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CCNY
PRISM Lecture Series on Robotics, Computer Vision and Human-Computer
Interaction
Title: Towards Strongly
Cooperative Multi-Robot Teams: Dealing with Heterogeneity and Faulty
Systems
Date: Nov. 13, 2006 (Mon) Time: 1:00 PM - 2:00 PM
Venue: EE Conference room, T-623
Presenter: Prof. Lynne Parker, University of Tennessee,
Knoxville
Abstract:
Research in multi-robot systems has made many advances in the last
decade, leading to demonstrations of multi-robot teams solving a variety
of challenging problems. However, the majority of this prior work
assumes teams are composed of large numbers of homogeneous robots,
or swarms. While viewing the team as a swarm offers many advantages,
such as analytical modeling and built-in redundancy, these research
advances are difficult to extend to heterogeneous teams, in which
robots are no longer fully interchangeable. Challenging research questions
in heterogeneous teams include: How do we enable sensor sharing for
strongly cooperative tasks when robots vary in their sensor and effector
capabilities? How do we detect faults in such systems, so that robots
can recognize when the strong cooperation is breaking down? How can
robot team members learn from these faults and more quickly recover
in the future? This talk will present three interrelated approaches
we have developed to address the issue of achieving strongly cooperative
multi-robot teams when dealing with heterogeneity and faulty systems.
First, I will present our approach, called ASyMTRe, which is a general
technique enabling sensor-sharing and coalition formation in heterogeneous
robot teams. The AsyMTRe approach is based on combining schema building
blocks to achieve the required information flow through the system.
Since we are interested not only forming coalitions, but also ensuring
their reliability, I will next present our approach, called SAFDetection,
enabling robots in coalitions to detect faults that occur in their
cooperation. The SAFDetection approach is based on modeling the sensor
readings of the robot team as a probabilistic state transition diagram,
then using this model on-line to detect when problems occur. Once
faults occur, we want the robot team to be able to learn from that
fault in order to more quickly recover in the future. The third approach
I will present, called LeaF, is an adaptive causal model approach
that enables robot teams to not only deal with modeled faults, but
also to use a case-based reasoning approach to extend their knowledge
of faults that occur during cooperation, enabling them to more quickly
recover from future faults. Together, these three approaches make
important advances towards addressing heterogeneity and faulty systems
in achieving strongly cooperative multi-robot teams.
Biography:
Dr. Lynne Parker received her Ph.D. degree in Computer Science from
the Massachusetts Institute of Technology (MIT) in 1994, performing
research on cooperative control algorithms for multi-robot systems
in MIT's Artificial Intelligence Laboratory, with a minor in brain
and cognitive science. Dr. Parker joined the faculty of the Dept.
of Computer Science at The University of Tennessee, Knoxville, as
Associate Professor in 2002, founding the Distributed Intelligence
Laboratory at that time. She also holds an appointment as Adjunct
Distinguished Research and Development Staff Member in the Computer
Science and Mathematics Division at Oak Ridge National Laboratory
(ORNL), where she worked as a full time researcher for several years.
Her current research is in the areas of distributed mobile robotics,
artificial intelligence, sensor networks, machine learning, embedded
systems, and multi-agent systems. Dr. Parker's research has been supported
by NSF, DARPA, ORNL, DOE, JPL, SAIC, Caterpillar, and HRL. Dr. Parker
received the PECASE Award (U.S. Presidential Early Career Award for
Scientists and Engineers) in 2000, the DOE Office of Science Early
Career Scientist Award in 1999, the UT-Battelle Technical Achievement
Award for Significant Research Accomplishments in 2000, and the University
of Tennessee Angie Warren Perkins Award for scholarship, teaching,
and contributions to campus life in 2006. She has published over 80
articles in peer-reviewed literature, including five edited books
on the topic of distributed robotics. She is a frequent invited speaker
at international conferences, workshops, and universities, having
given over 90 invited lectures. She is a Senior Editor of the IEEE
Transactions on Robotics, an Associate Editor of IEEE Intelligent
Systems Magazine, and is on the Editorial Advisory Board of the International
Journal of Advanced Robotic Systems. Dr. Parker is a senior member
of IEEE, and is also a member of Sigma Xi, AAAI, and ACM.
