PhD Candidate
Department of Information Engineering
Research
& Faculty of Engineering and
Information Technology (FEIT)
Research Assistant
Autonomous Systems and Sensing Technologies Program
National Information and Communication Technology
Research Assistant
Visual Sciences Group
Robotic Systems Laboratory (RSL)
Underwater Autonomous Vehicles
Cooperative
Research Centres
Cooperative Research Centre for Intelligent
Manufacturing Systems and Technologies
National Information and Communication Technology
Faravahar
I was a PhD
candidate at the Robotic
Systems Laboratory, Department
of Information Engineering (formerly, the department of systems
engineering), The Research
School of Information Sciences and Engineering, Institute of Advanced Studies, The Australian National University. I am
now a research associate in the same department.
My research is part
of the Underwater Autonomous Vehicles Project. Specifically, it aims at
devising novel methods for collective localization and navigation, as well as
formation control, by a team of autonomous submersibles, on three dimensional
surfaces and in harsh unpredictable environments. My supervisor is Dr. Uwe
Zimmer. Follow the links below to know about my past and present research and
other activities.
Research | Work |Courses | Photos | Links
| Contact
Cooperative Autonomous Underwater Vehicles
This is the topic of my PhD research. I have just
started my work, so at this stage I don’t have anything spectacular to report.
Right now, I am working on a research proposal which will discuss the current
state of affairs as well as open problems in this and related areas. Most of
the past research in our lab has been carried out with an autonomous underwater
vehicle called KAMBARA (an aboriginal word meaning crocodile) while concentrating on stabilization and visual servoing. Refer to the KAMBARA web page for more
detailed information and research results. The physical robots I am going to be
involved with are smaller versions of KAMBARA called Serafina
(previously, they were called KAMBRINI). Several of them are currently being
fabricated here in the laboratory. You can find more detailed information in
the official Serafina page. There, you will find some pictures and
videos of these undersea creatures as well as technical specifications.
Tackling cooperation tasks in underwater environments is very challenging
indeed. I am particularly interested in formation control problems.
Field-Coupled Deformable Formations of Autonomous Submersible Robots
PhD Thesis (Robotics), The
Tracking Environmental Isoclines using Polygonal Formations of Submersible Autonomous Vehicles
Shahab Kalantar & Uwe R. Zimmer
submitted to FSR’07,
Scale-Adaptive Polygonal Formations of Submersible Vehicles and Tracking Terrain Iso-contours
Shahab Kalantar & Uwe R. Zimmer
Submitted to 6th IFAC Symposium on
Intelligent Vehicles,
Distributed Shape Control of Homogeneous Swarms of Autonomous Underwater Vehicles
Shahab Kalantar & Uwe R. Zimmer
Autonomous
Robots (intl. journal) 2006
A Formation Control Approach to Adaptation of Contour-Shaped Robotic Formations
Shahab Kalantar & Uwe R. Zimmer
Proceedings of the IROS '06 (IEEE/RSJ
International Conference on Intelligent Robots and Systems),
Control of Open Contour Formations of Autonomous Underwater Vehicles
Shahab Kalantar & Uwe R. Zimmer
International Journal of Advanced Robotic Systems, Dec. '05
Control of Contour Formations of Autonomous Vehicles by General Curve Evolution Theory
Shahab Kalantar & Uwe R. Zimmer
ACRA (Australasian Conference on Robotics and
Automation), December 5-7, 2006,
Contour Shaped Robotic Formations for Isocline Adaptation
Shahab Kalantar & Uwe R. Zimmer
TAROS (Towards Autonomous Robotic Systems)
intl. conference, September 12-14, 2005,
Contour Shaped Formation Control for Autonomous Underwater Vehicles Using Canonical Shape Descriptors and Deformable Models
Shahab Kalantar & Uwe R. Zimmer
OCEANS 2004 - Proceedings of the IEEE
International Conference on Marine Technology and Ocean Science,
Motion Planning for Small Formations of Autonomous Vehicles Navigating on Gradient Fields
Shahab Kalantar & Uwe R. Zimmer
5th Underwater Technology Symposium,
Control of Contour-Shaped Robotic Formations with Constraints
Shahab Kalantar & Uwe R. Zimmer
To be submitted
