Site Management

Curcuma Vitae

Academic Career

First name: Ahad Surname: Harati Born in: Mashhad, Iran 1978 Nationality: Iranian


University/School

Major

Date

PhD.

Swiss Federal Institute of Technology in Zurich (ETHZ)

Manufacturing Systems & Robotics

August 2008

MSc.

University of Tehran, Iran

Artificial Intelligence & Robotics

August 2003

BSc.

Amirkabir University of Technology
(Tehran Polytechnic), Iran

Computer Eng. (Hardware)

September 2000

High School Diploma

Hashemi Nejad High School
(Mashhad branch of NODET1)

Mathematics & Physics

June 1996

1 NODET: National Organization for Development of the Exceptional Talents

Technical Experiences

· Research Assistant, Assistant Professor, Department of Computer Engineering, Faculty of Engineering, Ferdowsi University of Mashhad, 2009 till now

· Research Assistant, Autonomous Systems Lab., ETHZ, Switzerland, 2004 - 2008

· Research Assistant, Robotic Lab., University of Tehran, Iran, April 2002-June 2004

- Design & Implementation of a Pole Climbing Robot for maintenance of Light Poles for Iranian Electrical Company.

· Research Assistant, School of Intelligent Systems (SIS), Institute for studies on theoretical Physics & Mathematics (IPM), 2001-2004

· Teaching Assistant, Elec. and Comp. Dep., University of Tehran, Iran, 2001-2002

· Team Leader, Robotic Lab., University of Tehran, Iran, 2001

- Design, Implementation and Control of a Vision Guided Mobile Manipulator for the Second Iranian Robot Contest

· Technical Manager, MetaNet Co., Tehran, Iran, 2001

- WAN Infrastructure and Global Network Design for Finance Ministry with association of Rahbar Co.

- Reorganization of Remote User Access Policies and LAN Traffic Analysis of DPI Co.

· Engineer, MetaNet Co., Tehran, Iran, 2000

- Network Documentation and Analysis of IKCO (Iran Khodro Co.).

- Maintenance of Computers and Network of Shell Co.

· Team Leader, New Technologies Research Center, Amirkabir University, Tehran, Iran, 2000

- Design, Implementation and Control of Ball-Collector Mobile Robot for the First Iranian Robot Contest

· Network Manager, RoboCup Laboratory, Comp. Dep., Amirkabir University, Tehran, Iran, 2000

· Trainee, Statistics and Information Center of Ferdowsi university of Mashhad, Iran, 1999

· Trainee, Iran Official Machines Co., 1998

· Trainee, Electronic Support Section, Mashhad Power Plant, Iran, 1994

Thesises

Brief Summary of Thesises

· PhD: Toward indoor autonomous navigation, the goal is to improve quality of SLAM (Simultaneous Localization and Mapping) using structure of the indoor scenes. Dominance of planar features and linear segments are used to enhance sensory range readings by a customized wavelet transform in the multiresolution platform. A reduced SLAM framework is then presented using hierarchy of features and orthogonality of man made environments. Experimental results are provided in 2D and 3D cases which show proposed modifications are quite useful and lead to more consistent and stable SLAM with superior mapping and localization outcomes.

· MSc: The fundamental problem of credit assignment in teams of reinforcement learning agents is considered. Focusing on the parallel configurations, where no temporal credit assignment is possible, it is shown that speed and quality of leaning can be improved by evaluating agents’ behaviors using measures of their knowledge. The main idea is to mostly reward more experienced agents and consider the team failures responsibility of less knowledgeable individuals. Some knowledge measures are proposed based on the agents learning history and are compared in simulation.

· BSc: In the framework of the first Iranian robot contest, task of collecting 14 tennis balls scattered on a predefined play ground is given. A simple differential derive mobile robot is designed, built and controlled to perform the given task. To grasp the balls, hook and eye closure is considered since balls surface closely resemble the eye; hence a hooker is implemented as continuously rotating belt which delivers captured balls to a compartment in the back of the robot. The odometry guided robot then transfers the balls to the target basket.