► PI
Peiman Naseradinmousavi, Ph.D.
Associate Professor
Before joining San Diego State University, Dr. Peiman Naseradinmousavi was Visiting Assistant Professor of Purdue University. He received the Ph.D. and B.Sc. degrees in mechanical engineering (dynamics and control) from Villanova and Tabriz universities, in 2002 and 2012, respectively. His research interests include Smart Flow Distribution Network, Robotics, Nonlinear Dynamics, Control Theory, Optimization, Magnetic Bearings, and Mathematical Modeling. He received honor and prestigious awards:
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► Graduate Students
■ Aram Valafar, PhD student: expected to graduate on 2028
Aram Valafar received his B.Sc. degree in mechanical engineering in 2024 from the University of California, Riverside. His research interests include dynamics, aeronautics, and optimal control theory. He has experience in amateur rocketry, the control systems involved, and artificial intelligence. He wants to work towards pushing the boundaries of modern control theory.
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■ Dr. Alexander Bertino, former PhD student: defended on May 17, 2022; former MS student
Alex Bertino received his B.Sc. from University of California, San Diego. He carried out his M.Sc. at Dynamic Systems and Control Laboratory of San Diego State University. For his PhD, he formulated and experimentally verified four state-of-the-art control strategies on Baxter, a 7-DOF
redundant robot manipulator. The control strategies examined in his work are the subject of
active research in the field of nonlinear control and have the potential to significantly improve
the performance of robot manipulators when they operate in unstructured environments.
The first control strategy he investigated is model-free decentralized-adaptive control. The
purpose of this control strategy is to achieve consistent performance across a wide range of
joint configurations and end-effector inertias, while having a similar computational effciency
as PID approaches. The second control strategy he investigated is delay-adaptive control.
The purpose of this control strategy is to simultaneously estimate and compensate for an
unknown long actuator delay. The third control strategy he investigated is prescribed-time
control. A key feature of this control strategy is that the settling time is explicitly assigned
by the control designer to a value desired, or "prescribed" by the user, and that the settling
time is independent of the initial conditions and of the reference signal.
The fourth control strategy he investigated is the prescribed-time safety filter. This formation
yields a filter that is capable of avoiding multiple obstacles in a minimally invasive manner
with bounded joint torques, while simultaneously allowing a nominal controller to converge
to positions located on the boundary of the safe set by the end of a fixed-duration task.
Through the formulation and experimental verification of each control strategy he presented,
we demonstrated that our proposed methods perform well in both theory and in practice. He received the following prestigious award:
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■ Dr. Mostafa Bagheri, former PhD student: defended on May 9, 2019
Mostafa Bagheri was PhD student in Joint Doctoral Program between San Diego State University & University of California, San Diego. He received his B.Sc. and M.Sc. degrees in Mechanical Engineering in 2010 and 2013, respectively, from Amirkabir University of Technology (Tehran Polytechnic), Iran. He was honored with the 2011 Annual Award for the best B.Sc. thesis in Mechanical Engineering by Iranian Society of Mechanical Engineers. In 2014, he joined to Advanced Robotics Department, Italian Institute of Technology (IIT), and worked
on the European project Walk-Man as a graduate researcher. Also, He was Research Assistant (RA) at
System Dynamics and Control Laboratory, Mechanical Engineering Department, Amirkabir University of
Technology (Tehran Polytechnic), from 2010 to 2014.
His research interests include Nonlinear Dynamics & Control Systems, Robotics & Mechatronics,
Adaptive Control and Identification, Dynamic Programming and Optimization, Vehicle Dynamics, and
Finite Element Methods & Engineering Mathematic. He received the following award:
- ASME Dynamic Systems and Control Conference (DSCC) 2016 Student Travel Grant.