The lecture series is supported by Grove School of Engineering and
a NSF grant to establish PRISM (Perceptual Robotics, Intelligent Sensors
and Machines) center at CCNY |
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| CCNY
PRISM Lecture Series on Robotics, Computer Vision and Human-Computer
Interaction
Title:
Application of Insights from Robotics to Molecular Biology
Date: Nov. 8, 2006 (Wed) Time: 1:00 PM - 2:00 PM
Venue: EE Conference room, T-623
Presenter: Prof. Oliver Brock, University of Massachusetts
Amherst
Abstract:
Proteins perform a variety of critical functions, ranging from metabolism
to transport and from signaling to regulation. With the completion
of the sequencing of the human genome, for example, we now know
in principle all the proteins produced by the human body. we understood
how these proteins interact with each other, we would be a big step
closer to understanding how the cells in living beings work. Such
an understanding would also open up new approaches to the design
of drugs that could treat or even cure many diseases. Proteins can
be seen as tiny robots. In this talk, I will explore the similarities
between proteins and robots and discuss how insights developed by
the robotics community can be applied successfully in structural
molecular biology. I will present two examples of such applications.
First, I will discuss how ideas from sampling-based motion planning
can be applied to predict the structure of proteins, starting from
the information contained in the human genome. Second, I will present
how concepts from robot kinematics are able to efficiently generate
the self-motion a protein is able to perform. In both cases, the
insights from robotics permit us to significantly improve the state
of the art.
Biography:
Oliver Brock is an Assistant Professor of Computer Science at the
University of Massachusetts Amherst. He received his Computer Science
Diploma in 1993 from the Technical University of Berlin and his
Masters and Ph.D. in Computer Science from Stanford University in
1994 and 2000, respectively. He was a co-founder and CTO of an Internet
startup called AllAdvantage.com. He also held post-doc positions
at Rice University and Stanford University. At the University of
Massachusetts Amherst, Oliver is affiliated with the Robotics and
Biology Laboratory, the Computational Biology Laboratory, and the
Laboratory for Perceptual Robotics. His research focuses on Autonomous
Mobile Manipulation and the application of robotic algorithms to
problems in Structural Molecular Biology.
The lecture series is supported by Grove School of Engineering and
a NSF grant to establish PRISM (Perceptual Robotics, Intelligent
Sensors and Machines) center at CCNY
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| Topic:
Sensor/Actuator Coordination and Applications
Date:
Thu, Aug. 31, 2006, Time: 2:00PM-3:00 PM
Room: SoE Exhibit Room (Steinman Hall first floor,
next door to Dean's office)
Speaker: Dr. Jindong Tan, Michigan Technological
University
Abstract:
The talk discusses sensor/actuator coordination and dynamic resource
management for a hybrid sensor/actuator network, which consists
of a large number of static sensors and relatively small number
of mobile robotic sensors. The combination of a wireless sensor
network and a multi-robot system enhances each other's capability
by dynamically managing the network resources. The static wireless
sensor network provides collaborative sensing, communication, coordination
and navigation to a multi-robot system and human operators. The
mobile robots augment sensor networks' capability by their mobility
and advanced sensing, communication and computation capability.
This talk discusses some of the research problems in a hybrid sensor/actuator
network including a scalable distributed graph model, mobile sensor
navigation in sensor networks and simultaneous localization and
navigation.
Biography:
Jindong Tan received his Ph.D. degree in Electrical and Computer
Engineering from Michigan State University in 2002. He is now an
assistant professor in the Department of Electrical and Computer
Engineering of Michigan Technological University. Dr. Tan's research
foci are hybrid sensor/actuator networks and body area sensor networks.
