Bouncing Bicycle
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Hybrid Dynamic Simulation
Mahdi Haghshenas-Jaryani, Adrian Rodriguez
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In hybrid dynamic simulation, discrete and continuous events are
combined in order to predict a system's motion. Currently this work
focuses on the simulation of simultaneous impact and contact while
considering energy consistency and Coulomb friction. Many different
types of systems experiencing discrete events can be modeled
using this approach. One of the applications for this project is
analysis of simultaneous impact and contact in agile locomotion.
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Latest hybrid simulation videos. |
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http://sparkleberrysprings.com/innerlifeofcell.html
Kinesin Intracellular Transport
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Motor Protein Locomotion
Mahdi Haghshenas-Jaryani
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Motor proteins are involved in a number of biological processes within
the cells and tissues of biological systems. They exist in several
different forms and are involved in muscle contraction, construction
and deconstruction of the cytoskeleton, and intracellular transport.
The proteins currently being examined have a biped structure and walk
along the cytoskeleton pulling organelles and nutrient packets along
as cargo: the picture to the left depicts kinesin in this role. These
proteins have a size on the order of nanometers so it difficult to
observe their dynamic behavior. Modeling and simulation can be used
to attempt a prediction of the details of motor protein dynamic
behavior that are difficult to observe. This work involves the
development of a new approach towards modeling and simulating the
locomotion of these proteins.
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Latest motor protein videos. |
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http://www.emrupdate.com/blogs/ducknet/archive/2008/07/15/hospitals-to-test-bed-sensors-a-smart-hospital-bed.aspx
Smart Hospital Bed
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Hard and Soft Manipulation
Shahaan Mansuri, Eddie Perez
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This project examines hard and soft manipulation including systems
that use both. The terms "hard" and "soft" refer to the rigidity of
the surface used to manipulate an object. The object in this study is
the human body, and the goal is to manipulate the size and duration of
contact forces acting on the skin in order to prevent the formation of
pressure ulcers. The outcome will be a prototype bed that can achieve
a desired time history of pressure distribution across the body.
Collaborators on this project are Prof. Mehrdad Nourani in
the Dept. of Electrical Engineering at The University of Texas at
Dallas, and
Prof. Deborah Behan in the School of Nursing at The University of
Texas at Arlingtion.
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Rasoul Yousefi, S. Ostadabbas, M. Faezipour, Mehrdad Nourani,
V. Ng, Lakshman S. Tamil, Alan Bowling, Deborah Behan, and
M. Pompeo.
A smart bed platform for monitoring & ulcer
prevention.
In Proceedings of the 4th International Conference on
BioMedical Engineering and Informatics (BMEI), October 15-17,
2011. Donghua University, Shanghai, China. Accepted for publication.
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The latest hexapod.
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Design of Agile Legged Robots
Eddie Perez, Adrian Rodriguez
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This project involves the development of new design methodologies for
producing agile legged locomotion systems. Legged systems
utilize contact and impact forces in order to locomote through the
environment. One goal of this work is to develop a performance
analysis which includes these forces and tells how well a legged
system can utilize ground contact to accelerate itself. This analysis
will form the basis for new design methodologies. A key element in
this type of performance-based design is that the performance is
described in terms of functions which are nonlinear in the variables
of interest particularly configuration variables. Statistical
optimization techniques are being explored which can address these
nonlinearities allowing one to quantify performance over the robot's
workspace without exhaustive sampling of the configuration space.
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Videos of the new leg design jumping. |
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HERACLEIA
Human-Centered Computing Lab
Assisted Living Apartment
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Performance Analysis and Simulation
of Assistive Living Systems
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Quality-of-life can be enhanced if people can retain most of their
independence as they get older. However, many elderly people need
some assistance in order to live, for the most part, on their own.
These types of systems involve monitoring elements, and can also
involve response elements. The monitoring element attempts to analyze
the patient's motion and behavior in order to determine whether an
intervention is required. If required, the system can notify a
monitor that assistance is needed, or robots can be used to respond in
certain situations. Current work in this area involves developing a
simulation and analysis tool to aid in the development of this type of
an assistive living system. This work involves the formulation of a
performance analysis which allows the system to predict injury. It
also involves the development of a simulation for this type of system.
A third aspect involves the development of robots to aid in the
responding in those situations where they can have a positive impact
on the situation.
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Alan Bowling and Fillia Makedon.
Cognitive optimization in assistive living system development.
Applied Bionics and Biomechanics, vol. 9, no. 1, pages 1-14, March 2012.
