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- Research Projects
The laboratory conducts an aggressive research program
centered on the design and control of advanced robotic systems. Since 1999, this work
has been supported by more than $3,000,000 of research funding. Students
participate in these projects through a variety of programs
that include graduate student thesis work, the School of
Engineering's Senior Design Project program, a special research workshop in
telerobotics, internship programs, course
activities, and/or externally sponsored projects.
New Opportunities
Several research opportunities are currently available in the
lab. These are capable of supporting studies at both the Capstone and
Thesis level:
- Model-based system operations for both anomaly management
and command planning/execution
- Multi-robot formation control and collaborative
manipulation
- Spacecraft subsystem development
- Internet-based robotic control with time-varying delay
- Comparative manipulator endpoint control
(speed/position control vs joint/endpoint/camera space)
Primary Research Areas
- Model-based Control of Robotic Systems - This work
focuses on the use of fundamental design information to compute operational
conjectures regarding the monitoring and control of complex robotic
systems. A key element of this work includes new theoretical
contributions to the Theory of Model-Based Anomaly Management; this work has
include conceptual development, algorithm composition and implementation via
Matlab, and experimental application on several satellite flight proejcts.
Cluster space Control of Multi-Robot Systems - This
work focuses on the cluster space paradigm (developed by RSL) to specify and
control flexible multi-robot formation geometries suitable for collaborative
applications A set of formal kinematics is used to relate cluster space
variables to individual robot variables. To date, this work has included
experimental demonstrations of both automated trajectory control and
interactive piloting, the use of potential-field-based collision avoidance,
and application to both holonomic and non-holonomic vehicles.
Current Graduate Thesis/Capstone Research Work
- Model-based Control for Spacecraft Systems - Mike
Rasay, ME Masters Thesis Project. This project involves the development of
model-based control methods and algorithms for advanced satellite control
and their experimental demonstration as part of the NASA GeneSat mission.
Collaborators/sponsors: NASA Ames.
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- Based Behavioral Formation Control of a Multi- Robot
Cluster - Bob Dougherty, ME Engineers Thesis. This project involves the
used of behavioral control strategies for implementing the dynamic control of multi-robot
formations. Collaborators/sponsors: NASA Ames.
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- Robust High Performance AUV Thruster - Cheri
Everlove , ME Masters Thesis. This project involves the development of a
novel AUV thruster with enhanced performance and fault-tolerant control
capability. Collaborators/sponsors: MBARI.
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- Smart Window - Steve Millward, ME Masters Thesis. This project
involves the development of a window with active components to reduce energy
usage while providing optimal, integrated control of temperature, lighting
and ventilation. Collaborators/sponsors: U.S. Dept of Energy.
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- Camera-based Control of Two Holonomic Robots - Michael
Neumann, ME Masters Thesis. This project involves the development of a
camera-reference single pilot control interface for driving a two holonomic
robots.
Recently Completed Graduate Thesis/Capstone Research Studies
Multi-robot collaborative object transport - Ryan
Ishuzu, EE Masters Thesis Project. This project involves the development of
collaborative object manipulation using two holonomic robots.
Distributed Satellite Operations Testbed for Anomaly
Management Experimentation - Daniel Schuet, EE Masters Degree Thesis . Work
funded through a grant from the NSF.
Development of a Distributed Command and Data Handling
System for Small Spacecraft - Bryan Palmintier, ME Engineers Degree Thesis
at Stanford [work performed and advised at SCU through a research staff
appointment]. Work funded through grants from NASA, AFOSR, and NSF.
Development of a Multifunction Spacecraft Structure using
Thermoelectric Elements - Ben
Blaine, ME Masters Thesis. Funded through an SCU Technology Steering
Committee Grant.
Graduate Level Telerobotics Research Class - Projects
leading to publication
- NETROL: An Internet-Based Control Architecture for
Robotic Teleoperation - Ogi Petrovic, COEN; Mike Rasay, ME; Mike
MacKinnon, COEN. Project complete, publication in prep.
