You will launch many projects, but have time to finish only a few. So think, plan, develop, launch and tap good people to be responsible. Give them authority and hold them accountable. Trying to do too much yourself creates a bottleneck.

D. Rumsfeld


AIDA: Automatic Identification of Research Trends

The AIDA project is an initiative of TU Delft scientific staff in cooperation with TU Delft Library and the Leiden University’s CWTS (Centre for Science and Technology Studies). The goal of AIDA is aimed at providing easy-to-use tools for visualization and analysis of research areas and research trends to individual researchers and to the faculties of TU Delft.

for more information see here:


MiSS: Mining Social Structures from Broad Genealogical Data

This project addresses the problem of how to derive identities of persons and social structures from large sets of genealogical data available as text and photographs with incomplete information. In order to do so we want to investigate and deploy a combination of techniques from data mining, machine learning and human computation. One of the project goals is providing automatic tools for supporting large scale prosopographical and demographic research.

For more information see the project webpage HERE, or check the following publications.

  • B. Ranjbar-Sahraei, J. Efremova, et al., "HiDER: Query-Driven Entity Resolution for Historical Data", In Proceedings of the European Conference on Machine Learning and Principles and Practice of Knowledge Discovery in Databases (ECML PKDD 2015), Porto, Portugal, 2015.
  • H. Rahmani, B. Ranjbar-Sahraei, G. Weiss and K. Tuyls, "Entity Resolution in Disjoint Graphs: an Application on Genealogical Data", Journal of Intelligent Data Analysis (in press).
  • J. Efremova, B. Ranjbar-Sahraei, F. Oliehoek, T. Calders and K. Tuyls, "An Interactive, Web-based Tool for Genealogical Entity Resolution", In proceedings of the 25th Benelux Conference on Artificial Intelligence (BNAIC), Delft, The Netherlands, 2013.
  • Book Chapter: J. Efremova, B. Ranjbar-Sahraei, H. Rahmani, F.A. Oliehoek, T. Calders, K. Tuyls, and G. Weiss. "Multi-source entity resolution for genealogical data". In Population Reconstruction, Springer International Publishing, 2015.

Analytical Study of Co-Evolution in Complex Networks

Aiming at a broad theoretical understanding of the co-evolution in complex/social networks, in this project I develop a formal analysis of network structure, behaviors and interactions among individuals in complex social networks. Next comes some of the publications.

  • B. Ranjbar-Sahraei, H. Bou-Ammar, K. Tuyls, G. Weiss, "On the Skewed Degree Distribution of Hierarchical Networks", In Proceedings of the IEEE/ACM International Conference on Advances in Social Networks Analysis and Mining (ASONAM), Paris, France, 2015.
    • B. Ranjbar-Sahraei, H. Bou-Ammar, D. Bloembergen, K. Tuyls, G. Weiss, "Theory of Cooperation in Complex Social Networks", In Proceedings of the 28th AAAI Conference on Artificial Intelligence (AAAI), Quebec City, Canada, 2014.
    • B. Ranjbar-Sahraei, D. Bloembergen, H. Bou-Ammar, K. Tuyls, G. Weiss, "Effects of Evolution on the Emergence of Scale Free Networks", In Proceedings of the 14th International Conference on the Synthesis and Simulation of Living Systems (ALIFE), New York, U.S., 2014.


Stigmergic Coverage (StiCo)

In this project a novel approach for multi-robot coverage is proposed which is based on the principle of pheromone-based communication. According to this approach, called StiCo (for “Stigmergic Coverage”), the robots communicate indirectly via depositing/detecting markers in the environment to be covered. Although the movement policies of each robot are very simple, complex and e.fficient coverage behavior is achieved at the team level. For more information see the project webpage.

  • B. Ranjbar-Sahraei, S. Alers, K. Tuyls, G. Weiss, "StiCo in action", Proceedings of the 2013 international conference on Autonomous agents and Multi-Agent Systems (AAMAS2013), Valencia Spain, 2013.
  • B. Ranjbar-Sahraei, G. Weiss, K. Tuyls, "A macroscopic model for multi-robot stigmergic coverage", Proceedings of the 2013 international conference on Autonomous Agents and Multi-Agent Systems (AAMAS2013), Valencia, Spain, 2013.
  • B. Ranjbar-Sahraei, G. Weiss, A. Nakisaee, "A Multi-Robot Coverage Approach based on Stigmergic Communication", Multiagent System Technologies, Lecture Notes in Computer Science, Vol. 7598, pp. 126-138, 2012.
  • B. Ranjbar-Sahraei, G. Weiss, A Nakisaee, "An Adaptive Stigmergic Coverage Approach for Robot Team", 24th Benelux Conference on Artificial Intelligence (BNAIC), 210-217, Maastricht, The Netherlands, 2012.

e-puck Vision

This is the master thesis of a student I supervised, in which a robotic swarm explores the area, detects key environmental locations (landmarks) and use these as a base for further exploration.

