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Current Members

Principal Investigator

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Farrokh Janabi-Sharifi, PhD, PEng

Biography: Farrokh Janabi-Sharifi is a Professor of Mechanical, Industrial, and Mechatronics Engineering and the Director of Robotics, Mechatronics and Automation Laboratory (RMAL) at 91看片网 (91看片网), as well as Canadian Advanced Research Infrastructure for Aerial Robotic Manipulation (CANARI-ARM). He received a PhD degree in Electrical and Computer Engineering from the University of Waterloo, Canada in 1995. He was an NSERC postdoctoral fellow and lecturer in the Center for Intelligent Machines and Department of Electrical and Computer Engineering of McGill University between 1995 and 1997. Later, he joined 91看片网鈥檚 Department of Mechanical, Industrial, and Mechatronics Engineering in 1997 where he is currently the founding director of the Mechatronics Engineering Program. His research interests span image-guided control and learning of robots, continuum robotic systems, medical robots, and autonomous aerial systems. He has published significantly in the above areas with more than 290 peer reviewed journal and conference articles, a few books, and several patents in his track record. He has been a visiting professor in KAIST (Daeijeon, Korea); IRISA-INRIA (Rennes, France); and Technical University of Munich (Munich, Germany). He has also been organizer and co-organizer of several international conferences on control and mechatronics. Dr. Janabi-Sharif has been specialty chief editor of Frontiers in Robotics and AI (Industrial Robotics and Automation), section chief editor of Automation (Intelligent Control and Machine Learning), and a technical editor of several journals including IEEE/ASME Transactions on Mechatronics, and International Journal of Optomechatronics.

Research Interests: Robotics and Automation, Medical Robotics, Continuum Robots, Visual Servoing, Optomechatronics, Image-guided Navigation, Aerial Manipulation

Email: fsharifi@torontomu.ca |  (PDF file) CV (opens in new window)  | University Website (opens in new window)  | 

Postdoc Researcher

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Mahboubeh Zarei, PhD

PhD in Aerospace Engineering, Carleton University, Ottawa, Canada
PhD in Aerospace Engineering, Sharif University of Technology, Tehran, Iran
MSc in Aerospace Engineering, Sharif University of Technology, Tehran, Iran
BSc in Aerospace Engineering, Sharif University of Technology, Tehran, Iran

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PhD Students

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Niloufar Amiri, MSc

PhD Candidate, Mechanical Engineering
MSc in Mechanical Engineering, Shahid Beheshti University, Iran
BSc in Mechanical Engineering, Razi University, Iran

Research Interests: Visual Servoing, Continuum Robotics, Motion Control, Dynamic Modeling

Email: ni.amiri@torontomu.ca |  | 

Demetros Tareke, MSc

PhD Student, Biomedical Engineering
MSc in Engineering Systems, Skolkovo Institute of Science and Technology, Russia
BSc in Electrical Engineering, Addis Ababa Science and Technology University, Ethiopia

Research Interests: Robotics, Deep Reinforcement Learning, Multi-Agent Systems, Motion Planning and Control, Aerial Manipulation

 

Rana Danesh, MSc

PhD Student, Mechanical Engineering
MSc in Mechanical Engineering, Amirkabir University of Technology, Iran
BSc in Biomedical Engineering, Amirkabir University of Technology, Iran

Research Interests: Robotics and Automation, Continuum Robots, Computer Vision

Research Associates

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Sara Nazari, PhD

PhD in software systems, Azad University, Ghazvin, Iran
MSc in computer engineering, Azad University, Arak, Iran
BSc in software engineering, Azad University, Arak, Iran

Research Interests: 

MASc/MEng Students

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Benjamin Chung, BSc

MSc Student, Mechanical Engineering
BSc in Mechatronics Engineering, University of Western Ontario, Canada

Research Interests: Robotics and Automation, Continuum Robotics, Aerial Manipulation, Computer Vision, Control Systems

 

Undergraduate Research Assistant

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Amir Hossein Halvachi

B.Sc. Student in Computer Engineering, 91看片网, Toronto, Canada

Research Interests: Embedded System, Control Systems.

