Kasra Sinaei

Brief Introduction and Overview of My Academic Background

Mechanical Engineering Student and Research assistant

Jun 2021

Education

EducationTeaching

ExperienceResearch

ExperienceSkills

Selected projects

Publications 2

Mechanical Engineering BSc at the University of Tehran• Enroll date: September of 2017• Expected Graduation: Winter of 2021• Most Recent GPA: 16.84/20 (=3.6/4.0)

Teaching Experience

EducationTeaching

ExperienceResearch

ExperienceSkills

Selected projects

Publications 3

Teaching Assistant:• Mechanical Vibrations Fall 2020• Electrical Circuits and Machines Fall 2020• Linear Control Spring 2021

My Duties:• Online Q&A Sessions• Assigning Home Works• Grading Home Works and Exams

Research Experience

EducationTeaching

ExperienceResearch

ExperienceSkills

Selected projects

Publications 4

Center of advanced Systems and technology:• Supervisor: Dr. A.Y. Koma Professor• Joined the Robotics Research group Fall 2018• Research Areas:

Humanoid Robots Smart Materials as Actuators Human Robot Interactions Prosthesis (Arm, Knee, Limb, etc.) Robo-Fish Ornithopters

Skills

EducationTeaching

ExperienceResearch

ExperienceSkills

Selected projects

Publications 5

Programing:• C++• Python• Matlab• Others (C#, Visual Basic)

CAD:• CATIA• SolidWorks• AutoCAD

Simulation Soft wares:• Gazebo (Used during Surena project)• Choreonoid (Used for Surena and thesis project)• PyBullet (Used during self balancing and Surena project)• ADAMS (Used during course projects and my thesis)• ANSYS (Used during course projects)

Selected Projects

EducationTeaching

ExperienceResearch

ExperienceSkills

Selected projects

Publications 6

Surena Humanoid Robot• Walking Pattern Generation using DCM• Online Estimation of Robot State• Optimizing CoM Trajectory with GA• Geometric Inverse Kinematic

Wheeled Biped Robot: Design and Control• Optimizing Knee Joint Mechanism• Simulating Robot in Gazebo and Choreonoid• Designing Main Control Loop• IMU and Odometry Sensor Fusion

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Selected Projects

EducationTeaching

ExperienceResearch

ExperienceSkills

Selected projects

Publications 7

Tuning PID Controller with Deep RL• Creating training environment with GYM• A2C and PPO with COAX• Simulation in PyBullet• Building a Prototype

Control of a Shaking Beam Vibrations• Reading IMU Feedback• Frequency Domain Analysis• Deriving Transfer Function• Designing Controller( PID, lead-lag)

Selected Projects

EducationTeaching

ExperienceResearch

ExperienceSkills

Selected projects

Publications 8

Other Projects:• Learning Whole Body Trajectory for Biped Robot Gait (NAO V3)• Analyzing Kinematic and Kinetics of a 6-bar Linkage, Designing Cam-Follower• Simulation and Designing Gear-Box for a Mixing Machine

For more information about each project please check out my personal website at kasra-sinaei.ir

Publications

EducationTeaching

ExperienceResearch

ExperienceSkills

Selected projects

Publications 9

PID Controller Tuning with Deep Reinforcement Learning Policy Gradients Methods

• Authors: K. Sinaei, M. Hai’ri yazdi• 29th Annual Conference of Iranian Society of Mechanical Engineers• Results of Self balancing Robot Project

Optimum Design and Dynamic Balance of a 6-DoF Wheeled Biped Robot• Authors: K. Sinaei, MH. Sarfi, E. Hosseinian• The RSI 9th International Conference on Robotics and Mechatronics (ICRoM)• Main Topics of my thesis Project

Gait Planning Optimization for Humanoid Robot Based on Divergent Component of Motion

• Authors: AH. Vedadi, K. Sinaei, P. AbdollahNejad, S. Aboumasoudi, M. Shafiee, AY.Koma

• The RSI 9th International Conference on Robotics and Mechatronics (ICRoM)• Related to Surena Humanoid Project

Thanks for Your Attention

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