News & Events

77 were found.


  •  NEWS   CDC 2012: 3 publications by Yebin Wang, Scott A. Bortoff, Stefano Di Cairano and others
    Date: December 10, 2012
    Where: IEEE Annual Conference on Decision and Control (CDC)
    MERL Contacts: Stefano Di Cairano; Scott Bortoff; Yebin Wang
    Research Area: Mechatronics
    Brief
    • The papers "A Numerical Algorithm for Nonlinear L2-gain Optimal Control with Application to Vehicle Yaw Stability Control" by Milic, V., Di Cairano, S., Kasac, J., Bemporad, A. and Situm, Z., "The Rendezvous Dynamics under Linear Quadratic Optimal Control" by Di Cairano, S., Pascucci, C.A. and Bemporad, A. and "On the Optimal Trajectory Generation for Servomotors: A Hamiltonian Approach" by Wang, Y., Ueda , K. and Bortoff, S.A. were presented at the IEEE Annual Conference on Decision and Control (CDC)
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  •  NEWS   AIP Chaos: publication by Piyush Grover and others
    Date: December 1, 2012
    Where: AIP Chaos
    MERL Contact: Piyush Grover
    Research Areas: Mechatronics, Dynamical Systems
    Brief
    • The article "Topological Chaos, Braiding and Bifurcation of Almost-cyclic Sets" by Grover, P., Ross, S., Stremler, M. and Kumar, P. was published in AIP Chaos
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  •  NEWS   PMI 2012: publication by Alan Sullivan and others
    Date: October 29, 2012
    Where: CIRP Conference on Process Machine Interactions (PMI)
    MERL Contact: Alan Sullivan
    Research Areas: Mechatronics, Computational Geometry
    Brief
    • The paper "High Accuracy Computation of Geometric Properties of Cutter Workpiece Intersection using Distance Fields for NC Milling" by Erdim, H. and Sullivan, A. was presented at the CIRP Conference on Process Machine Interactions (PMI)
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  •  NEWS   NMPC 2012: publication by Stefano Di Cairano
    Date: August 23, 2012
    Where: IFAC Nonlinear Model Predictive Control Conference (NMPC)
    MERL Contact: Stefano Di Cairano
    Research Areas: Mechatronics, Advanced Control Systems
    Brief
    • The paper "An Industry Perspective on MPC in Large Volumes Applications: Potential Benefits and Open Challenges" by Di Cairano, S. was presented at the IFAC Nonlinear Model Predictive Control Conference (NMPC)
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  •  NEWS   AIAA/AAS Astrodynamics Specialist Conference 2012: publication by Piyush Grover and others
    Date: August 13, 2012
    Where: AIAA/AAS Astrodynamics Specialist Conference
    MERL Contact: Piyush Grover
    Research Areas: Mechatronics, Dynamical Systems
    Brief
    • The paper "Efficient Estimation and Uncertainty Quantification in Space Mission Dynamics" by Grover, P. and Sato, Y. was presented at the AIAA/AAS Astrodynamics Specialist Conference
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  •  TALK   Feedback Particle Filter and its Applications
    Date & Time: Wednesday, August 1, 2012; 12:00 PM
    Speaker: Prof. Prashant Mehta, University of Illinois at Urbana-Champaign
    MERL Host: Scott Bortoff
    Research Area: Mechatronics
    Brief
    • In my talk, I will present a self-contained introduction to nonlinear filtering, and describe some recent developments. Specifically, I will introduce the feedback particle filter and show how it admits an innovations error-based feedback control structure. The control is chosen so that the posterior distribution of any particle matches the posterior distribution of the true state given the observations. The subject of my talk is a new formulation of nonlinear filter (for Bayesian inference) that is based on concepts from optimal control and mean-field game theory. Nonlinear filtering is important to many applications in engineering, biology, economics, atmospheric sciences and neuroscience. Several applications will be described to illustrate the theoretical concepts.

      This is joint work with Tao Yang and Sean Meyn at the University of Illinois.
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  •  NEWS   International Journal of Robust and Nonlinear Control: publication by Stefano Di Cairano and others
    Date: July 24, 2012
    Where: International Journal of Robust and Nonlinear Control
    MERL Contact: Stefano Di Cairano
    Research Areas: Mechatronics, Advanced Control Systems
    Brief
    • The article "Model Predictive Control Approach for Guidance of Spacecraft Rendezvous and Proximity Maneuvering" by Di Cairano, S., Park, H. and Kolmanovsky, I. was published in International Journal of Robust and Nonlinear Control
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  •  TALK   A Pole-Placement Approach to the Design of Robust Linear Multivariable Control Systems
    Date: Thursday, July 19, 2012
    Speaker: Rick Vaccaro, University of Rhode Island
    MERL Host: Scott Bortoff
    Research Area: Mechatronics
    Brief
    • The ability to directly specify the closed-loop poles of a multivariable control system is a major benefit of pole-placement algorithms for calculating state-feedback and observer gains. The drawback of these algorithms is the lack of any guarantee on the stability robustness of the resulting control system. The optimal control approach for calculating state-feedback gains (LQR) has a certain guaranteed robustness, but adding an observer (i.e. Kalman filter, LQG) can result in arbitrarily poor robustness. In this talk, a new pole-placement approach is introduced for calculating state-feedback and observer gains. The new approach optimizes robustness and gives impressive results, particularly for output feedback, observer-based control systems.
