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College of Engineering. 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]

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Engineering research institute overview of research expertise in robotics diagnostics and control

College of Engineering

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 MISSION

ERI Conducts Research in “Cutting-Edge Technology” Areas

  • 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 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


SMALL BUSINESS TECHNOLOGY TRANSFER (STTR) PROGRAM

NASA 1994 PHASE I

(PROPOSALS SELECTED FOR FUNDING OF STTR PHASE I CONTRACTS)

  • TRANSITIONS RESEARCH CORPORATION

    UNIVERSITY OF SOUTHERN

    CALIFORNIA

    Combined Distance and Orientation Sensor

    (CODOS)

  • AMHERST SYSTEMS, INC.

    STATE UNIVERSITY OF NEW YORK

    AT BUFFALO

    Foveal Sensor and Image Processor Prototype

  • ENDOROBOTICS CORPORATION

    UNIV OF CALIFORNIA BERKELEY

    Milli-Robots for Surgical Teleoperation

SMALL SCALE ROBOTICS

MID-SOUTHE ENGINEERING, INC.

TENNESSEE STATE UNIVERSITY

Spherical Motor and Neural Controller for Micro Precision Robot Wrist

ROBOTICS RESEARCH CORPORATION

JET PROPULSION LABORATORY

Next Generation Controller for Redundant Robots

AEROMOVER SYSTEMS CORPORATION

THE UNIVERSITY OF MICHIGAN

Differentiated Universal End Effector

VISUAL INSPECTION TECHNOLOGIES, INC., SRI INTERNATIONAL

Mobile Magnetic Robots for Inspection of Steel Structures


Center for Neural Engineering - Funded by ONR

1992 - 2004

VA

DOE

AFRL

DOE

NSA

NASA

NASA

Health Monitoring

Of NASP

Hypersonic

Structures

Intelligent

Control-

Wind Power

Analysis

Localization Of

Ventricular

Arrhythmogenic

Foci

Chaos Control

In

A Fluidized

Bed

STTR In

Robotics

Nn

Classification

For Digital

Communication

Signal / Noise

Separation

& Blind

Deconvolution

1996-1999

1994-1995

1991-1995

1994

1996-1999

1994-1996

1997-1998

NASA

NASA ARC

ONR

Lockheed Martin

ONR

Embodiment of

Intelligent

Behaviors on Mobile

Robots

Biologically

Motivated NN

(PCNN) & Mobile

Robots

Robust Integrated

Neurocontroller

For Complex

Dynamic Systems

Predictive

Maintenance

Helicopter

Control

using

NN, FL, GA

1995-Present

1995-Present

2000-2003

1992-Present

1993-1996

NSF

CALTECH

NSF

NASA/JPL

NASA

Boeing

Boeing

ARMY

TACOM

Intelligent fault

diagnosis

tools

Towards

Telepresence

Using Mobile

Robots

Virtual Tandem

Vehicles- Mobility

Controller For

Mobile Robots

Visual Telerobotic

Task Planning Of

Cooperative Robots

Using Soft Computing

Intelligent

Aircraft

Controller

Air To Air Campaign

Thunder Model

Using Genetic

Algorithms

1996-1998

1998-2003

1998-2000

2003-2005

1995-1996

1998-1999

Applied Research Lab - Penn. State University

CBM of bearing

and data

acquisition

Integrated predictive

diagnosis for

helicopter

gear box

Physics- based

modeling of

bearing

Measure of

effectiveness &

performance for AI

based monitoring

systems

Simulation

based design using

PDM, FEA & SM

1997-1998

1997-1998

1998-1999

1998-1999

1999-2000

April 2005


0.1

0.05

Filtered Signal

-0.05

-0.1

-0.15

-0.2

0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

Time (seconds)

80

60

40

10

15

20

CONDITION BASED MAINTENANCE

Signal Processing

Data Acquisition

0.3

80

0.2

0.1

60

0

Filtered Signal

-0.1

40

-0.2

-0.3

20

-0.4

-0.5

0

0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

25

10

15

20

Time (seconds)

