مشاهده منو
Login Department Home Page

Dr. Hadi Nobahari

Associate Professor

Head of Flight Dynamics and Control Group

Ph.D. in Aerospace Engineering,
Sharif University of Technology, Tehran, Iran, 2006.

MSc in Aerospace Engineering,
Sharif University of Technology, Tehran, Iran, 2000.

BSc in Aerospace Engineering,
Sharif University of Technology, Tehran, Iran, 1998.

Last updated: Tuesday, February 14th, 2017

Research Interests and Activities 

  Flight Dynamics, Guidance and Control

  Development of Heuristic Algorithms in Aerospace

  Cooperative Guidance and Navigation

  Trajectory Optimization of Flight Vehicles

  Multi-disciplinary Design Optimization

Publications 
Journal Papers

1. H. Nobahari and M. Arab Kermani, "Integrated Optimization of Guidance and Control Parameters in a Dual Spin Flying Vehicle", Accepted for publication in Scientia Iranica.

2. H. Nobahari, S. M. Zandavi and H. Mohammadkarimi, "Simplex Filter: A Novel Heuristic Filter for Nonlinear Systems State Estimation", Applied Soft Computing 49, 474-484 (2016) (DOI: 10.1016/j.asoc.2016.08.008).

3. M. Nikusokhan and H. Nobahari, "Closed-Form Optimal Cooperative Guidance Law against Random Step Maneuver", IEEE Transaction on Aerospace and Electronic Systems, Vol. 52, Issue 1, 319-336 (online access).

4. H. Nobahari and H. Mohammadkarimi, "Accuracy of Integrated Inertial-radar Navigation Systems in Autolanding of Unmanned Air Vehicles" Accepted for publication in Sharif Journal of Science and Technology.

5. H. Nobahari, H. Ghanbarpour Asl and S. F. Abtahi, "Velocity and position compensation in an integrated inertial/celestial navigation system by implementing back-propagation, smoothing and UKF using quaternions" Accepted for publication in Sharif Journal of Science and Technology.

6. H. Nobahari, H. Ghanbarpour Asl, and S. F. Abtahi. "A back-propagation approach to compensate velocity and position errors in an integrated inertial/celestial navigation system using unscented Kalman filter." Journal of Aerospace Engineering 228.10 (2014): 1702-1712. (online access)

7. S. SarayGordAfshari, H. Nobahari and S. A. Hosseini Kordkheili, Experimental Parametric Identification of a Flexible Beam Using Piezoelectric Sensors and Actuators, Shock and Vibration, 2014 (full text).

8. H. Nobahari, S. A. Hosseini Kordkheili and S. SarayGordAfshari, Hardware in the Loop Optimization of an Active Vibration Controller in a Flexible Beam Structure Using Evolutionary Algorithms, Journal of Intelligent Material Systems and Structures, Vol. 25, Issue 10, July 2014, pp. 1211-1223, DOI: 10.1177/1045389X13502874 (online access).

9. H. Nobahari and A. Sharifi, Continuous ant colony filter applied to online estimation and compensation of ground effect in automatic landing of quadrotor, Engineering Applications of Artificial Intelligence, Vol. 32, June 2014, pp. 100-111, 2014, http://dx.doi.org/10.1016/j.engappai.2014.03.004 (online access) (CACF code for Download).

10. A. Shakoori, M. Mortazavi and H. Nobahari, Aircraft Dynamically Similar Model Design using Simulated Annealing, Applied Mechanics and Materials, Vol. 225, pp 323-328, 2012, DOI:10.4028/www.scientific.net/AMM.225.323 (full text)

11. H. Nobahari, M. Nikusokhan and P. Siarry, A Multi-objective Gravitational Search Algorithm based on Non-dominated Sorting , International Journal of Swarm Intelligence Research, Vol. 3, No. 3, pp. 32-49, July-September 2012 (full text) (online access) (NSGSA code for Download)

12. H. Nobahari and Hamed Mohammad Karimi, Multiple-Input Describing Function Technique Applied to Design a Single Channel ON-OFF Controller for a Spinning Flight Vehicle, Journal of Aerospace Engineering, June 2012, Vol. 226, No. 6, pp. 631-645 (online access).

