MRL

Qazvin Islamic Azad University Landscape View
Mechatronics Research Laboratories - Faculty of Computer Building
Laboratories Members of People of MRL

Standard Platform

About the Team

MG 2326

The RoboCup Standard Platform League is a RoboCup robot soccer league, in which all teams compete with identical robots. The robots operate fully autonomously, i.e. there is no external control, neither by humans nor by computers. The current standard platform used is the humanoid NAO by Aldebaran Robotics.

The teams compete with their five 53cm height robots, which are able to communicate with each other by wireless network. Robots are able to use two cameras, placed on their face in order to recognize objects in the field. As there is no difference in robots hardware, the team with more optimized software and intelligence is the winner.

MRL SPL is one of MRL teams working at NAO Laboratory. Mechatronics Research Laboratory, MRL, works under supervision of Qazvin Azad University and its main research topics are artificial intelligence and robotics. It's been an active participant of RoboCup in different leagues since 2002 as well. We've participated in this League since 2009. Our team is associated from groups which are allocated to perform team’s strategy tasks and technical requirements in fields of Computer Vision, Motion, Localization and Path Planning, and Behavior.

Research


Ongoing Researches	Useful Papers	Useful Books	Future Works

Awards

1^st Place in RoboCup Iran Open, Standard Platform League; Tehran, Iran, 2012.

2^nd Place in RoboCup Iran Open, Research Innovation Challenge; Tehran, Iran, 2012.

3^rd Place in RoboCup Iran Open, Standard Platform League; Tehran, Iran, 2011.

Publications

Biped robots

Dynamic Modeling and Control Study of the NAO Biped Robot with Improved Trajectory Planning; Book chapter, Materials with Complex Behaviors II; Springer, to be appeared, 2012, Ehsan Hashemi, Maani Ghaffari Jadidi.

Path Planning of Nao Biped Robots Based on Bezier Approach, In the proceedings of the 2011 IEEE/ASME AIM Conference, Pp. 796 - 801, Budapest, Hungary, Ehsan Hashemi, Maani Ghaffari Jadidi, M. R. Shah mohammadi.

Dynamic Modeling and Control Study of the NAO Biped Robot with Improved Trajectory Planning, In the proceedings of the 4th International Conference on Advanced Computational Engineering and Experimenting, ACE-X 2010, Paris, France, 2010, Ehsan Hashemi, Maani Ghaffari Jadidi.

Optimized Trajectory Generation for the NAO Biped Robot Using Particle Swarm Optimization and Genetic Algorithm, In the proceedings of the 4th International Conference on Advanced Computational Engineering and Experimenting, ACE-X 2010, Paris, France, 2010, Maani Ghaffari Jadidi, O. Amir Ghiasvand, E. Hashemi, A. R. Karimi, M. Shafiee.

Kinematic Modeling Improvement and Trajectory Planning of the NAO Biped Robot, In proceedings of the 1st Joint International Conference on Multibody System Dynamics, Finland, 2010, Maani Ghaffari Jadidi, Ehsan Hashemi, M. A. Zakeri.
Particle Filter Based Localization of the Nao Biped Robots, 44th IEEE Southeastern Symposium on System Theory,2012, Ehsan Hashemi, Maani Ghaffari Jadidi, Majid Lashgarian, Mostafa Yaghobi, Mohammad Shafiei Rezvani Nejad. (under review)
Indoor Localization of Biped Robots by Vision Based Fast and Reliable Motion Model using ICP, The 2nd Joint International Conference on Multibody System Dynamics,2012, Maani Ghaffari Jadidi, Mostafa Yaghobi, Ehsan Hashemi. (under review)

