Robotics and Mechatronics (RAM) Laboratory

1. Robotics and Mechatronics (RAM) Laboratory Mechatronics is the blending of Mechanical Design/Analysis, Computer Software/Hardware Systems, Advanced Modeling/Control/Analysis Techniques, Image Processing/Computer Vision Techniques, and Design/Use of Electric Subsystems Emergence followed Microprocessor-Revolution

2. RAM Personnel • Electrical and Computer Engineering Faculty • Darren Dawson • Robert Schalkoff • Ian Walker • Adam Hoover • Other College Faculty • Nader Jalili, Frank Paul, John Wagner, Eric Austin (Mechanical Engineering) • Anand Gramopadye (Industrial Engineering) • Robert Geist, Andrew Duchowski (Computer Science) • Approximately 30 Graduate Students

3. RAM Coursework • Electrical and Mechanical Engineering Courses: • Analysis of Linear Systems • Applied Optimization and Optimum Control • Nonlinear Control of Mechatronic Systems • Dynamics/Control of Distributed Systems • Analysis/Modeling/Control of Robotic Systems • Computer Vision • Neural Networks and Artificial Intelligence • Pattern Recognition and Image Processing • Special topic courses along with courses in the Mathematics and Computer Science Departments provide additional breadth and depth.

4. RAM Graduates • Ph.D. students - Industrial Positions • Lucent Technology in Connecticut • Oakridge National Laboratories in Tennessee • Ph.D. students - Academic Positions • Clarkson University at Potsdam, New York • University of Michigan at Ann Arbor, Michigan • Louisiana State University, Louisiana • MS Students - Industrial Positions • General Electric in Virginia • IBM in North Carolina • MS Students - Ph.D. Pursuits • German Aerospace Institute in Germany • Stanford University in California

5. RAM Research Facilities • Robotics Laboratory: Five Robot Stations including a Dual Robot Arm Workcell and 2 Direct Drive Robot Manipulators • Computational Laboratory: Cluster of Personal Computers and Workstations • Union Camp Laboratory: Motor Drive Equipment, Magnetic Bearing Assembly, and two Realtime Workstations • The Biomorphic Robotics: Multi-fingered Robot Hand and Serpentine Testbeds • Sensor Network Laboratory: Two Computer Vision Based Systems for Mapping 2D and 3D Environments for Robotic Applications

6. RAM Research Facilities • Square D Laboratory: Several Vibration Control Testbeds • The Image Processing Lab: Image Acquisition, Processing and Display, Real-Time Image Processing Systems • Automotive Research Laboratory: Power Steering and Gas Engine Testbeds • Virtual Reality Lab: SGI Reality Monster, SGI Onyx Reality Engine, Ten SGI Indy Development Stations, and Five Head-Mounted Display Units.

7. RAM Research Thrust Areas • Advanced Computer-Based Software Interfaces and Position/Force Control Systems for Robot Manipulator Systems • Modeling/Control Techniques for Automotive Subsystems • High Precision Position Controllers for Electric Motors and Magnetic Bearing Systems • Computer Vision Based Sensor Networks for Robotics

8. RAM Research Thrust Areas • Vibration Control Techniques for Flexible Structures via Boundary Control and Piezoelectric Materials • Digital Image Processing, Pattern Recognition and Computer Vision • 3-D Environmental Modeling for Robotic Systems and Tele-Immersion • Dynamic Manipulation of Objects with Robot Hands • Modeling and Control of Hyperredundant and Mobile Robotic Systems • Model-Based Fault Detection Algorithms for Robotic Systems

9. Research Funding • Flexible Systems - ONR, NASA, and NSF • Material Handling - DOC and TAPPI • Modeling/Control for Robotics – NSF, NASA, DOE • Automotive Research –TACOM • Electromechanical System Control - NSF and ONR • Fault Detection/Tolerance - DOE • Industrial Sponsors include: • Westinghouse, Square D, Union Camp, WonderWare, AT&T/NCR, and Foster-Miller, Inc.

10. Mathematical Model of the Yarn Path in Overend Unwinding • Mathematics on spoolbeing qualified • Testing developed by CRB • Current research topics • Detailed models of friction • String vs. beam modelingof yarn in forward unwinding • Improved solution of thenonlinear state equation • Estimation of errors due to user-chosen path • Integrating new sensors forhairiness and evenness

11. Improved Non-Contact Atomic Force Microscope Imaging Systems • The atomic force microscope (AFM) system has evolved into a useful tool for unraveling the intermolecular forces at nanoscale level with atomic-resolution characterization. • The non-contact AFM offers unique advantages over other contemporary scanning probe techniques • The new imaging technique is based on software and hardware level modifications to improve the resolution of the generated topographical images for biological species.

