Actuators

OMIDREZA AHMADZADEH
Other Supervisor: S.MEHDI REZAEI

2019 Jul

Vibration Control of Flexible links using Positive Position Feedback based methods with Piezoelectric actuators

ALI HAMZEI SICHANI & MOHAMMAD ZAREINEJAD
Other Supervisor:

2019 Jun

Low Frequency Position Control of Cantilevered Piezoelectric Actuators by Self-Sensing

DAVOOD SOLEYMANZADEH
Other Supervisor: MOHAMMAD ZAREINEJAD

2019 Feb

Nonlinear Dynamic Modeling and Position Control of Piezoelectric Cantilevered Actuators in High Frequencies

PUYAN SHAHABI & Afshin Taghvaeipour
Other Supervisor:

2018 Oct

Optimal Design, Modeling and Control of a Hand Rehabilitation Glove

ZAHRA BONAKDAR & Ali Azimi
Other Supervisor:

2025 Sep

Design, manufacturing and modeling of rotary piezomotor

MOHAMMAD AZADKHANI
Other Supervisor: MOHAMMAD ZAREINEJAD

2025 Sep

Compliant mechanism synthesis for a customized micro-positioner

AMIRHOSEIN EBADZADE HADDADIHA & Afshin Taghvaeipour
Other Supervisor:

2025 Sep

Design and Modeling of Ground Mobile Robot with Capability of Aerial Motion

MOHAMAD FAWAZ
Other Supervisor: Iman Sharifi

2025 Nov

Design , modeling and analysis of piezoelectric servovalve

Other Supervisor: S.MEHDI REZAEI

2025 Jan

study of the dynamic behavior and fatigue of the cable car cabin

HATAM SALEMI & YOUNES ALIZADEH VAGHASLOO
Other Supervisor:

2025 Feb

Journal Papers

M. Fallahi, M. Zareinejad, S. Rezaei, H. Ghafarirad, H.A. Talebi, "Adaptive sliding mode control for quasi-static position tracking of a pneumatic soft manipulator", European Journal of Control, 2026 Sep vol. 91, no. , pp.1-23, 2026.

R. Hatami Varnousfaderani, M. Estarki, M. Zareinejad, H.A. Talebi, H. Ghafarirad, "Lateral Undulation and Force Prediction in Soft Robotic Fish: A Systematic Approach", Journal of Bionic Engineering, 2025 Nov vol. 22, no. , pp.2950-2964, 2025.

M.M. Barouti, A. Taghvaeipour, H. Ghafarirad, "Kinetostatic analysis and design of compliant mechanisms based on the stiffness matrix", Mechanics Based Design of Structures and Machines, 2025 Sep vol. , no. , pp.1-32, 2025.

A. Khaloujini, P. Firuzy Rad, H. Ghafarirad, A. Azimi, "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.

M.R. Kolani, S.A. Mirhaghgoo Jalaly, M. Zareinejad, H. Ghafarirad, "Adjustable Wave-like Robot (AWR): design, analysis, and experiment", Mechanics Based Design of Structures and Machines, 2025 Mar vol. 53, no. 11, pp.7848-7884, 2025.

P. Firuzy Rad, H. Ghafarirad, S. Rezaei, "Comprehensive Dynamic Modeling and Characterization of a Piezoelectric Droplet Dispenser", Amirkabir Journal of Mechanical Engineering, 2025 Mar vol. 56, no. 10, pp.1429-1450, 2025.

A. Mojibi, P. Firuzy Rad, H. Ghafarirad, A. Taghvaeipour, "Kinetostatic and Dynamic Analyses of Micro-Positioning Compliant Mechanism Equipped with Piezoelectric Actuator", Aut Journal of Mechanical Engineering, 2025 Feb vol. 9, no. 2, pp.179-194, 2025.

M. Azadkhani, F. Karimi, H. Ghafarirad, M. Zareinejad, "Modeling and Sensitivity Analysis of Stick-Slip Piezoelectric Rotary Inertia Motor", International Journal of Robotics, 2025 Jan vol. 10, no. 1, pp.11-21, 2025.

P. Firuzy Rad, H. Ghafarirad, S. Rezaei, "Design, Fabrication, and Experimental Modeling of a Piezoelectric-Based Droplet Injection System Using Statistical Methods", Modares Mechanical Engineering, 2025 Jan vol. 24, no. 10, pp.657-666, 2025.

