Mohammad Poursina

• Dynamic modeling, simulation, and control of complex multibody systems
• Robotics
• Robotic rehabilitation
• Human body motion analysis, kinesiology and sports dynamics
• Molecular dynamics 

• Affiliated Member, Biomedical Engineering, The University of Arizona,  May 2016 
• Assistant Professor, Mechanical Engineering, The University of Arizona, Jan. 2014
• Affiliated Member, Programs in Applied Mathematics, The University of Arizona, Nov. 2104
• Postdoctoral Research Associate and Lecturer, Mechanical Engineering, Rensselaer Polytechnic Institute (RPI), Aug. 2011
• Visiting Scholar, Simbios, NIH Center for Biomedical Simulations, Stanford University, July 2010

Book Chapter:

1. Shahbazi Z., Poursina M., Protein Kinematics, Encyclopedia of Robotics, (Accepted).
2. Poursina M., Anderson K. S., Efficient Coarse-grained Molecular Simulations in the Multibody Dynamics Scheme, Computational Methods in Applied Sciences, 28, 147-172, 2013, Springer.
3. Poursina M., Khan I. M., Anderson K. S., Efficient Model Transition in Adaptive Multi-resolution Modeling of Biopolymers, Linear Algebra, ISBN 980-953-307-220-8, 2012, InTech, (invited).
4. Poursina M., Bhalerao K. D., Anderson K. S., Flores S., Laederach A., Strategies for Articulated Multibody-based Adaptive Coarse Grain Simulation of RNA, Methods in Enzymology, 487, 73-98, 2011, Science Direct.

Journal Articles: 

1. Sabet, S., Poursina, M., Nikravesh, P., Reverdy, P. and Agha-Mohammadi, A.A. . Dynamic Modeling, Energy Analysis, and Path Planning of Spherical Robots on Uneven Terrains. IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6049-6056, Oct. 2020, doi: 10.1109/LRA.2020.3010489.
2. Poursina, M., Nikravesh, P.E. Optimal damping coefficient for a class of continuous contact models. Multibody System Dynamics. https://doi.org/10.1007/s11044-020-09745-x, 2020.
3. Poursina, M., Nikravesh, P.E. Characterization of the Optimal Damping Coefficient in the Continuous Contact Model.  ASME Journal of Computational and Nonlinear Dynamics (Special Issue on IDETC/MSNDC 2019),  https://doi.org/10.1115/1.4047136, 2020.
4. Poursina M., Butcher E. A., Electrostatic Force and Moment Approximations for Coulomb Charged Spacecraft Based on Center of Charge, Journal of the Astronautical Sciences, https://doi.org/10.1007/s40295-019-00186-z, 2019.
5. Ehsani H., Poursina M., Rostami M., Mousavi A.,  Parnianpour M., Khalafe K., Efficient Embedding of Empirically-Derived Constraints in the ODE Formulation of Multibody Systems: Application to the Human Body Musculoskeletal System, Mechanism and Machine Theory, 133, 673-690, 2019.
6. Poursina M., Anderson K. S., Optimization Problem and Efficient Partitioning Algorithm in Adaptive Resolution
   Simulation of Articulated Biopolymers, Journal of Multibody System Dynamics, 42(1), 97-117, 2018.
7. Dabiri A., Butcher E. A., Poursina M., Nazari M., Optimal Periodic-gain Fractional Delayed State Feedback Control for Linear Fractional Periodic Time-delayed Systems, IEEE Transactions on Automatic Control, 63(4), 989-1002, 2018.
8. Kingsley C., Poursina M., Extension of the Divide-and-Conquer Algorithm for the Efficient Inverse Dynamics Analysis of Multibody Systems, Journal of Multibody System Dynamics, 42(2), 145-167, 2018.
9. Kingsley C., Poursina M., Sabet S., Dabiri A., Logarithmic Complexity Computed Torque Control of Large Articulated Multibody Systems, Mechanism and Machine Theory, 116, 481-500, 2017.
10. Sabet S., Poursina M., Computed Torque Control of Nondeterministic Multibody Systems, Journal of Multibody
    System Dynamics, 41(4), 347365, 2017.
11. Poursina M., Extended Divide-and-Conquer Algorithm for Uncertainty Analysis of Multibody Systems in Polynomial Chaos Expansion Framework, ASME Journal of Computational and Nonlinear Dynamics, 11(3), 1555-1415, 2015.
12. Laflin J., Khan I. M., Anderson K. S., Poursina M., New and Extended Applications of the Divide-and-Conquer Algorithm Multibody Dynamics, ASME Journal of Computational and Nonlinear Dynamics, 9(4), 2014.
13. Poursina M., Anderson K. S., An Improved Fast Multipole Method for Electrostatic Potential Calculations in a Class of Coarse-grained Molecular Simulations, Journal of Computational Physics, 270(1), 613-633, 2014.
14. Laflin J., Anderson K. S., Khan I. M., Poursina M., Advances in the Application of the Divide-and-Conquer Algorithm to Multibody System Dynamics, Special issue on Multibody Dynamics Formulations of the ASME Journal of  Computational and Nonlinear Dynamics, 9(4), 2014, (invited).
15. Poursina M., Anderson K. S., An Extended Divide-and-Conquer Algorithm For A Generalized Class of Multibody
    Constraints, Journal of Multibody System Dynamics, 29(3), 235-254, 2013.
16. Poursina M., Anderson K. S., Canonical Ensemble Simulation of Biopolymers Using A Coarse-Grained Articulated Generalized Divide-And-Conquer Scheme, Computer Physics Communications., 184(3), 652-660, 2013.
17. Khan I. M., Poursina M., Anderson K. S., Model Transitions and Optimization Problem in the Multi-Flexible-Body Systems: Application to Modeling Molecular Systems, Computer Physics Communications., 184(7), 1717-1728, 2013.
18. Poursina M., Anderson K. S., Long-range Force and Moment in Multiresolution Simulation of Molecular Systems, Journal of Computational Physics, 231(21), 7237-7254, 2012.
19. Bhalerao K. D., Poursina M., Anderson K. S., An Efficient Direct Differentiation Approach for Sensitivity Analysis of Flexible Multibody Systems, Journal of Multibody System Dynamics, 23(2), 121-140, 2010.

