Mahdi Haghshenas-Jaryani, Ph.D.

Research Scientist
The University of Texas at Arlington Research Institute (UTARI)
7300 Jack Newell Blvd S.
Fort Worth, TX 76118
T: 817-272-5870
email : mahdihj@uta.edu

Google Scholar

Education

Ph.D., Mechanical Engineering, The University of Texas at Arlington, 2014
M.Sc., Mechanical Engineering, Sharif University of Technology, 2009
B.Sc., Mechanical Engineering, University of Tehran, 2005


Research Interest

  • Soft Robotics
  • Bio-inspired Robotics
  • Computational Modeling of Biological Systems (Cell, Motor Proteins, DNA, ...)
  • Analytical and Computational Dynamics
  • Multiscale Modeling and Simulation
  • Control Theory
  • Geometric Mechanics


Current Projects:

Soft Robotic Hand Exoskeleton for Physical Assist and Rehabilitation

Current commercial rehabilitation and assistive devices are based on conventional (hard) robotics which often provide exoskeleton structures that can offer large force, but are mechanically complex, costly, and prohibitive in size and weight. Alternatively, the soft robotic approach typically utilizes inflatable structures that are less complex, relatively inexpensive, and tend to be a safer option. UTARI Soft Robotic Glove addresses the shortfalls of current technologies with the use of a soft-rigid pneumatic actuator, a design that offers a low operating pressure, easy fabrication, a lightweight structure, and individual control of joints. The flexible nature of this glove allows it to be adapted to various medical conditions and anatomical features. For more informartion please visit Lab website . ( News about Soft Robotic Glove Project)

Motor Protein Locomotion

Motor proteins are involved in a number of biological processes within the cells and tissues of biological systems. They exist in several different forms and are involved in muscle contraction, construction and deconstruction of the cytoskeleton, and intracellular transport. The proteins currently being examined have a biped structure and walk along the cytoskeleton pulling organelles and nutrient packets along as cargo. These proteins have a size on the order of nanometers so it difficult to observe their dynamic behavior. Modeling and simulation can be used to attempt a prediction of the details of motor protein dynamic behavior that are difficult to observe. This work involves the development of a new approach towards modeling and simulating the locomotion of these proteins. For more informartion please visit Lab website . ( News about Motor Protein Project)

Dynamics of Micro-Nano-sized Objects in Optical Tweezers: Numerical Simulation using Multiscale Analysis

The goal of this work is to model and simulate the manipulation of micro and nano-sized objects, including biological specimens, using lasers. The goal here is to develop a dynamic model of the interaction between lazer light and small-size beads that predicts experimentally observed motions. For more informartion please visit Lab website .
( News about Nano-Manipulation)

Dynamic Modeling and Control of Snake Robots

Past Projects:

DARPA ROBOTIC Challenge (DRC)

"The goal of the DARPA Robotics Challenge (DRC) is to generate groundbreaking research and development so that future robotics can perform the most hazardous activities in future disaster response operations, in tandem with their human counterparts, in order to reduce casualties, avoid further destruction, and save lives." For more informartion please visit website .

Bi-Wheeled Mobile Robot



Publications

Journal

W. Carrigan, M. Haghshenas-Jaryani, C. Nothnagle, P. Keskar, M. Wijesundara "Development of a Pneumatic Soft-and-Rigid Hybrid Actuator for Continuous Passive Motion in Hand Rehabilitation", Journal of Robotics, Hindawi, 2015, under review.
A. Bowling, M. Haghshenas-Jaryani "A Multiscale Modeling Approach for Biomolecular Systems", Multibody System Dynamics, vol. 33, no. 4, pages 333-365, April 2015. Link
M. Haghshenas-Jaryani, A. Bowling "Modeling Flexibility in Myosin V Using a Multiscale Articulated Multi-Rigid Body Approach", Journal of Computational and Nonlinear Dynamics, vol. 10, no. 1, pages 011015 (11 pages), January 2015. Link
M. Haghshenas-Jaryani, B. Black, S. Ghaffari, J. Drake, A. Bowling, and S. Mohanty "Dynamics of Microscopic Objects in Optical Tweezers: Experimental Determination of Underdamped Regime and Numerical Simulation using Multiscale Analysis", Nonlinear Dynamics, Volume 76, Issue 2, pp 1013-1030, April 2014. Link
M. Haghshenas-Jaryani, A. Bowling, "A New Switching Strategy for Addressing Euler Parameters in Dynamic Modeling and Simulation of Rigid Multibody Systems", Multibody System Dynamics, Volume 30, Issue 2, pp 185-197, August 2013. Link

