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ENGINEERING RESEARCH INSTITUTE OVERVIEW OF RESEARCH EXPERTISE
In Robotics, Diagnostics and Control
BY
Dr. Mohan J. Malkani, Associate Dean for Graduate Studies and Research
Director Engineering Rsearch Institute
(615) 963-5400, [email protected]
ENGINEERING RESEARCH INSTITUTE (ERI)Research Centers and Laboratories
ENGINEERING RESEARCH INSTITUTE (ERI)Research Centers and Laboratories
● Center for Battlefield Sensor Fusion – ARO (2004)
● Center for Environmental Engineering -- DOE (1996)
● Center for Neural Engineering -- ONR (1992)
● Digital Signal/ Image Processing Laboratory -- Air Force
(1991)
● Intelligent Control Systems Laboratory -- NASA (1993)
● Design Methodologies Laboratory -- NASA (1993)
● Intelligent Manufacturing Laboratory -- SME,ONR (1994)
● Intelligent Health Monitoring Laboratory -- PSU/MURI-
DURIP (1998)
● Computer and Information Systems Laboratory -- DOD/HP
(1996,99)
● Automatic Target Recognition (ATR) Test-bed --- AFRL
(2006-2008)
ERI Conducts Research in “Cutting-Edge Technology” Areas
ERI Conducts Research in “Cutting-Edge Technology” Areas
Some ERI sample strengths are:
Artificial Intelligence/NN/FL/GA Database Design&Data Mining Parallel&Distributed Computing Modeling, Simulation & Analysis Speaker Recognition Signal/ Image Processing Intelligent Control Systems Intelligent Health Monitoring Robotics and Automation
Intelligent Manufacturing Human-Machine Interfaces Sensors and Machine Vision CAD/CAM/CAE Tools Wireless Communication Automatic Target Recognition Cyber Security Environmental Remediation Probabilistic Design Methodologies
ERI MISSION
SMALL SCALE ROBOTICS
● MID-SOUTHE ENGINEERING, INC.TENNESSEE STATE UNIVERSITYSpherical Motor and Neural Controller for Micro Precision Robot Wrist
● ROBOTICS RESEARCH CORPORATIONJET PROPULSION LABORATORYNext Generation Controller for Redundant Robots
● AEROMOVER SYSTEMS CORPORATIONTHE UNIVERSITY OF MICHIGANDifferentiated Universal End Effector
● VISUAL INSPECTION TECHNOLOGIES, INC., SRI INTERNATIONAL Mobile Magnetic Robots for Inspection of Steel Structures
SMALL BUSINESS TECHNOLOGY TRANSFER (STTR) PROGRAMSMALL BUSINESS TECHNOLOGY TRANSFER (STTR) PROGRAM
NASA 1994 PHASE INASA 1994 PHASE I(PROPOSALS SELECTED FOR FUNDING OF STTR PHASE I CONTRACTS)
● TRANSITIONS RESEARCH CORPORATIONUNIVERSITY OF SOUTHERN CALIFORNIACombined Distance and Orientation Sensor(CODOS)
● AMHERST SYSTEMS, INC.STATE UNIVERSITY OF NEW YORK AT BUFFALOFoveal Sensor and Image Processor Prototype
● ENDOROBOTICS CORPORATIONUNIV OF CALIFORNIA BERKELEY Milli-Robots for Surgical Teleoperation
Center for Neural Engineering - Funded by ONR1992 - 2004
PredictiveMaintenance
HelicopterControlusing
NN, FL, GA
Embodiment of Intelligent
Behaviors on MobileRobots
BiologicallyMotivated NN
(PCNN) & MobileRobots
Robust IntegratedNeurocontroller
For ComplexDynamic Systems
Intelligent faultdiagnosis
tools
Health MonitoringOf NASP
Hypersonic Structures
Localization OfVentricular
ArrhythmogenicFoci
Chaos ControlIn
A FluidizedBed
IntelligentControl-
Wind PowerAnalysis
STTR InRobotics
NnClassification
For DigitalCommunication
Signal / NoiseSeparation
& BlindDeconvolution
1991-1995 1996-1999 1994-1996 1996-1999 1994 1997-1998 1994-1995
1993-1996
CBM of bearingand data
acquisition
Integrated predictivediagnosis for
helicoptergear box
Physics- basedmodeling of
bearing
Measure ofeffectiveness &
performance for AI based monitoring
systems
Simulationbased design using PDM, FEA & SM
1997-1998 1997-1998 1998-1999 1998-1999 1999-2000
1996-1998
2000-20031995-Present
1995-Present
1992-Present
NASA NASA NSA
NASA
VAAFRL DOE DOE
Lockheed Martin ONR ONR
NSF
Air To Air CampaignThunder ModelUsing Genetic
Algorithms
1998-1999
IntelligentAircraft
Controller
1995-1996
NASA Boeing Boeing
TowardsTelepresence Using Mobile
Robots