امیرحسین مرادی, H. Ghafarirad, S. Rezaei, M. Zareinejad, P. Firuzy Rad, "Design, Manufacturing, and Comprehensive Dynamic Modeling of a Piezoelectric Pneumatic Servo Valve Based on Compliant Mechanisms", Modares Mechanical Engineering, 2025 Jan vol. 24, no. 10, pp.631-641, 2025.

J. Soleimani, F. Barazandeh, H. Ghafarirad, "Improving MEMS Inertial Switch Design ProcessThrough Simultaneous Analysis of Design Parameters", Ieee Sensors Journal, 2024 Oct vol. 99, no. 0, pp.1-12, 2024.

M. Fallahi, M. Zareinejad, S. Rezaei, H. Ghafarirad, H.A. Talebi, "PDE Cosserat rod modelling of a pneumatic soft arm and position control in extending mode", Amirkabir International Journal of Modeling, Identification,Simulation & Control, 2024 Sep vol. , no. , pp.-, 2024.

M.S. Eramy Motlagh Armaki, H. Ghafarirad, A. Taghvaeipour, P. Firuzy Rad, "Elastostatic Modeling and Optimal Design of Rhombic Compliant Mechanism", Amirkabir Journal of Mechanical Engineering, 2024 Aug vol. 56, no. 4, pp.1-26, 2024.

M.J. Zallaghi, H. Ghafarirad, A. Taghvaeipour, "Direct model parameter identification of twisted string actuators using Nelder-Mead simplex method", Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science, 2024 Feb vol. 0, no. 0, pp.1-13, 2024.

A. Jafarzadeh, Toraj Adhami, Hamid Farhadi, Mojtaba Allahkarampour, Hossein Farmani, Niromand Jasimi, Hamed Soltani, H. Ghafarirad, A. Taghvaeipour, "Thermo-mechanical analysis of the flange in a Billet continuous casting machine based on limited temperature measurements", Ironmaking and Steelmaking, 2023 Jun vol. 0, no. 0, , 2023.

S. Akbari, M.H. Namdar Ghalati, H. Ghafarirad, S. Rezaei, "Behavior modeling of pneumatic soft bending actuators in free and contact conditions", Modares Mechanical Engineering, 2023 Mar vol. 23, no. 4, pp.235-247, 2023.

M.H. Namdar Ghalati, H. Ghafarirad, "Continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environment", Comptes Rendus Mecanique, 2023 Jan vol. 351, no. 0, pp.43-58, 2023.

M.H. Namdar Ghalati, S. Akbari, H. Ghafarirad, M. Zareinejad, "Behavior Analysis of Biomimetic Soft Bending Actuators in Free Motion and Contact", Journal of Bionic Engineering, 2023 Jan vol. 0, no. 0, , 2023.

S. Pourghasemi Hanza, H. Ghafarirad, "Mechanics of fiber-reinforced soft manipulators based on inhomogeneous Cosserat rod theory", Mechanics of Advanced Materials and Structures, 2023 Jan vol. 0, no. 0, , 2023.

S. Pourghasemi Hanza, H. Ghafarirad, "Theoretical and Experimental Behavior Analysis of Continuous Soft Robots Consisting of Fiber-Reinforced Actuators", , 2022 Dec vol. 12, no. 5, pp.161-173, 2022.

S.H. Soleimanzadeh Mousavi, H. Ghafarirad, A. Taghvaeipour, "Theoretical and experimental investigation of coupled longitudinal-transverse nonlinear vibration for micro-positioning piezoelectric bending actuators", Journal of The Brazilian Society of Mechanical Sciences and Engineering, 2022 Oct vol. 44, no. 530, pp.1-19, 2022.

R. Karimpour, M.H. Namdar Ghalati, H. Ghafarirad, "Configuration detection and external force tuning for soft-bending actuators under position constraint", Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science, 2022 Jun vol. 0, no. 0, pp.1-11, 2022.

S. Khezritabar, H. Ghafarirad, M. Zareinejad, "Nonlinear Dynamic Modeling and Optimum Electric Power Determination in Energy Harvesting by Bimorph Piezoelectric Cantilever", Iranian Journal of Mechanical Engineering Transactions of The Isme, 2021 Nov vol. 23, no. 3, pp.178-200, 2021.

Niroomand Jasimi, Bahram Afsharmanesh, A. Taghvaeipour, H. Ghafarirad, Amirhosein Riazi, Kiamehr Oladzad, Bahram Ilkhani, "Force Analysis of Rotary Kiln Elastomers in the Neyzar Qom Cement Company Considering Static, Dynamic, and Thermal Loadings", Iranian Journal of Manufacturing Engineering, 2021 Nov vol. 8, no. 6, pp.34-40, 2021.