Simplex Formations of Autonomous Vehicles and Adaptive Sampling Strategies
Shahab Kalantar & Uwe R. Zimmer
To be submitted
Adaptive Iso-Altitude Tracking and Terrain Reconstruction by Submarine Vehicle Formations
Shahab Kalantar & Uwe R. Zimmer
To be submitted
Size-Adaptive Simplex Formations for Isocline Following Tasks
Shahab Kalantar & Uwe R. Zimmer
To be submitted
Evolutionary Robotics
For my master’s research work at
Using
Population-Based Incremental Learning for Evolving Sensory-Motor Behaviours for Autonomous Line-Tracking
Shahab Kalantar & Parisa Eslambolchilar & Majid Nili Ahmadabadi
4th Asia-Pacific Conference on Evolution and Learning, 2002
An Optimized Sensory Topology Design for a line-tracker robot
Majid Nili Ahmadabadi & Shaahin Mehdinezhad Rushan & Shahab Kalantar
7th Iranian Conference on Electrical Engineering, 1999
Stochastic-Reinforcement
Learning of Line-Tracking Behaviour in
Shahab Kalantar & Parisa Eslambolchilar & Majid Nili Ahmadabadi
9th Iranian Conference on Electrical Engineering, 2001
A Software
Laboratory for Evolutionary Robotics Experiments
Technical Report, Robotics Laboratory,
Applying Evolutionary
Engineering to the Design of Sensory-Motor Control Systems for Non-holonomic Autonomous
MSc Thesis (Machine Intelligence &
Robotics), Department of Electrical & Computer Engineering,
Dexterous Manipulation for the Human Upper
Limbs
In 2002, I had the opportunity to work with Dr. Farrokh Sharifi, then a visiting professor from the department
of electrical and computer engineering of the
Industrial Robot Controllers
From late 2001 to early 2003, I was working on a very
interesting and challenging project (UTOMC-13) in the robotics laboratory at
Open System PC-Based
Controllers for Industrial Robots: General Approaches and Challenges
Shahab Kalantar & Mehdi Khaleghian & Taha Kowsari & Majid Majdolashrafi & Alireza Teymouri & Majid Nili Ahmadabadi
Technical Report, Robotics Laboratory,
An Object-Oriented
Framework for Robot Controllers Based on RT-LINUX
Technical Report, Robotics Laboratory,
A Generic System Architecture
for Motion Control (UTOMC-13) and its associated Software Framework (YAOCC-13)
Technical Report, Robotics Laboratory,
YAOCC-13: A Generic Open
System Architecture and Software Framework for General Industrial Motion
Control and Robotic Systems
Shahab Kalantar & Majid Nili Ahmadabadi
To be submitted
CNC Planning and Fuzzy Petri Nets
In 2002 and 2003, I was commissioned by Dr. M. Jahed Motlagh, associate
professor of control and computer engineering at the Iran University of Science
and Technology, to supervise a research on applying AND/OR graphs and fuzzy
Petri nets to the planning and automatic implementation of CNC machining
operations. Despite the many advances in CNC systems, automatic programming is
still largely unexplored. The research team included Ms. Z. Kasiralvalad
(postgraduate student of control engineering) and Mr. M.-A. Shadmani
(postgraduate student of mechanical engineering). Three conference papers and
one journal paper are now ready for submission and contain our proposed
methodologies.
Planning CNC
Machining Operations using AND/OR Graphs and Fuzzy Petri Nets
Zohreh Kasiralvalad & Shahab Kalantar & Mohamad Reza Jahed Motlagh
6th Iranian Conference on Manufacturing and Production Engineering, 2003
Other Research Interests
These are the topics which have taken up part of my
mind for the past few years.
Real-Time Control Systems
Self-reconfigurable Modular Robots
Formal Specification and Verification
Hybrid Systems
Human-Machine Systems
Industrial Control Systems
Bond Graphs and Systems Modeling
Artificial Life
Bio-mimetic Robotics
Energy Systems Diagrams
Real-Time Control Systems
While in
Farineh Co.
I was the manager of the
software systems department. I was in Farineh from 1999 until just before my departure. I
spent some of my most fruitful years there. Farineh
is one of the leading Iranian companies involved in the production of
programmable logic controllers, associated programming tools, and industrial
human-machine interfaces. I was involved in many activities including the
design, supervision and implementation of a human-machine interface, OPC
servers, controller redundancy management subsystem, communication protocols
for Controller Area Networks (CAN), a plant simulator, and an CAN bus analyzer.