Wheeled Robots

Model Based PI-Fuzzy Control of Four Wheeled Omni-Directional Mobile Robots,Journal of Robotics and Autonomous Systems; 59 (11), November 2011, pp. 930-942, Ehsan Hashemi, Maani Ghaffari Jadidi, and Navid Ghaffari Jadidi.
Discrete Time Linear Quadratic Tracking Controller For Omnidirectional Mobile Robots, In the proceedings of the 2011 ASME/IEEE International Conference on Mechatronics and Embedded Systems Applications, MESA, Washington, DC, USA, Ehsan Hashemi, Maani Ghaffari Jadidi.
Trajectory Planning Optimization with Dynamic Modeling of Four Wheeled Omni-Directional Mobile Robots, In proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation, Daejeon, Korea, 2009, Ehsan Hashemi, Maani Ghaffari Jadidi, Omid Bakhshandeh Babarsad.
Rescue Robot Localization and Trajectory Planning Using ICP and Kalman Filtering Based Approach, In proceedings of the 7th International Conference on Robotics, Vision, Signal Processing, & Power Applications, Malaysia, 2009, Ehsan Hashemi, Maani Ghaffari Jadidi, Mostafa Yaghobi.
Designing a football team of robots from beginning to end, Proceeding of International Journal Information Technology, 2005, Authors: Maziar A. Sharbafi, Caro Lucas Senior Member, IEEE, Aida mohammadinejad, Mostafa Yaghobi.
Using Primitive Action to Specification Strategy of Soccer Small Size Robot, Proceeding of 7th Intelligent System (CIS), 2005, Authors: Maziar A. Sharbafi, Caro Lucas, Senior Member, IEEE, Mostafa Yaghobi.(Persian)

Feature Extraction

Adaptive Line Extraction Algorithm for SLAM Application, IEEE 2008 International Conference on Robotics and Biomimetics (ROBIO 2008) Authors: M. Yaghobi, M. Jadaliha, J. Zolghadr, M. Norouzi.
Recursive Line Extraction Algorithm from 2D Laser Scanner Applied to Navigation a Mobile Robot, IEEE 2008 International Conference on Robotics and Biomimetics (ROBIO 2008) Authors: M. Norouzi, M. Yaghobi, M. R. Siboni, M. Jadaliha.

Control Theory

Discrete Time Linear Quadratic Tracking Controller For Omnidirectional Mobile Robots, In the proceedings of the 2011 ASME/IEEE International Conference on Mechatronics and Embedded Systems Applications, MESA, Washington, DC, USA. Authors: Ehsan Hashemi, Maani Ghaffari Jadidi.

Team Description Papers (TDPs)

Ehsan Hashemi, Maani Ghaffari Jadidi et.al. “MRL Standard Platform Team Description 2011”, RoboCup 2011, Istanbul, Turkey.

Ehsan Hashemi, Omid Amir Ghiasvand, Maani Ghaffari Jadidi et.al. “MRL Standard Platform Team Description 2010”, RoboCup 2010, Singapore, Singapore.
Ehsan Hashemi, Omid Amir Ghiasvand, Maani Ghaffari Jadidi, et.al. “MRL Standard Platform Team Description 2009”, RoboCup 2009, Graz, Austria.

Members

MRL-SPL Team @ IO2012


	Ehsan Hashemi Position: Team Leader E-mail: This e-mail address is being protected from spambots. You need JavaScript enabled to view it
Ehsan Hashemi earned the M.Sc degree from the AmirKabir University of Technology (formerly Tehran Polytechnic), Tehran, Iran in 2005. He currently works as an instructor at the Qazvin Azad University, Department of Mechanical Engineering and a researcher in the Mechatronics Research Laboratory, MRL on biped robots and controller optimization. He is also team leader of Nao biped robots Div. in MRL and his research interests include robotics, adaptive and optimal controllers, bipedal locomotion, localization, vibration control, and dynamic simulation.