E. Amirpour, R. Fesharakifard, H. Ghafarirad, S. Rezaei, A. Saboukhi, M. Savabi, M. Rahimi Gorji, "A novel hand exoskeleton to enhance fingers motion for tele-operation of a robot gripper with force feedback", Mechatronics, 2021 Nov vol. 81, no. 1, pp.1-18, 2021.

S. Davarzani, M. Ahmadi Pajouh, H. Ghafarirad, "Design of sensing system for experimental modeling of soft actuator applied for finger rehabilitation", Robotica, 2021 Oct vol. 0, no. 0, pp.1-21, 2021.

M.H. Namdar Ghalati, H. Ghafarirad, A. Suratgar, M. Zareinejad, M. Ahmadi Pajouh, "Static Modeling of Soft Reinforced Bending Actuator Considering External Force Constraints", Soft Robotics, 2021 Sep vol. 0, no. 0, pp.1-12, 2021.

N. Roshandel, D. Soleymanzadeh, H. Ghafarirad, A.M. Sadri Koupaei, "A modified sensorless position estimation approach for piezoelectric bending actuators", Mechanical Systems and Signal Processing, 2020 Aug vol. 149, no. 0, pp.107231-107231, 2020.

A.M. Sadri Koupaei, D. Soleymanzadeh, H. Ghafarirad, "Modeling and Compensation of Charge Leakage in Self-Sensing Based Position Estimation for Piezoelectric Actuators", Modares Mechanical Engineering, 2020 Jun vol. 20, no. 6, pp.1501-1510, 2020.

O. Ahmadzadeh, H. Ghafarirad, M. Zareinejad, "Mass Detection by Theoretical and Experimental Frequency Response Analysis of Bending Piezoelectric Actuators", , 2020 Mar vol. 9, no. 4, pp.27-39, 2020.

S. Akbari, H. Ghafarirad, M. Zareinejad, "Kinematic Modeling of a Spatial Soft Robot by an Improved Analytical Method Based on Serial Robots", Amirkabir Journal of Mechanical Engineering, 2020 Feb vol. 53, no. 2, pp.1065-1080, 2020.

P. Shahabi, H. Ghafarirad, A. Taghvaeipour, "High-frequency robust position control of a nonlinear piezoelectric bending actuator", Journal of Vibration and Control, 2020 Jan vol. 0, no. 0, pp.1-14, 2020.

P. Shahabi, H. Ghafarirad, A. Taghvaeipour, "Nonlinear vibration analysis of piezoelectric bending actuators: Theoretical and experimental studies", Comptes Rendus Mecanique, 2019 Nov vol. 347, no. 12, pp.953-966, 2019.

F. Sahebsara, A. Taghvaeipour, H. Ghafarirad, "Kinematic Modelling of Origami-Inspired Continuum Robotic Arm by Constant-Curvature Elements", Modares Mechanical Engineering, 2019 Oct vol. 19, no. 11, pp.2729-2735, 2019.

D. Soleymanzadeh, H. Ghafarirad, M. Zareinejad, "Sensorless adaptive sliding mode position control for piezoelectric actuators with charge leakage", Journal of Intelligent Material Systems and Structures, 2019 Oct vol. 0, no. 0, pp.1-13, 2019.

D. Soleymanzadeh, H. Ghafarirad, M. Zareinejad, "Charge-Based Robust Position Estimation for Low Impedance Piezoelectric Actuators", Measurement, 2019 Jul vol. 147, no. 0, pp.106839-106849, 2019.

H. Ghafarirad, S. Rezaei, M. Zareinejad, "Hysteretic Constitutive Equations Based Continuous Dynamic Modeling of Bending Piezoelectric Actuators", Modares Mechanical Engineering, 2019 May vol. 19, no. 5, pp.1229-1239, 2019.

Z. Naseri Asl, R. Fesharakifard, H. Ghafarirad, "Control Analysis of an Auxiliary Mechanism for Trajectory Tracking of Planar Seams in Robotic Welding", , 2019 Apr vol. 19, no. 4, pp.1021-1028, 2019.

Z. Hooshmand Ahoor, H. Ghafarirad, M. Zareinejad, "Nonlinear dynamic modeling of bimorph piezoelectric actuators using modified constitutive equations caused by material nonlinearity", Mechanics of Advanced Materials and Structures, 2019 Apr vol. 0, no. 0, pp.1-11, 2019.