13. J. Karimi, H. Nobahari and S. H. Pourtakdoust, A new Hybrid Approach for Dynamic Continuous Optimization Problems, Applied Soft Computing, Vol. 12, No. 3, pp. 1158-1167, March 2012. (Full Text)(DHPSO code for Download).

14. H. Nobahari, H. Bandi Kenari, D. Darabi and A. Basohbat Novinzadeh, Optimization of a Reaction Jet Attitude Control System Using Multi-objective Adaptive Real-coded Memetic Algorithm, Journal of Aeronautical Engineering, Vol. 13, No. 1, pp. 1-22, March 2012.

15. J. Karimi, S. H. Pourtakdoust and H. Nobahari, Trim and Maneuverability Analysis of UAV Using a New Constrained PSO Approach, Journal of Aerospace Science and Technology, Vol. 8, No. 1, pp. 45-56, Winter-Spring 2011.

16. A. Karimi, H. Nobahari and P. Siarry,  Continuous Ant Colony System and Tabu Search Algorithms Hybridized for Global Minimization of Continuous Multi-Minima Functions, Computational Optimization and Applications (COAP), Vol. 45, No. 3, pp. 639-661, April 2010, (online access) (Full Text) (TCACS code for Download).

17. H. Nobahari, H. Bandi Kenari and A. Basohbat Novinzadeh, Design of a Reaction Jet Control System for a Vertical Launch Flying Vehicle, Journal of Aerospace Science and Research, Vol. 2, No. 2, 59-70, 2009.

18. H. Nobahari and S. H. Pourtakdoust,  An Optimal Fuzzy Two-Phase CLOS Guidance Law Design Using Ant Colony Optimization, The Aeronautical Journal, Vol. 111, No. 1124, pp. 621-636, 2007.

19. H. Nobahari, S. H. Pourtakdoust and A. Alasty,  Design of a Supervisory Controller for CLOS Guidance with Lead Angle, Aircraft Engineering and Aerospace Technology, Vol. 78, No. 5, pp. 395-406, 2006.

20. H. Nobahari and S. H. Pourtakdoust,  Optimal Fuzzy CLOS Guidance Law Design Using Ant Colony Optimization, Lecture Notes in Computer Science, Vol. 3777, 95-106, 2005 (Full Text).

21. S. H. Pourtakdoust and H. Nobahari, An Extension of Ant Colony System to Continuous Optimization Problems, Lecture Notes in Computer Science, Vol. 3172, 294-301, 2004 (Full Text).

Books

1. Amitava Chatterjee, Hadi Nobahari and Patrick Siarry, Advances in Heuristic Signal Processing and Applications, Springer, June 2013, (Online Link).

Book Chapters

1. H. Nobahari, A. Sharifi and H. Mohammadkarimi, Swarm Intelligence Techniques Applied to Non-Linear Systems State Estimation, in A. Chatterjee, H. Nobahari and P. Siarry, Advances in Heuristic Signal Processing and Applications, Springer, June 2013.

Conference Papers

1. A. R. Sharifi, H. Nobahari, H. Mohammadkarimi, Wind model estimation in a fixed-wind UAV based on model-based navigation, INC 2016, Tehran, Iran, December 2016.

2. H. Mohammadkarimi, H. Nobahari, A novel algorithm in inertial gyro-compassing, INC 2016, Tehran, Iran, December 2016.

3. H. Nobahari, M. Raoufi, A. R. Sharifi, A Heuristic Filter Based on Firefly Algorithm for Nonlinear State Estimation, SSCI 2016, ATHENS, GREECE, December 2016.

4. H. Nobahari, A. Haeri, A Heuristic Predictive LOS Guidance Law Based on Trajectory Learning, Ant Colony Optimization and Tabu Search, ICCSCE2016, Penang, Malaysia, November 2016.

5. H Mohammadkarimi, H Nobahari, A Sharifi, A new approximative method for attitude correction in inertial navigation systems, 7th International Conference on Mechanical and Aerospace Engineering (ICMAE), 394-399, August 2016.

6. A Sharifi, H Nobahari, Multiple model filters applied to wind model estimation for a fixed wing UAV, 7th International Conference on Mechanical and Aerospace Engineering (ICMAE), 109-115, August 2016.

7. H Nobahari, S Nasrollahi, A nonlinear estimation and control algorithm based on ant colony optimization, 2016 IEEE Congress on Evolutionary Computation (CEC), 5120-5127, August 2016.

