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Contact Information
| Name | Mohammad Hossein Fakouri |
| mhfakouri@gmail.com | |
| Phone | +98-935-054-0507 |
| Location | Tehran, Iran |
| Website | https://mhfakouri.com |
Professional Summary
Mechanical Engineering M.Sc. graduate (Applied Design) focused on robot and mechanical-system modelling, nonlinear and model-based control, learning-enhanced control, constrained MPC, and simulation under uncertainty. My M.Sc. thesis developed a planar 3-DOF cable-driven lower-limb rehabilitation robot controlled using Computed Torque Control and bounded residual Deep Deterministic Policy Gradient reinforcement learning. In a verified representative combined disturbance-and-uncertainty case, the residual controller reduced RMS Cartesian tracking error by approximately 42% relative to baseline CTC. A second research line develops friction-aware linear MPC for vehicle path following and stability under reduced tire-force capacity; its journal-neutral master manuscript is complete, with pre-submission metadata and target-journal formatting remaining.
Education
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2021 – 2025 Karaj, Iran
M.Sc. in Mechanical Engineering — Applied Design
Kharazmi University
- GPA: 17.53/20
- Thesis: Modeling and Control of a Cable-Driven Lower-Limb Rehabilitation Robot Using Reinforcement Learning
- Supervisor: Dr. Ali Keymasi Khalaji
- Relevant coursework: Advanced Dynamics (20/20), Advanced Robotics (19/20), Advanced Control (18.8/20), Nonlinear Vibrations (18/20)
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2015 – 2020 Rasht, Iran
B.Sc. in Mechanical Engineering
University of Guilan
- GPA: 15.09/20
- B.Sc. project: Design and Modeling of a Miniature Tensile Testing Machine (17.5/20)
Experience
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2026 – Present Tehran, Iran
Research Project — Friction-Aware Linear MPC / ESC
Simulation-based control research
- Developed and evaluated a friction-aware linear MPC for vehicle path following and stability under reduced tire-force capacity using a nonlinear five-state combined-slip plant.
- Final controller uses a fixed 4.4° internal lateral-slip back-off; evaluation includes μ = 1.0, 0.7, and 0.4, plant-parameter mismatch, high-speed stress testing, control-effort analysis, and desktop timing.
- At μ = 0.4, the proposed controller reduced path RMSE by 59.3% and maximum lateral slip by 83.1% relative to fixed MPC in the frozen simulation results.
- Journal-neutral master manuscript complete; scientific results frozen; pre-submission metadata and target-journal formatting remain.
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2021 – 2025 Karaj, Iran
M.Sc. Thesis Research — Cable-Driven Rehabilitation Robot Control
Kharazmi University
- Developed kinematics, dynamics, cable-Jacobian analysis, constrained trajectory generation, and MATLAB/Simulink evaluation for a planar 3-DOF cable-driven lower-limb robot.
- Implemented Computed Torque Control with a bounded residual DDPG policy using joint-wise residual torque limits of ±[5, 3, 2] N·m.
- Evaluated disturbance and parametric-uncertainty cases, joint-limit behavior, cable-demand feasibility, workspace, Jacobian conditioning, disturbance seeds, and alternate trajectories.
- Compared analytical dynamics with archived Simscape Multibody and MSC ADAMS models as implementation-consistency checks.
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2023 – 2024 Karaj, Iran
Teaching Assistant — Mechanical Vibrations
Kharazmi University
- Supported approximately 30 students with MATLAB demonstrations, presentations, and project guidance across two semesters.
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2019 – 2020 Rasht, Iran
Teaching Assistant — Statics
University of Guilan
- Supported undergraduate Statics teaching across Spring 2019, Fall 2019, and Fall 2020.
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2018 – 2019 Iran
Mechanical Design Assistant
Shahid Tamjidi Marine Industries Organization
- Prepared and revised SolidWorks mechanical components including shafts and flanges in an engineering design environment.
Selected Publications
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2026 Residual Deep Reinforcement Learning-Based Computed Torque Control for a Cable-Driven Lower-Limb Rehabilitation Robot under Disturbances and Parametric Uncertainties
Mohammad-Hossein Fakouri, Ali Keymasi-Khalaji — arXiv preprint; under review at Expert Systems with Applications
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2026 Friction-Aware Linear MPC with Lateral-Slip Constraint Back-Off for Vehicle Stability and Path Following
Mohammad-Hossein Fakouri, Mohsen Ghaffari — Journal-neutral master manuscript complete; pre-submission metadata and target-journal formatting remaining
Skills
Robotics and Control: Robot kinematics and dynamics, Jacobian analysis, trajectory tracking, Computed Torque Control, PID control, nonlinear-control methods, constrained MPC, vehicle lateral-dynamics control
Learning-Based Control: Deep Deterministic Policy Gradient, bounded residual reinforcement learning, learning-based compensation, tracking under disturbances and parametric uncertainties, simulation-based controller evaluation
Optimization and Numerical Methods: Constrained nonlinear optimization with MATLAB fmincon/SQP workflows, damped-least-squares inverse kinematics, numerical Jacobian analysis, A* path planning
Programming and Simulation: MATLAB and Simulink; Python basic–intermediate; ROS 2 fundamentals; C++ basic; Arduino C/C++; Git, GitHub, LaTeX
Simulation and Engineering Tools: Simscape Multibody, MSC ADAMS, SolidWorks, MATLAB Robotics System Toolbox, Reinforcement Learning Toolbox, Model Predictive Control Toolbox
Selected Engineering Projects: 6-DOF serial-robot kinematics and numerical IK, SCARA modelling and computed-torque control, ROS 2 planar-robot trajectory tracking, mobile-robot navigation with A*, Arduino ball-and-beam control, miniature tensile-testing-machine design
Data Analysis and Validation: Tracking-error analysis, disturbance rejection, parametric uncertainty testing, constraint and feasibility analysis, model-consistency checks, scientific visualization, provenance-aware result reporting
Languages: Persian native, English TOEFL iBT 100/120 (13 June 2026)