Peer-Reviewed Conference Papers: 

1. Poursina M., Nikravesh P. E., Characterization of the Damping Coefficient in the Continuous Contact model, ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference IDETC/CIE 2019, August 18 - 21, 2019, Anaheim, CA, USA.
2. Dabiri A., Poursina M., Butcher E. A., Integration of Divide-and-Conquer Algorithm with Fractional Order Controllers for the Efficient Dynamic modeling and Control of Multibody Systems, 2018 American Control Conference, Milwaukee, USA.
3. Dabiri A., Sabet S., Poursina M., Nikravesh P. E., Armstrong D. G., Kinematics and Dynamics Comparison Between Three Parallel Robots for Lower Extremity Rehabilitation, ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Cleveland, OH, USA.
4. Sabet S., Dabiri A., Armstrong D. G., Poursina M., Computed Torque Control of the Stewart Platform with Uncertainty for Lower Extremity Robotic Rehabilitation, 2017 American Control Conference, Seattle, WA, USA.
5. Dabiri A., Sabet S., Poursina M., Armstrong D. G., Nikravesh P. E., An Optimal Stewart Platform For Lower Extremity Robotic Rehabilitation, 2017 American Control Conference, Seattle, WA, USA.
6. Sabet S., Poursina M., Uncertainty Analysis of Nondeterministic Multibody Systems, IMECE 2016 International Mechanical Engineering Congress and Exposition, November 11-November 17, Phoenix, AZ, USA.
7. Dabiri A., Butcher E. A., Poursina M., Fractional Delayed Control Design for Linear Periodic Systems, ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference IDETC/CIE 2016, August 21-August 24, 2016, Charlotte, USA.
8. Sabet S., Poursina M., Robust Framework for the Computed Torque Control Of Nondeterministic Multibody Dynamic Systems, Proceedings of the ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference IDETC/CIE 2016, August 21-August 24, 2016, Charlotte, USA.
9. Sabet S., Poursina M., Highly Parallelizable Method for Uncertainty Quantification of Complex Multibody Systems with Multiple Loop Closures, The Fourth Joint International Conference on Multibody System Dynamics - IMSD 2016 Montreal, Quebec, Canada, May 29 - June 2, 2016.
10. Kingsley C., Poursina M., Computed Torque Control of Articulated Multibody Systems in the Generalized Divide and Conquer Algorithm Framework, ASME IDETC 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), Boston MA, August 2-5, 2015, (Finalist in the student paper competition). 
11. Sabet S., Poursina M., Forward Kinematic Analysis of Non-Deterministic Articulated Multibody System with Kinematically Closed-Loops in Polynomial Chaos Expansion Scheme, ASME IDETC 11th International Conference on Multibody Systems, Nonlinear Dynamics, and  Control (MSNDC), Boston MA, August 2-5, 2015.
12. Khan I. M., Kalyan C. Addepalli, Poursina M., Dynamics and Control of Multi-Flexible-Body Systems in a Divide-And-Conquer Scheme, ASME IDETC 11th International  Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), Boston MA, August 2-5, 2015. 
13. Poursina M., Generalization of the Divide-And-Conquer Algorithm for the Uncertainty Quantification of Multibody Systems, ECCOMAS Thematic Conference on Multibody Dynamics, Barcelona, Spain, June 29 - July 2, 2015.
14. Poursina M., Efficient Application of Polynomial Chaos Expansion for the Dynamic Analysis of Multibody Systems with Uncertainty, ASME IDETC 10th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), Buffalo NY, August 17-20, 2014. 
15. Poursina M., Modified Fast Multipole Method for Coarse-Grained Molecular Simulations, The 58th Annual Meeting of Biophysical Society, San Francisco, CA, February 4-6, 2014. 
16. Poursina M., Anderson K. S., Fast Far-Field Potential Evaluation in Multibody-Based Simulations of biopolymers, ASME IDETC 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), Portland, OR, August 4-7, 2013. 
17. Khan I. M., Poursina M., La in J., Anderson K. S., A Framework for Adaptive Multibody Modeling of Biopolymers, ASME IDETC 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), Portland, OR, August 4-7, 2013.
18. Khan I. M., La in J., Adam Ryason, Poursina M., Anderson K. S., Strategies for Model Reduction in DCA-Based Multibody Modeling of Biopolymers, The 57th Annual Meeting of Biophysical Society, Biophysical Journal, vol. 104, issue 2, p. 35a, Philadelphia, PA, February 4-6, 2013.
19. Lalin J., Poursina M., Anderson K. S., Distance Estimation Between Coarsened Regions of Biopolymers for Far-Field Force Approximation, The 57th Annual Meeting of Biophysical Society, Biophysical Journal, vol. 104, issue  2, p. 508a, Philadelphia, PA, February 4-6, 2013.
20. Laflin J., Kurt Anderson, Daniel Koerner, Poursina M., Implementation Issues for Far-Field Approximations with Multi-Resolution Biopolymer Simulations, ASME 2013 2nd Global Congress on Nanoengineering for Medicine and Biology NEMB 2013, Boston, MA, February 2-6, 2013.