Of particular interest was
the design of a positional-grammar based visual programming method. Using this
methodology, a number of IEC61131/3 compliant editors for SFC, ladder, FBD,
flowchart, state-machine, IL and Petri-net languages were designed and
implemented. Intelligent automatic structuring and component placement greatly
enhanced productivity. While in Farineh, I got
numerous opportunities to actually grapple with challenging issues in real-time
systems.
Robotics Laboratory,
Machine Intelligence and Robotics Group,
Department of Electrical and Computer
Engineering,
Faculty of Engineering,
From April of 200I until my departure, I had a part-time
agreement with the laboratory. My primary assignment was the industrial robot controller project YTOMC-13 but I was also
partly involved with other projects such as an ultra-sonic non-destructive
testing and flaw detection system and a neuro-navigator
articulated robotic arm for use in MRI-guided brain surgery. An edutainment
package comprising an FPGA-controlled toy robot and the accompanying mobile
robot simulation software, a pole-climbing robot, a haptic
interface system, a holonomic mobile robot, and a real-time controller monitoring and verification system, featuring
visualization and automatic timing constraint analysis facilities, are among the other on-going research efforts
in the laboratory.
Specialized Committee for Industrial Automation,
Centre for Novel Industries,
Ministry of Mining
and Industry
In 2003, I was a member of this committee. The primary
mission of this committee is to prepare grounds for the advancement of
technology, while maintaining close contacts with leading and promising
companies throughout the country. It is formed by a number of university
professors and industrial professionals with varying backgrounds. In 2001 and
2002, I was commissioned by two of the committee members, Dr. M.-R. Djahed, associate professor of control and computer
engineering at the
Afkar
Informatics Co. (From 1992 to 1996)
Navid Science
and Technology Co. (From 1996 to 1998)
Farasinah Co. (2001)
Hobbies
Well, obsession with robotics and machine intelligence
takes up most of my time. Now and then, I try to attend to other hobbies. I’m a
big science fiction fan. I’m not a member of any group or society and I’ve not
(yet) written any story in this genre (or any other genre, for that matter),
but I’ve read most of the outstanding stuff and have a book collection back
home. I’m not a professional artist but I have a talent for drawing and
painting. As for physical activities, I’m not much of a sportsman but I enjoy
playing table tennis. I love watching movies and listening to good music.
Family, Friends, Tehran,
Iran, Sydney,
Melbourne, Canberra, Australian
National University, RSISE, Systems Engineering Department
Here
are links to some of my favourite robotics(and non-robotics)-related
sites. I’ll try to update them every once in a while.
Biomimetic Underwater Robot Program, Northeastern University.
Dynamical Control
Systems Laboratory,
Autonomous
Undersea Systems Institute (AUSI).
Australian
Centre for Field Robotics, The
Autonomous
Underwater Vehicles Resources.
Modular
Robotics,
MIT Sea Grant AUV Lab, Massachusetts Institute of Technology.
Center for
Autonomous Underwater Vehicle (AUV) Research,
Naval
Autonomous Systems Laboratory,
Autonomous Ocean
Sampling Network,
Instituto de Sistemas e Robotica, Universidade
Técnica de Lisboa.
Hybrid Systems Group,
Robotic Systems Laboratory,
Systems Engineering and Human-Machine Systems,
Biorobotics at
the Centre for Visual Sciences, ANU.
Science Fiction,
Fantasy, and Space Art of Dawid Michalczyk.
Autonomous
Systems and Controls Laboratory, Virginia
Polytechnic Institute and
Shahab Kalantar
Address
Department of Systems Engineering,
Research
Institute of Advanced Studies,
Telephone +61 02 6125 8670
Mobile +61
0423 339 891
Fax +61
02 6125 8660
Location Building 115, Cnr
North & Daley Roads, on ANU Campus Map
Room B355 (3rd Floor)
E-mail shahab.kalantar@rsise.anu.edu.au
Web page http://rsise.anu.edu.au/~shahab
FTP site ftp://ftp.rsise.anu.edu.au/pub/shahab
Disclaimer: The information provided
on this page, and on other pages having URLs beginning with http://[www.]syseng.anu.edu.au/~shahab, is the personal responsibility
of the author, Shahab Kalantar, and not that of the
ANU. Likewise, any opinions expressed on these pages are those of the
author, and are not to be taken as those of the ANU.
Copyright © 2005, Shahab Kalantar. All rights reserved.
Created:
Last modified: Fri., 8 Aug., 2006
URL: http://www.syseng.anu.edu.au/~shahab/index.html
