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Amin Yahyaabadi

Robotics Control Engineer At Sanctuary AI

Vancouver, Canada

Email address  aminyahyaabadi74@gmail.com
GitHub link  GitHub
LinedIn Link  LinkedIn

Experience

  • Sanctuary AI, Robotics Control Engineer,
    Vancouver, Canada, 2022 - Now

    • Designed and developed Robodrake, the whole-body controller of Phoenix
    • Led the automatic creation, development, and deployment of digital robot embodiments reducing the time to URDF by18times
    • Designed a real-time dynamics and simulation engine for Phoenix based on Drake C++
    • Optimized the Phoenix controller for low-latency performance running at1 KHzwith sub-µsjitter
    • Developed the RTI DDS communication layer for the Phoenix Hand Controller
    • Implemented the operation logic and real-time deployment of the Phoenix Hand Controller
    • Integrated Robodrake with the trajectories and tracking modes of Carbon (Phoenix AI)
    • Designed the real-time continuous Inverse Kinematics Trajectory Planner used in Robodrake
    • Created Granular to optimize deployment of the digital robot embodiments reducing the delivery time from15minto1s
    • Built scalable processes around software building, packaging, Docker containerization, and CI/CD

  • Snowdrop Quantum, Software Engineer,

    • Developing Tangled with the Sanctuary AI’s CEO to solve real-world problems using Quantum computers and demonstrate Quantum Supremacy

  • Post Media, Senior Software Engineer
    New York, US, 2021 - 2022

    • Developed the Post.news full-stack app via Solid-start and Solid-js
    • Developed the Post.news Android app via Capacitor Ionic
    • Optimized the performance of the app startup, news feed, payment pages, and user profiles

  • University of Manitoba, Creator of the Intelligent Drone Testbed for Control Systems and Verification,M.Sc. Thesis,Download as PDF
    Winnipeg, Canada, 2018 - 2021

    • Designed an intelligent drone testbed used for validation of new satellite or drone control algorithms and hardware
    • Identified the dynamics of the quadcopters intelligently with minimal measuring using Particle Swarm Optimization (PSO)
    • Developed a custom onboard software for the drone to autonomously control the quadcopters’s motion and operations

  • University of Manitoba / Canadian Space Agency, Leader of Flight Software and Onboard Computer for the Iris Satellite (ManitobaSat)Download as PDF
    Winnipeg, Canada, 2018 - 2021

    • Led the flight software and onboard computer teams for the Iris Satellite (ManitobaSat) launched by NASA/SpaceX
    • Designed the modular onboard computer based on a Smart Fusion 2 system on a chip (FPGA/Arm Cortex)
    • Developed custom real-time flight software running on FreeRTOS to control all the satellite’s operations such as attitude and determination control

  • Magellan Aerospace, Auto Code Generation for Onboard Space Object Detection and Flight Software Applications,Download as PDF
    Winnipeg, Canada, 2018 - 2021

    • Developed machine learning and analytical image processing algorithms for satellite’s onboard detection of resident space objects (RSOs) from commercial-off-the-shelf star trackers.

  • Isfahan University of Technology, Intelligent Vibration Control With Self-Sensing Piezoelectric Actuator,B.Sc. Thesis
    Isfahan, 2016 - 2018

    • Developed an intelligent control method for a distributed system using a self-sensing piezoelectric actuator and PSO
    • Modeled the dynamics of the system with a novel FEA/FDA method to test the controller

Education

Other Projects

  • Rhino XR-3 5 DOF Robot Arm Real-time Control via Arduino
    Selected Topics in Robot Technology, Supervisor: Dr. S. Balakrishnan

  • Barrett WAM 7 DOF Robot Arm Simulation and Analysis
    Robotics, Supervisor: Dr. H. Mousavi

  • Model Predictive Control of Robot Arm using Neural Networks
    Neural Networks, Supervisor: Dr. M. Kamali

  • Intelligent Fuzzy PID Controller for a Bluetooth-controlled DC Motor via AVR
    Intelligent Control, Supervisor: Dr. F. Sheikholeslam
    Mechatronic Systems, Supervisor: M. Danesh

  • Parallel Image Processing using MPI and OpenCV
    Parallel Processing, Supervisor: Dr. I. Jeffrey

  • Custom Simulated Annealing Investigation for Salesperson Problem - New Mathematical Proof of The Multidimensional Newton’s Weights Optimization Algorithm
    Applied Computational Intelligence, Supervisor: Dr. K. Ferens

  • Designing a Signal Processing and Measuring Instrument in Labview - Verifying The Instrument using Acoustic Analysis of a Trumpet in MSC ACTRAN
    Mechatronics Lab 2, Supervisors: Dr. M. Danesh
    Engineering Acoustics, Supervisor: Dr. A. Loghmani

  • Multilayered Composite Shell Dynamics and Crack Analysis under Impact via Abaqus
    Computer-Aided Engineering, Supervisor: Dr. R. Jafari