Email: amir.halvachi@torontomu.ca |

Collaborators

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Sajad Saeedi

Assistant Professor
Department of Mechanical and Industrial Engineering, 91看片网

Soosan Beheshti

Professor
Department of Electrical, Computer, and Biomedical Engineering, 91看片网

Asim Cheema

Associate Professor of Medicine
University of Toronto

Adjunct Professor
91看片网

Masoud Goharimanesh

Assistant Professor
University of Torbat Heydarieh, Iran

Mehran Mehrandezh

Professor
Faculty of Engineering, University of Regina

Iraj Mantegh

Project Leader
National Research Council Canada

Adjunct Professor
91看片网

Shahryar Rahnamayan

Professor
Department of Electrical, Computer, and Software Engineering, Ontario Tech University

Alumni

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Former Postdoctoral Researchers

  • Houman Masnavi (May 2024鈥揗ay 2025). Next position: Research Fellow in Robotics, University of Freiburg.
  • Sina Sajjadi (May 2023鈥揇ec. 2023). Next position: Associate Researcher, National Research Council Canada.
  • Amir Jalali (Nov. 2019鈥揂ug. 2023). Next position: Senior Mechanical Engineer, MineSense Technologies Ltd., Canada.
  • Ali Mehrkish (Dec. 2021鈥揗ay 2022).
  • Seyed Ali Emami (Aug. 2018鈥揂pr. 2019). Next position: Postdoctoral Researcher, University of Bologna, Italy.
  • Amir Lotfavar (Nov. 2017鈥揂ug. 2018).
  • Mohammad Ghahramani (Oct. 2016鈥揊eb. 2020). Next position: Senior Computer Vision Scientist, Altius Analytics Labs, Canada.
  • Abdul Afram (Mar. 2016鈥揙ct. 2016). Next position: Hardware/Firmware Developer, IRIS Power LP, Canada.
  • Shahir Hasanzadeh (Nov. 2015鈥揝ep. 2016). Next position: Instructor, Sheridan College, Canada.
  • Akbar Assa (Nov. 2014鈥揘ov. 2015). Next position: Instructor, Sheridan College, Canada.
  • Mohammed Jahirul Islam (May 2014鈥揓an. 2015). Next position: Assistant Professor, University of South Alabama, USA.
  • Aleksandar Vakanski (2013鈥�2014). Next position: Assistant Professor, University of Idaho, USA.
  • Qinghong Guo (Oct. 2012鈥揗ar. 2013). Next position: Software Developer, Transoft Solutions Inc., Canada.
  • Guangyi Chen (Dec. 2012鈥揂pr. 2013).
  • Saba Mirza (Oct. 2012鈥揂ug. 2013). Next position: Senior Technical Engineer, Ontario Power Generation, Canada.
  • Abdelkader Abdessameud (Aug. 2012鈥揂ug. 2013). Next position: Postdoctoral Fellow, Western University, Canada.
  • Howard Yuanhao Hoang (2010鈥�2011).
  • Sureyya Sahin (2009鈥�2010).
  • Eissa Nematollahi (2008). Next position: Postdoctoral Fellow, York University, Canada.
  • Iraj Hassanzadeh (2004鈥�2006). Next position: Assistant Professor, University of Tabriz, Iran.
  • Lingfeng Deng (Apr. 2004鈥揝ep. 2004). Next position: Scientist, MDA, Canada.
  • Guomin Li (2001鈥�2006). Next position: Senior Scientist, Axiomatic Inc., Canada.
  • Borys Shchokin (2001鈥�2006). Next position: Research Consultant, Magna International Inc., Canada.
  • Farzad Rayegani (2001鈥�2003). Next position: Professor, Sheridan College, Canada.
  • Jian Fan (1998鈥�2001). Next position: Senior Scientist, Quad Engineering Inc., Canada.
  • Dmitry E. Pelinovski (1998鈥�1999). Next position: Assistant Professor, McMaster University, Canada.
  • A. Amar (1998鈥�1999).

