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Dive into the research topics where Barzin Moridian is active.

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Featured researches published by Barzin Moridian.


Dynamic System and Control Conference (DSCC 2013), Stanford, CA, USA. (BEST PAPER AWARD Finalist) | 2013

Online Simultaneous State Estimation and Parameter Adaptation for Building Predictive Control

Mehdi Maasoumy; Barzin Moridian; Meysam Razmara; Mahdi Shahbakhti; Alberto L. Sangiovanni-Vincentelli

Model-based control of building energy offers an attractive way to minimize energy consumption in buildings. Model-based controllers require mathematical models that can accurately predict the behavior of the system. For buildings, specifically, these models are difficult to obtain due to highly time varying, and nonlinear nature of building dynamics. Also, model-based controllers often need information of all states, while not all the states of a building model are measurable. In addition, it is challenging to accurately estimate building model parameters (e.g. convective heat transfer coefficient of varying outside air). In this paper, we propose a modeling framework for “on-line estimation ” of states and unknown parameters of buildings, leading to the Parameter-Adaptive Building (PAB) model. Extended Kalman filter (EKF) and unscented Kalman filter (UKF) techniques are used to design the PAB model which simultaneously tunes the parameters of the model and provides an estimate for all states of the model. The proposed PAB model is tested against experimental data collected from Lakeshore Center building at Michigan Tech University. Our results indicate that the new framework can accurately predict states and parameters of the building thermal model.


ASME 2013 Dynamic Systems and Control Conference | 2013

Ankle Angles During Step Turn and Straight Walk: Implications for the Design of a Steerable Ankle-Foot Prosthetic Robot

Evandro M. Ficanha; Mohammad Rastgaar; Barzin Moridian; Nina Mahmoudian

This article compares the three-dimensional angles of the ankle during step turn and straight walking. We used an infrared camera system (Qualisys Oqus ®) to track the trajectories and angles of the foot and leg at different stages of the gait. The range of motion (ROM) of the ankle during stance periods was estimated for both straight step and step turn. The duration of combined phases of heel strike and loading response, mid stance, and terminal stance and pre-swing were determined and used to measure the average angles at each combined phase. The ROM in Inversion/Eversion (IE) increased during turning while Medial/Lateral (ML) rotation decreased and Dorsiflexion/Plantarflexion (DP) changed the least. During the turning step, ankle displacement in DP started with similar angles to straight walk (−9.68° of dorsiflexion) and progressively showed less plantarflexion (1.37° at toe off). In IE, the ankle showed increased inversion leaning the body toward the inside of the turn (angles from 5.90° to 13.61°). ML rotation initiated with an increased medial rotation of 5.68° relative to the straight walk transitioning to 12.06° of increased lateral rotation at the toe off. A novel tendon driven transtibial ankle-foot prosthetic robot with active controls in DP and IE directions was fabricated. It is shown that the robot was capable of mimicking the recorded angles of the human ankle in both straight walk and step turn.Copyright


IFAC Proceedings Volumes | 2014

Autonomous Power Distribution System

Barzin Moridian; Daryl Bennett; Nina Mahmoudian; Wayne W. Weaver; Rush Robinnett

Abstract This paper describes path planning and control of an autonomous power distribution system. The aim is to study the use of the autonomous mobile power-grid systems after disasters to accelerate search, rescue, and recovery efforts. The concept is demonstrated through an autonomous electrical cabling and connection mission between a power source and a power load in a cluttered environment using lab-size platforms. The developed system will be scalable to real-size. The ultimate goal of this work is developing intelligent power electronics and a distributed autonomous mobile microgrid. It will be capable of regulating power flow at a desired voltage and frequency level, meeting load demands and adaptable to changes in situation, power demands, or generations.