Conference

M. Haghshenas-Jaryani, W. Carrigan, M. Wijesundara "Design and Development of a Novel Soft-and-Rigid Hybrid Actuator System for Robotic Applications", International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference (CIE), DETC2015-47761, 2015, August 2-5, Boston, MA, USA.
M. Haghshenas-Jaryani, G. R. Vossoughi, "Trajectory Control of a Snake-like Robot in Operational Space Using a Double Layer Sliding Mode Controller", International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference (CIE), DETC2015-46480, 2015, August 2-5, Boston, MA, USA.
M. Haghshenas-Jaryani, A. Bowling "Computational Study of Kinesin Motility and the Effect of Neck Linker using a Flexible Articulated Rigid Multibody Model", has been accepted for presentation in ASME 2014 3rd Global Congress on NanoEngineering for Medicine and Biology (NEMB2014), 2014, February 2-5, San Francisco, CA, USA.
M. Haghshenas-Jaryani, A. Bowling "Multiscale Dynamic Modeling of Flexibility in Myosin V", International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference (CIE), DETC2013-13154, pp. V07AT10A008, 9 pages 2013, August 4-7, Portland, OR, USA. Link
M. Haghshenas-Jaryani, A. Bowling, S. Mohanty "Dynamic Simulation of Trapping and Controlled Rotation of a Microscale Rod Driven by Line Optical Tweezers", The March meeting of American Physical Society (APS), 2013, March 18-22, Baltimore, MD, USA.
M. Haghshenas-Jaryani, J. Drake, N. Tran, A. Bowling, S. Mohanty "Multiscale modeling and simulation of a microbead in an optical trapping process.", ASME 2013 2nd Global Congress on NanoEngineering for Medicine and Biology (NEMB2013), NEMB2013-93059, pp. V001T05A003-, 2 pages, February 4-6, 2013, Boston, MA, USA. Link
M. Haghshenas-Jaryani, A. Bowling, "Multiscale Dynamic Modeling of Flexibility in Myosin V using a Planar Mechanical Model", in Proceedings of IEEE int'l conf. on Robotics and Biomimetics, ROBIO 2012, pp. 366-371, Dec. 11-14, Guangzhou, China. Link
M. Haghshenas-Jaryani, A. Bowling, "A New Numerical Strategy for Handling Quaternions in Dynamic Modeling and Simulation of Rigid Multibody Systems", The Second Joint International Conference on Multibody System Dynamics, IMSD2012, May 29-June 1, Stuttgart, Germany.
M. Haghshenas-Jaryani, A. Bowling, "Investigation of flexibility in Myosin V using a new 3D mechanical model", The March meeting of American Physical Society (APS), 2012, Feb. 27-March 2, Boston, MA, USA.
M. Haghshenas-Jaryani, A. Bowling, "Multiscale Dynamic Modeling of Processive Motor Proteins", in Proceedings of IEEE int'l conf. on Robotics and Biomimetics, ROBIO 2011, pp. 1403-1408, Dec. 7-11, Phuket Island, Thailand. Link
M. Haghshenas-Jaryani, A. Bowling, "Spatial Multibody Dynamics of Motor Proteins", Multibody Dynamics 2011, An ECCOMAS Thematic Conference, July 4-7, 2011. Brussels, Belgium.
M. Haghshenas-Jaryani, A. Bowling, "A New 3D Flexible Mechanical Model of Myosin V ", the 27th Southern Biomedical Engineering Conference,SBEC2011, April 29 - May 1, 2011. Arlington, TX, USA. Abstract has been published in the International Journal of MEDICAL IMPLANTS AND DEVICES, vol. 5, No. 2, P.117, 2011.
A. Bowling, M. Haghshenas-Jaryani, "Spatial multibody dynamics of nano-scale motor protein locomotion", In Proceedings of the 1st International Conference on Applied Bionics and Biomechanics (ICABB), October 14-16, 2010. Venice, Italy.
M. Haghshenas-Jaryani, G. R. Vossoughi, "Modeling and Sliding Mode Control of a Snake-like Robot with Holonomic Constraints", Proceedings of IEEE int'l conf. on Robotics and Biomimetics, ROBIO 2008, pp. 454-461, Bangkok, Thailand. Link
H. Zomorodi, M. Haghshenas-Jaryani, F. Farahmand, "A Supervisory Fuzzy-PID Controller for a MIMO Biped Robot Balance in Frontal Plane", Proc. of the ASME Int'l Mechanical Eng. Cong. and Expo., Vol. 2, pp. 307-314, Boston, MA, USA (IMECE2008-67118). Link
M. Haghshenas-Jaryani, "An Effective Manipulator Trajectory Planning with Obstacles Using Virtual Potential Field Method", Proceedings of IEEE int'l conf. on System, Man and Cybernetics, 2007, pp. 1573-1578, Montreal, Canada. Link


