The synergetic blend of mechanics, electronics, and information and computer technologies in mechatronics embodies the integrated approach to the
design, analysis, and implementation of the next generation of smart/complex engineering systems. Research
activities include cooperating systems of robots, haptics, and disk drives, with an emphasis on examining the
trade-offs between functionality implemented in hardware or software, with an underlying emphasis on developing
reliable and robust systems.
Cooperative Payload Transport by Robot Collectives (Krovi)
Cooperative material-handling by a fleet of decentralized manipulation agents has many applications
ranging from hazardous waste removal, material handling on the shop floor, to robot work crews for planetary colonization. Our long-term
goal is the development of a theoretical and operational framework to model, analyze, implement and validate cooperative payload
transport capabilities in such distributed robot collectives.
Rapid Virtual and Physical Prototyping of Electromechanical Systems (Krovi)
The goal of this work is to ratify the paradigm for rapid development, refinement, and implementation of
both novel electromechanical/mechatronic designs and effective real-time control systems by combining methods from extensive
simulation-based virtual testing with rapid human-in-the-loop and hardware-in-the-loop physical testing.
TRANSPORTATION
The focus of research in the general area of transportation includes development of technology to assist drivers in inclement conditions, human factor studies for analysis
of the proposed techniques, and development of hardware for the testing of human-in-the-loop and hardware-in-the-loop systems. Virtual reality is an integral part of this endeavor.
Adverse Condition Alerting Systems (Singh, Kesavadas, Mayne)
This work focuses on the development of algorithms to provide cues to drivers to assist them in preventing
spin-outs in inclement conditions. A virtual reality-based driving simulator is used to test the human-in-the-loop
system.
Identification of Factors Affecting Drivers' Responses to Adverse Condition Alerting Systems (Singh, Bisantz, Kesavadas)
This work addresses the issues concerning the design of adverse condition warning systems (ACWS). ACWS are designed to sense adverse road and
weather conditions and system states that can negatively impact driving performance, leading to skids
or accidents, and to alert drivers to these conditions. Various communication techniques, such as
visual and/or auditory, are studied to determine the optimal sensitivity, threshold, and means of
communicating information to drivers.
The Smart Car Project - A Case Study of Computer-Mediated Interfaces (Krovi)
In this research, we investigate the development, implementation and testing of an inexpensive scaled-prototype
"Smart Car" test bed equipped with a real-time mediated control system. This test bed enables us to study several concepts including:
(i) Mediation of human user control of complex robot systems; (ii) Multi-user shared teleoperation; and (iii) Robustness of the control
in the presence of varying grades of communication that are critical to a number of current and future generations of military/civilian
systems
GUIDANCE, NAVIGATION, AND CONTROL
Activities emphasize an integrated approach for analytical, computational, and experimental research for a wide variety of aerospace applications. Areas of research
involve development of novel analysis techniques and design methodologies for the robust control of uncertain systems, and optimal navigation and attitude determination techniques.
Model-Error Control Synthesis (Crassidis)
Research is being conducted to develop a new approach for robust adaptive control. This approach, called
Model-Error Control Synthesis (MECS), uses an optimal real-time nonlinear estimator to determine model-error
corrections to the control input. The estimator determines the model-error using a one time-step ahead approach.
Control compensation is achieved by using the estimated model-error as a signal synthesis adaptive correction to
the nominal control input so that maximum performance is achieved in the face of extreme model uncertainty and
disturbance inputs.
Global Positioning System Attitude Determination (Crassidis)
Research is being conducted to develop new and efficient algorithms for attitude determination using GPS signals.
The goal of this research is to develop fully autonomous algorithms that are robust for any initial attitude. At
the NASA-Johnson Space Center (JSC), in the Navigation Systems and Technology Laboratory (NSTL), work commenced to
demonstrate the use of an indoor GPS "constellation" to enable relative attitude determination. The goal of this
research is to investigate and develop optimal algorithms that can provide fast and reliable relative attitude
information of a moving vehicle, which will be verified at the NSTL.
Spacecraft Attitude Determination (Crassidis)
Research is being conducted to develop improved spacecraft attitude determination and estimation algorithms. In
particular, robust algorithms are being sought that provide attitude information with a minimal complement of
attitude sensors. Also, research is being conducted to improve the accuracy of existing hardware sensors through
software modifications.
