1. Harvard - Boston University - University of Maryland Systems Overview P. S. Krishnaprasad Department of Electrical Engineering and Institute for Systems Research (ISR) University of Maryland, College Park November 16, 1999 Presentation for Dr. Randy Zachery, ARO May 25, 2004 at Harvard University

2. Harvard - Boston University - University of Maryland Mission Statement To advance the state-of-the-art in active control of materials and structures via first-principles modeling, analysis and computation To enhance the theoretical foundations of controlled fluid-structure interactions at various length scales To develop the communications and hierarchical control theory needed for controlling very large arrays of sensors and actuators To develop engineering tools for the design and fabrication of actuators and sensors based on controllable materials and for the integration of such devices in structures

3. Harvard - Boston University - University of Maryland MARYLAND TEAM Faculty: Stuart Antman, John Baras, P. S. Krishnaprasad Post-docs: Dimitrios Hristu, Eric Justh, Ram Venkataraman Graduate Student Team: Sean Andersson, Babak Azimi-Sadjadi, George Kantor, Andrew Newman, Jin-Qiu Shao, Xiaobo Tan, Fumin Zhang Recent Ph.D. graduates: Herbert Struemper (1997), Vikram Manikonda (1997), Eric Justh (1998), Ram Venkataraman (1999) ARL Collaborator: Mikhail Vorontsov

4. Harvard - Boston University - University of Maryland GRADUATE EDUCATION Ph.D. students : Herbert Struemper (1997), Caltech postdoc, now Entelos; Vikram Manikonda (1997), now Intelligent Automation; Eric Justh (1998), UMd-ARL postdoc; Ram Venkataraman (1999), UMd postdoc; George Kantor (1999), CMU Field Robotics staff; Andrew Newman (1999), to be Alphatech staff.

5. Harvard - Boston University - University of Maryland UNDERGRADUATE EDUCATION Summer 1998 NSF-REU - Miriam Betnun (MIT '01); vibratory piezo-motor Summer 1999 NSF-REU - Charles Brubaker (Swarthmore '02), Jacqueline Cockrell (Columbia '02), motion-control integration Shariar Chaudhury (Nebraska '02), Stephanie Wojtkowski (Swarthmore '02); Summer 1999 NSF-MERIT - Jonathan Wu (RPI), Mohammd Jalloh (George Washington), GPS-integrated motion control Joon-Hoo Lee (Penn State), Norman Lo (UMd), all junior/senior;

6. Harvard - Boston University - University of Maryland COURSES A year-long joint course on Analytic and Geometric Approaches to Classical Mechanics and Control Theory, cross-listed between Electrical Engineering and Applied Mathematics (Fall 1997 and Spring 1998) - taught by Antman and Krishnaprasad Course for high school students during Summer 1998 on sensors and actuators - taught by Babak Azimi-Sadjadi Course for NSF-REU students during Summer 1999 on Linear algebra and applications to robot kinematics and control - taught by Ram Venkataraman

7. Harvard - Boston University - University of Maryland OUTREACH Sharing data and methodology with ETREMA (hysteresis modeling) Control and Dynamical Systems Invited Lecture Series http://www.isr.umd.edu/Labs/ISL/events.html Sharing data and methodology with NSWC - magnetics group (hysteresis modeling) Collaboration with ARL Intelligent Optics Lab - Vorontsov group (nonlinear Zernike filter for wavefront control)

8. Harvard - Boston University - University of Maryland CURRENT EXTERNAL SUPPORT CDCSS - Center from Dynamics and Control of Smart Structures (ARO MURI97) CAAR - Center for Auditory and Acoustics Research (ONR MURI97) LIS - Learning and Intelligent Systems: Learning Binaurally Directed Movement (NSF97)