8. H. Nobahari, A. R. Ghasemzadeh, A. R. Sharifi, Implementation of an integral LQR controller based on state observer in a servomechanism for position control, ISME 2016, Yazd, Iran, April 2016 (in persian).

9. H. Nobahari, M. Fathi, S. Karimi, Integrated guidance and control of a flying vehicle in terminal phase using optimal fuzzy logic, AERO2016, Tehran, Iran, February 2016 (in persian).

10. P. Abeshtan, H. Nobahari, Attitude control of a 3DOF quadrotor stand using intelligent back-stepping approach, AERO2016, Tehran, Iran, February 2016 (in persian).

11. H. Nobahari, A. Pourhaji, M. Effati, cooperative search and localization of aerial objects using a group of UAVs equipped with active sensors, AERO2016, Tehran, Iran, February 2016 (in persian).

12. H. Nobahari, M. Shayestehzadeh, A. R. Sharifi and A. H. Azadi, Implementation and Hardware-in-the-loop Simulation of the Automatic Landing System for a Quad-rotor, AERO2015, Tehran, Iran, March 2015 (in persian).

13. E. Nouranian, H. Nobahari and A. R. Sharifi, Design, Implementation and Hardware-in-the-loop Simulation of the Attitude Control System for a Quad-rotor Stand, AERO2015, Tehran, Iran, March 2015 (in persian).

14. H. Nobahari, M. Fathi, S. Karimi and D. Darabi, Optimal Design of Flying Vehicle with Terminal Guidance, AERO2015, Tehran, Iran, March 2015 (in persian).

15. H. Nobahari, M. Effati and A. R. Sharifi, Localization of a Moving Target Using a UAV Utilizing Extended Kalman Filter, AERO2015, Tehran, Iran, March 2015 (in persian).

16. H. Nobahari and M. Effati, Cooperative Search and Localization of Moving Targets Using a Group of UAVs Considering Fuel Constraint, AERO2015, Tehran, Iran, March 2015 (in persian).

17. H. Nobahari, H. Mohammadkarimi, Error Analysis of an Integrated Inertial/Radio Navigation System for Automatic Landing of UAVs, First National Navigation Conference, Tehran, Iran, February 2015 (in persian).

18. H. Nobahari, H. Ghanbarpour and S. F. Abtahi, Compensation of Position and Velocity Errors in an Integrated Inertial/Celestial Navigation System using Propagation, Smoothing and UKF, First National Navigation Conference, Tehran, Iran, February 2015 (in persian).

19. M. M. Heydari Darani, H. Nobahari and H. Mohammadkarimi, Analysis of the Navigation Systems in Automatic Landing of UAV from the Accuracy Point of View, AERO2014, Tehran, Iran, 2014 (in persian).

20. H. Nobahari and A. Sharifi, Autolanding of a Quadrotor under the Ground Effect using Sliding Mode Control and Continuous Ant Colony Filter, ICIS2014, Bam, Iran, 2014 (in persian).

21. S. SarayGordAfshari, H. Nobahari and S. A. Hosseini Kordkheili, Experimental Parametric Identification of a Flexible Beam Using Piezoelectric Sensors and Actuators, 2nd International Conference on Acoustics and Vibration (ISAV2012), Sharif University of Technology, Tehran, Iran, December 2012.

22. H. Nobahari and AliReza Sharifi, A Novel Heuristic Filter Based on Ant Colony Optimization for Non-linear Systems State Estimation, Communications in Computer and Information Science, Computational Intelligence and Intelligent Systems, 2012, pp 20-29, DOI: 10.1007/978-3-642-34289-9_3 (Full text) (CACF code for Download)

23. M. Khosravai Samani and H. Nobahari, Design of a Nonlinear Adaptive Controller for Aerodynamic Control of a Flying Vehicle, ISME2012, Shiraz University, Shiraz, Iran, 2012 (in persian).

24. M. Khosravai Samani and H. Nobahari, Design of a Multi-variable Adaptive Controller for Aerodynamic Control of a Flying Vehicle, AERO2012, Shahid Sattari University, Tehran, Iran, 2012 (in persian).

25. H. Nobahari and M. Motei, Design of a Cooperative Guidance Algorithm to Defense Against a Flying Vehicle, AERO2012, Shahid Sattari University, Tehran, Iran, 2012 (in persian).