Dr. Tan is the PI/Co-PI of many research projects supported by the
National Science Foundation, Army Research Lab, CERDEC, Michigan
Space Grant Consortium, and Michigan Tech Research Excellence Fund.
Dr. Tan is part of the team for the Pierre Auger Cosmic Ray Observatory's
Northern Site project. His current effects in hybrid sensor network
include (a) the development of a distributed dynamic model using
graph theory; (b) self-organization algorithms to enhance sensing
and communication using mobility; (c) dynamic clustering and collaborative
sensing for energy efficient routing and target tracking; (d) coordination
and navigation algorithms for a complex network of mobile and static
sensors; (e) sensor network applications in Intelligent Transportation
Systems. Dr. Tan is also interested in
Body Sensor Network (BSN) research which consists of a hybrid of
wearable, ingestible and implantable wireless miniature sensors,
which collectively monitor the medical condition of a patient and
provide physicians with immediate feedback. His research work has
innovative merits in ultra-low power, reliable communication and
sensor fusion for body area sensor networks and embedded bioinformatics
for cardio-vascular disease.
--
The lecture series is supported by Grove School of Engineering,
and a
NSF grant to establish PRISM (Perceptual Robotics, Intelligent Sensors
and Machines) center at CCNY
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| Topic:
Development of Practical Sources of THz Radiation
Date:
Wednesday, July 5, 2006
Time: 1:00 P.M. – 2:00 P.M.
Room: ST623
Speaker: Dr. Robinson E. Pino, IBM
Abstract
Nanotechnology research in recent years has received increasing
attention since nano-sized materials display enhanced and tunable
optoelectronic properties compared to the bulk material.In particular,
quantum confinement enhances the nonlinear optical response properties
on nanomaterials namely making the material respond faster in time
with narrow emission/absorption spectral line widths.
Recent work (performed by the author) has demonstrated that there
is a direct correlation between the linear electrical/optical properties
of bulk semiconductor materials and emission of THz radiation. We
studied the effects of charge carrier compensation in III-V compound
semiconductors, in particular GaSb bulk crystals for THz applications.
We have grown tellurium compensated GaSb from the melt with resistivity
as high as 7×103 O–cm, corresponding to net donor concentration
of 3.5×1013 cm-3 at 77 K (the highest resistivity reported
to date for bulk grown GaSb). Ionized impurity scattering has been
shown to dominate the room temperature transport properties of heavily
compensated GaSb, and enhanced far-IR transmission and lattice vibrations
modes (some observed for the first time) have been observed in the
tellurium compensated GaSb which coincide with theoretically predicted
bands for two–, three–, and four–phonon processes.
These optoelectronic properties have contributed to the enhanced
emission of terahertz radiation observed from impurity compensated
GaSb. The THz emission spectra has been characterized employing
Time Domain THz Emission Spectroscopy in which the Te-doped GaSb
samples were subject to ultrafast optical excitation by a Ti:sapphire
laser. Pulses of 70 fs duration, with a central wavelength of 800
nm and a repetition rate of 82 MHz were used in a pump-probe arrangement.
In sum, two physical phenomena (surface-field and photo-Dember)
have been identified to be responsible for the radiation which strongly
depends on the material’s optoelectronic properties.
Compared to the bulk material, semiconductor nanomaterials exhibit
faster response times in addition to minimized re-absorption losses
through free carrier absorption as well as greater surface area
which strongly suggest their potential for applications as sources
of THz radiation. Thus, the unique properties of nanomaterials show
significant promise to advance the field of THz radiation sources
for applications in chemical sensing, medical imaging, pharmaceutical,
and biotechnology industries to name a few. However, additional
effort, focusing on the development and specification of nanomaterial
properties for use in these applications is required before their
full technological potential can be exploited. Therefore, in the
proposed research and in collaboration with industry partners, we
seek to characterized, identify, and develop methods to manufacture
nanomaterials and devices to be used as practical sources of THz
emission.