1998-2003 1998-2000
NSFCALTECH
Virtual TandemVehicles- Mobility
Controller ForMobile Robots
ARMY TACOM
Applied Research Lab - Penn. State University
NASA ARC
April 2005
Visual TeleroboticTask Planning Of
Cooperative RobotsUsing Soft Computing
2003-2005
NASA/JPL
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8-0.5
-0.4
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
Time (seconds)
Filte
red
Sign
al
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8-0.6
-0.4
-0.2
0
0.2
0.4
0.6
Time (seconds)
Acc
eler
atio
n w
avef
orm
at
Left
Bea
ring
Ver
tical
(No
Load
)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8-0.6
-0.4
-0.2
0
0.2
0.4
0.6
Time (seconds)
Acc
eler
atio
n w
avef
orm
at
Left
Bea
ring
Ver
tical
(No
Load
)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8-0.2
-0.15
-0.1
-0.05
0.05
0.1
Time (seconds)
Filt
ered
Sig
nal
Fault Pattern Recognition
10 15 20
40
60
80
ENTECH PL-302 Multi-ChannelSpectrum Analyzer
10
20
30
40
50
60
0
10 15 20
40
60
80
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8-0.5
-0.4
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
Time (seconds)F
ilter
ed S
igna
l
Fault Pattern Classification)
Features Features ExtractionExtraction
DiagnosticData Fusion
CausalityReasoning
Rule-BasedFault Reasoning
Feature Vector Set Feature Vector Set Selection for Fault Selection for Fault
DiagnosisDiagnosis
Neural-NetworkNeural-NetworkSelection for FaultSelection for Fault
DiagnosisDiagnosis
0
20
25
Critical System Components
Data AcquisitionSignal Processing
Banks of Neural NetworksNovelty Faults
Diagnostics & Prognostics
CONDITION BASED MAINTENANCE
Tennessee State UniversityDepartment of Electrical and Computer Engineering
Intelligent Control Systems (ICS) Lab(Dr. Saleh Zein-Sabatto, [email protected])
Intelligent Control Systems Research Work
“Control and Coordination of Multiple Unmanned Areal
Vehicles (UAVs)”Design & Modeling
Testing & SimulationHardware Prototyping
TSU RoboticsLab
Static/DynamicParameters
AlgorithmicSupportive
Tools
Behavior-basedCooperative
Tactical Strategies
Kinematic and Dynamic Module
Fuzzy-LogicMotion Controller
Module
Neural-NetworkTerrain Learning
Module
Genetic-AlgorithmTactical Formation
Module
Behavior-based Navigation
Module
World PerceptionModelingModule
Diagnostic andConflicts
Handling Module
Scheduling and Synchronization
Schemes
Signal/Image ProcessingSchemes
CommunicationProtocols
WirelessCommunication
Module
Sensory Info Acquisition &
Fusion
Man-MachineInterface
Distributed Distributed FMCell FMCell
SimulationSimulationEnvironmentEnvironment
IntegratedMobility
SupervisoryController
PhysicalPhysicalEnvironmentEnvironment
Penn State - DARPA - MURI Project
TSU RoboticsLab
Autonomous Surveillance Perspectives
ROBOTICCOMMUNICATION
Speech Recognition by Mobile Robots
Soldiers Recognize Commands and act
TSU will develop mapping that will be used by consortium partners
Three small mobile robots communicate and follow the commander
Sensors Technology Thrust Research-AFRL (2006-2008)
• Automatic Target Recognition- TSU (Lead)• Electro-Optics - University of Dayton (Lead)• Radio Frequency- Louisiana State Univ. (Lead)• ATR Consortium Member Universities:• Louisiana Tech University• Michigan State University• Prairie View A & M University• North Carolina A &T State University• Chaminade University of Hawaii
ATR Test-Bed (ATRTB)
Electric Helicopter and 7 Cameras Surveillance System
Student Research Participations
Faculty Participations
●C5
●C1
●C3
●C4
●C2
●C6
●C7
Camera Surveillance
System at TSU
UAV at TSU Campus
Energy Efficient Wireless Multimedia Sensor Networks
(Supported by AFRL-- ATR Project, 2007 - 2008)• Objective
Develop a test-bed for energy efficient multi-hop wireless multimedia sensor networks to explore design tradeoffs in cross-layer protocols, error control schemes, mesh image/video
transmission, etc.