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Alan Bowling and Eric Olson.
Human-robot team dynamic performance in
assisted living environments. Proceedings of the
International Conference on Pervasive Technologies Related to
Assistive Environments (PETRA), June 9-13, 2009, Corfu, Greece.
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Alan Bowling, Zhengyi Le, and Fillia Makedon.
SAL: A simulation and analysis tool for
assistive living environments. Proceedings of the
International Conference on Pervasive Technologies Related to
Assistive Environments (PETRA), June 9-13, 2009, Corfu, Greece.
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Zeno by Hanson Robokind
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Motion Control for Agile Legged Robots
Adrian Rodriguez
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This project involves the development of methodologies for
autonomously producing stable periodic and nonperiodic motions for
legged robots. The periodic motions are often referred to as gait
motions while the aperiodic motions are referred to as agile motions.
In both cases, the goal is to generate these motions autonomously
without the use of motion primitives or any other predefined motions.
The effort is to identify general motion principles for legged
locomotion, from examination of the equations of motion, upon which a
control algorithm can be based. This work also involves studying the
integration and fusion of sensor information in order to provide
adequate feedback to the control for producing stable locomotion.
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Agile locomotion of a planar quadruped. |
| PDF |
Yanto Go, Xiaolei Yin, and Alan Bowling.
Navigability of multi-legged robots.
IEEE/ASME Transactions on Mechatronics, vol. 11, no. 1, pages 1-8, February 2006.
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Sean Harmeyer and Alan Bowling.
Autonomous gait generation using acceleration
capability analysis.
Proceedings of the IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS), vol. 3,
pages 2127-2133, August 2-6, 2005. Edmonton, Alberta, Canada.
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http://physics.nyu.edu/grierlab/hot.html
Bead Trapped by Laser
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Nano-Manipulation Using Optical Tweezers
Mahdi Haghshenas-Jaryani, Sarvenaz Ghaffari
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The goal of this work is to model and simulate the manipulation of
nano-sized objects, including biological specimens, using lasers. The
goal here is to develop a dynamic model of the interaction between
lazer light and nano-sized beads that predicts experimentally observed
motions. This work is being performed in collaboration with Prof. Samarendra Mohanty
in the Department of Physics, and
Prof. Subhrangsu Mandal in the Department of Chemistry and
Biochemistry, both at the University of Texas at Arlington.
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Mahdi Haghshenas-Jaryani, James Drake, Alan Bowling, and Samarendra Mohanty.
Multiscale modeling and simulation of a microbead in an optical trapping process.
ASME 2013 2nd Global Congress on Nanoengineering for Medicine and Biology (NEMB2013), February 4-6, 2013, Boston, Massachusetts.
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http://commons.wikimedia.org/wiki/File:Fibroblast.jpg
Mouse Embryo Fibroblast
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Cellular Locomotion
Anudeep Palanki
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This project involves the development of a model of fibroblast
locomotion through a matrix of collagen fibers. These cells can
secrete collagen fibers as well as adhere to them. They can the
create a fiber matrix, locomote through it, and compact it. These
functions are critical in wound healing which is the subject of this
work. The model being developed consists of a collagen fiber matrix
along with the cell.
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Preliminary development of planar collagen fiber matrix. |
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Computer Rack
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Dynamic Thermal Management and Controls in an Energy Efficient Data Center
Chinmay Date, Vishok Amar Kumar
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The goal of this project is to develop control strategies for reducing
energy usage in data centers. These strategies are based on
redistributing computational loads and active cooling within the
center to minimize energy usage. Data centers use approximately 2% of
the power generated in the United States so it is worthwhile endeavor
to improve their efficiency. This project is a collaboration with Prof. Dereje Agonafer in the
Department of Mechanical and Aerospace Engineering at the University
of Texas at Arlington, Prof. Bahgat
Sammakia in the Department of Mechanical Engineering at SUNY
Binghampton University, and several industry partners. This is one of
the projects comprising the broader NSF Industry/University
Cooperative Research Center for Energy-Efficient Electronic Systems
initiative.
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Two-DOF Robot Arm
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Robotic Manipulator Design and Control
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Here robotic manipulator dynamics are studied. This mainly
involves characterizing the force and acceleration capabilities of
robotic manipulators. These capabilities refer to a manipulator's
ability to accelerate its end-effector and to apply forces to the
environment at the end-effector. These abilities determine a
mechanism's ability to manipulate grasped and non-grasped objects.
Performance measures and design methodologies based on this
characterization are also developed.
