Research areas:

  • Robust nonlinear control, constrained control
  • Modeling, control and optimization of robotic systems with energy regeneration
  • Control of turbofan engines
  • Control and sensing with piezoelectric transducers
  • Hybrid and switched control
  • Robotics with applications to prosthetics
  • Advanced exercise machines

Students / Projects 2004-2015:

  • Anil Singaraju (Black and Decker, MSc) : Multiplexed Control for Computationally and Hardware-Constrained Systems
  • Julien Brousseau (Erico Industries, MSc) : Automated Modeling and Verification of a Smart Structure
  • Rachel Maynard (NASA Plum Brook, ME undergraduate) : Propulsion control with cold gas thusters. Hybrid modeling of freewheeling clutch
  • Jennifer Sanchez (MSc) : Biopolymer-based piezoelectric sensors
  • Karthik Mellechervu (MSc) : Estimation of Transient Thrust from Pressurized Containers
  • Kedar Karnik (Parker-Hannifin, MSc): Optimal Transfer of Open Containers with Slosh Constraints
  • Matt Milliren (undergraduate) : Modeling and Control of a Linear Positioning Stage
  • Rick Bozak (undergraduate): Biopolymer-based piezoelectric sensors
  • Kumar Nale (MSc) : Multiplexed Control of Piezoelectrically-Actuated Beam
  • Jenny Sangwian (MSc) : Multivariable sliding mode control of a turbofan engine
  • Kacy Ebel (MSc): Adaptive sliding mode control of a turbofan engine
  • Maulik Kalolia (Rockwell, MSc): Design, modeling and testing of an electric bicycle with regenerative braking
  • Derek Stake (MSc): Hybrid position and impedance control of a forging press gripper
  • Omer Sirin (MSc): Variable speed and position control of a treadmill belt for robotic testing of prostheses
  • Andrew Gerges (General Motors, MSc): Upper-limb powered exoskeleton for prosthetic control studies
  • Chris Brubaker (Bendix, MSc): Dynamic modeling of a pneumatic servovalve
  • Jason Hallgren (MSc) : Modeling and control of backlash in robotic manipulators
  • Dhipak Selvaraj (MSc): Modeling and testing of a prototype rowing machine with energy regeneration
  • Shola Otitoju (PhD): Efficiency of regenerative electromechanical systems. Admittance control for exercise data replication
  • Hadis Mohammadi (PhD): Robust impedance control, impedance control without force sensing
  • Poya Khalaf (PhD): Closed-form optimal control problems in robots with energy regeneration
  • Holly Warner (PhD): Passivity-based methods for control of leg prostheses
  • Xian Du (visiting PhD): MIMO sliding-mode limit protection control for aeroengines
  • Dragos Dinca (NASA GRC, PhD): Design of efficient four-quadrant converters for ultracapacitor-based energy recovery

Experimental Facilities:

  • Vibration Isolation Tables
  • Non-Contact Position, Velocity and Acceleration Sensing
  • Rapid Control Prototyping: NI LabView, Quanser Quarc, dSPACE, embedded systems
  • Networked Linux workstations with access to simulation and control software: Matlab / Scilab / Octave / Maple / 20-Sim / MS-1 / Modelica
  • Spectrum analyzers, oscilloscopes and an array of benchtop electronic equipment
  • Access to machine shop for large projects and mini lathe/mill for small models
  • PUMA 6-DOF manipulator with custom dSPACE interface for advanced control
  • Custom robotic rig for prosthesis testing

Research Sponsors

NASA Glenn Research Center, Dynamics and Control Branch (Cleveland)

National Science Foundation

Parker-Hannifin

Ohio Third Frontier

Cleveland Clinic Foundation

CSU Faculty Research and Development Program

Recent Works