Biography
Dr. Robinson Pino is currently an Advisory Engineer at the IBM Microelectronics
division in Burlington, VT, in the CMOS Modeling and Characterization
group. He obtained the Ph.D. degree in electrical engineering (E.E.)
at the Rensselaer Polytechnic Institute, NY, on January 2005. He
received the E.E. Bachelors in Engineering degree from the City
University of New York - City College, NY, in 2002.
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| Topic:
MBE Growth of Wide Bandgap II-VI Nanostructures for Intersubband Device
Applications
Date:
Tuesday, May 9, 2006
Time: 12:00 P.M. – 1:00 P.M.
Room: ST623
Speaker: Dr. Aidong Shen, The City College of New York (Chemistry
Department)
Abstract
Semiconductor devices based on intersubband (ISB) transitions, such
as quantum cascade lasers (QCLs) and quantum-well infrared photodetectors
(QWIPs), have been extensively studied during the last several years.
Most of the ISB devices demonstrated so far have been fabricated
with III-V compound semiconductors. For III-V QCLs, the shortest
emission wavelength achievable is around 4.5 µm, which is
limited by the conduction band offset (CBO) of the heterostructures.
We propose that a wide bandgap II-VI material system, ZnCdSe/ZnCdMgSe,
which has a large CBO and can be grown lattice-matched on InP substrates,
is a very promising candidate for realizing shorter wavelength ISB
devices. I will talk about molecular-beam epitaxial (MBE) growth
of ZnCdSe/ZnCdMgSe multiple quantum wells (MQWs). The materials
were studied by various techniques, including x-ray diffraction
(XRD), scanning electron microscopy (SEM), photoluminescence (PL),
contactless electroreflectance (CER), and FTIR measurements. CdSe
quantum dots self-assembled on ZnCdMgSe are also studied. The results
indicate that these materials may yield improved ISB devices.
Biography
Dr. Aidong Shen is currently a Senior Research Associate at Prof.
Tamargo’s MBE group in the Chemistry Department of The City
College of New York (CCNY). Before joining CCNY, he was a research
scientist at Nortel Networks, the National Research Council of Canada,
and Tohoku University of Japan. His research interests include the
MBE growth and characterization of various semiconductor nanostructures
for optoelectronic and spintronic applications. He is the person
who fabricated the world’s first GaAs-based ferromagnetic
semiconductor GaMnAs and maintains so far the record of the highest
Curie temperature achieved in as-grown GaMnAs epi-layers. His current
interest is on the MBE growth of II-VI-based semiconductor nanostructures
for intersubband device applications. He has authored and co-authored
more than 170 publications, over 60 of them in refereed journals.
According to the ISI’s Science Citation Index, his journal
publications have been cited for about 2000 times. |
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| Topic:
Ultra Narrow Silicon FETs Integrated With Microfluidic System for
Serial Sequencing of Biomolecules Based on Local Charge Sensing
Date:
Tuesday, May 16, 2006
Time: 1:00 P.M. – 2:00 P.M.
Room: ST623
Speaker: Dr. Ali Gokirmak, Cornell University
Abstract
Nanometer scale electronic structures are expected to allow new
applications as well as observation of physical phenomenon at these
scales. It is possible to build transistors with less than 10 nm
width integrated with microfluidics for charge based sensing. As
the width of the transistor is reduced to dimensions comparable
to building blocks of bio-molecules, sensing of each of these sub-units
become viable.
We have developed ultra-narrow channel silicon field effect transistors
(FET) with suspended gates, integrated with on-chip micro-fluidic
delivery system. These devices are designed to be used for serial
sequencing of DNA, RNA and proteins, by detecting the local charge
variations along these molecules as they are passed between the
gate and the channel of the FETs in an aqueous solution.
The requirements for the electrical performance of the FET based
charge sensor lead to a side-gated FET structure. This structure,
with accumulated body in ultra-narrow widths, resulted in suppression
of leakage currents, threshold voltage tunability, and excellent
transistor characteristics for sub-70nm gate length devices. This
approach also allows further confinement of electrons into a smaller
width (possibly down to 2 nm range) by tuning the potentials on
the side-gates and the top-gate.
