The University Of Isfahan Superior Students Appreciation Ceremony
Who I am
This is Mohammad Haghpanah. I recently graduated with a master’s degree in Aerospace Engineering from the University of Tehran, and I also hold a bachelor’s degree in Physics from the University of Isfahan. My master’s thesis involved developing a five-degree-of-freedom test bench for multi-rotors. This included simulating both the robot and the test bench using the Robot Operating System (ROS) to conduct software-in-the-loop and hardware-in-the-loop tests by creating a prototype of the concept.
My curiosity about how things work led me to physics and engineering, where I can design and develop new devices while fulfilling my passion for learning. Studying physics has given me a perspective of a deep understanding of the both Microscopic, and Macroscopic features of any object; besides, I reached a point where solving any problem in this 4-dimensional world (Space-Time) is possible only by assigning ample time and effort.
To enhance my experience as an inventor, I acquired knowledge in electrical, mechanical, and computer engineering and chose to work in robotics and mechatronics to implement my innovations. Throughout my studies, I completed many projects, some of which are highlighted on this website.
5 Degree of Freedom Test Bench for multirotors
For my master’s thesis, I implemented a Kalman filter for sensor fusion utilizing the GY-87 10-DOF (Degrees of Freedom) sensor, which combines an accelerometer, gyroscope, and magnetometer. This approach enabled the accurate estimation of roll, pitch, and yaw angles, as well as angular velocities and accelerations. Additionally, a Raspberry Pi V2 camera was integrated with a monocular Visual SLAM (Simultaneous Localization and Mapping) algorithm to track the trajectory of the test bench in the X and Y coordinates during experimentation.
The experimental setup consisted of a test bench, a multirotor vehicle undergoing evaluation, and a ground station. This configuration allowed for free movement and data collection regarding the multirotor’s performance and behavior.
In the design and implementation of the test bench, an industrial vision approach was adopted to create a superior platform compared to existing alternatives. The test bench features a three-degree-of-freedom (3-DOF) plate that securely holds a multirotor, enabling rotational maneuvers around the body frame of the attached vehicle via a Joint Sphere mechanism. Additionally, a one-degree-of-freedom (1-DOF) clutch was engineered to return the tilted roll and pitch angles of the plate to their original positions at the start of each test.
A custom-designed printed circuit board (PCB) was developed to accommodate all electronic components, including electronic speed controllers (ESCs), sensors, and the flight controller. This modular setup allows for flexibility in performing various tests by modifying sensors and components as needed. Furthermore, a dedicated device was created to display test results to the operator using a 4×20 character LCD, ensuring functionality even in the absence of a ground station.
To facilitate smooth movement of the test bench, four caster wheels were added to the system. The test results were collected in the Guidance, Navigation, and Control Laboratory at the University of Tehran. The final design and prototype of the robot are depicted in the accompanying images.
Software-in-the-Loop (SIL) simulations were conducted using Gazebo software, and Hardware-in-the-Loop (HIL) simulation data were also collected through the Gazebo platform. Diagrams illustrating the SIL and HIL results for roll and pitch angles during a maneuver are included to provide further insight into system performance.
CNG/ LPG Electronic Control Unit
This project involves the development of an Electronic Control Unit (ECU) designed for either 4- or 6-cylinder internal combustion engines. It features a closed-loop control system that operates in conjunction with the vehicle’s existing petrol ECU. The primary processing unit of this board is an ATmega128 microcontroller, which communicates with an auxiliary board based on the ATtiny24, serving as a user interface controller. Additionally, a Graphical User Interface (GUI) has been developed to facilitate adjustments to injection timing, selection of RPM sensors, and other modifications. Furthermore, a specific algorithm has been implemented to interpret sensor readings, enabling precise control of each individual cylinder. Moreover, a test setup has been developed to verify each connection of the Electronic Control Unit (ECU) and ensure the proper functionality of the sensors and actuators. The left image illustrates the test device, while the images below provide further details about the ECU and related components.
Software-in-the-Loop (SiL) simulations were conducted using Proteus and Keysight Advanced Design System (ADS), while the Printed Circuit Board (PCB) was designed with Altium Designer software. Hardware-in-the-Loop (HiL) simulations were performed with a specialized test setup prior to evaluating the final board in a real vehicle environment.
The final test results indicated an improvement of at least 20% in certain parameters, such as injection time response and power-to-fuel consumption optimization, compared to other kits available in the market.
Vehicle Active Smart Seat
The primary objective of this research endeavor is to enhance passenger safety, with a specific focus on protecting their heads and necks in the unfortunate event of a car crash. Through the utilization of a sophisticated processing unit in conjunction with a network of 12 ultrasonic and infrared sensors, our study delves into the continuous monitoring of the vehicle’s surroundings. In response to the detection of an approaching object that poses a potential collision risk, the protective mechanism is promptly engaged.
Our research methodology involves segmenting the monitored area into three distinct zones, a strategic approach that enables the detection unit to dynamically adjust its responsiveness based on the proximity of the identified object, thereby optimizing safety measures as the threat draws nearer.
In contrast to conventional airbag systems that rely on a complex three-step chemical reaction to facilitate inflation, our research introduces an innovative methodology that eliminates the necessity for such chemical processes. This pioneering approach not only bolsters precision in operation but also holds the promise of reducing the overall costs associated with vehicle maintenance, signifying a significant leap forward in automotive safety research.
My Skills
Programming Languages (C, C++ & Python)
Electrical Design (Digital Electronics & PCB Designing)
English Proficiency
Power Bank and Electric Portable Kettle
This prototype represents the collaborative effort of a dedicated three-member team and serves a dual purpose: it functions as a power bank for charging electrical devices such as cell phones, smartwatches, and other gadgets, while also boasting the capability to heat 250 ml of water in a mug to its boiling point.
Test Diagram In Summer
In our research study, my colleagues and I undertook testing on the device throughout the warmer months, particularly focusing on the summer season. As depicted in the diagram, the water temperature within the mug initiates at 28°C and steadily ascends to the boiling threshold of 92°C, showcasing the device’s efficacy in the climate of Isfahan.
Test Diagram In Winter
During our comprehensive testing phase, we rigorously evaluated the device in winter conditions to validate its operational integrity. The results depicted in the diagram reveal that the water temperature within the mug commenced at 8°C and successfully elevated to the boiling temperature of 92°C, affirming the device’s consistent performance across varied seasonal environments.
Quadrotor-Balloon Airship
Working alongside fellow researchers at the University of Isfahan, we developed a groundbreaking quadrotor airship designed for urban logistics, with a primary focus on delivering small postal packages. The unique concept driving this drone involves utilizing a balloon to counterbalance its weight, thus amplifying its ability to transport cargo effectively. Initially created for a robotics competition, this drone exemplifies the forefront of aerial technology tailored for streamlined urban delivery services.
The Hydrogen Gas Generator
I engineered this device with the specific aim of generating the requisite hydrogen gas for the aforementioned balloon. The operational principle involves the amalgamation of aluminum, sodium hydroxide, and water, culminating in the production of hydrogen gas as dictated by the following formula:
2Al + 2NaOH+ 2H2 → 2NaAlO2 + 3H2 + Q
The hydrogen gas produced is impure due to water vapor. To address this issue, I incorporated a copper pipe network through which cold water flows, reaching a chilled water source. This system not only purifies the gas but also reduces the temperature within the reaction container to mitigate excessive steam production. The entirety of this process, including material mixing procedures, is overseen by an Arduino Uno for precise control and monitoring.
Certificates