9. Harvard - Boston University - University of Maryland FACILITY The Intelligent Servosystems Lab is organized to advance the state-of-the art in the design and real-time control of smart systems focusing on advances in Novel sensing and actuation materials and mechanism designs New principles for actuation, propulsion, detection, reduction, learning and adaptation Conceptualizing and prototyping across scales, to sense, actuate, communicate and control MURI funds lead to enhancement (e.g. dSPACE prototyping system)

10. Harvard - Boston University - University of Maryland SYSTEMS VIEW Smart System Neuroscience Materials Intelligent Control Modeling & Optimization Wireless Noise & Sensors Smart Power MEMS Signal Processing Robotics

11. Harvard - Boston University - University of Maryland SYSTEMS VIEW Smart structures are actively controlled systems with coordination of actuation and sensing via parallel distributed arrays e.g., mobile robot with multiple sensors (MEMS microphones/sonar/GPS) adaptive optics (LCLV, micromirrors) remote (wireless) actuation and sensing afford new challenges

12. Harvard - Boston University - University of Maryland MOTION CONTROL INTEGRATION

13. Harvard - Boston University - University of Maryland GPS - INTEGRATED CONTROL

14. Harvard - Boston University - University of Maryland OUR FOCUS Understand and exploit nonlinearity Understand and exploit distributed computation and control Communication/computation patterns for decoupling Smart materials Pattern formation Control patterns for adaptive optics

15. Harvard - Boston University - University of Maryland ACCOMPLISHMENTS Low-order mathematical models of hysteresis nonlinearity (in magnetostrictive actuators) for prediction of performance and real- time control. Meso-scale actuators based on these materials (Terfenol-D) are expected to be useful in control surfaces of aircraft, rotorcraft, and submersibles. New techniques for high resolution optical phase distortion suppression (correcting for the effects of atmospheric turbulence on laser beams) have been developed and tested in simulations. Experimental verification using liquid crystal light valve actuators are under way at the Intelligent Optics Laboratory of the Army Research Lab (ARL). This effort is in collaboration with Dr. Mikhail Vorontsov of ARL. Potential additional applications of this work include optical phase microscopy and wavefront sensing for conventional adaptive optics systems. 1. 2.

16. Harvard - Boston University - University of Maryland ACCOMPLISHMENTS New control theory based on pattern formation and communication/computation pattern selection has been developed to realize the potential of the MEMS-scale component technology. New algorithms for principled reduction of complex nonlinear models have been developed and tested. Techniques for approximate inversion of nonlinear systems for trajectory tracking have been devised in the setting of systems on Lie groups. Related controllability results of use in models that include autonomous ground vehicles have been obtained. 3. 4.

17. Harvard - Boston University - University of Maryland ACCOMPLISHMENTS Models of magnetoelastic systems based on the Landau- Lifshitz-Gilbert equations have been investigated from a fundamental mathematical viewpoint as well as from the perspective of numerical computations. Effective predictions of hysteresis curves have been realised setting the stage for a computational actuator design framework based on first-principles models. Refined dissipation models of importance to numerics have been developed in the context of electro-magneto-solid mechanics. These steps are paving the way for robust software tools for design of actuators. 5. 6.

18. Harvard - Boston University - University of Maryland PRESENTATIONS TO FOLLOW Magnetostrictive models (hysteresis/validation/control) Hysteresis and Numerics (Landau-Lifshitz-Gilbert) Adaptive Optics (wavefront control) Patterns and Control (distributed computation and control)

19. Harvard - Boston University - University of Maryland ROADMAP FOR THE FUTURE Exploit the opportunities for (wireless) integrated control in a distributed setting (Bluetooth as a possible route) Applications to fluid structure interaction Micro-microphones, vibratory gyros, inclinometers, and GPS MEMS-based sensors for integrated motion control

20. Harvard - Boston University - University of Maryland ROADMAP FOR THE FUTURE Develop fully the path from models to software tools Extend results on magnetoelastic models to thin film MEMS-scale actuators and sensors Advancement of Zernike filter approach to adaptive optics Invention disclosure, alternative implementations (e.g. LCLV vs micromirror), and hardware integration