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  •  TALK   Threat Assessment and Semi-Autonomous Control of Manned and Unmanned Vehicles
    Date & Time: Monday, July 16, 2012; 2:00 PM
    Speaker: Dr. Karl Iagnemma, Director, MIT Robotic Mobility Group
    MERL Host: Stefano Di Cairano
    Research Area: Mechatronics
    Brief
    • Operator error is a significant factor in a majority of manned and unmanned vehicle accidents. In this talk, a framework for semi-autonomous vehicle accident avoidance will be presented that has been shown to effectively mitigate collisions caused by operator error. The framework analyzes sensor data (from vision and/or LIDAR data) to identify "no go" regions in the environment, and automatically synthesize constraints on vehicle position. An optimal trajectory and associated control inputs are then found via linear or nonlinear model predictive control. The "threat" to the vehicle is quantified from various metrics computed over the optimal trajectory. A number of approaches for arbitrating between operator and control system authority, based on the predicted threat, will be discussed. Extensive simulation and experimental testing will be described for both manned and unmanned scenarios. Future directions in threat assessment and semi-autonomous control, based on the integration of vision-based sensing and active steering control, will also be discussed.
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  •  NEWS   International Refrigeration and Air conditioning Conference at Purdue 2012: 2 publications by Daniel J. Burns, Daniel N. Nikovski, Christopher R. Laughman and Yiming Zhao
    Date: July 16, 2012
    Where: International Refrigeration and Air conditioning Conference at Purdue
    MERL Contacts: Christopher Laughman; Daniel Burns; Daniel Nikovski
    Research Areas: Mechatronics, Data Analytics
    Brief
    • The papers "Fast Refrigerant Property Calculations Using Interpolation-Based Methods" by Laughman, C.R., Zhao, Y. and Nikovski, D. and "Extremum Seeking Control for Energy Optimization of Vapor Compression Systems" by Burns, D.J. and Laughman, C. were presented at the International Refrigeration and Air conditioning Conference at Purdue
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  •  EVENT   ACC 2012 - Sponsored Session: Oppportunities at Mitsubishi Electric Research
    Date & Time: Wednesday, June 27, 2012; 12:00 PM - 1:30 PM
    MERL Contact: Scott Bortoff
    Location: Montreal, Canada
    Research Area: Mechatronics
    Brief
    • In this session, MERL researcher Scott Bortoff will describe Mitsubishi Electric Corporation (MELCO)'s businesses, discuss mechatronics and controls research at MERL and describe opportunities for collaboration and employment. Areas of current research interest include optimal control especially of nonlinear and hybrid systems, model predictive control, nonlinear dynamical systems, and modeling and control of multi-physical heterogeneous systems. Research projects at MERL typically address fundamental problems that are industrially-motivated, and involve application of advanced control theory or dynamical systems theory to MELCO products resulting in new technology that is transferred into the corporate R&D laboratories for subsequent product development. Areas of current application include elevators, HVAC, power generation and distribution, satellites, robot manipulation, servo systems and laser processing systems. MERL has a tradition of open collaboration and hosts visitors and interns especially during the summer months when our population increases by 50%. Researchers and students who have an interest in collaboration, visits, sabbatical leaves or permanent employment are invited.
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  •  NEWS   ACC 2012: 2 publications by Scott A. Bortoff, John C. Barnwell III and Stefano Di Cairano
    Date: June 27, 2012
    Where: American Control Conference (ACC)
    MERL Contacts: Stefano Di Cairano; Scott Bortoff
    Research Area: Mechatronics
    Brief
    • The papers "Further Developments and Applications of Network Reference Governor for Constrained Systems" by Di Cairano, S. and Kolmanovsky, I.V. and "Load Positioning in the Presence of Base Vibrations" by Shilpiekandula, V., Bortoff, S.A., Barnwell, J.C. and El Rifai, K. were presented at the American Control Conference (ACC)
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  •  TALK   A Real-Time Algorithm for Nonlinear Model Predictive Control and Its Applications
    Date & Time: Monday, June 25, 2012; 10:30 AM
    Speaker: Prof. Toshiyuki Ohtsuka, Osaka University
    MERL Host: Stefano Di Cairano
    Research Area: Mechatronics
    Brief
    • In this talk, a real-time algorithm for nonlinear model predictive control and its applications will be introduced. The continuation method is combined with an efficient linear solver GMRES to trace the time-dependent optimal solution without iterative searches. Applications of the algorithm include position control of an underactuated hovercraft, route tracking of a ship with redundant actuators, and path generation for an automobile. Automatic code generation by symbolic computation and other related topics will also be introduced.