• Wireless Multimedia Sensor Networks Test-bed
Access Point
Server Internet
ClientsClients
Tier 1
802.15.4/zigbee
Tier 2
Tier 3
Tier 4
802.11
motes with sensorsand low-resolution cameras
GatewayHeterogeneous Motes
Low-resolution camera
Robot with highresolution camera
Helicopter with high-resolution camera
Cross-Layer Design of Cognitive Networks with MIMO TechnologyObjectives MIMO Technology
ApproachCross-Layer Design MIMO-aware Hierarchical Network Architecture with link-jumping and head-rotation – enabling efficient routing – inexpensive self-reconfiguration MultiOptimal-MAC Protocol – a CSMA/CA based MAC with a multi-optimizer Efficient Routing Algorithms – short and robust: maximize network throughput and network lifetimeTesting and Evaluation – Test Modeling & Test-Bed – Performance Evaluation
Research Project for the Minority Leaders Sensors Program(Funded by AFRL, 2007 – 2008)
Without using extra energy and Without using extra energy and channel, a MIMO transceiver can channel, a MIMO transceiver can be used to be used to • Extend transmission range, or Extend transmission range, or reducing error rate at links by reducing error rate at links by using diversity gainusing diversity gain• Increase data rate at links by Increase data rate at links by using multiplexing gainusing multiplexing gain
Leverage MIMO technology in across-layer fashion involving network architecture, PHY, MAC, and routing protocols to multi-optimize networking performance and maximize network life in wireless sensor networks (WSNs)
T×1
T×2
T×M R×M
R×1
R×2
T×1
T×2
T×M R×M
R×1
R×2
MIMO sensor network
multiplexing gaindiversity gain
MIMO transceiver
`
Systematic sensor data & information fusion
Sensors networking in battlefield situations
Multiple target identification and tracking Battlefield source allocation and
management Networks modeling and simulation Network performance measurements Experimental testing & evaluation of
sensor network concepts.
CENTER OF EXCELLENCE FOR CENTER OF EXCELLENCE FOR BATTLEFIELD SENSOR FUSION (ARO)BATTLEFIELD SENSOR FUSION (ARO)
RESEARCH FOCUS AREAS
PARTNERSHIPS / CONTRACTSPARTNERSHIPS / CONTRACTSPARTNERSHIPS / CONTRACTSPARTNERSHIPS / CONTRACTS
TACOM
Bevilacqua Research Corporation
BRCBRC
2007-2008 ERI Funded Research projects
1. Center for Excellence in Battlefield Sensor Fusion, funded by Army Research Office (ARO) $2,331,255.(2004-2009)-Dr. Shirkhodaie (PI)
2. Multi-Mode UAV Sensor Technologies (Multi-MUST), funded by WPAFB, Air Force Research laboratory (AFRL)$137,000(2006-2007)-Dr. Shirkhodaie (PI)
3. Surface and Partially Buried UXO Identification, discrimination, and Localization Based on Cognitive Imagery Techniques, funded by Tyndall, AFRL $160,000 (2006-2007)-Dr. Shirkhodaie (PI)
4. Sensors Technology Thrust Research—(Automatic Target Recognition)-AFRL $780,000 (2006-2008)Dr. Mohan Malkani (PI)
5. Neural-Fuzzy Modeling in Model-Based Fault Detection, Isolation, Control Adaptation and Reconfiguration in Turbine Engines—funded by Propulsion Directorate (AFRL)---$ 288,520 (2007-2010)—Dr. Zein-Sabatto (PI)
6. Visual Telerobotic Task Planning of Cooperative Robots based on Soft Computing, funded by NASA/JPL $300,000 (2004-2007)-Dr. Shirkhodaie (PI)
7.Human Systems Integration (Seating Comfort)—Boeing--$750,000( 2007-2010)- Dr. Onyebueke (PI)
8..Cybersecurity-ORNL/BWXT Y-12 ---$538,149 Dr. Decatur B. Rogers (PI) (2207-2010)9. Intelligent Cognitive inspection System for Manufacturing Process Automated Reasoning and
Decision Making—funded by Rolls Royce--$90,000 (200-2007)-Dr. Shirkhodaie (PI)10. Failure Mode and Criticality Analysis of Maintenance Issue --funded by Aerospace Testing
Alliance $50,000—Dr. Devgan (PI)
Suite of Digital Signal Processing Tools Advanced Intelligence Tools: Neural Networks, Fuzzy Logic
and Genetic Algorithms Fault Detection and Health Monitoring Intelligent Control System: Aircraft, Helicopter Modeling, Simulation and Analysis Systems Engineering Mobile Robot Navigation Sensor Fusion Data Mining Computer Integrated Manufacturing Integrated Design Methodologies - FEM, SM and PDM Patents and Technology Transfer Information Technologies
STRONG POINTS OF OUR RESEARCH STRONG POINTS OF OUR RESEARCH CAPABILITIESCAPABILITIES