A full characterization of nanometer scale transistors and understanding
of the phenomenon in quasi-1D geometries require aF resolution C-V
measurements performed on these devices. However, there have been
difficulties in achieving such high resolution C-V characteristics
due to large parasitics, fluctuations in the system and limitation
in the commercially available measurements tools. We have developed
a technique to accurately measure C-V with aF resolution making
use of ambient noise and non-linearities in the C-V response of
FETs. This technique allows us to calculate the carrier concentration,
effective mobilities and effective device dimensions and carrier
saturation velocity based on measurements performed on these small-scale
devices.
Biography
Ali Gokirmak received his Bachelor of Science degrees in electrical
engineering and physics from University of Maryland at College Park
in 1998. He joined the M.S./ Ph.D. program in School of Electrical
and Computer Engineering at Cornell University in 1998, completing
his doctorate degree in 2005 under Prof. Sandip Tiwari’s supervision.
He is currently continuing his research activities as a postdoctoral
research associate at Cornell University.
His research interests include applications of nanostructures, nanofabrication
technology, small-scale MOSFETs for sensors, logic and non-volatile
memories, quantum confinement effects in restricted geometries in
MOSFETs, integration of electronics with MEMS/NEMS structures for
RF and non-volatile memory applications and electrical measurement
techniques.
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Topic:
Towards a Networked Robotic Observatory
Date: Wed., March 15, 2006
Time: 11:00 AM - 12:00 PM
Room: Exhibit Room (Steinman Hall first floor, next
door to Dean’s office)
Speaker: Profeszsor Gaurav S. Sukhatme, University
of Southern California
Abstract
This talk outlines an emerging application area for networked robotic
technology, namely, instrumentation for field work in the biological
sciences. Drawing from examples in aquatic and terrestrial applications
we describe how networked robots can perform automated adaptive
sample collection, make observations, and collect data based on
varying levels of interaction with the science team. We describe
the underlying robotic science and systems challenges which need
to be met to achieve these tasks, and report on ongoing efforts
to this end. Specifically, we describe algorithms for three problems:
statistical network-mediated adaptive sampling using robots, network-mediated
robot task allocation, and robotic network topology control. Examples
of successful field deployments and the data collected therein will
be described. We conclude with a short discussion of the future
outlook of this technology.
Biography
Gaurav S. Sukhatme is an Associate Professor of Computer Science
and Electrical Engineering Systems at the University of Southern
California (USC). He received his undergraduate education at IIT
Bombay in Computer Science and Engineering, and MS and PhD degrees
in Computer Science from USC. He is the co-director of the USC Robotics
Research Laboratory and the director of the USC Robotic Embedded
Systems Laboratory which he founded in 2000. His research interests
are in multi-robot systems and sensor/actuator networks. He has
published more than 120 papers in these and related areas. Sukhatme
has served as PI on numerous NSF, DARPA and NASA grants. He is a
CoPI on the NSF Science and Technology Center for Embedded Networked
Sensing (CENS). He is a member of AAAI and ACM, a senior member
of IEEE, and a receipient of the NSF CAREER award. He has served
on many conference program committees, recently co-chairing the
program committee of the first Robotics: Science and Systems conference.
He is the Associate Editor of Autonomous Robots, an Associate Editor
of the IEEE Transactions on Robotics and Automation and the IEEE
Transactions on Mobile Computing; and a member of the editorial
board of IEEE Pervasive Computing.
This
seminar is supported by Grove School of Engineering, EE Department,
and a NSF grant to establish PRISM (Perceptual Robotics, Intelligent
Sensors and Machines) center at CCNY.
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| Topic:
Applied Nonlinear Control: Opportunities and Challenges
Date: Wednesday, Feb. 22, 2006
Time: 12:00 P.M. - 1:00 P.M.
