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Institute of Engineering and Computational Mechanics

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Ehsan Sharafian, M.Sc.

Address Ehsan Sharafian
Institute of Engineering and Computational Mechanics
University of Stuttgart
Pfaffenwaldring 9
70569 Stuttgart, Germany
Office Pfaffenwaldring 9, 3rd Floor
Room 3.105
Phone
Fax
+49 711 685-66565
+49 711 685-66400
Email ehsan.sharafian@itm.uni-stuttgart.de


Field of Research

  • Control of Multibody Systems
  • Motion and Position Control of Mobile Robots
  • Cooperative Transportation of a load Using Swarm Mobile Robots
  • Transporting an elastic plate using mobile robots purely by normal and friction forces. The absence
    of a rigid connection gives the robots the ability to move and stick or slip under the plate.

    Transporting an elastic plate through a narrow passage
    where only one mobile robot can pass at a time.
    Simulation result with five robots.

Publications

black: published, green: accepted for publication,  red: submitted for publication
  • Sharafian Ardakani, E., Ebel, H., Eberhard, P.: Study on the Cooperative Transportation of a Load using Swarm Robots. Proceedings IMSD, 5th Joint International Conference on Multibody System Dynamics, Lisboa, Portugal,June 24-28, 2018.
  • Sharafian Ardakani, E.; Eberhard, P.: Robotino Localization. Technical Report (Institutsbericht) IB-60, Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017. (12 pages)
  • Ebel, H.; Sharafian Ardakani, E.; Eberhard, P.: Comparison of Distributed Model Predictive Control Approaches for Transporting a Load by a Formation of Mobile Robots. Proceedings of the 8th ECCOMAS Thematic Conference on Multibody Dynamics, Prague, June 19-22, 2017.
  • Sharafian Ardakani, E.; Ebel, H.; Eberhard, P.: Transporting an Elastic Plate Using a Group of Swarm Mobile Robots. In Proceedings of the 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Munich, July 3-7, 2017.doi:10.1109/AIM.2017.8014213
  • Ebel, H.; Sharafian Ardakani, E.; Eberhard, P.: Distributed Model Predictive Formation Control with Discretization-Free Path Planning for Transporting a Load. Robotics and Autonomous Systems, Vol. 96, pp. 211-223, October 2017. doi:10.1016/j.robot.2017.07.007
  • Sharafian Ardakani, E.; Eberhard, P.: Transporting a Load by a Group of Swarm Mobile Robots. Technical Report (Institutsbericht) IB-59, Institute of Engineering and Computational Mechanics, University of Stuttgart, 2016. (19 pages)
  • Sharafian Ardakani, E.; Eberhard, P.: Cooperative Search by Swarm Robots Based on Bacterial Foraging Optimization. In Proceedings of the 24th Annual International Conference on Mechanical Engineering (ISME), 2016.
  • Sharafian Ardakani, E.; Eberhard, P.: Bacterial Foraging Optimization via Stigmergy Method. Technical Report (Institutsbericht) IB-58, Institute of Engineering and Computational Mechanics, University of Stuttgart, 2015. (18 pages)
  • Sharafian Ardakani, E.; Tale Masouleh, M.; Ghaffari, A.: Environment and Objects Detection Using E-puck Robot. In Proceedings of ECCOMAS Multibody Dynamics 2013, University of Zagreb, Croatia, 2013.
  • Sharafian Ardakani, E.; Tale Masouleh, M.; Ghaffari, A.; Ansari Eshlaghi, F.: Objects Detection and Localization in an Unknown Environment Using Image Processing and Artificial Neural Networks. In Proceedings of the 22th Annual International Conference on Mechanical Engineering (ISME), 2014.
  • Sharafian Ardakani, E.; Ansari Eshlaghi, F.; Daneshmand, M.; Tale Masouleh, M.; Menhaj, M.B.; Ghaffari, A.: Path Planning and Obstacle Avoidance of Mobile Robots via Potential Field Based on Fuzzy Controlling. In Proceedings of the 13th Iranian Conference on Fuzzy Systems (IFSC), 2013.