M. Ebrahimi, H. Ghafarirad, M. Zareinejad, "Transverse and longitudinal dynamic modeling of bimorph piezoelectric actuators with investigating the effect of vibrational modes", Journal of Theoretical and Applied Vibration and Acoustics, 2018 Jun vol. 4, no. 1, pp.99-124, 2018.

H. Ghafarirad, S. Rezaei, M. Zareinejad, Noor Azizi Bin Mardi, "Charge-based hysteresis compensation in low impedance piezoelectric actuators by a modified Prandtl-Ishlinskii model", Proceedings of The Institution of Mechanical Engineers Part E-Journal of Process Mechanical Engineering, 2017 Nov vol. 0, no. 0, pp.1-11, 2017.

Conference Papers

Z. Bonakdar, A. Hamidipour, H. Ghafarirad, "External Force Control with Disturbance Rejection for 6 DoF Manipulator,", 2025 33rd International Conference on Electrical Engineering (ICEE), May 2025.

M. Abedi, Z. Anvari, H. Ghafarirad, M. Zareinejad, "Optimizing Dual IMU Sensor Placement for Gait Phase Detection with LSTM Models,", 2025 33rd International Conference on Electrical Engineering (ICEE), May 2025.

M.A. Jamshidi, M. Zarifi, Z. Anvari, H. Ghafarirad, M. Zareinejad, "A Hybrid Data-Driven Algorithm for Real-Time Friction Force Estimation in Hydraulic Cylinders,", 2025 33rd International Conference on Electrical Engineering (ICEE), May 2025.

امیرحسین مرادی, H. Ghafarirad, S. Rezaei, M. Zareinejad, "Design, Modeling and Manufacturing of Pneumatic Piezoelectric Valve Based on Compliant Mechanism to Control Air Pressure,", 14th International Conference on Acoustics and Vibration (ISAV2024), Dec 2024.

Z. Bonakdar, A. Lotfi, H. Ghafarirad, A. Azimi, "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.

M. Zarifi, M.A. Jamshidi, Z. Anvari, H. Ghafarirad, M. Zareinejad, "Detection and Classification of Internal Leakage in Hydraulic Cylinders,", 12th RSI International Conference on Robotics and Mechatronics (ICRoM), Dec 2024.

A. Imani, A. Saberi, H. Ghafarirad, "Energy-Based Analytical Modeling of Pneumatic Network Actuators,", 12th RSI International Conference on Robotics and Mechatronics (ICRoM), Dec 2024.

A. Shojaeezadeh, P. Firuzy Rad, H. Ghafarirad, "Static Modeling of A Soft Robotic Manipulator Using Neural Networks and Computer Vision Techniques,", 12th RSI International Conference on Robotics and Mechatronics (ICRoM), Dec 2024.

A. Sharifian, S. Najafian, M.A. Soleymanzadeh, H. Ghafarirad, "Finite Rigid Elements Based Modelling of a Soft Bending Actuator Considering Hysteresis Effect,", 12th RSI International Conference on Robotics and Mechatronics (ICRoM), Dec 2024.

A. Jafarzadeh, Touraj Adhami, Hamid Farhadi, Mojtaba Allahkarampour, Hossein Farmani, Hamed Soltani, Niroomand Jasimi, H. Ghafarirad, A. Taghvaeipour, "Heat flux estimation of the mold wall in a Billet continuous casting machine based on limited measurement data,", The 32nd Annual International Conference of the Iranian Association of Mechanical Engineers, May 2024.

M. Azadkhani, H. Ghafarirad, M. Zareinejad, "Design, Modeling and Implementation of Rotary Piezoelectric Motor,", The 11th RSI International Conference on Robotics and Mechatronics (ICRoM 2023), Dec 2023.

A. Khaloujini, P. Firuzy Rad, H. Ghafarirad, A. Azimi, "Behavior Analysis of Soft Bending Actuators Equipped with Layer Jamming Mechanism,", The 11th RSI International Conference on Robotics and Mechatronics (ICRoM 2023), Dec 2023.

M. Mohaqeqi, S. Akbari, S. Pourghasemi Hanza, P. Firuzy Rad, H. Ghafarirad, "Kinetostatic Analysis of a Spatial Soft Pneumatic Manipulator Including Gravity Effect,", The 11th RSI International Conference on Robotics and Mechatronics (ICRoM 2023), Dec 2023.