Project Experiences

  • Design, Development ,and Control of Soft Robotic Hand Exoskeleton
  • (Research Scientist in the Biomedical Technology group, UTARI, 2014-present)
  • Analytical and Computational Dynamic Modeling of Motor Protein Locomotion
  • (Research Assistant in the Robotics, Biomechanics, and Dynamic Systems Laboratory, UTA, 2009-present)
  • Dynamics of Micro-Nano-sized Objects in Optical Tweezers: Numerical Simulation using Multiscale Analysis
  • (Research Assistant in the Robotics, Biomechanics, and Dynamic Systems Laboratory, UTA, 2009-present)
  • Operational Space Model Based Control of DARPA Humanoid Robot (ATLAS)}
  • (a member of the robotic team in DARPA Robotic Challenge (DRC), UTARI, April-June 2013)
  • Optimal and Robust Control of an Assisted Passive Snake-like Robot with friction effects
  • (Research Assistant, Sharif University of Technology, 2006-2009)
  • Multi Axial Fatigue Test Device of Automotive Exhaust System
  • (Intern, an internship project between University of Tehran & SAPCO. 2004-2005)
  • Cartesian Mobile Robot
  • (a member of the robotic team in the 3rd Iranian robotic contest, University of Tehran, 2002)
  • A supervisory Fuzzy-PID controller for a MIMO biped robot balance in frontal plane (2008)
  • Trajectory Planning and Control of Mobile Manipulator Robot using MBA, TJ, and MTJ methods (2007)
  • Simulation of 4 links Snake-like robot using Kane's Method (2007)
  • System Identification and Control of Manipulator using Neural Network (2007)
  • Trajectory planning of Manipulator Robot using Potential Field method (2006)


Work Experiences

  • Researcher Scientist II, UT Arlington Research Institute (UTARI) (May 2015- present)
  • Postdoctoral Researcher, UT Arlington Research Institute (UTARI) (June 2014-April 2015)
  • Senior Engineer, Home Appliances Research Co. (HARCO) (March 2006-August 2009)
  • Intern, SAPCO. (May 2004-March 2005)
  • Intern, the Robotic Laboratory of Mechanical Engineering Department, University of Tehran, (2004-2006)


Teaching Experiences

  • Adjunct Instructor, MAE2360: Numerical Analysis and Programming, University of Texas at Arlington, Spring 2014
  • Teaching Assistant, MAE2360: Numerical Analysis and Programming, University of Texas at Arlington, Spring 2012, Fall 2012, Fall 2013
  • Teaching Assistant, MAE1312: Engineering Statics, University of Texas at Arlington, Spring 2013
  • Teaching Assistant, MAE2323: Dynamics, University of Texas at Arlington, Summer 2012
  • Teaching Assistant, MAE4345: Introduction to Robotics, University of Texas at Arlington, Fall 2011
  • Teaching Assistant, MAE5310: Finite Element Method, University of Texas at Arlington, Fall 2011
  • Teaching Assistant, Dynamics of Machinery, University of Tehran, Fall2004, Spring2005


Awards and Honors

  • Accepted into the CPLC Summer School, University of Illinoise at Urbana-Champagin, July-August 2014
  • Awarded Enhanced Graduate Teaching Assistantship, University of Texas at Arlington, Sep. 2012-May 2014
  • Awarded Graduate Tuition Fellowship, University of Texas at Arlington, Sep. 2012-May 2014
  • Awarded Best Presentation in MAE Seminar Series, University of Texas at Arlington, Spring 2013
  • Awarded STEM Doctoral Fellowship, University of Texas at Arlington, June-Aug. 2013
  • Awarded Graduate Research Assistantship, University of Texas at Arlington, June-Aug. 2013
  • Awarded Graduate Teaching Assistantship, University of Texas at Arlington, Sep. 2011-Aug. 2012
  • Awarded STEM Doctoral Fellowship, University of Texas at Arlington, Sep. 2009-Aug. 2012
  • Awarded Graduate Dean Doctoral Fellowship, University of Texas at Arlington, Sep. 2009-Aug. 2012
  • Awarded Graduate Research Assistantship , University of Texas at Arlington, Sep. 2009-Aug. 2011
  • Awarded Scholarship from SIAWE, Spring 2010
  • Awarded Research Assistantship in an internship project between University of Tehran & SAPCO., Summer 2004


Activities

  • American Society of Mechanical Engineers (ASME), student member, 2012-present
  • American Physical Society (APS), student member, 2011-present
  • Reviewer of Knowledge-Based Systems, ELSEVIER. 2010
  • The Institute of Electrical and Electronics Engineers (IEEE), member, 2007-2009
  • IEEE Robotics & Automation Society (RAS), member, 2007-2009
  • Iranian Society of Mechanical Engineers (ISME), Graduate Student member, 2001-2002
  • National Organization for Development of Exceptional Talent (NODET), 1994- 2001


last updated May 14, 2015