21. Poursina M., Laflin J., Anderson K. S., Efficient Far-Field Force and Torque Calculations in Multibody-Based Modeling of Biopolymers, The 2nd Joint International Conference on Multibody System Dynamics, Stuttgart, Germany, May 29-June 1, 2012.
22. Poursina M., Anderson K. S., Adaptive Coarse-graining Framework to Model Non-Equilibrium Dynamic Behavior of Biopolymers, The 56th Annual Meeting of Biophysical Society, San Diego, CA, February 25-29, 2012.
23. Poursina M., La in J., Anderson K. S., Fast Electrostatic Force and Moment Calculations in Multibody-Based Simulations of Coarse-Grained Biopolymers, ASME IDETC, 8th International Conference on Multibody Systems, Computational Methods, Washington, DC, August 28-31, 2011 (Finalist in the student paper competition).
24. Poursina M., Anderson K. S., Multibody Dynamics in Generalized Divide and Conquer Algorithm (GDCA) Scheme, ASME IDETC, 8th International Conference on Multibody Systems, Computational Methods, Washington, DC, August 28-31, 2011 (Selected for the poster competition by the IDETC organizers).
25. Poursina M., Khan I. M., Anderson K. S., Model Transitions and Optimization Problem in Multi-Flexible-Body Modeling of Biopolymers, ASME IDETC, 8th International Conference on Multibody Systems, Flexible Multibody Dynamics, Washington, DC, August 28-31, 2011.
26. Poursina M., Anderson K. S., Laflin J., Efficient Force and Moment Calculation in Multiresolution Modeling of Biopolymers, ECCOMAS Thematic Conference on Multibody Dynamics, Brussels, Belgium, July 4-7, 2011 The best paper of the session on "Efficient Simulation and Real-Time Applications"). 
27. Khan I. M., Poursina M., Anderson K. S., DCA-Based Optimization in Transitioning to Finer Models in Articulated Multi-Flexible-Body Modeling of Biopolymers, ECCOMAS Thematic Conference on Multibody Dynamics, Brussels, Belgium, July 4-7, 2011.
28. Poursina M., Anderson K. S., Constant Temperature Simulation of Articulated Polymers Using Divide-And-Conquer Algorithm, ECCOMAS Thematic Conference on Multibody Dynamics, Brussels, Belgium, July 4-7, 2011.
29. Poursina M., Anderson K. S., Efficient Force Field Calculation in Articulated Multiscale Molecular Simulations, IV International Conference on Computational Methods for Coupled Problems in Science and Engineering, Kos Island, Greece, June 20-22, 2011.
30. Poursina M., Anderson K. S., La in J., Deriving Effective Force and Moment due to Pairwise Interactions in Coarse Grain Simulations, The 55th Annual Meeting of Biophysical Society, Biophysical Journal, vol. 100, issue 3, pp. 612a-612a, Baltimore, MD, March 5-9, 2011. 
31. Anderson K. S., Poursina M., Robust Framework for the Adaptive Multiscale Modelling of Biopolymers, Proceedings of 2011 NSF Engineering Research and Innovation Conference, Atlanta, GA, January 4-7, 2011.
32. Poursina M., Bhalerao K. D., Anderson K. S., On adaptive multiscale modeling of biomolecular systems with the application in RNA, The 1st Joint International Conference on Multibody System Dynamics, Lappeenranta, Finland, May 25-27, 2010.
33. Poursina M., Bhalerao K. D., Anderson K. S., Divide and Conquer Based Adaptive Coarse-Grained Simulation of RNA, ASME 2010 First Global Congress on Nanoengineering for Medicine And Biology NEMB, Houston, TX, February 7-10, 2010.
34. Anderson K. S., Poursina M., Energy Concern in Biomolecular Simulations Involving Transitions from Coarse to Finer Grain Models, ASME IDETC, 7th International Conference on Multibody Systems, Nonlinear Dynamics and Control, San Diego, CA, August 30-September 2, 2009.
35. Anderson K. S., Poursina M., Optimization Problem in Biomolecular Simulations with DCA-Based Modeling of Transition from A Coarse to A Fine Fidelity, ASME IDETC, 7th International Conference on Multibody Systems, Nonlinear Dynamics and Control, San Diego, CA, August 30-September 2, 2009.
36. Bhalerao K. D., Poursina M., Anderson K. S., Logarithmic Complexity Sensitivity Analysis of Flexible Multibody Systems, ASME IDETC, 7th International Conference on Multibody Systems, Nonlinear Dynamics and Control, San Diego, CA, August 30-September 2, 2009.
37. Anderson K. S., Poursina M., Energy Concern in Biomolecular Simulations with Discontinuous Changes in System Definfition, 2009 NSF Engineering Research and Innovation Conference, Honolulu, Hawaii, June 22 - 25, 2009.
38. Poursina M., Bhalerao K. D., Anderson K. S., Energy Concern in Biomolecular Simulations with Discontinuous Changes in System Defininition, ECCOMAS Multibody Dynamics, Warsaw, Poland, June 29 - July 2, 2009. 
39. Bhalerao K. D., Poursina M., Anderson K. S., Sensitivity Analysis of Multi-Flexible-body Systems, 12th Conference on Nonlinear Vibrations, Dynamics, and Multibody Systems, Virginia Polytechnic Institute, Blacksburg, VA, June 1-5, 2008.
40. Poursina M., Nejat Olgac, Delay Decoupling Controller, A Novel Method for Systems with Multiple Time Delays, IFAC TDS the 7th workshop on Time Delay System, France, 2007.