A. Saberi, H. Ghafarirad, A. Taghvaeipour, S. Pourghasemi Hanza, "Coupled Transverse-Longitudinal Deformation Analysis of Soft Bending Actuators Using Cosserat Rod Theory,", The 11th RSI International Conference on Robotics and Mechatronics (ICRoM 2023), Dec 2023.

S. Salehian, P. Firuzy Rad, H. Ghafarirad, "Design and Analysis of Piezoelectric Aided Dispensing System for Fluid Droplet Generation,", The 11th RSI International Conference on Robotics and Mechatronics (ICRoM 2023), Dec 2023.

A. Gharibkhanian, R. Behbahaninejad, H. Ghafarirad, M. Zareinejad, "Design and Fabrication of an Inflatable Soft Robot for Enhancing Foot Drop Rehabilitation,", 11th RSI International Conference on Robotics and Mechatronics (ICRoM 2023), Dec 2023.

H. Rasoulzadeh, S. Sadeghi Nalkenani, H. Ghafarirad, M. Zareinejad, "Design, Fabrication, and Modeling of A Soft Bidirectional Planner Actuator,", 11th RSI International Conference on Robotics and Mechatronics (ICRoM 2023), Dec 2023.

A. Shojaeezadeh, H. Ghafarirad, "Real-time Planar Position Tracking of Light spots Based on Image Processing and Camera Calibration Methods,", The 7th National Conference of Applied Researches in Electrical, Mechanical and Mechatronics Engineering, Jun 2023.

A. Mojibi, S.M. Mirmohammadi, H. Ghafarirad, A. Taghvaeipour, "Dynamic and Vibration Analysis of 1 DOF Positioning Compliant Mechanism,", 12th International Conference on Acoustics and Vibrations, Dec 2022.

A.R. Hajebi Fard, H. Ghafarirad, F. Barazandeh, "Static Modeling and Behavior Analysis of Soft Pneumatic Bending Grippers,", The RSI 10th International Conference on Robotics and Mechatronics, Nov 2022.

S.A. Mirhaghgoo, Z. Anvari, H. Ghafarirad, "A Novel Parameters Linearization Alorithm for n-Links Robot Manipulators,", The RSI 10th International Conference on Robotics and Mechatronics, Nov 2022.

M.S. Ramezani, S. Ajami, H. Ghafarirad, "Path-tracking Control of Quadrotor Using Adaptive Critic-based Neurofuzzy Controller paper,", The RSI 10th International Conference on Robotics and Mechatronics (ICROM2021), Nov 2021.

M. Estarki, R. Hatami Varnousfaderani, H. Ghafarirad, M. Zareinejad, "Design and Implementation of a Soft Robotic Fish Based on Carangiform Fish Swimming,", The RSI 10th International Conference on Robotics and Mechatronics (ICROM2021), Nov 2021.

Niroomand Jasimi Zindashti, Bahram Afsharmanesh, A. Taghvaeipour, H. Ghafarirad, Amirhosein Riazi, Kiamehr Oladzad, Bahram Ilkhani, "Force Analysis of Rotary Kiln Elastomers in the Neyzar Qom Cement Company Considering Static, Dynamic, and Thermal Loadings,", The 6th International and 17th National Conference on Manufacturing Engineering, ICME2021, Mar 2021.

H. Najd, Y. Aslani Darandashi, R. Fesharakifard, A. Ohadi Hamadani, H. Ghafarirad, "Dual Identification System for Evaluating the Aerodynamics Coefficients of Flying Robots,", The 28th Annual International Conference of Iranian Society of Mechanical Engineers-ISME2020, May 2020.

E. Amirpour, M. Savabi, A. Saboukhi, M. Rahimi Gorji, H. Ghafarirad, R. Fesharakifard, S. Rezaei, "Design and Optimization of a Multi-DOF Hand Exoskeleton for Haptic Applications,", The 7th International Conference on Robotics and Mechatronics (ICROM 2019), Nov 2019.

A. Saboukhi, M. Rahimi Gorji, E. Amirpour, M. Savabi, R. Fesharakifard, H. Ghafarirad, S. Rezaei, "Design and Experimental Analysis of a Force Sensitive Gripper for Safe Robot Applications,", The 7th International Conference on Robotics and Mechatronics (ICROM 2019), Nov 2019.

Y. Aslani Darandashi, H. Najd, R. Fesharakifard, A. Ohadi Hamadani, H. Ghafarirad, "Influence of Tilting Rotors on Maneuverability and Agility Indicators of an H-shaped Quadrator,", The 7th International Conference on Robotics and Mechatronics (ICROM 2019), Nov 2019.

