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Academic Positions

  • 2017 Present

    Research Associate

    Carnegie Mellon University, Field Robotics Center

  • 2015 2017

    Research Assistant

    University of Illinois at Chicago, Wireless Lab

  • 2014 2015

    Research Assistant

    Amirkabir University of Technology, Robotics Lab

  • 2013 2014

    Research Assistant

    Sharif University of Technology, Computer Vision Lab

Education & Training

  • M.Sc2017

    Master of Science in Electrical Engineering

    University of Illinois at Chicago, Chicago, IL

  • B.Sc2015

    Bachelor of Science in Electrical Engineering

    Shahid Beheshti University, Tehran, Iran

Honors and Awards

  • 2016
    Funded research under UIC College of Engineering grant

    supported by 20K $ UIC College of Engineering Funding for the period of 2016-2017

  • 2015
    Funded research under NSF Award Grant

    supported by 20K $ NSF Funding for the period of 2015-2016 under NSF Award Number 1620794

  • 2014
    2nd Place at AUT-CUP Robotic International Competition, Artificial Intelligence league
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    After I helped designing and implementing an @Home at Sharif University of Technology, our robot could win the second prize AUT-CUP robotics competitions, we were invited to join Amirkabir University of Technology team after this acheivement

  • 2012
    2nd Place at ACM ICPC Qualiffication Programing Contest

    We could acheive the second place between more than 50 teams nationwide, we were qualified to participate in West Asia competition after this acheivement

  • 2012
    19th Place at ACM ICPC West Asia Regional Programing Contest

    We could acheive the 19th place between more than 200 teams in West Asia region.

  • 2011
    5th Place , ACM ICPC Qualiffication Programing Contest S. Beheshti Univ.

    We could acheive the fifth place between more than 40 teams nationwide

  • 2010
    Ranked Top 1% , Mathematics and Physics among more than 178,000 students in Iranian nationwide university entrance examination (Konkoor).
  • 2008
    Accepted , Iranian National Olympiad Competition in Mathematics Tehran, Iran
  • 2007
    Accepted , Iranian National Olympiad Competition in Computer Science Tehran, Iran
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Automatic Real-time Anomaly Detection for Autonomous Aerial Vehicles

Azarakhsh Keipour, Mohammadreza Mousaei, Sebastian Scherer
Conference Paper in Proceedings of 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada (submitted)

Abstract

The recent increase in the use of Autonomous Aerial Vehicles raises concerns about the safety and reliability of autonomous operations. There is a growing need for methods to monitor the status of these aircraft and report any faults and anomalies to the safety pilot or to the autopilot to deal with the emergency situation. In this paper, we present a real-time approach using the Recursive Least Squares method to detect anomalies in the behavior of an aircraft. The experiments on this method show a precision of $88.23\%$, recall of $88.23\%$ and $86.36\%$ accuracy for over 22 flight tests. Our contributions include providing an easy-to-deploy anomaly detection method that does not rely on a specific aircraft model and can detect many types of faults and failures in a wide range of autonomous aircraft. The other contribution is providing a new fault detection open dataset for autonomous aircraft, which contains complete data and the ground truth for 22 fixed-wing flights with 8 different types of mid-flight actuator failures to help future research in the aircraft fault detection area.

A Robot for NDA of Holdup Deposits in Gaseous Diffusion Piping

Heather Jones, David Kohanbash, Warren Whittaker, Siri Maley, Mohammadreza Mousaei, James Teza, Ralph Boirum, William Whittaker
Conference Paper in Proceedings of WM Symposia 2019, Phoenix, AZ (submitted)

Abstract

This paper describes the technical details of the PCAMS RadPiper robot and its support hardware. Operations for launch into low and elevated pipes are also described. Test results demonstrating the robot’s functionality are presented, but more detail can be found in companion papers in the same venue describing radiometry in the PCAMS method, the PCAMS post-processing and reporting system, and the results of commissioning and hot tests of the PCAMS system at the DOE Portsmouth Gaseous Diffusion Facility. The system has near-term applicability at the DOE Paducah site, and can be adapted to other enrichment facilities around the world.