Former PhD Students

  • Ali A. Nazari (2020鈥�2025), Mechanical and Industrial Engineering, 91看片网. Dissertation: 鈥淭endon-Driven Medical Continuum Robots: Design, Development, and Control in Teleoperation and Visual Servoing Systems.鈥� Co-supervisor: Dr. Kourosh Zareinia. First position: Postdoctoral Research Fellow, The Hospital for Sick Children (SickKids).
  • Sina Sajjadi (2018鈥�2023), Industrial Systems Engineering, University of Regina. Dissertation: 鈥淪tochastic Visual Predictive Control of Robots.鈥� Co-supervisor: Dr. Mehran Mehrandezh. First position: Postdoctoral Fellow, Mechanical, Industrial, and Mechatronics Engineering, 91看片网.
  • Yasser Ali (2021), Electrical Engineering.
  • Mostafa Mohammad Hossein Fallah (2021), Mechanical Engineering.
  • Zahra Samadikhoshkho (2021), Mechanical Engineering.
  • Patrick Keenan (2020), Mechanical Engineering.
  • Ali Mehrkish (2017鈥�2021), Mechanical and Industrial Engineering, 91看片网. Dissertation: 鈥淕rasp Taxonomy and Grasp Synthesis of Continuum Robots.鈥� First position: MITACS Elevate Postdoctoral Fellow, Mechanical, Industrial, and Mechatronics Engineering, 91看片网.
  • Somayeh Norouzi (2016鈥�2021), Biomedical Engineering, 91看片网. Dissertation: 鈥淢odeling and Visual Servoing of Single and Cooperative Continuum Robots.鈥� First position: Postdoctoral Fellow, Department of Mechanical Engineering, University of Alberta.
  • Hossein Bonyan (2014鈥�2018), Mechanical and Industrial Engineering, 91看片网. Dissertation: 鈥淓stimation and Control of a Manipulating Unmanned Aerial Vehicle.鈥� First position: Research Engineer, General Motors.
  • Ata Taghipour (2013鈥�2017), Mechanical and Industrial Engineering, 91看片网. Dissertation: 鈥淒esign and Development of a Catheter-Based Tunable Device for Percutaneous Mitral Repair Through Coronary Sinus.鈥�
  • Minoo Kouhsoltani (2013鈥�2016), Mechanical and Industrial Engineering, 91看片网. Exchange student from the Faculty of Electrical Engineering, University of Tabriz. First position: Assistant Professor, Department of Electrical Engineering, University of Tabriz.
  • Abdul Afram (2012鈥�2016), Mechanical and Industrial Engineering, 91看片网. Dissertation: 鈥淢odeling and Control Design of Residential HVAC Systems for Operating Cost Reduction.鈥� First position: Postdoctoral Fellow, Mechanical and Industrial Engineering, 91看片网. Subsequent position: Hardware/Firmware Development Lead Engineer, Iris Power Engineering Inc., Mississauga, Ontario, Canada.
  • Shahir Hasanzadeh (2011鈥�2015), Mechanical and Industrial Engineering, 91看片网. Dissertation: 鈥淢odeling, Force Estimation, and Control of Steerable Catheters for Robot-Assisted Intracardiac Navigation.鈥� First position: Senior Systems Engineer, Honeywell Aerospace, Mississauga, Ontario, Canada.
  • Akbar Assa (2009鈥�2014), Mechanical and Industrial Engineering, 91看片网. Dissertation: 鈥淩obust Robotic Visual Servoing for Uncertain Systems.鈥� First position: Postdoctoral Fellow, 91看片网. Subsequent positions: Engineering Consultant and Lecturer, School of Mechanical and Electrical Engineering & Technology, Sheridan College Institute of Technology and Advanced Learning; Postdoctoral Fellow, University of Toronto; CTO, Surface Measurements Inc.; and Research Algorithm Engineer, Magna.
  • Aleksandar Vakanski (2008鈥�2013), Mechanical and Industrial Engineering, 91看片网. Dissertation: 鈥淪tatistical Modeling, Planning, and Control of Vision-Based Robot Programming by Demonstration.鈥� First position: Assistant Professor, University of Idaho鈥揑daho Falls, beginning in July 2014; joined the tenure stream in September 2017.
  • Hamed Kharrati (2011鈥�2012), Electrical and Computer Engineering, University of Tabriz. Dissertation: 鈥淔uzzy Control with Parallel Distribution for an Unmanned Aerial Vehicle (UAV).鈥� First position: Assistant Professor, Faculty of Electrical Engineering, University of Tabriz, Iran.
  • Fariborz Rahimi (2004鈥�2010), Electrical Engineering, University of Waterloo. Dissertation: 鈥淭remor in Parkinson鈥檚 Disease: Loading and Trends in Tremor Characteristics.鈥� Co-supervisor: Dr. D. Wang, University of Waterloo. First position: Postdoctoral Fellow, London Health Sciences Centre/University of Western Ontario, London, Ontario, Canada. Subsequent position: Associate Professor, University of Bonab, Iran.
  • Yusof Ganji (2004鈥�2009), Electrical Engineering, University of Waterloo. Dissertation: 鈥淎 Platform for Robot-Assisted Intracardiac Catheter Navigation.鈥� Co-supervisor: Dr. Safavi-Naeini. First position: Senior Software Engineer, RIM, Mississauga, Ontario, Canada. Subsequent position: Amazon, Seattle, Washington, USA.
  • Lingfeng Deng (1999鈥�2004), Electrical and Computer Engineering, University of Waterloo. Dissertation: 鈥淐omparison of Image-Based and Position-Based Robot Visual Servoing Methods and Improvements.鈥� Co-supervisor: Dr. W. J. Wilson. First position: Scientist, MD Robotics鈥揝pace Mission (now MDA).