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■ Rohan Padalghare, MSc Student (expected on 2025)
Rohan completed his B.Sc. in Mechanical Engineering from Savitribai Phule Pune University, Pune, India, in 2019. He is currently pursuing his Master's in Mechanical Engineering at San Diego State University and joined the Dynamic Systems and Control Laboratory (DSCL) in 2022. Rohan is working on the Unitree GO1 quadruped robot, where he developed a Python program using the OpenCV library to calculate object depth from the robot’s front stereo camera. He is currently focused on detecting the orientation of an object from 0 to 180 degrees using deep learning algorithm on the quadruped robot.
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■ Nathan Thomas, MSc Student (Graduated)
Nathan Thomas received his B.Sc. and MSc degrees in mechanical engineering in 2017 and 2024 from San Diego State University.
His effort was an investigation into the first experimental use of monocular depth
estimation when traversing an environment with obstacles. He investigated a navigation
task in which the location of an obstacle and a target within the environment is initially
unknown. In order to complete this task, he utilizd a deep neural network to estimate
depths of objects in the scene. First, the objects are located within the scene using an
HSV-based scanning algorithm. Second, he constructed an encoder-decoder based neural
network. This network is capable of estimating the depth of all points on the scene with
an average root mean squared error of 0.462. Third, he calculated a trajectory which
avoids the obstacle and ends at the target object. He showed that this approach is able to
successfully determine the 3D coordinates of objects in an environment in under 10ms
with an average error of only 248mm.
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■ Shane Allison, MSc Student (Graduated)
He received a B.Sc. and MSc in Nano-Engineering and Mechanical Engineering in 2013 and 2017 from UCSD and SDSU, respectively. In his effort toward MSc degree, he invesitgated the physics of a solenoid-actuated butterfly valve. He then developed a comprehensive formula to describe the pressure drops across valves in a system of many valves. He then used this formula to perform a case study of a network of three valves subject to the laminar flow. He then analyzed the system as each of the valves is subjected to external noise with the intent to understand the behavior of the system as one valve is disturbed. Additionally, He captured chaotic dynamics of the system, showing that chaos can be induced in this system. The findings of the work show that a general formula of many valves can be used in simulating a system of three valves. Additionally, it is shown that when each of the valves is subjected to an external disturbance, the other ones behave different in each case.
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■ Wesley Hsiao, MSc Student
Wesley received his BS in Mechanical Engineering at the University of California, Irvine in 2017. His research interests include robotics, control, artificial intelligence, and deep learning. He is working on the 18 DOF SQ1 quadrupedal robot.
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■ Nina Amiri, MSc Student
Ms. Nina Amiri received her B.Sc. degree in Mechanical Engineering in 2105 from San Diego State University. Her research interests include dynamics, robotics, and control. She currently works on trajectory optimization and adaptive control of a 14-DOF NAO bipedal robot.
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■ Ryan Tandy, MSc Student
Ryan Tandy received his B.Sc. degree in mechanical engineering in 2017 from San Diego State University. His research interests include dynamics, robotics, and control. He is working on a 25-DOF NAO bipedal robot.
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► Undergraduate Assistants
■ Emily Bidgood
Emily Bidgood is a student at San Diego State University pursuing a B.Sc. in Mechanical Engineering and a Computer Science minor. She hopes to eventually work in the renewable energy or transportation industries. She is interested in robotics (bipedal) and control.
■ Kelly Allen
Kelly Allen is pursuing a B.S. in Mechanical Engineering from San Diego State University. She recently interned for one of the leading developers of autonomous robots for human environments. Kelly's research interests include robotic design and artificial intelligence.
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■ Ryan Toca
Ryan Toca is pursuing his B.Sc. in Mechanical Engineering from San Diego State University. He aspires to work in the aerospace industry manufacturing unmanned aircrafts designed for reconnaissance. His research interests include Robotics and Mechatronics.
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Aztec Robotic Technologies Team (Undergraduate Students)
Mechanical Engineering Department
President-Samuel Espinoza Treasurer-Anas Khafagi Vice President-Alex Peraza Membership Officer-Aubrey Appelbaum Public Relations-Carlos Antonio Cabrera
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