Poster-Presentations

  • Sharafian Ardakani, E.; Eberhard, P.: 4. October 2017, The 10th SimTech Status Seminar, Bad Boll, Germany, "Vision Based Indoor Localization of Mobile Robots"
  • Sharafian Ardakani, E.; Eberhard, P.: 25. November 2016, The 9th SimTech Status Seminar, Bad Boll, Germany, "Transporting a Load Using Swarm Robots"
  • Sharafian Ardakani, E.; Eberhard, P.: 25. November 2015, The 8th SimTech Status Seminar, Bad Boll, Germany, "Distributed Control of Swarm Robots Using Ideas from Bacteria Populations"

Talks

  • 26. June 2018: 5th Joint International Conference on Multibody System Dynamics (IMSD2018), Lisboa, Portugal, "An Experimental Study on the Cooperative Transportation of a Load using Swarm Robots"

  • 28. May 2018: Status Seminar ITM, Bad Herrenalb, Germany, "Cooperative Transportation of a Load Using Swarm Robots based on ALPSO"
  • 06. July 2017: International Conference on Advanced Intelligent Mechatronics (AIM 2017), Munich, Germany, "Transporting an Elastic Plate Using a Group of Swarm Mobile Robots"
  • 22. May 2017: Status Seminar ITM, Monbachtal, Germany, "Localization of Robotinos"
  • 28. Jun 2016: Status Seminar ITM, Monbachtal, Germany, "Transporting a Load by a Group of Mobile Robots"
  • 07. May 2016: Center of Excellence in Design, Robotics, and Automation (CEDRA), Sharif University of Technology, Tehran ,Iran, "Design of a Dynamic Model of Transporting a Load by a Swarm Mobile Robots"
  • 27. April 2016: The 24th Annual International Conference on Mechanical Engineering (ISME 2016), Yazd, Iran "Cooperative Search by Swarm Robots Based on Bacterial Foraging Optimization"
  • 27. November 2015: The 8th SimTech Status Seminar, Bad Boll, Germany, "Distributed Control of Swarm Robots Using Ideas from Bacteria Populations"
  • 11. July 2015: SimTech PhD Weekend 2015, Hirschegg, Austria, "Simulation and Control of a Swarm of Small Mobile Robots Using Bacteria Foraging Optimization"
  • 16. June 2015: Status Seminar ITM, Monbachtal, Germany, "On the Analysis, Simulation and Control of a Swarm of Small Mobile Robots"

Supervised Theses

  • Ben Mansour,O.T., Boujebha, L., Haj Hassine, F., Brunner, M.:
    Design and Build of a Quadcopter for Transporting a Load, Studienarbeit.
    Institut für Technische und Numerische Mechanik, Universität Stuttgart, 2017.(laufend)

  • Chuchra, T., Wang, X., Katamish, B., Chang, L.:
    Design and Build of a Quadcopter for Transporting a Load, Student Project.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017.

  • Wäller, K.:
    Trajectory Planning and Tracking Control of a Quadrotor in an Unknown and Dynamic Environment, Studienarbeit.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017. In co-supervision with Henrik Ebel, M.Sc.

  • Almeida, R.:
    Implementation and Analysis of Stochastic Sampling-Based Model Predictive Control for the Control of Nonlinear Mechanical Systems, Studienarbeit.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017. In co-supervision with Henrik Ebel, M.Sc.

  • Strässer, R.:
    Modeling, Parameter Identification and Model Validation for a Quadrotor, SimTech project thesis.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017. (running)
    In co-supervision with Henrik Ebel, M.Sc.

  • Miranda, E., Ruiz, E., Alustiza Zavala, J., Sancho, A.:
    Modeling, Simulation and Build a Quadcopter, Student Project.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017.

  • Samuel Wiltz, A.:
    Tracking and Following an Object Using Robotinos , Bachelor Thesis BSC-77.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017.

  • Schudt, A.:
    Formation Control of Mobile Robots Using Results from Algebraic Graph Theory, Master Thesis MSC-254.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017.
    In co-supervision with Henrik Ebel, M.Sc.

  • Karci, K.:
    Attitude and Motion Control of an Elastic Plate Transported by a Formation of Mobile Robots, Student Thesis STUD-473.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017. In co-supervision with Henrik Ebel, M.Sc.

  • Ebel, H.:
    Model Predictive Formation Control of Swarm Mobile Robots for Transporting a Load, Master Thesis MSC-239.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2016.
  • Almeida, R.:
    Designing a Dynamic Model and Simulation of Transporting a Load by a Group of Swarm Mobile Robots, Bachelor Thesis BSC-64.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2016.
  • Esteves, M.:
    Swarm Formation Control by Virtual Structure Method for Transporting a Load, Bachelor Thesis BSC-80.
    Institute of Engineering and Computational Mechanics, University of Stuttgart, 2017.

Teaching

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