IEEE-Dayton Section Computer Society Meeting

Software and Hardware Challenges at the UD Motoman Robotics Laboratory

Professor, Department of Electrical and Computer Engineering, Director of the Motoman Robotics Lab and the Nonlinear Controls Lab, University of DaytonDATE:Tuesday, October 21, 2014TIME:11:30-12:30 PMPLACE:InfoSciTex, 4027 Colonel Glenn Hwy, Suite 210, Dayton, OH 45431-1672
Just West of intersection with National Rd/Grange Hall Rd, in Signal Hill TechneCenter (building 4027 is the left-most of the 3 buildings)BONUS:A tour of the Motoman Robotics Lab will be offered to those interested at a different time.RSVP:DaytonComputerSociety@gmail.com or Dave Perez (937) 904-5486. Pizza and water provided for recommended donation of $3/person – RSVP (name, email, phone, IEEE member? Computer Society member? pizza?) required. Meeting open to all.  ABSTRACT:The Motoman Robotics Lab (MRL) was established in 2008 at the University of Dayton. It was kick started by a donation from Yaskawa Motoman Inc. of six state-of-the-art industrial robotic manipulators, including a 7 DOF and a 15 DOF robot. Since then, other companies and further donations have brought the total value of this lab to more than $1.2M. The research conducted includes the study and design of hyper-redundant robots (also known as “snake-bots,” this type of robot poses significant hardware and software challenges, among which solving its inverse kinematics in real-time and performing nonlinear torque control will be addressed), robot calibration (where an algorithm that combines different types of optimization methods is shown to match or outperform the state-of-the-art commercial system), and robot-human interaction (where teleoperation and the software challenges of achieving smooth real-time operation will be discussed). This talk will provide an overview of the research being carried out at the UD MRL, including relevant algorithmic and computational aspects of the various research efforts.  BIO:Raul Ordonez received his M.S. and Ph.D. in electrical engineering from the Ohio State University in 1996 and 1999, respectively. He spent two years as an assistant professor in the department of electrical and computer engineering at Rowan University, and then joined the ECE department at the University of Dayton, where he has been since 2001 and is now a full professor. He has worked with the IEEE Control Systems Society as a member of the Conference Editorial Board of the IEEE Control Systems Society since 1999; Publicity Chair for the 2001 International Symposium on Intelligent Control; member of the Program Committee and Program Chair for the 2001 Conference on Decision and Control; Publications Chair for the 2008 IEEE Multi-conference on Systems and Control. Dr. Ordonez is also serving since 2006 as Associate Editor for the international control journal Automatica. He is a coauthor of the textbook Stable Adaptive Control and Estimation for Nonlinear Systems: Neural and Fuzzy Approximator Techniques, (Wiley, 2002); he is also co-author of the research monograph Extremum Seeking Control and Applications – A Numerical Optimization Based Approach, (Springer, 2011). He worked between 2001 and 2007 in the research team of the Collaborative Center for Control Science (CCCS), funded by AFRL, AFOSR and DAGSI at the Ohio State University. Dr. Ordóñez received a Boeing Welliver faculty fellowship in 2008, and an AFRL Summer Faculty Fellowship in 2014.