Critical System Components

60

Features Extraction

Feature Vector Set Selection for Fault Diagnosis

Probability of

Fault Symptoms

50

40

30

20

Neural-Network

Selection for Fault

Diagnosis

10

0

Novelty Faults

Banks of Neural Networks

Diagnostics & Prognostics

Rule-Based

Fault Reasoning

Diagnostic

Data Fusion

Causality

Reasoning

Fault Pattern Recognition

Fault Pattern Classification)


Intelligent Control Systems

Research Work

“Control and Coordination of Multiple Unmanned Areal Vehicles (UAVs)”

Tennessee State UniversityDepartment of Electrical and Computer Engineering Intelligent Control Systems (ICS) Lab(Dr. Saleh Zein-Sabatto, [email protected])

Design & Modeling

Testing & Simulation

Hardware Prototyping


Penn State - DARPA - MURI Project

Autonomous Surveillance Perspectives

Speech Recognition by Mobile Robots

TSU will develop mapping that will be used by consortium partners

Soldiers Recognize Commands and act

TSU Robotics

Lab

TSU Robotics

Lab

Kinematic and

Dynamic Module

Man-Machine

Fuzzy-Logic

Three small mobile robots communicate

and follow the commander

Scheduling and

Motion Controller

Interface

Static/Dynamic

Communication

Synchronization

Module

Parameters

Protocols

Schemes

Neural-Network

Physical

Physical

Terrain Learning

Environment

Environment

Module

Integrated

Genetic-Algorithm

Mobility

Behavior-based

Wireless

Tactical Formation

Cooperative

Communication

Supervisory

Tactical Strategies

Module

Module

Controller

Behavior-based

Navigation

Module

Signal/Image

Sensory Info

Algorithmic

World Perception

Processing

Acquisition &

Supportive

Distributed

Distributed

Modeling

Schemes

Fusion

Tools

FMCell

FMCell

Module

Simulation

Simulation

Diagnostic and

Environment

Environment

ROBOTIC

COMMUNICATION

Conflicts

Handling Module


Sensors technology thrust research afrl 2006 2008
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

●C1

●C5

●C4

●C7

●C2

●C3

●C6

ATR Test-Bed (ATRTB)Electric Helicopter and 7 Cameras Surveillance System

UAV at TSU Campus

Student Research Participations

Camera Surveillance System at TSU

Faculty Participations


Energy efficient wireless multimedia sensor networks supported by afrl atr project 2007 2008

Clients

Clients

Tier 4

Server

Tier 3

Internet

802.11

Access Point

Heterogeneous Motes

Gateway

Low-resolution camera

Tier 2

Robot with high

resolution camera

Tier 1

Helicopter with high-resolution

camera

motes with sensors

and low-resolution cameras

802.15.4/zigbee

Energy Efficient Wireless Multimedia Sensor Networks(Supported by AFRL-- ATR Project, 2007 - 2008)

  • Wireless Multimedia Sensor Networks Test-bed

  • 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.


Research Project for the Minority Leaders Sensors Program

(Funded by AFRL, 2007 – 2008)

diversity gain

multiplexing gain

Leverage MIMO technology in a

cross-layer fashion involving network architecture, PHY, MAC, and routing protocols to multi-optimize networking performance and maximize network life in wireless sensor networks (WSNs)

  • Without using extra energy and channel, a MIMO transceiver can be used to

  • Extend transmission range, or reducing error rate at links by using diversity gain

  • Increase data rate at links by using multiplexing gain

MIMO transceiver

MIMO sensor network


`

CENTER OF EXCELLENCE FOR

BATTLEFIELD SENSOR FUSION (ARO)

RESEARCH FOCUS AREAS

  • 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.


PARTNERSHIPS / CONTRACTS

TACOM

BRC

Bevilacqua Research Corporation


2007 2008 eri funded research projects
2007-2008 ERI Funded Research projects

  • 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 SoftComputing, 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—fundedby 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)


STRONG POINTS OF OUR RESEARCH

CAPABILITIES

  • 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


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