Room: EE conference room, T-648
Speaker: Dr. Zhong-Ping Jiang, ECE Dept., Polytechnic
University of New York
Abstract
The development of nonlinear control theory is driven by solving
engineering problems involving strong nonlinearities (e.g., mechanical
and information systems). Over the last 25 years a lot of progress
has been made in nonlinear control design and applications. In this
lecture, we will review some methods proposed in the recent literature.
A special focus will be placed on the nonlinear small-gain methodology
that we have proposed for nonlinear and interconnected feedback
systems. We will show how this methodology can serve as a framework
for unifying various existing results in nonlinear control design.
In particular we will present a nonlinear extension of the popular
PI controller. Connections with the classical Lyapunov's direct
method will be mentioned. In the second part of the talk, we will
demonstrate some open research problems in the theory of nonlinear
control and discuss our current NSF and Air Force projects where
nonlinear control techniques are needed for novel solutions.
Biography
Dr. Jiang received the B.Sc. degree in mathematics from the University
of Wuhan, Wuhan, China, in 1988, the M.Sc. degree in statistics
from the University of Paris (Orsay), Paris, France, in 1989, and
the Ph.D. degree in automatic control and mathematics from the Ecole
des Mines de Paris, Paris, France, in 1993. From 1993 to 1998, he
held visiting researcher positions in several institutions including
INRIA (Sophia-Antipolis), France, the Department of Systems Engineering
in the Australian National University, Canberra and the Department
of Electrical Engineering in the University of Sydney. In 1998,
he also visited several U.S. universities. In January 1999, he joined
the Polytechnic University at Brooklyn as an Assistant Professor
of Electrical Engineering, where he has been an Associate Professor
since 2002. His main research interests include stability theory,
nonlinear control theory and their applications to mechanical and
information systems. He is author of four book chapters, 76 journal
papers and numerous conference papers. More detailed information
can be found in the website http://ctrl.poly.edu/.
Dr. Jiang is a recipient of the NSF CAREER Award and the ARC Queen
Elizabeth II and Japan JSPS Invitation Fellowships. Currently, he
is a Editor for the International Journal of Robust and Nonlinear
Control, and an Associate Editor for Systems & Control Letters
and European Journal of Control. He served as an Associate Editor
for the IEEE Transactions on Automatic Control (2003-2005) and the
IEEE CSS Conference Editorial Board (2000-2002).
This
seminar is supported by Grove School of Engineering, EE Department,
and a NSF grant to establish PRISM (Perceptual Robotics, Intelligent
Sensors and Machines) center at CCNY.
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Topic:
Airborne Remote Sensing – Applications, Systems and Algorithms
Date:
Tuesday, March 07, 2006
Time: 12:45 PM - 1:45 PM
Room: NAC 6/106
Speaker: Harvey E. Rhody, Ph.D. Professor of Imaging
Science, Director, Laboratory for Imaging Algorithms and Systems,
Chester F. Carlson Center for Imaging Science, Rochester Institute
of Technology
Abstract
Airborne remote sensing systems are widely used for commercial
mapping and are becoming important for environmental monitoring
and security applications. Military systems have been used for observation
and planning. These applications typically have time lags from days
to weeks. Currently systems are being developed for real-time applications,
which impose difficult requirements on processing and communications.
This talk will describe collection systems that are being utilized
at the Rochester Institute of Technology for remote sensing collection
and real-time exploitation for applications such as wildfire monitoring,
environmental monitoring and security applications.
Systems
include multispectral framing cameras, a hyperspectral scanner and
a video rate multispectral system. Algorithms are required for image
registration, georectification, and multi-sensor fusion. Exploitation
tasks include target detection and scene modeling. Real-time requirements
have imposed the necessity to construct automated airborne process
work flows, which we have implemented using a novel airborne data
processor architecture. The talk will address systems and algorithms
for wildfire detection and automated scene modeling.
Biography
Dr. Harvey Rhody received a BSEE from the University of
Wisconsin (1962), MSEE from the University of Cincinnati (1965)
and Ph.D. in Electrical Engineering from Syracuse University (1969).
He is currently a professor of imaging science in the Chester F.