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- An Expert System Toolbox for MATLAB - Chris
Anderson, ME. To be published in Proc 2005 IEEE Aerospace
Conference.
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- Anomaly Detection with the Emerald Nanosatellite
On-Board Expert System - Robert Lee, ME; Robert Watson, COEN. Published
in Proc 2004 IEEE Aerospace Conference.
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- Behavioral Control of Multiple Robots Maintaining
Formation through an Obstacle Field - Veronica Ochoa, ME; Robert
Dougherty, ME. Published in Proc 2004 IEEE Aerospace
Conference.
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- Characterization of Delay-Induced Piloting Instability
for the Triton
Undersea Robot - Chad Bulich, ME; Adam Klein, ME, Rob Watson, COEN.
Published in Proc 2004 IEEE Aerospace Conference.
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- Development of the Triton Undersea Robot Digital Control
System (Oli Francis, EE; Graeme Coakley, COEN) - Published
in Proc 2nd IFAC Conference on Mechatronics, Berkeley CA, 2002.
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Previously Sponsored Research Initiatives
Robot Development
- Emerald Nanosatellites - Joint project with
Stanford University to develop and deliver two satellites that will
demonstrate several enabling technologies that support spacecraft
formation flying and distributed space systems. The spacecraft are
scheduled for launch from the Space Shuttle in 2003. Sponsors: AFOSR,
DARPA, NASA Goddard. 3 year program.
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- Mantaris Undersea Vehicle - Develop and
operate a 6 horsepower underwater ROV with an instrument toolsled capable
of supporting a wide variety of marine science investigations. Sponsors:
NOAA West Coast & Polar Regions Undersea Research Center, Univ. of Alaska.
3 year
program.
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- SHARP Re-entry Vehicle - Joint project with
NASA Ames, Montana State University and Stanford University to develop and
operate a small re-entry vehicle with a sharp wing leading edge enabling
improved aerodynamic maneuverability while being able to withstand extreme
thermal loads. Sponsor: NASA Ames. 2 year program.
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- Bronco Blimp - Extend the functionality of a
10 ft airship in order to implement autonomous control, internet-based
piloting, and high -performance voice-based commanding. Sponsor: Globalstar
LCC, NASA Ames. 2 year program.
Robotic Command and Control Systems
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Distributed Robotic Control Network - Develop a
comprehensive mission control architecture capable of supporting a wide
variety of robotic-based science investigations and technology
demonstration missions. Sponsor: NSF. 3 year program.
- Automated Science Planning- Develop algorithms
to predict high-quality periods of interest for lightning-related
science operations based on real-time weather data. Sponsor: NOAA.
3 year program.
System Design
- Advanced Design Environments - Assist with the
creation of a development strategy for an advanced, distributed design
environment with capabilities ranging from model-based requirements
management to dynamic trade-off analysis. Sponsor: Lockheed-Martin. 1 year
program.
Project-Based Education
- Internet Robotics Learning Testbed - Develop an
internet-based robotic control system capable of supporting hands-on
education focusing on information technology and SMET objectives. Sponsor:
NSF. 3 year program.
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- University Space Systems Symposium - Organize a
yearly international symposium to stimulate science and technology
collaborations between universities in the U.S. and Japan. Sponsor:
NASA Jet Propulsion Laboratory. 5 year program.
Past Research Initiatives
- Space System Autonomy - Develop autonomous
operations strategies enabling advanced capability and cost-effective
operation of spacecraft systems. Sponsor: Lockheed-Martin. 1 year
program.
Artemis Picosatellites - Develop several simple,
sub-kilogram spacecraft capable of performing a basic science mission in
order to demonstrate the feasibility of extremely small satellites and
distributed sensor-craft. Sponsor: DARPA and Stanford University. 1 year
program
Barnacle Microsatellite - Develop a simple
spacecraft capable of characterizing the space environment operation of MEMS
sensors. Sponsor: DARPA. 1 year project.
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