M.H. Namdar Ghalati, M. Shakoorianfard, H. Ghafarirad, M. Zareinejad, "Modeling, Position and Force Control of Inflatable Robotic Arm,", 27th Annual International Conference on Mechanical Engineering, ISME 2019, Apr 2019.

Z. Naseri Asl, R. Fesharakifard, H. Ghafarirad, "Identification of a servomechanism for trajectory tracking in robotic welding by a genetic algorithm,", ISME 2019, Apr 2019.

S. Rezaei, E. Mahmoudi, M. Zareinejad, H. Ghafarirad, "Optimization of piezoelectric installation location and accelerometer to control sheet vibration,", The 8th International Conference on Acoustics and Vibration, Dec 2018.

N. Fallahinia, M. Zareinejad, H.A. Talebi, H. Ghafarirad, "Robust Force Control of Piezoelectric Precision Positioning Actuators Using Self-Sensing Method,", 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2018.

M. Ebrahimi, O. Ahmadzadeh, H. Ghafarirad, M. Zareinejad, "Transverse and Longitudinal Dynamic Modelling of Bimorph Piezoelectric Actuators with Investigating the Effect of Vibrational Modes,", 7th International Conference on Acoustics and Vibration, Nov 2017.

H. Ghafarirad, Z. Hooshmand Ahoor, S. Rezaei, M. Zareinejad, "Dynamic Modeling of Bimorph Piezoelectric Actuator by Material Based Nonlinear Constitutive Equations,", 7th International Conference on Acoustics and Vibration, Nov 2017.

A. Habibian, Y. Aslani Darandashi, R. Fesharakifard, A. Ohadi Hamadani, H. Ghafarirad, "Structural and Dynamic Analysis of a Wheeled Mobile Robot with different Wheel Configurations,", The 5th International Conference on Robotics and Mechatronics - ICROM 2017, Oct 2017.

N. Fallahinia, M. Zareinejad, H.A. Talebi, K. Baghestan, H. Ghafarirad, "A Novel Strategy for Smooth Force-Position Switching Control of Micropositioning Piezoelectric Actuators,", 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (lROS), Oct 2016.

N. Fallahinia, M. Zareinejad, H.A. Talebi, H. Ghafarirad, "Robust control of piezoelectric micro positioning actuator using self-sensing method,", The 3th International Conference on Robotics and Mechatronics, Oct 2015.

H. Ghafarirad, S. Rezaei, Ahmed A.d. Sarhan, N. Azizi Mardi, M. Zareinejad, "A Novel Time Dependent Prandtl-Ishlinskii Model for Sensorless Hysteresis Compensation in Piezoelectric Actuators,", The 19th IFAC World Congress(the International Federation of Automatic Control), Aug 2014.

H. Ghafarirad, S. Rezaei, M. Zareinejad, N. Azizi Mardi, Ahmed A.d. Sarhan, "Active Prandtl-Ishlinskii Model for Sensorless Hysteresis Compensation in Micropositioning Piezoelectric Actuators,", The first international conference on MEMS and Microfabrication -ICMEMS2014, Feb 2014.

Taught Courses

Course title

Description

Headlines

Date

Automatic Control

Mathematical modeling of dynamic systems, analysis of the behavior of dynamic systems in the time and frequency domains, linear controller design

4051

Basics of Electricity & Electronics

Description of electrical circuits, components of electrical circuits, how to solve circuits, familiarity with diodes, transistors, operational amplifiers, and logic circuits

4051

Seminar

How to present a seminar, write a report, prepare a PowerPoint, write an article, review the literature of research projects, write an article, artificial intelligence in research

4051

ADVANCED ROBOTICS

بررسی سینماتیک و دینامیک ربات های سریکنترل خطی و غیرخطی ربات

4042

Mechanical Vibrations

بررسی رفتار زمانی سیستم های مکانیکی ارتعاشی در شرایط ارتعاشات آزاد و اجباری

4042

Application of AI in Additive Manufacturing

This graduate course explores the integration of Artificial Intelligence (AI) and Machine Learning (ML) in Additive Manufacturing (AM). It emphasizes real-world applications of supervised and unsupervised learning, deep learning, generative models, a

4042

Automatic Control

4041

Basics of Electricity & Electronics

4041

Seminar

4032

ADVANCED ROBOTICS

4032

Mechanical Vibrations

4032