12. Active Vibration Control using an Vibration Absorber • Undesirable Vibrations Influence the Effectiveness and Operation of Mechanical Systems • Developed a New Active Vibration Absorber • This device absorbs vibratory energy from its point of attachment at a given frequency • The frequency to be absorbed can be tuned in real-time • If the controller or the actuator fails, the device still functions as a passive absorber and it is therefore inherently fail-safe A general model of the primary structure equipped with an active resonator

13. Unmanned/Manned Vehicle Steer-by-Wire Systems - Design, Modeling, and Control • Autonomous directional control for unmanned vehicle operation • Human-machine interface design for adjustable road “feel” at the servo-motor steering wheel • Accommodation of disabled operators through alternative driver input devices • Hardware-in-the-loop teststation with real time virtual reality display • Exploring collaborative effortwith Psychology department

14. Ag electrodes V SWNT/PVDF film Nanotubes Actuation Mechanism • Boron-Nitride (BN) nanotube theory predicts that spontaneous electric polarization arises as the result of changes in the tube geometry • Unlike conventional ferroelectric actuators, low operating voltages can be applied to the nanotube-based actuators to generate large enough strains for effective actuation • We have demonstrated the feasibility of fabricating thin film (20 μm) PVDF actuators/sensors using a single wall nanotube (SWNT)/PVDF composite matrix • The composite layer is sandwiched between two vapor deposited Ag electrodes • The equality between the lengths of the two electrodes is disrupted when a voltage is applied Schematic of PVDF/SWNT actuator/sensor

15. Modeling and Control of Hydraulic Valves • Develop and Analyze Models forHydraulic Valves and the associated Manufacturing Systems • Explore Experimental Strategies to Quantify System Nonlinearities • Design Lyapunov-based Nonlinear Controllers for Hydraulic Systems Subjected to Periodic Disturbances

16. Detailed Modeling of Piezoelectric Actuation on a Rubber Substrate • Incompressible substrate O(5)softer that piezoelectric material • Equivalent-moment modelsbreak down for soft substrates • Need detailed understandingof interface stresses • Moments concentrated near ends, but how much is lost to shear lag in the material? • Currently working on infinite-width, finite-thickness strip • Solution by Fourier transform methods from contact mechanics

17. Advanced Thermal Management Systems - Theory and Test • Innovative coolant flow strategies for internal combustion engines • Smart thermostat valve • Variable speed water pump/radiator fan • Suite of system sensors • Design nonlinear controllers forsynchronous regulation of the valve, pump, and radiator fan with external coil • Validation of concept using numerical simulations, scale thermal test station, and engines

18. Hydraulic Robot Fault Detection • Fault detection critical for robots in remote, hazardous environments • Existing techniques valid primarily for electric drives • Most robots in radioactive, explosive environments are driven by hydraulic actuators • Current work addresses: • Development of nonlinear dynamic models for hydraulic drive systems under faults • Model-based fault detection algorithm develop- ment using analytical redundancy technique • Analysis of ROSIE mobile robot for reactor decommissioning

19. Hyperredundant Robot Arms • These types of Robots Feature a Dramatic Overabundance of Joints to Improve Grasping and Dexterity • These Robots are similar to Tentacles or Elephant's Trunks • These Robots Exhibit more Fluid and Versatile Movements • Current Work Addresses: • Kinematics and dynamic modeling of hyperredundant arms • Empirical work with `elephant's trunk' arm • Investigation of tentacle-like grasping

20. Dynamic Manipulation with Robot Hands • Robot/environment Interaction is Critical • Typical interaction Based on Quasi-Static Models that Produce Slow, Inefficient Manipulation • Impact-based Solutions • Allow robot (hand) to dynamically impact environment • Consider underlying physics (dynamics) of impact • Produces faster, more efficient manipulation

21. Visual Servoing of Robot Manipulators • Problem: Control of Moving Objects in an Unstructured Environment is Difficult due to the Corrupting Influences of Camera Calibration with regard to Task Planning • Solution: Close the Control Loop with Camera Measurements • Testbed Features a High-Speed Real-Time Camera System • 2.5D Visual Servoing • Design a Controller to Regulate the Position and Orientation of the End-Effector • Control Strategy Uses Both 2D Image-Space and 3D Task-Space Information

22. Realtime Software and Hardware Development • Past Control Implementation Required Special Purpose DSP Control Computers • Developed a Realtime QNX based Control Environment for Intel Processors • Developed a MATLAB/Simulink Realtime LINUX-based Control Environment

23. Mobile Robot Inspection System • Developed the ARIES #1 Vision System to Acquire Drum Surface Images • Performed Autonomous Visual Inspection Leading to a Classification as “Acceptable” or “Suspect”. • Involved Vision System Design Methodology, Algorithmic Structure, Hardware Processing Structure, and Image Acquisition Hardware.

24. Autonomous 3-D Environment Building • Developed 3-D Models Suitable for Control and Tele-Immersion • Advanced the Autonomous Modeling of arbitrary 3-D Environments using Structured Lighting

25. Computer Vision Sensor Networks • Developing Data Fusion Techniques and Using Multiple Cameras to Render a Three Dimensional Map of the Environment • The Map can be used for Path Planning and for Real-Time Control • Applications for this Research include: • Space-based Applications, • Remote Handling Operations, and • Assembly Related Tasks