oceans conference | 2016

Underwater multi-robot persistent area coverage mission planning

Bingxi Li; Barzin Moridian; Nina Mahmoudian

The search mission for the missing MH370 airplane demonstrated that an autonomous underwater vehicle (AUV) managed by a crew is a reliable resource for critical missions. However, it highlighted the cost associated with human support in robotic operations. This paper presents a mission planning strategy that takes mission constraints such as number of available AUVs and their characteristics, as well as charging resources available (both energy-carrying agents and charging stations) to generate a set of efficient trajectories for AUVs and locations for either energy-carrying agents rendezvous or charging stations placement. The goal is to ensure efficient use of the resources and reduce operational costs.


international symposium on safety, security, and rescue robotics | 2015

Robotic power distribution system for post-disaster operations

Barzin Moridian; Nina Mahmoudian; Wayne W. Weaver; Rush D. Robinett

Tbis paper presents an architecture for autonomous mobile microgrids to ensure robustness and scalability of such systems for power distribution applications. A schema for development of mobile microgrids is presented based on the feasibility and experimental studies performed using ground robots for establishing microgrids. A microgrid system built with this architecture win act as an autonomous power network capable of connecting to different power nodes (generators, loads, storage units, converters, etc.) and interacting with them accordingly. This system will have the scalability characteristics of an ad-hoc system and could reconfigure itself depending on available power nodes.


ASME 2015 Dynamic Systems and Control Conference | 2015

Design of Mobile Microgrid’s Hierarchy for Power Distribution

Barzin Moridian; Daryl Bennett; Nina Mahmoudian; Rush D. Robinett; Wayne W. Weaver

This paper presents a hierarchy for autonomous mobile microgrids to ensure robustness and scalability of such systems for power distribution applications. Developing an autonomous mobile microgrid based on the proposed hierarchy will create a microgrid system that will autonomously connect to different power nodes (generators, loads, storage units, converters, etc.) and interact with them accordingly. This system will have the scalability characteristics of an ad hoc system and can reconfigure itself depending on available power nodes.Copyright


IEEE Transactions on Automation Science and Engineering | 2017

Postdisaster Electric Power Recovery Using Autonomous Vehicles

Barzin Moridian; Nina Mahmoudian; Wayne W. Weaver; Rush D. Robinett

This paper presents an architecture for the development of mobile microgrids using autonomous vehicles for the recovery of electrical power in postdisaster scenarios. The goal is to facilitate the integration of the different disciplines involved and address interrelated challenges in interaction between the disparate components of the system and the physical world. The architecture described in this paper has emerged through a combination of hardware development and experimental studies. The proposed layout will create an autonomous mobile microgrid system consisting of a team of ground robots capable of navigating in a disaster-affected area, making electrical connections, and supplying and controlling the electrical power needed by the loads in the area. This system has the scalability characteristics of an ad hoc system and can reconfigure itself depending on the changes in demanded performance of the microgrid.


international symposium on safety, security, and rescue robotics | 2018

Learning Navigation Tasks from Demonstration for Semi-Autonomous Remote Operation of Mobile Robots

Barzin Moridian; Anurag Kamal; Nina Mahmoudian


international symposium on safety, security, and rescue robotics | 2018

Planning Large-Scale Search and Rescue using Team of UAVs and Charging Stations*

Bingxi Li; Sharvil Patankar; Barzin Moridian; Nina Mahmoudian


Journal of Intelligent and Robotic Systems | 2018

Multi-Robot Mission Planning with Static Energy Replenishment

Bingxi Li; Barzin Moridian; Anurag Kamal; Sharvil Patankar; Nina Mahmoudian

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Nina Mahmoudian

Michigan Technological University

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Wayne W. Weaver

Michigan Technological University

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Bingxi Li

Michigan Technological University

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Rush D. Robinett

Michigan Technological University

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Anurag Kamal

Michigan Technological University

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Daryl Bennett

Michigan Technological University

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Sharvil Patankar

Michigan Technological University

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Brian R. Page

Michigan Technological University

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Evandro M. Ficanha

Michigan Technological University

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