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Cable-Driven Leg.
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Performance Analysis of Flexible Systems
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In this work, the effect on performance resulting from the mass
properties of flexible components in a robotic system is studied.
Cable-driven robotic manipulators are of particular interest
here, with a goal of determining the conditions under which the cables
will yield. These conditions impose a limit on the performance of the
system and this project is concerned with determining those
limitations. The long term goal is to incorporate other sources of
flexibilities into the analysis such as link and joint flexibilities.
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| VIDEOS
Videos of the new leg design jumping. |
| PDF |
Xiaolei Yin and Alan Bowling.
Dynamic performance
limitations due to yielding in cable-driven robotic manipulators.
ASME Journal of Mechanical Design, vol. 128, no. 1, pages 311-318, January 2006.
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| Alumni |
Whereabouts |
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Anudeep Palanki |
MS ME '13 |
anudeep.palanki@mavs.uta.edu |
Research Associate, University of Texas at Arlington, 2013 |
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Zachary Brush |
MS ME '13 |
zachary.brush@mavs.uta.edu |
Booz Allen Hamilton, San Antonio, Texas, USA, 2013 |
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Hongqing Tian |
Visiting Scholar '13 |
hongtian@uta.edu |
Professor, Beijing Information Science & Technology University, 2013 |
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Evan Knust |
ME ME '12 |
evan.knust@mavs.uta.edu |
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Parvati Aruna Kandala |
MS ME '12 |
parvati.kandala@mavs.uta.edu |
Kautex Textron, Lavonia, Georgia, USA, 2012 |
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James Drake |
MS BE '12 |
james.drake@mavs.uta.edu |
University of Texas at Arlington, 2012 |
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Daniel Montrallo Flickinger |
PhD ME '11 |
daniel.flickinger@mavs.uta.edu |
Postdoc, Rensallear Polytechnic Institute (RPI), 2011 |
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Drew Morgan |
MS ME '11 |
drew.morgan@mavs.uta.edu |
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Adrian Rodriguez |
MS ME '10 |
adrianrodriguez2009@mavs.uta.edu |
PhD candidate, University of Texas at Arlington, 2011 |
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Jeremy Newkirk |
MS ME '07 |
jnewkirk@nd.edu |
PhD candidate, University of Notre Dame, 2008 |
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Pedro Bergés |
MS ME '06 |
pedro.berges@gmail.com |
Engineer, Praxair, Inc., Buffalo, New York, USA, 2006 |
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Sean Harmeyer |
PhD ME '06 |
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NASA Johnson Space Center, 2008 |
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Yanto Go |
MS ME '04 |
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ChangHwan Kim |
Postdoc '04 |
ckim@kist.re.kr |
Korea Institute of Science and Technology (KIST), 2010 |
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Xiaolei Yin |
MS ME '04 |
x-yin@northwestern.edu |
Ph.D candidate, Northwestern University, 2004 |
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Wei Wang |
MS ME '02 |
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The links to personal web pages are provided as a
courtesy to lab members. Any opinions expressed on a personal page
are solely those of its author and do not necessarily reflect the
views of any other lab member, including faculty.
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8/14/12-Group dinner at Chili's in Arlington, Texas. LtoR, Back: Alan
Bowling, Mahdi Haghshenas-Jaryani, Zachary Brush. Middle: Parvati Aruna
Kandala, Adrian Rodriguez. Front: Anudeep Palanki, Nguyen Tran.
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8/7/11-Group dinner at Pappadeaux in Arlington, Texas. LtoR, Back: Alan
Bowling, Middle: Daniel Montrallo Flickinger, Adrian Rodriguez, Tapas
Dey, Mahdi Haghshenas-Jaryani, James Drake, Front: Parvati Aruna
Kandala.
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8/24/10-Group dinner at Pappadeaux in Arlington, Texas. LtoR, Back:
Drew Morgan, Middle: Parvati Aruna Kandala, Nesreen Alsmadi, Daniel
Montrallo Flickinger, Alan Bowling, Mahdi Haghshenas-Jaryani, Front:
Michael Tadros, Adrian Rodriguez, Srider Thirupachoor Comerica.
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7/25/09-Group dinner at Pappadeaux in Arlington, Texas. LtoR, Shih-Chein (George) Teng, Alan Bowling,
Daniel Montrallo Flickinger, Oriana Flickinger (Honorary), Ryan Robertson, Salvador (Chava) Jimenez.
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7/16/09-Entertainment at banquet dinner, AIM'09 in Singapore.
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