26. H. Nobahari and A. Ashrafifar, Initial Alignment of a Strapdown Inertial Navigation System Using Unscented Particle Filter, AERO2012, Shahid Sattari University, Tehran, Iran, 2012 (in persian).

27. H. Nobahari and G. Zarein, Design of a Cooperative Navigation System for a Group of Flying Vehicles, AERO2012, Shahid Sattari University, Tehran, Iran, 2012 (in persian).

28. H. Nobahari and M. Ghoreishi, A Combination of Neural Networks and Multi-objective Adaptive Real-coded Memetic Algorithm to Reduce the Computational Cost of a Multi-disciplinary Design Optimization Problem, AERO2012, Shahid Sattari University, Tehran, Iran, 2012 (in persian).

29. H. Nobahari and A. Solki, Design of a Robust Controller for Pointing Maneuver Using TCACS, AERO2012, Shahid Sattari University, Tehran, Iran, 2012 (in persian).

30. H. Nobahari and M. Khosravai Samani, Design of a Nonlinear Robust Controller for Attitude Control of a Vertical Launched Flying Vehicle, ICCIA2011, Shiraz University, Shiraz, Iran, 2011 (in persian).

31. H. Nobahari, M. Nikusokhan and P. Siarry, Non-dominated Sorting Gravitational Search Algorithm for Multi-objective Optimization Problems, ICSI2011, International Conference on Swarm Intelligence, June, 14-15, 2011, Cergy, France (2011) (Full Text) (NSGSA code for Download)

32. H. Nobahari and S. H. Mousavi Nezhad, A Combination of Lambert Guidance, Generalized Explicit Guidance and Pulsed Guidance for Exoatmospheric Interception, AERO2011, The 10th Iranian Aerospace Society Conference, March, 1-3, 2011, Tarbiat Modarres University, Tehran, Iran (2011) (in persian)

33. H. Nobahari and T. Soleymani, OFF-Line and ON-Line Optimization of the Weather Avoidance Problem Using Ant Colony Optimization, AERO2010, The 9th Iranian Aerospace Society Conference, February, 8-10, 2010, Islamic Azad University, Science and Research Branch, Tehran, Iran (2010) (in persian)

34. H. Nobahari and D. Darabi, Multi-disciplinary Design Optimization of a Flying Vehicle Using a Multi-objective Memetic Algorithm, AERO2010, The 9th Iranian Aerospace Society Conference, February, 8-10, 2010, Islamic Azad University, Science and Research Branch, Tehran, Iran (2010)

35. H. Mohammad Karimi and H. Nobahari, Development of a Modified 3DOF Point Mass Model to Design Optimal Trajectory for a Flying Vehicle, The First Iranian Conference on Flight Simulation, December, 15-16, 2009, Aerospace Research Institute, Tehran, Iran (2009) (in persian)

36. H. Nobahari and D. Darabi, A New Adaptive Real-coded Memetic Algorithm, AICI2009, International Conference on Artificial Intelligence and Computational Intelligence, Shanghai, China (2009) (Full Text)

37. R. Moradi, H. Nobahari and Seid H. Pourtakdoust, Optimal Control of Spacecraft Rendezvous Using Multi-objective Ant Colony Optimization, ASAT2009, The Sixth Annual AIAA Southern California Aerospace Systems and Technology Conference, (2009)

38. F. Saghafi, H. Nobahari and D. Asadi A Terminal Vision-based Guidance Law for an Anti-helicopter UAV AERO2008, The 7th Iranian Aerospace Society Conference, February, 19-21, 2008, Sharif University of Technology, Tehran, Iran (2008)

39. M. Nikusokhan, S. Y. Nabavi and H. Nobahari, Optimization of Kapa Guidance Law Using Ant Colony Optimization and Comparison with Numerical Solution Obtained Using Optimal Control Theory AERO2008, The 7th Iranian Aerospace Society Conference, February, 19-21, 2008, Sharif University of Technology, Tehran, Iran (2008) (in persian)

40. M. Nikusokhan and H. Nobahari, Time Control Using Sliding Waypoint Guidance Proceedings of the Iranian Conference on Underwater Science and Technology. (2007) (in persian)