Carlson Center for Imaging Science and director of the Laboratory
for Imaging Algorithms and Systems. He has been at RIT in various
capacities since 1970, including professor of electrical engineering,
department head of electrical engineering and president of RIT Research
Corporation. He teaches and does research in the area of imaging
systems, algorithms and applications. He is currently principal
investigator on project to automate construction of scene models
from airborne sensor data; on a project to construct an automated
wildfire detection system; and a project to construct a hyperspectral
analysis toolbox for NGA applications. He is an IEEE life member
and currently the program chair for the upcoming AIPR-2006 workshop
on model-based image analysis.
This
seminar is supported by Grove School of Engineering, EE Department,
and a NSF grant to establish PRISM (Perceptual Robotics, Intelligent
Sensors and Machines) center at CCNY. |
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Topic:
Distributed Control: from Robots to Networks
Date: Monday, April 3, 2006
Time: 12:30 PM - 1:30 PM
Room: EE Conference room, T-648
Speaker: Prof. John T. Wen, Rensselaer Polytechnic
Institute
Abstract:
Distributed control occurs in nature such as the collaborative load
carrying in social insects and formation flying in flocking birds,
and man-made systems such as congestion control in data networks,
power distribution in power systems, and collaborative transport
and assembly in team robots. It is possible to achieve a common
group objective without explicit coordination and communication
between individual actions through indirect communications using
feedback. In this talk, we consider the stability, performance,
and robustness of several distributed control examples: collaborative
load carrying by multiple robots, network flow regulation, and CDMA
power control. The main tool that we use is the concept of passivity.
Passivity is motivated by energy conservation or dissipation in
physical systems and has long been used in the stability analysis
and design of nonlinear feedback systems, including mechanical structures
and electrical circuits. I will review the passivity approach and
then present its applications to distributed control.
Biography:
John Ting-Yung Wen received his B.Eng. from McGill University in
1979, M.S. from University of Illinois in 1981, and Ph.D. from Rensselaer
Polytechnic Institute in 1985, all in Electrical Engineering. He
worked on pulp and paper plant control at Fisher Controls from 1981-1982.
From 1985-1988, he was a member of technical staff at the Jet Propulsion
Laboratory where he worked on modeling and control for large space
structures and space robots. Since 1988, he has been with Rensselaer
Polytechnic Institute where he is currently a professor in the Department
of Electrical, Computer, and Systems Engineering with a joint appointment
in the Department of Mechanical, Aerospace, and Nuclear Engineering.
He was an ASEE/NASA Summer Faculty Fellow in 1993, a Japan Society
for the Promotion of Science (JSPS) Senior Visiting Scientist in
1997. His research interest lies in modeling, control, and planning
of dynamical systems with applications to vibration suppression,
robot manipulation, biomedical systems, advanced material design,
and network flow and power control. Dr. Wen is a Fellow of IEEE.
The lecture series is supported by Grove School of Engineering,
EE Dept. and a NSF grant to establish PRISM (Perceptual Robotics,
Intelligent Sensors and Machines) center at CCNY
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Topic:
Pulse Compression for Radar/Lidar applications: Coherent and Non-coherent
Date:
Tuesday, April 11, 2006
Room: T-623
Time: 12:15 pm
Speaker: Prof.
Nadav Levanon, Department of Electrical Engineering, Tel Aviv University
Abstract:
Conventional radar pulse-compression is implemented through phase
or frequency modulation. Since these two signal parameters are lost
in non-coherent processing, most radar engineers will consider "non-coherent
pulse compression" as an oxymoron.
This talk suggests an implementation of pulse compression through
on-off keying (OOK) and envelope detection, and shows how to modify
any one of the many well known coherent binary signals (e.g., Barker)
for use in non-coherent radars and lidars. The approach can be applied
also to direct-detection CW lidars, where the m-sequence is the
prevailing waveform. We suggest a Manchester-coded Ipatov waveform,
and will compare it with the m-sequence. If time allows, new building
blocks for coherent pulse compression will be discussed and demonstrated.
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