University of Kentucky
Ph. D in Mechanical Engineering, advised by Jesse B. Hoagg

Sharif Univeristy of Technology
M.S. in Mechanical Engineering

Sharif Univeristy of Technology
B.S. in Mechanical Engineering

University of Kentucky
Research Assisstant

University of Kentucky
Teaching Assisstant

A Closed-Form Control for Safety Under Input Constraints Using a Composition of Control Barrier Functions Composing multiple state and input constraints of differing relative degrees into a single control barrier function (CBF) using a composite soft-minimum approach. Achieves safe control with a closed-form solution, eliminating online optimization for exceptional efficiency.

Safe Exploration in Reinforcement Learning: Training Backup Control Barrier Functions with Zero Training Time Safety Violations Learning a better backup policy with zero training time safety violations to expand the forward invariant subset of the safe set.

Composition of Control Barrier Functions With Differing Relative Degrees for Safety Under Input Constraints Composing multiple state and input constraints of differing relative degrees into a single control barrier function (CBF) using a composite soft-minimum approach.

Soft-Minimum and Soft-Maximum Barrier Functions for Safety with Actuation Constraints Exploring in the finite-time backward reachable set of backup sets by introducing two real-time optimization control methods for guaranteed safety within actuator constraints: the first utilizes a softmin barrier function with a single backup control and backup set, while the second, employing an augmented softmax/softmin barrier function, enhances exploration using multiple backup controls.

Soft-Minimum Barrier Functions for Safety-Critical Control Subject to Actuation Constraints Exploring in the finite-time backward reachable set of a backup set using a softmin barrier function.

The Impact of Reference-Command Preview on Human-in-the-Loop Control Behavior Analyzing the impact of reference command preview on human subjects' performance in a dynamic system command-following task using subsystem identification to model control behavior and revealing insights into the trade-offs associated with preview duration.