Spacecraft Formation Flying Navigation (Crassidis)
Research is being performed for vision-based attitude and position determination for formation flying applications
using a newly developed sensor employing position-sensing diodes to determine line-of-sight vectors to optical
beacons. Spacecraft formation flying is an evolving technology with many possible applications, such as long
baseline interferometry, stereographic imaging, synthetic apertures, and distinguishing spatial from temporal
magnetospheric variations. The main objective of the proposed research is to provide a novel, reliable, and
autonomous relative navigation and attitude determination system, employing relatively simple electronic circuits
with modest digital signal processing (DSP) requirements, and being fully independent of any external
systems.
International Space Station Leak Localization (Crassidis)
Determining the extent and location of leaks on the International Space Station (ISS) is vital to maintain the
operational status and safety of the station. The first indication of a leak on the ISS will likely be a drop in
internal pressure; however, the gas leaving the station will likely cause a reaction force. Research is being
conducted to develop tools to determine approximate locations and sizes of ISS leaks based on measurements from the
attitude determination system.
Target Tracking and Nonlinear Estimation (Singh)
This work focuses on the development of advanced target tracking algorithms. It is desirable to estimate states of
systems with as little uncertainty as possible. Toward this end, a monte-carlo-like technique is being developed
for accurate estimation of systems states in the presence of process and measurement noise.
VIRTUAL REALITY/HAPTICS
Virtual reality is fast emerging as an indispensable tool for solving a wide variety of engineering problems, such as manufacturing, biomedical devices, virtual prototyping,
scientific visualization, and transportation. Here at UB, the research effort is focused on integrating such
diverse technologies as haptics, real-time hardware/human-in-the-loop simulations, and 3-D visualization systems.
Adverse Condition Alerting Systems (Singh, Kesavadas, Mayne)
This work focuses on the development of algorithms to provide cues to drivers to assist them in preventing
spin-outs in inclement conditions. A virtual reality-based driving simulator is used to test the human-in-the-loop
system.
User-customized Telerehabilitation Environment (Krovi)
Our research focuses on the development of a low-cost haptically-enabled virtual driving environment and
a series of exercises/protocols to serve as an integrated low-cost diagnostic and therapeutic tool for both assessment of UL dysfunction
and UL motor rehabilitation. The VE driving paradigm explored over here, offers a promising and cost-effective method for
objective/quantitative assessment of UL performance while performing both unilateral and bimanual sensorimotor tasks in the context of
one higher activities of daily living (AsDL).
The Smart Car Project - A Case Study of Computer-Mediated Interfaces (Krovi)
In this research, we investigate the development, implementation and testing of an inexpensive
scaled-prototype "Smart Car" test bed equipped with a real-time mediated control system. This test bed enables us to study several
concepts including: (i) Mediation of human user control of complex robot systems; (ii) Multi-user shared teleoperation; and (iii)
Robustness of the control in the presence of varying grades of communication that are critical to a number of current and future
generations of military/civilian systems
Robust Vibration Control of Maneuvering Structures
There are numerous applications which involve maneuvering structures where the flexibility of the structure is manifested in the form of undesirable
residual vibration. Applications include hard-disk drives, cranes, flexible arm robots etc. One of the important issues included in the design of the controllers is addressing the
fact that models representing the system are approximate and the controllers designed for these systems should be insensitive to modelling uncertainties.
STATISTICS BASED SAMPLING FOR MINIMAX FILTER DESIGN:(Singh)
Pre-filtering reference inputs to minimize residual vibrations in the presence of modelling uncertainties is the
focus of this work. A minimax approach which minimizes the worst performance of the systems over the domain of uncertainties, is the approach exploited to
minimize residual vibration of the system over the entire range of uncertainties. A nonlinear
statistics estimator is used to minimize the computational load in the design of the
minimax filter.
CONTROL of FRICTIONAL SYSTEMS:(Singh)
Time-Optimal Control of systems subject to friction if of great interest in applications
where very high precision is required and where the maneuver should be completed
rapidly. Friction is a nonlinearity which can radically alter the performance of
systems if it is ignored. In this work, various approaches to the design of controllers for
frictional systems are studied. These include adaptive pulse amplitude/pulse width
controllers, saturating controllers etc.
University at Buffalo: Mechanical and Aerospace Engineering