Automated Analysis, Reporting, and Archiving for Robotic NDA of Holdup Deposits

Heather Jones, Siri Maley, Kenji Yonekawa, David Kohanbash, Mohammadreza Mousaei, William Whittaker
Conference Paper in Proceedings of WM Symposia 2019, Phoenix, AZ (submitted)

Abstract

This paper outlines the features and design of the PCAMS Post-Processing System, recently commissioned for use at the Portsmouth Gaseous Diffusion Enrichment Facility. Test results for automated robot position determination, example pipe-interior geometric surface models, and illustration of how key report features apply in operational runs are discussed.

Optimizing Pilot Overhead for Ultra-Reliable Short-Packet Transmission

Mohammadreza Mousaei, Besma Smida
Conference Paper in Proceedings of 2017 IEEE International Conference on Communication, Paris, France

Abstract

In this paper we optimize the pilot overhead for ultra-reliable short-packet transmission and investigate the dependence of this overhead on packet size and error probability. In particular, we consider a point-to-point communication in which one sensor sends messages to a central node, or base-station, over AWGN with Rayleigh fading channel. We formalize the optimization in terms of approximate achievable rates at a given block length, pilot length, and error probability. This leads to more accurate pilot overhead optimization. Simulation results show that it is important to take into account the packet size and the error probability when optimizing the pilot overhead.

ComSens: Exploiting Pilot Diversity for Pervasive Integration of Communication and Sensing

Mohammadreza Mousaei, Mojtaba Soltanalian, Besma Smida
Conference Paper in Proceedings of 2017 IEEE Military Conference on Communication, Baltimore, MD, USA

Abstract

In this paper, we propose a fully-integrated radar and communication system – named ComSens. We utilize two different pilot sequences (one for uplink and one for downlink) with the condition that they must be uncorrelated to each other. Within such a framework, the signal received from end-user and the back-scattered signal from the desired objects have uncorrelated pilots. Thus, the base-station is able to distinguish data signal from user and back-scattered signal from object. We assume a time division duplex (TDD) framework. The pilot sequences are designed for MIMO channels. We evaluate channel MSE as a figure of merit for communication system. We also show that the designed pilots are uncorrelated for a range of time lags. Moreover, designed uplink pilot has negligable autocorrelation for a range of time lags leading to an impulse-like autocorrelation for radar sensing.

Training Signal Optimization for Communication in Finite-Blocklength: An Analytical Approach

Mohammadreza Mousaei, Saeed Vahidian, Besma Smida
Journal Paper Under Submission

Abstract

In this paper we optimize the pilot overhead for ultra-reliable short-packet transmission and investigate the dependence of this overhead on packet size and error probability. In particular, we consider a point-to-point communication in which one sensor sends messages to a central node, or base-station, over AWGN with Rayleigh fading channel. We formalize the optimization in terms of approximate achievable rates at a given block length, pilot length, and error probability. This leads to more accurate pilot overhead optimization. Simulation results show that it is important to take into account the packet size and the error probability when optimizing the pilot overhead.

Amirkabir University of Technology (AUT) @Home 2014 Team Description Paper

Ameneh Sheikhjafari, Shaghayegh Gharghabi, Kourosh Sartipi, Edwin Babayans, Mohammadreza Mousaei, Saeed Shiri
Team Description Paper Robocup 2014, Joao Pessoa, Brazil, Jul. 2014

Abstract

In this paper we introduce the AUT@Home robot of Amirkabir University of Technology in Tehran, Iran for the 2014 RoboCup@Home competition. We describe the hardware characteristics and capabilities of this robot to perform tasks. In addition it covers our approaches for NI tasks such as speech and object recognition which has made AUT reliable for different tasks in home environments