Honours and Awards

  • Fellowship for Education Purposes - $40,500, U of M, Canada., 2018-2021
  • Faculty of Graduate Studies Program Completion Scholarship - $2,500, U of M, Canada., 2021
  • International Graduate Student Entrance Scholarship (IGSES) - $6,000, U of M, Canada., 2018
  • Fellowship to Study at IUT for M.Sc Program without Entrance Exam, 2017
  • Ranked top 10% among the students of the Mechanical Engineering Department, IUT, 2017
  • Ranked top 0.3% among 260000 participants in the Iranian University Entrance Exam for B.Sc. Studies., 2013
  • Qualified as very good in Mathematics Alympiad Final International Round in the Netherlands., 2012
  • Ranked 1st in Mathematics Alympiad National Round in Iran., 2011

Open-Source Experience

Made more than 28,000contributions on GitHub. Some of the notable projects are:

  • The leader of theAtom-Communityorganization that brings an integrated development environment to Atom
  • The author ofproject_optionsandsetup-cppthat provide a full C++ development environment used at Sanctuary AI, LLVM, Tesla Motors.
  • The maintainer ofzeromq.jsthat provides the Nodejs interface to ZMQ used in Microsoft VsCode and Jupyter
  • The author ofZadeh, a library for fast fuzzy filtering and matching written in C++
  • The author ofminijson, a library for the fast minification of the JSON files written in D, C, and AVX2 and SSE4_1 SIMD.
  • The author ofAcuteML, an intelligent markup language for web development written in Julia
  • The leader of theJuliaMatlaborganization, an open-source alternative for Matlab written in Julia
  • The co-owner of theJuliaMusicorganization that provides music research tools (e.g.MusicXML.jl) in Julia

Software and Programming Skills

  • Programming Languages:C++, Rust, Python, Matlab, Julia, D, Go, TypeScript, AssemblyScript, Verilog
  • Technical Software:Matlab/Simulink, RTI-Admin Console, Abaqus, LabView, Xilinx SDSoc - Vivado, Simpack, MSC Adams / Car, MSC Actran, Autodesk Inventor, CATIA, Proteus, Modelsim, Maple
  • Embedded Processors:Xilinx Zynq 7020 SoC/FPGA, Smart Fusion 2 SoC/FPGA, Pixhawk Flight Controller (Px4), Arm Cortex A9, Arm Cortex M3, Parrot Mambo Flight Controller, Arduino Due /Uno, AVR Atmel STK500, Intel/AMD x86_64, Apple ARM64

Publications

  • A. Yahyaabadi, M. Driedger,…, P. Ferguson, “ManitobaSat-1: A Novel Approach for Technology Advancement,” inthe Journal of IEEE Potentials, 2020,Download as PDF

  • A. Yahyaabadi, M. Driedger,…, P. Ferguson, “ManitobaSat-1: Making Space for Innovation,” inIEEE Canadian Conference of Electrical and Computer Engineering (CCECE), Edmonton, Canada, 2019Download as PDF

  • A. Yahyaabadi, P. Ferguson, “An intelligent multi-vehicle drone testbed for space systems and remote sensing verification,” inCanadian Aeronautics and Space Institute (CASI) ASTRO, Montreal, Canada, 2019Download as PDF

  • A. Yahyaabadi, P. Harrison, P. Ferguson, “Auto Code Generation for Onboard Space Object Detection and Other Flight Software Applications - A Feasibility Study,” inCanadian Aeronautics and Space Institute (CASI) ASTRO, Montreal, Canada, 2019Download as PDF

Attended Conferences

  • Canadian Aeronautics and Space Institute (CASI) ASTRO, Montreal, Canada, 2019
    Submitted two papers and presented them:

    • “An intelligent multi-vehicle drone testbed for space systems and remote sensing verification”Download as PDF

    • “Auto Code Generation for Onboard Space Object Detection and Flight Software Applications”Download as PDF

  • ArcticNet (ASM) 2018, Ottawa, Canada, 2018
    Presented my work by the poster and oral presentation:

    • “A multi-vehicle drone testbed for space systems and remote sensing verification”, Proceedings P. 198Download as PDF

Additional Experience

  • Summer Internship in Bama Co, Summer 2014/2016
    • Condition monitoring and predictive maintenance planning of machinery and vehicles inBama Co
  • Jury Membership at Isfahan Mathhouse, 2013 - 2018
    • Member of the Jury inIsfahan Mathhousefor choosing qualified participants for International Competitions (e.g., Alympiad)
    • Alympiad competition participants test grader in Isfahan Mathhouse
  • Teaching Assistant at the Isfahan University of Technology, Fall 2016
    • Statics, instructor: Dr. S. Akbarzadeh

GRE

  • Quantitative: 170/170
  • Verbal: 151/170
  • Analytical Writing: 3.5

Selected Courses

  • Applied Computational Intelligence: 4.5/4.5
  • Selected Topics in Robot Technology: 4.5/4.5
  • Mechatronics: 20/20
  • Robotics: 19.5/20
  • Neural Networks: 20/20
  • Intelligent Control: 18/20
  • Applied Vibrations: 19.6/20
  • Acoustics: 19.5/20
  • Machinery Dynamics: 19.3/20
  • Vehicle Dynamics: 18.3/20
  • Mechatronics Lab 1 and 2: 18.25/20 and 19/20
  • Applied Electrical/Electronics: 19.03/20
  • Dynamics: 18.5/20
  • Computer-aided design: 18.1/20
  • Engineering Mathematics: 20/20
  • Differential Equations: 20/20
  • General Mathematics: 20/20
  • Advanced Dynamics (Audited)
  • Parallel Processing (Audited)

References