Former MASc Students

  • Shaswat Garg.
  • Ibrahim Abdulhafiz (2020鈥�2023), Biomedical Engineering, 91看片网. Thesis: 鈥淯ltrasound-Based Shape Estimation and Control of Catheters.鈥� Accelerated Master鈥檚. First position: PhD Student, University of Waterloo.
  • Taha Hashemi (2020鈥�2023), Biomedical Engineering, 91看片网. Thesis: 鈥淎 Haptic Guidance System for Catheter Navigation with Different Kinesthetic Feedback Profiles.鈥� Co-supervisor: Dr. K. Zareinina. First position: PhD Student, McMaster University.
  • Behnam Nasirian (2018鈥�2023), Industrial Systems Engineering, University of Regina. Thesis: 鈥淓fficient Coverage Path Planning and Navigation of Mobile Farming Robots.鈥� Co-supervisor: Dr. Mehran Mehrandezh.
  • Nilou Hashemi (2016鈥�2018), Biomedical Engineering, 91看片网. Thesis: 鈥�3D Image Construction of Catheters Using Ultrasound Images.鈥� Co-supervisor: Dr. Jahan Tavakkoli. First position: PhD Student, University of Toronto.
  • Mojtaba Hedayatpour (2016鈥�2018), Industrial Systems Engineering, University of Regina. Thesis: 鈥淢odeling and Control of Multi-Rotor UAVs: Design for Safety and Performance.鈥� Co-supervisor: Dr. Mehran Mehrandezh. First position: AI Systems Manager, Dot Technology Inc., Edmonton, Alberta, Canada. Subsequent position: CEO, Mojow Autonomous Solutions.
  • Lubna Shahid (2014鈥�2017), Mechanical and Industrial Engineering, 91看片网. Thesis: 鈥淎utomatic Coverage Measurement of Shot Peened Panels.鈥� First position: Project Manager, QHR Technologies.
  • Ata Taghipour (2011鈥�2012), School of Emerging Engineering Technologies, University of Tabriz. Thesis: 鈥淒esign of Bending Sensor Based on Optical Fiber.鈥� Co-supervisors: A. Rostami and M. Bahrami. Co-advisor: X. Gu. First position: PhD Candidate, Department of Mechanical and Industrial Engineering, 91看片网.
  • Anthony Appelmann (2011), Mechanical and Industrial Engineering, 91看片网. Thesis: 鈥淩obot Design for Robotic Catheter Manipulation System for Medical Interventions.鈥� Co-supervisor: Prof. Roland Wilis, Fachhochschule Technikum Wien, Austria.
  • Aidin Foroghi (2010鈥�2013), Mechanical Engineering, 91看片网. Thesis: 鈥淪tochastic Optimal Control with Application in Visual Servoing.鈥� First position: Senior Engineer, ClearVision Technologies, Vancouver, British Columbia, Canada, in 2014.
  • Troy MacAvelia (2009鈥�2012), Mechanical and Industrial Engineering, 91看片网. Thesis: 鈥淔orce and Torque Modeling for the Drilling of Bone for Use in Orthopedic Haptic Simulation Systems.鈥� Co-supervisor: Dr. Ahmad Ghasempour. First position: Engineer, Weptro Machinery Inc., Vernon, British Columbia, Canada.