Automated High-Speed Traffic Monitoring and Violation Detection Using RFID Technology

Mohammadreza Mousaei, Azarakhsh Keipour, Edwin Babayans
Conference Paper Irainian Conference on Electrical Engineering, May 2014

Abstract

Traffic monitoring is a wide area in research. Several methods exist for efficient real-time monitoring of the traffic, including RFID-based and CCTV camera-based systems. Several architectures for RFID-based systems have been proposed and utilized for traffic monitoring in some countries. As far as we know, none of the existing implementations utilize the RFID technology for traffic violation detection in high-speed roads. In this paper, a new architecture of using RFID technology in high-speed roads (highways and freeways) is presented; its problems and challenges are analyzed and a number of solutions are proposed. The proposed architecture consists of four hierarchical levels: Vehicle Identification, Row-level Processing, Road-level Processing, and Control Center. Each subsystem processes data of the detected vehicle at a higher level and passes the processed data to the next subsystem in a hierarchical manner. Also in this paper three sample algorithms are proposed in order to show how the architecture works in detecting traffic violations.

Team Description Paper for Sharif University of Technology (SUT) Team

Azarakhsh Keipour, Edwin Babayans, Kourosh Sartipi, Mohammadreza Mousaei Mohammad Jamzad
Team Description Paper 2013 AUTCUP Robotics competitions

Abstract

This paper provides an overview of the hardware and software of our RobX robot and presents the scientific achievements embodied in our AUTCup Service Delivery Robot entry. This robot has been built by the team SUT which competes on behalf of Sharif University of Technology. RobX is the champion of 2012 AUTCup and 4th National Khwarizmi Robotic Competition. It defines a Human Robot Interaction interface based on Speech, Face, Object and Gesture Recognition.

Selected Research Projects

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    DARPA Subterranean (SubT) Robotics Challenge

    We are developing Multi-Agent robotics system consisting aerial and ground robots to explore and accurately map subterranean environments fully autonomously. I am part of planning team for this challenge

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    NASA safe landing project

    We developed a real-time fault detection system for autonomous aerial vehicles to detect anomolies mid-flight and perform safe-landing

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    Robot's perception in hazardous environment

    During this project, we are developing a pipe crawler robot to perform measurments of inside the pipe. I am responsible for robot's perception and autonomy inside the pipe and also making sure of its safety during the route.

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    Integrated Communication and Sensing

    During this project, we tried to design a system to add sensing abilities to an already exsisting communication system. This research was under supervision of Dr. Besma Smida and in colaboration with Dr. Mojtaba Soltanalian. We published our results in IEEE Military Conference on Communication 2017.

    In this research, we propose a fully-integrated radar and communication system – named ComSens. We utilize two different pilot sequences (one for uplink and one for downlink) with the condition that they must be uncorrelated to each other. Within such a framework, the signal received from end-user and the back- scattered signal from the desired objects have uncorrelated pilots. Thus, the base-station is able to distinguish data signal from user and back-scattered signal from object. We assume a time division duplex (TDD) framework. The pilot sequences are designed for MIMO channels. We evaluate channel MSE as a figure of merit for communication system. We also show that the designed pilots are uncorrelated for a range of time lags. Moreover, designed uplink pilot has negligable autocorrelation for a range of time lags leading to an impulse-like autocorrelation for radar sensing.

  • image

    Optimizing Pilot Overhead for Ultra-Reliable Short-Packet Transmission

    During this research, we optimized training data for short packet communication, which is crutial for new wireless applications such as wireless sensor networks (WSN), Intenet of Things (IoT), etc. This research was under supervision of Dr. Besma Smida. We published our results in IEEE International Conference on Communication 2017.