41. M. Nikusokhan and H. Nobahari, Using a Fuzzy Gravity Compensator to Shape the Trajectory of PN Guidance during midcourse flight phase ISME2007, Tehran, Iran. (2007) (in persian)

42. H. Nobahari, S. H. Pourtakdoost, Two-Phase Line-of-Sight Guidance Proceedings of the 6th International Conference of Iranian Aerospace Society, Tehran, Iran. (2007) (in persian)

43. H. Nobahari, Karimi, A. and Siarry, P., A Hybridization of Ant Colony Optimization and Tabu Search Meta-heuristics for Continuous Problems, CSICC 2007, Tehran, Iran. (2007)

44. H. Nobahari, Nabavi, S. Y. and Pourtakdoust, S. H., Aerodynamic Shape Optimization of Unguided Projectiles Using Ant Colony Optimization and Genetic Algorithm,Proceedings of ICAS 2006, 3-8 September 2006, Hamburg, Germany. (2006)

45. H. Nobahari, Alasty, A. and Pourtakdoust, S. H., Design of a Supervisory Controller for CLOS Guidance with Lead Angle, AIAA Guidance, Navigation and Control Conference and Exhibit, AIAA-2005-6156. (2005)

46. H. Nobahari and S. H. Pourtakdoust, Optimization of Fuzzy Rule Bases Using Continuous Ant Colony System, Proceedings of the First International Conference on Simulation, Modeling and Applied Optimization, Sharjah, UAE, 1-3 Feb. (2005) (Full Text)

47. M. Behbahani, H. Nobahari and F. Tavakkoli, Study the Gyroscopic Effects of Rotating Elements in 6DOF Flight Simulation, 12th Iranian Conference on Mechanical Engineering, Tehran, Iran. (2004) (in persian)

48. H. Nobahari, Developement the Methodology of Using a TV Camera to Compensate the INS Error and Target Coordination Correction ,Proceedings of the 2nd conference of Iranian Aerospace Organization, Tehran, Iran. (2004) (in persian)

49. H. Nobahari and F. Tavakkoli, Quantitative and Qualitative Study of the Hit Probability Increament due to adding Homing Guidance to Command Guidance ,Proceedings of the 2nd conference of Iranian Aerospace Organization, Tehran, Iran. (2004) (in persian)

50. H. Nobahari, Underwater Stability, Proceedings of the 2nd Iranian Conference on Underwater Science and Technology. (2003) (in persian)

51. H. Nobahari, S. H. Pourtakdoost, A Combination of LOS and PN Guidance Laws Proceedings of the first international conference of Iranian Aerospace Society, Tehran, Iran.(2001) (in persian)

52. S. H. Pourtakdoost, H. Nobahari, Optimization of Line-of-Sight Guidance, Proceedings of the first conference of Iranian Aerospace Organization, Tehran, Iran.(2000) (in persian)

Courses Taught 
Undergraduate

  Automatic Control

  Control System Lab

  Flight Dynamics I

Graduate

  Guidance and Navigation

  Heuristic Optimization Algorithms

  Advanced Flight Dynamics

  Flight Control Systems Design

  Fuzzy Control

Honors and Awards 

  Advisor of two best B.Sc. thesis of Iranian Aerospace Society, 2016.

  Advisor of the best B.Sc. thesis of Iranian Aerospace Society, 2015.

  Advisor of the best M.Sc. thesis of Iranian Aerospace Society in Flight Dynamics and Control, 2014.

  The best Ph.D. thesis of Iranian Aerospace Society in Flight Dynamics and Control, 2010.

  19-th International Kharazmi award, rank 3 in practical researches for development of "Integrated aerospace Systems Simulation software (iSYS)", 2005.

  First rank student, B.Sc., 1998.

Contact 

Phone: (+98) 21 6616 4636

Fax: (+98) 21 6602 2731

Email: nobahari sharif.edu

Homepage: http://ae.sharif.edu/~nobahari


سامانه ورود دانشجویان، اساتید و کارکنان
دانشگاه صنعتی شریف، دانشکده مهندسی هوافضا
ورود به سامانه
كلمه عبور را فراموش كرده‌ام!
عضو سايت نيستم و نام كاربري و رمز عبور ندارم!!
عضو سايت شده‌ام، اما لينك فعال‌سازي را دريافت نكرده‌ام!!!