Professional Service to Conference

1. Symposium Co-organizer, ASME IDETC, 2020, 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), Student Paper Competition
2. Symposium Co-organizer, ASME IDETC, 2019, 15th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), Computational Methods for Multibody Systems and Nonlinear Dynamics
3. Symposium Co-organizer, ASME IDETC, 2019, 15th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), Student Paper Competition
4. Symposium Co-organizer, ASME IDETC, 2018, 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), Student Paper Competition
5. Session Co-organizer, ASME IDETC, 2017, 13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), MSNDC-16-1: Dynamics and Control of Robotic Systems
6. Symposium Co-organizer, ASME IDETC, 2017, 13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), MSNDC-20 Best Paper Award Competition 
7. Symposium Co-organizer, ASME IDETC, 2017, 13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), Student Paper Competition
8. Symposium Co-organizer, ASME IDETC, 2016, 12th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), MSNDC-20 Best Paper Award Competition 
9. Symposium Co-organizer, ASME IDETC, 2016, 12th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), MSNDC-19 Student Paper Competition 
10. Symposium Co-organizer, ASME IDETC, 2015, 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), MSNDC-15 Computational Methods in Multibody Systems and Nonlinear Dynamics 
11. Session Chair, ASME IDETC, 2015, 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), MSNDC-15-2 Computational Methods for Complex Problems 
12. Symposium Co-Organizer, ASME IDETC, 2014, 10th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), MSNDC-5 Computational Methods in Multibody Systems and Nonlinear Dynamics
13. Session Organizer, ASME IMECE, 2013, Biomedical and Biotechnology Engineering, Computational Modeling and Device Design, sessions 3-9-9 and 3-9-10
14. Session Organizer, ASME IMECE, 2013, Dynamics, Vibration and Control, Multibody Dynamics Systems and Applications, session 4-4-2
15. Symposium Co-Organizer, ASME IDETC, 2013, 9th International Conference on Multibody Systems, Nonlinear Dynamics, Computational Methods in Multibody Systems and Nonlinear Dynamics, Software Tools for Computational Dynamics in Industry and Academia