	Maani Ghaffari Jadidi Position: Researcher E-mail: This e-mail address is being protected from spambots. You need JavaScript enabled to view it
Maani Ghaffari Jadidi received his B.Sc. degree in Mechanical Engineering in 2009 from Qazvin Azad University, and he is studying for an M.Sc. degree in Mechatronics Engineering at that university. He also has teaching experience with Modeling and Control of Omnidirectional Robots, CATIA, and MATLAB courses for undergraduate and graduate students. Currently he is working in MRL as a graduate researcher with interest in dynamic systems and optimal control, robotics, legged locomotion, localization and navigation, trajectory planning, and optimization. He has also been an active participant of RoboCup competitions since 2007.
	Mostafa Yaghobi Title: Researcher E-mail: This e-mail address is being protected from spambots. You need JavaScript enabled to view it
Mostafa Yaghobi graduated from Qazvin Azad University in 2008 with B.Sc degree in Computer Engineering. He has also contributed in RoboCup actively since 2004 and was member of RoboCup Small-Sized and Real Rescue robot in the past six years. Currently, he is conducting research in Nao bipedal Div. at MRL, as researcher. His research interests are Localization, SLAM, and Motion Planning.
	Majid Lashgarian Title: Undergraduate Student E-mail: This e-mail address is being protected from spambots. You need JavaScript enabled to view it
Majid Lashgarian is a B.Sc student at Qazvin Azad University. He works in both MRL-SPL divisions' localization and motion control groups of MRL from 2009. His research interests and team duties concentrate on walk engine development, particle-filter based localization, system framework and NLP together with behavior control.
	Mohammad Shafiei Title: Undergraduate Student E-mail: This e-mail address is being protected from spambots. You need JavaScript enabled to view it
Mohammad Shafiei is studying Computer Software Engineering from 2008 at Qazvin Azad University. Currently he is with MRL as an undergraduate researcher with interests in Computer Vision, Signal Processing and Artificial Intelligence. He is an active participant of RoboCup SPL since 2010.
	Koosha Zarei Title: Undergraduate Student E-mail: This e-mail address is being protected from spambots. You need JavaScript enabled to view it
Koosha Zarei currently is seeking B.Sc degree in computer software engineering at Qazvin Azad University. He is working in MRL-SPL team as an undergraduate researcher and also has been an active participant of the RoboCup SPL competitions since 2010. His research interests include operating systems, Artificial intelligence, Neural network, Fuzzy logic, Path Planning and multi-agent systems.
	MohammadReza Shahmohammadi Title: Undergraduate Student E-mail: This e-mail address is being protected from spambots. You need JavaScript enabled to view it
Mohammadreza Shahmohammadi graduated from Qazvin Azad University in fall 2011 in Mechanical Engineering and currently works on NAO biped robots path planning and dynamic modeling. He is interested in Robot Control, preview controllers, Path Planning by RRT and Potential Fields approaches, Dynamic Modeling, and Simulation.
	MohammadReza Ghazeli Title: Undergraduate Student E-mail: This e-mail address is being protected from spambots. You need JavaScript enabled to view it
Mohammad Reza Ghazeli is second year Student in software Engineering at Qazvin Azad University. He has been jointed to the MRL-SPL team since summer 2011.He is currently works in Behavior division and works on some debugging tools. He is interested in Image processing and Artificial Intelligence.
	Mohammad Ali Sharpasand Title: Undergraduate Student E-mail: This e-mail address is being protected from spambots. You need JavaScript enabled to view it
Mohammad Ali Sharpasand has participated in the junior Robocup junior, and worked on web-programming, junior ACM and an intelligent automatic reception system for crowd balancing in fairs. He is currently an undergraduate student of Electrical Engineering at Qazvin Azad University and works as a junior researcher in MRL on robots behavior control, and his research interests include active world model prediction.
	Aref Moqadam Mehr Title: Undergraduate Student E-mail: This e-mail address is being protected from spambots. You need JavaScript enabled to view it
Aref Moqadam Mehr is an undergraduate student of Computer Software Engineering at Qazvin Azad University. He also has previous experience on RoboCup junior and intelligent automatic reception system for balancing in fairs. Now he is working in MRL-SPL team on vision of Nao Biped robots and related perception approaches. His research interests are computer vision, Artificial Intelligence, and NLP.
	Novin Shahroudi Title: Undergraduate Student E-mail: This e-mail address is being protected from spambots. You need JavaScript enabled to view it
Novin Shahroudi is seeking B.Sc degree of Computer Software Engineering in QIAU. He has worked on various web categories such as web-programing, security and CMSs since 2006 and has research experience in RoboCup junior leagues and national Khwarizmi competitions in 2010. He's also interested in AI, and Networking.

Today, the world is on the track of digital industry, and the future envisioned for all world scientific activities shows that this trend will continue. Following the medals achieved by Qazvin Azad university in international competitions, the international RoboCup federation accredited the university to hold the first Open RoboCup competitions in Iran. This is a valuable step in the process of institutionalizing the scientific productivity and strengthening the software movement.

Dr. Morteza Mousakhani, President of QIAU