A major part of this thesis is focused on detection of key environmental locations. In practice, such locations could be nearly everything. However, with limited resources of the robots (e-pucks) we have to define what exactly should be detected as a landmark. Therefore, the first step is to detect small blocks of wood. Detection of QR-Codes (and bar-codes) with e-puck camera are also included.

Two publications based on this work.

  • S. Alers, B. Ranjbar-Sahraei, S. May, K. Tuyls, G. Weiss, "Evaluation of an Experimental Framework for Exploiting Vision in Swarm Robotics", Advances in Artificial Life, ECAL 12, 775-782, Taormina, Italy, 2012.
  • S. Alers, B. Ranjbar-Sahraei, S. May, K. Tuyls, G. Weiss, "An Experimental Framework for Exploiting Vision in Swarm Robotics", ADAPTIVE2013, Valencia, Spain, 2013.


Swarm Robotics

In this project a swarm of seven robots is designed and built. The swarm is used for practical verification of some Adaptive Fuzzy Controllers. Both Formaiton Control and Flocking Control of robots are implemented and the high performance of controllers are verified.


      • Robots are designed by Solidworks software.
      • Avr-MicroController (Atmega16) is used in each robot.
      • Each robot moves like a unicycle, using two stepper-motors.
      • Robots use FSK transceivers to communicate as an ad-hoc network
      • Image-processing software use an overhead camera to supply the GPS data
  • B. Ranjbar-Sahraei, A. Nemati, M. Farshchi, A. Meghdari, "Adaptive Fuzzy Sliding Mode Control Approach for Swarm Formation Control of Multi-Agent Systems", 10th Biennial Conference on Engineering Systems Design and Analysis (ESDA2010), Istanbul, Turkey, 2010.

Intelligent Post-Box

This post-box can detect the existence of an envelope, parcel or any other object in the box, one of the advantages of this intelligent system is that the size and material of the object is not important, the electronic design of this product can eliminate noises and the set of sensors can detect almost materials; after collecting the whole information and transferring the data to the central unit, using TCP/IP protocol, according to the customers request, s/he will be informed by receiving an SMS, or an email. In total in 2 years more than 1000 of these boxes were delivered.

  • Ava-Afzar, Shiraz, Iran, 2008-2010.


Solarimeter Monitoring System

Design and set up of a precise and calibrated data-logging system for measuring combined direct and diffuse solar radiation.

      • Department of Energy Conversion, School of Mechanical Engineering, Shiraz University, Shiraz, Iran, 2009-2010.

Chemical Process Monitoring & Control System

Design and set up of a thorough monitoring and controlling system consisting of 10 thermal sensors, 6 pressure sensors and 3 thermo control systems.

      • Enhanced Oil Recovery (EOR) Lab., Shiraz University, Shiraz, Iran, 2008-201.

Semi-Industrial Dynamometer

Design and set up of the electrical and instrumental circuits of a dynamo-meter which measures the forces in 3 orthogonal directions (x, y and z) during the exfoliation process.

      • Department of Material Engineering, Shiraz University, Shiraz, Iran, 2009-2010.

Semi-Industrial Filing Producer

Design and set up of an industrial filing producer using two integrated servo motors, which can control width, length and quality of filings.

      • Department of Material Engineering, Shiraz University, Shiraz, Iran, 2008-2009.


Ball on Plate

Instantly, after finishing the "ball and beam" project, Alireza and I initiated the "ball on plate" test-bed for implementing some advanced controllers. Alireza started the mechatronic design while I set up a camera and started to write codes for image processing, which was taking care of edge detection and center acquisition. After a while, we proposed a novel APSO identification method for highly coupled electromechanical systems, and the results were proved to be efficient using this test-bed.

      • School of Mechanical Engineering, Shiraz University, Shiraz, Iran, 2007.

Ball and Beam

This project was done under supervision of Dr. Mohammad Eghtesad; with good mechatronic design of Alireza Nemati. I was the electronic designer and control man in the project. After designing and building the mechatronic system, we used two tungsten wires as position sensors. An ADC was used to estimate the position of metal ball and a micro-controller was sending the data to PC. By applying both analog and digital filters to the received data, different PID controllers and fuzzy controllers were capable of controlling the exact position of ball on the beam.

    • School of Mechanical Engineering, Shiraz University, Shiraz, Iran, 2007.

The 20" Telescope of Aburaihan Observatory

In this project, I designed a robust controller for movement and rotation control of a giant telescope. The goal was to finely track a specific star during the night and compensate the earth rotation. This controller had to be precise and very accurate with out any distortion! a good disturbance rejection behavior was mandatory. Due to some financial issues and time shortage I never manages to valorize this work, I learnt a lot and shared my findings with the managers. I will never forget the freezing weather of dome during nights!

      • Aburaihan Obeservatory, Shiraz University, Shiraz, Iran, Dec-2006

Force Resistive Skin

    • School of Biomedical Engineering, Amirkabir University of Technology, Tehran, Iran