Nima Maghooli [Personal Website]

About Me

Mechanical Engineer interested in Robotics & Intelligent Control

I am delighted to welcome you to visit my website. There is enough information about me here to enable you to create a clear picture of my career.

Qualification: MSc in Mechanical Engineering, majoring in Dynamics and Control
Academic Affiliation: Advanced Robotics and Automated Systems [Part-time]
Industrial Affiliation: Sina Robotics and Medical Innovators Co., Ltd [Full-time]

I am passionate about leveraging robotics to automate high-precision tasks, particularly in domains such as Minimally Invasive Surgery. During my MSc thesis, I focused on Tendon-Driven Continuum Robots, which are extensively used in surgical robotics due to their flexibility and dexterity. After graduation, I joined Sina Robotics and Medical Innovators to contribute to the development of Master-Slave Telesurgical Robotic Systems, applying my background in robot dynamics and control. My current research interests lie at the intersection of robot learning and intelligent control. While learning-based methods have shown remarkable capabilities, they often lack reliability in safety-critical applications. I am deeply motivated to address this challenge by advancing robust, learning-based control strategies. I plan to pursue a PhD to further explore this field, with the long-term goal of leading a research lab dedicated to developing impactful, reliable robotic systems that serve real-world societal needs.

Some of the institutions and organizations where I have played a role are listed below.

Resume

Work Experience

Roboticist and Intelligent Control System Design Engineer

Feb 2024 - Present

Sina Robotics and Medical Innovators Co., Ltd, Tehran, Iran

1st Project: Deriving Kinematics, Jacobian, and Dynamics Analytical Models with respect to Remote Center of Motion (RCM) for Hybrid Serial-Parallel Robotic Telesurgery System (Sina).
2nd Project: Design and Implementation of Adaptive-IDC Control System for Master-Slave Robotic Telesurgery System for Minimally Invasive Surgery Applications.

Research Interests

Haptic Master-Slave Robotic Systems
Medical Robotics and Robotic Surgery
Robot Learning and Learning-Based Control
Data-Driven and Intelligent Control Systems
System Identification and Parameters Estimation
Sim-to-Real Transfer in Deep Reinforcement Learning

Education

MSc in Mechanical Eng. (Dynamics & Control)

Sep 2020 - Sep 2023

K. N. Toosi University of Technology, Tehran, Iran

Supervisor: Prof. S. Ali A. Moosavian
Thesis title: Intelligent Control System Design with Implementation for Tendon-Driven Continuum Robots using Vision-Based Deep Reinforcement Learning
Seminar title: Learning-Based Modeling and Control for Soft Robotic Systems

BSc in Mechanical Eng.

Sep 2015 - May 2020

University of Tehran, Tehran, Iran

Supervisor: Dr. Tara Farizeh
Internship place: Mapna Turbine Engineering and Manufacturing Co. (TUGA)

Research & Teaching Experience

Graduate Research Assistant

Sep 2021 - Present

Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems (ARAS), Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran.

Supervisor: Prof. S. Ali A. Moosavian
Research Platforms: Tendon-Driven Continuum Robotic Arm | 3-RRS Parallel Robot | 5-DoF Serial Manipulator
Published Paper: Self-Tuning Robust Tracking Control for Autonomous Underwater Vehicles [Link]
Published Paper: Intelligent Model-Free Control for Tendon-Driven Continuum Robotic Arms [Link]
Submitted Paper: Adjusted MTJ Control Strategy using Deep Reinforcement Learning for Tendon-Driven Continuum Manipulators [Link]
In Progress: Adaptive Shape Control for Continuum Robotic Arms based on Distinct Force Distribution Strategy
In Progress: Multi-Agent Deep Reinforcement Learning Application for 3-RRS Parallel Robot Real-Time Control

Graduate Teaching Assistant

Sep 2021 - Sep 2023

Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran

Advanced Robotics | Instructor: Prof. S. Ali A. Moosavian

Course Syllabus: Kinematics & Dynamics Modeling, Path & Trajectory Planning, Position Control, Force & Impedance Control

Advanced Dynamics | Instructor: Prof. S. Ali A. Moosavian

Course Syllabus: Classical Dynamics, Motion of Celestial Bodies, Analytical Dynamics, Stability Analysis

Department of Mechanical Engineering, University of Tehran, Tehran, Iran

MATLAB-Simulink Workshop | Organised by: Scientific Association of Mechanical Engineering, University of Tehran

Workshop Title: Control System Design and Optimization for Linear & Nonlinear Dynamic Systems

Portfolio

some of my academic and industrial projects and experiences are shown here, which I have archived as my portfolio.

All
Projects
Certificates
Animations

The 12th RSI International Conference on Robotics and Mechatronics (ICRoM 2024)

Certification of Presentation for "Control of Continuum Manipulators with Shape Constraints via Deep Reinforcement Learning" Conference Paper

The 11th RSI International Conference on Robotics and Mechatronics (ICRoM 2023)

Certification of Presentation for "Intelligent Model-Free Control for Tendon-Driven Continuum Robotic Arms" Conference Paper

The 10th RSI International Conference on Robotics and Mechatronics (ICRoM 2022)

Certification of Presentation for "Self-Tuning Robust Tracking Control for Autonomous Underwater Vehicle" Conference Paper

Teaching Assistant Certificate

General Physics II | Jan – Jun 2019

Certificate of attendance at 16-hour workshop on SolidWorks

Organized by SAME (Scientific Association of Mechanical Engineering). Issued Aug 2018.

Future of Electric Vehicles, Challenges and Opportunities

It was a workshop about the Electric Vehicles, presented by Dr. Pouria Ahmadi at school of mechanical engineering, University of Tehran, October 3th 2018.