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

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

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.

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

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

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.

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

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

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.

Mathematical Model of the Yarn Path in Overend Unwinding

Mathematics on spool being qualified Testing developed by CRB Current research topics
Detailed models of friction String vs. beam modeling of yarn in forward unwinding Improved solution of the nonlinear state equation Estimation of errors due to user-chosen path

Integrating new sensors for hairiness and evenness

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 Laser Dither
Photodiode

The new imaging technique is based

on software and hardware level
Control Law Sample Piezo

Piezo Micro-cantilever

modifications to improve the resolution of the generated topographical images for biological species.
Amplifier

Schematic of Basic AFM Operation and Sub-Components.

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
Sensor (Acceleration, velocity, or displacement) xa ma ca ka u(t) compensator Absorber

x1

Point of attachment Primary

A general model of the primary structure equipped with an active resonator

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 servomotor steering wheel Accommodation of disabled operators through alternative driver input devices Hardware-in-the-loop test station with real time virtual reality display Exploring collaborative effort with Psychology department

Mission Operator Cognitive Processing Muscular Actions Steering System

Virtual Reality Environment

Wheel / Joystick Interface

Vehicle

Directional Control Assembly

Steering Control Unit

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 m) 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
V
Ag electrodes

SWNT/PVDF film

Schematic of PVDF/SWNT actuator/sensor

Modeling and Control of Hydraulic Valves

Develop and Analyze Models for Hydraulic 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
Return (PT)
Spool edge

Supply (PP)

Return (PT)

Valve Spool

Hydraulic Hose

Hydraulic Hose
Spool bore edge

X k M M Piston Side Rod Side B

Q2

Q1

Basic directional control valve

Detailed Modeling of Piezoelectric Actuation on a Rubber Substrate

Distribution of shear stress in a rubber Incompressible substrate O(5) half-space due to piezoelectric actuation softer that piezoelectric material Equivalent-moment models break down for soft substrates Need detailed understanding of 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

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
Servo-motor

~ T2 ~ T1

Flow meter

Radiator

Valve

Design nonlinear controllers for synchronous regulation of the valve, pump, and radiator fan with external coil Validation of concept using numerical simulations, scale thermal test station, and engines

Heater (Engine)

~ T3

T7 ,
Fan

T8,

Pump

~ T4
~ T5
Junction Fan Voltage

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 development using analytical redundancy technique Analysis of ROSIE mobile robot for reactor decommissioning

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

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

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

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

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.

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

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