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学术报告第201714-201717期

发布时间:2017-05-11 编辑:admin 来源:华科自动化学院

报告题目:Robotics and Autonomous Systems Modeling, Dynamics, and Control

人:Lewis,Frank Leroy教授(The University of Texas at Arlington, USA

报告时间:1.2017年5月9日星期二上午10:00至11:30(主题:State variable systems- dynamics and simulation)

    2.2017年5月9日星期二下午13:00至14:30(主题:Robot Dynamics, Control, and human/robot interaction (HRI))

    3.2017年5月10日星期三上午10:00至11:30(主题:Unmanned Ground Vehicle (UGV) dynamics and potential field control)

     4.2017年5月10日星期三下午13:00至14:30(主题:Unmanned Aerial Vehicle (UAV) dynamics and control)

报告地点:南一楼312(5月9日)、南一楼311(5月10日)

 

Abstract: These four reports will cover basic principles of robots and autonomous systems, including robot manipulators, unmanned ground vehicles (UGV), and unmanned aerial vehicles (UAV). Robot modeling and dynamics equations are presented and robot kinematics and Jacobians. The fundamentals of computed torque control are given, as well as adaptive and robust control. Extensions are made to force control and robots with link flexibility and motor dynamics.

The dynamic equations of UGV are covered, along with potential field path planning and control.  Quadrotor UAV are studied, including dynamics modeling and nonlinear control schemes. Fixed wing UAV are studied, including dynamics and several control methods.

Control of Robot Workcells is outlined, and some ideas about human/robot interaction (HRI) are presented.

 

Biosketch F.L. Lewis: Member, National Academy of Inventors. Fellow IEEE, Fellow IFAC, Fellow U.K. Institute of Measurement & Control, Fellow AAAS, PE Texas, U.K. Chartered Engineer. UTA Distinguished Scholar Professor, UTA Distinguished Teaching Professor, and Moncrief-O’Donnell Chair at The University of Texas at Arlington Research Institute.  Qian Ren Thousand Talents Consulting Professor, Northeastern University, Shenyang, China. Foreign Expert Scholar, Huazhong University of Science and Technology. IEEE Control Systems Society Distinguished Lecturer.  Bachelor's Degree in Physics/EE and MSEE at Rice University, MS in Aeronautical Engineering at Univ. W. Florida, Ph.D. at Ga. Tech.  He works in feedback control, reinforcement learning, intelligent systems, and distributed control systems.  He is author of 7 U.S. patents, 316 journal papers, 406 conference papers, 20 books, 48 chapters, and 12 journal special issues.  He received the Fulbright Research Award, NSF Research Initiation Grant, ASEE Terman Award, Int. Neural Network Soc. Gabor Award 2009, U.K. Inst. Measurement & Control Honeywell Field Engineering Medal 2009.  Received IEEE Computational Intelligence Society Neural Networks Pioneer Award 2012 and AIAA Intelligent Systems Award 2016.  Distinguished Foreign Scholar at Nanjing Univ. Science & Technology. Project 111 Professor at Northeastern University, China. Distinguished Foreign Scholar at Chongqing Univ. China. Received Outstanding Service Award from Dallas IEEE Section, selected as Engineer of the Year by Ft. Worth IEEE Section.  Listed in Ft. Worth Business Press Top 200 Leaders in Manufacturing. Received the 2010 IEEE Region 5 Outstanding Engineering Educator Award and the 2010 UTA Graduate Dean’s Excellence in Doctoral Mentoring Award. Elected to UTA Academy of Distinguished Teachers 2012. Texas Regents Outstanding Teaching Award 2013. He served on the NAE Committee on Space Station in 1995.