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  •  NEWS   CIRP Conference on High Performance Cutting 2012: publication by MERL researchers and others
    Date: June 4, 2012
    Where: CIRP Conference on High Performance Cutting
    Research Areas: Mechatronics, Computational Geometry
    Brief
    • The paper "Offline Force Control and Feedrate Scheduling for Complex Free Form Surfaces in 5-Axis Milling" by Layegh, S.E., Erdim, H. and Lazoglu, I. was presented at the CIRP Conference on High Performance Cutting
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  •  NEWS   Computer-Aided Design: publication by Ronald N. Perry, Alan Sullivan and others
    Date: June 1, 2012
    Where: Computer-Aided Design
    MERL Contacts: Alan Sullivan; Ronald Perry
    Research Areas: Algorithms, Mechatronics, Computational Geometry
    Brief
    • The article "High Accuracy NC Milling Simulation Using Composite Adaptively Sampled Distance Fields" by Sullivan, A., Erdim, H., Perry, R.N. and Frisken, S.F. was published in Computer-Aided Design
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  •  TALK   Control Design with Uncertain Predictions in Autonomous Systems: Theory and Practice.
    Date & Time: Friday, March 16, 2012; 10:00 AM
    Speaker: Prof. Francesco Borrelli, UC Berkeley
    MERL Host: Stefano Di Cairano
    Research Area: Mechatronics
    Brief
    • Forecasts will play an increasingly important role in the next generation of autonomous and semi-autonomous systems. In nominal conditions, predictions of system dynamics, human behavior and environmental envelope can be used by the control algorithm to improve safety and performance of the resulting system. However, in practice, constraint satisfaction, performance guarantees and real-time computation are challenged by the (1) growing complexity of the engineered system, (2) uncertainty in the human/machine interaction and (3) uncertainty in the environment where the system operates.

      In this talk I will present the theory and tools that we have developed over the past ten years for the systematic design of predictive controllers for uncertain linear and nonlinear systems. I will first provide an overview of our theoretical efforts. Then, I will focus on our recent results in addressing constraint satisfaction and real-time computation in nonlinear systems and large-scale networked systems. Throughout the talk I will use two applications to motivate our research and show the benefits of the proposed techniques: Safe Autonomous Cars and Green Intelligent Buildings.
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  •  TALK   Research and Development in JSK Robotics Lab, Univ. of Tokyo
    Date & Time: Thursday, March 8, 2012; 9:30 AM
    Speaker: Prof. Masayuki Inaba, Professor, Director of JSK Robotics Lab<br /> Department of Creative Informatics<br /> Department of Mechano-Informatics<br /> Graduate School of Information Technology and Science<br /> The University of Tokyo
    Research Area: Mechatronics
    Brief
    • This talk introduces a history and ongoing activities of the research and development in JSK Robotics Lab, The University of Tokyo including hand-eye coordination in rope handling, correlation-based tracking vision, vision-based robotics, wireless remote-brained approach, whole-body behaviors on humanoids, tactile deformable devices for robot sensor suit, musculoskeletal spined humanoids, power systems for human speed and torque perfomance, learning and assistive activities on HRP2 (Japanese Humanoid Robot Project Platform) and PR2 (Willow Garages's Personal Robot Platform for Open Source Robot Operating System:ROS), common software architecture in all JSK robots, and their mother environment for inherited research and development in JSK.
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  •  NEWS   AAS/AIAA Space Flight Mechanics Meeting 2012: publication by Piyush Grover and others
    Date: January 29, 2012
    Where: AAS/AIAA Space Flight Mechanics Meeting
    MERL Contact: Piyush Grover
    Research Areas: Mechatronics, Dynamical Systems
    Brief
    • The paper "Optimized Three-Body Gravity Assists and Manifold Transfers in End-to-End Lunar Mission Design" by Grover, P. and Andersson, C. was presented at the AAS/AIAA Space Flight Mechanics Meeting
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  •  NEWS   IFAC 2011: 2 publications by Matthew E. Brand, Scott A. Bortoff and Vijay Shilpiekandula
    Date: August 28, 2011
    Where: World Congress of the International Federation of Automatic Control (IFAC)
    MERL Contacts: Scott Bortoff; Matthew Brand
    Research Areas: Algorithms, Mechatronics
    Brief
    • The papers "Integrated Design and Control of Flexure-Based Nanopositioning Systems - Part I: Methodology" by Shilpiekandula, V. and Youcel-Toumi, K. and "A Parallel Quadratic Programming Algorithm for Model Predictive Control" by Brand, M., Shilpiekandula, V. and Bortoff, S.A. were presented at the World Congress of the International Federation of Automatic Control (IFAC)
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  •  NEWS   CCC 2011: publication by Scott A. Bortoff, Yebin Wang and others
    Date: July 22, 2011
    Where: Chinese Control Conference (CCC)
    MERL Contacts: Yebin Wang; Scott Bortoff
    Research Areas: Mechatronics, Advanced Control Systems
    Brief
    • The paper "Nonlinear Control Design for a Semi-active Vibration Reduction System" by Wang, Y., Utsunomiya, K. and Bortoff, S.A. was presented at the Chinese Control Conference (CCC)
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