  • Behrooz Alae (2004鈥�2006), Mechanical and Industrial Engineering, 91看片网. Thesis: 鈥淎 New Strategy for Kinematic and Dynamic Optimization of Robotic Manipulators with Application to Haptic Interfaces.鈥� First position: Senior Engineer, Atomic Energy of Canada.
  • George Jorjani (2003鈥�2006), Electrical and Computer Engineering, 91看片网. Thesis: 鈥淎 Closed-Loop Computer Simulator for Steel Plant Electric Arc Furnace Regulator.鈥� First position: Senior Engineer, Gerdau Ameristeel, Whitby, Ontario, Canada.
  • Behdad Masih-Tehrani (2004鈥�2005), Mechanical and Industrial Engineering, 91看片网. Thesis: 鈥淜inematic Analysis and Modeling of the Visual and Functional Workspace of the Human Being.鈥� First position: PhD Student, Industrial Engineering, Pennsylvania State University. Subsequent positions: Scientist, Oracle Corp., Boston, Massachusetts, USA; Google Inc., Mountain View, California, USA.
  • Azad Shademan (2003鈥�2005), Electrical Engineering, 91看片网. Thesis: 鈥淥ptimal Feature Design for Vision-Guided Manipulation.鈥� First position: PhD Candidate, University of Alberta, Canada. Subsequent position: Surgical Robotics Engineer, Intuitive Surgical Inc.
  • Jingrong Liu (1999鈥�2002), Electrical and Computer Engineering, University of Waterloo. Thesis: 鈥淒esign and Analysis of Intelligent Fuzzy Tension Controllers for Rolling Mills.鈥� Co-supervisor: Dr. W. J. Wilson. First position: Founder and CEO, Intelligent Control Systems Inc., China.
  • Mariano Ficocelli (1997鈥�2000), Mechanical and Materials Engineering, University of Western Ontario/91看片网. Thesis: 鈥淪tate Estimation Manager for Visual Servoing.鈥� First position: Lead Engineer, MD Robotics Inc., Ontario, Canada.
  • Qiang Wang (1997鈥�2000), Department of Electrical Engineering and Centre for Intelligent Machines, McGill University. Thesis: 鈥淭ranslation of Graphic to Haptic Boundary Representation.鈥� Co-supervisor: Dr. V. Hayward. First position: Engineer, Motorola Canada, Montr茅al, Quebec, Canada.

Former MEng Students

  • Daniel Soto Lopez (2016鈥�2022), Industrial Systems Engineering, University of Regina. Project: 鈥淎 Sensitivity Analysis to Depth and Camera Intrinsic Parameters Using a Novel 3D Simulation Environment for Image-Based Wheel-Base Measurement in Vehicles.鈥� Co-supervisor: Dr. Mehran Mehrandezh.
  • Sarmad Sadik (2012鈥�2013), Mechanical and Industrial Engineering, 91看片网. Project: 鈥淰ision-Based Control of Laparoscopic Tools.鈥�
  • Radu Puha (2005鈥�2008), Electrical and Computer Engineering, 91看片网. Project: 鈥淗ybrid Vision-Force-Based Control of Robotic Manipulators.鈥�
  • Mehrdad Zafari (2001鈥�2005), Mechanical and Industrial Engineering, 91看片网. Project: 鈥淢odeling and Simulation of Human Arm Reach.鈥