Ph. D.)            
            McGill University
            Dept. of Mechanical Eng., Center for Intelligent Machines, Montreal, Canada
            Thesis: Dynamics and Control of Space Robotic Systems, 1996

M. Sc.)
            Tarbiat Modarress University
            Dept. of Mechanical Eng., Tehran, Iran
            Thesis: Modeling and Control of Power Plant Boilers, 1990

B. Sc.)
            Sharif University of Technology
            Dept. of Mechanical Eng., Tehran, Iran, 1986