    In this paper we optimize the pilot overhead for ultra-reliable short-packet transmission and investigate the de- pendence of this overhead on packet size and error probability. In particular, we consider a point-to-point communication in which one sensor sends messages to a central node, or base-station, over AWGN with Rayleigh fading channel. We formalize the optimization in terms of approximate achievable rates at a given block length, pilot length, and error probability. This leads to more accurate pilot overhead optimization. Simulation results show that it is important to take into account the packet size and the error probability when optimizing the pilot overhead.

  • image

    Designing and Implementing Service Robot for participating in ROBOCUP2014

    This is Sourena, our service robot that we designed and implemented for Amirkabir University of Technology. During this project, we designed the physical platform as well as implementing the softwares (such as Localization, Planning, Inverse Kinematic, ...). We used ROS Hydro for our platform.

    We introduce the AUT@Home robot of Amirkabir Uni- versity of Technology in Tehran, Iran for the 2014 RoboCup@Home competi- tion. We describe the hardware characteristics and capabilities of this robot to perform tasks. In addition it covers our approaches for NI tasks such as speech and object recognition which has made AUT reliable for different tasks in home environments

  • image

    Designing and Implementing @Home Robot for participating in AUTCUP2014

    This is RobX, our @Home Robot that we designed and implemented for Sharif University of Technology. We designed this robot as a personal assistant for every day tasks at home. Our robot could acheive the second prize in AUTCUP2014 competition

    Hardware and software of our RobX robot presents the scientific achievements embodied in our AUTCup Service Delivery Robot entry. This robot has been built by the team SUT which competes on behalf of Sharif University of Technology. RobX is the champion of 2012 AUTCup and 4 th National Khwarizmi Robotic Competi- tion. It defines a Human Robot Interaction interface based on Speech, Face, Object and Gesture Recognition.

Colaborations

Kourosh Sartipi

Researcher

Google
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Mojtaba Soltanalian

Assistant Professor

University of Illinois at Chicago
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Sebastian Scherer

Research Advisor, Senior Systems Scientist

Carnegie Mellon University
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William (Red) L. Whittaker

Research Advisor, Professor

Carnegie Mellon University
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Besma Smida

Master's Advisor, Associate Professor

University of Illinois at Chicago
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Heather Jones

Senior Scientist

Carnegie Mellon University
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David Kohanbash

Senior Research Programmer

Carnegie Mellon University
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Azarakhsh Keipour

PhD Student

Carnegie Mellon University
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During my academic activities, I had the pleasure of working with outstanding people. Here are a handfull of people that I colaborated with.

Teaching history

  • Fall 2018

    Teaching Assistantship for SCE 16880: Mobile Robots for Subterranean Environments

    Carnegie Mellon University

  • Spring 2018

    Teaching Assistantship for SCS 16899: Mobile Robots Development

    Carnegie Mellon University

  • Spring 2017

    Teaching Assistantship for ECE 437: Wireless Communication

    University of Illinois at Chicago

  • Fall 2016

    Teaching Assistantship for ECE 432: Digital Communication

    University of Illinois at Chicago

  • Summer 2016

    Teaching Assistantship for ECE 346: Solid State Devices

    University of Illinois at Chicago

  • Spring 2016

    Teaching Assistantship for ECE 265: Logic Design

    University of Illinois at Chicago

  • Fall 2015

    Teaching Assistantship for ECE 333: Computer Networks I

    University of Illinois at Chicago

  • Fall 2015

    Teaching Assistantship for ECE 341: Probability and Random Process

    University of Illinois at Chicago

  • Fall 2014

    Teaching Assistantship for Digital Communication

    Shahid Beheshti University

  • Spr-Fall 2013

    Teaching Assistantship for Digital Logic Design

    Shahid Beheshti University

  • Summer 2012

    Instructor for Robotics Workshop

    Mofid High School

  • Spring 2012

    Instructor for Robotics Workshop

    Saraye Danesh High School

  • Fall 2012

    Instructor for Mathematics and Physics

    Salam III High School

  • Summer 2011

    Instructor for Mathematics and Physics

    Talash High School

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