Joint MNE-EAS Seminar by Dr. Peiman Naseradinmousavi
When: Friday,
April 16, 2021
2:00 PM
-
3:00 PM
Where: > See description for location
Description: Joint Mechanical Engineering (MNE) and Engineering and Applied Sciences (EAS) SEMINAR
DATE:
April 16, 2021
TIME:
2:00 p.m. - 3:00 p.m.
LOCATION:
https://umassd.zoom.us/j/97680493591
SPEAKER:
Peiman Naseradinmousavi, Associate Professor
Dynamic Systems and Control Lab, Mechanical Engineering Department, San Diego State University
TOPIC:
Experimental Decentralized Adaptive Control and Delay Compensation for a High-DOF Robotic System
ABSTRACT:
Dealing with high-DOF robotic systems undoubtedly needs highly computationally efficient control algorithms to be implemented in real time. Many shortcomings of centralized control methods, either adaptive or nonadaptive, emerge for when the scale of such multiagent systems increases. This problem becomes more crucial in the presence of highly nonlinear dynamic interconnections among agents, here the robot's links. Through the first part of this seminar, I thoroughly present both analytical and experimental efforts for a novel decentralized adaptive control scheme to efficiently learn the coupled uncertainties vs. the centralized adaptive one for a 7-DOF Baxter robot. Mentioning the computational burden, typically leading to the operational failure, promptly reveals a challenging problem of delay compensation for such a coupled dynamical system. Within the second part, I discuss the cumbersome analytical formulation of the delay compensator, for the first time, to be experimentally implemented for the robotic system.
BIO:
Dr. Peiman Naseradinmousavi earned his PhD at Villanova University in 2012 and was presented with the College's Outstanding PhD Student Award. Today he is an Associate Professor of Mechanical Engineering at San Diego State University. Before joining San Diego State, he was a Visiting Assistant Professor at Purdue University. Dr. Naseradinmousavi's research interests include robotics, smart flow distribution networks, nonlinear dynamics, control theory, optimization, magnetic bearings, and mathematical modeling. He serves as Associate editor for the ASME Letters in Dynamic Systems and Control, and the Journal of Vibration and Control. His robotic research work has been publicized on NPR (KPBS) news. He was the recipient of the John J. Gallen Alumni Award 2021. Dr. Naseradinmousavi earned his B.Sc. in Mechanical Engineering (dynamics and control) from Tabriz University in 2002.
For more information please contact Dr. Caiwei Shen, MNE Seminar Coordinator (cshen2@umassd.edu).
All are welcome.
Students taking MNE-500 are REQUIRED to attend!
All other MNE BS and MS students are encouraged to attend. EAS students are also encouraged to attend.
Thank you,
Sue Cunha, Administrative Assistant
scunha@umassd.edu
508-999-8492
DATE:
April 16, 2021
TIME:
2:00 p.m. - 3:00 p.m.
LOCATION:
https://umassd.zoom.us/j/97680493591
SPEAKER:
Peiman Naseradinmousavi, Associate Professor
Dynamic Systems and Control Lab, Mechanical Engineering Department, San Diego State University
TOPIC:
Experimental Decentralized Adaptive Control and Delay Compensation for a High-DOF Robotic System
ABSTRACT:
Dealing with high-DOF robotic systems undoubtedly needs highly computationally efficient control algorithms to be implemented in real time. Many shortcomings of centralized control methods, either adaptive or nonadaptive, emerge for when the scale of such multiagent systems increases. This problem becomes more crucial in the presence of highly nonlinear dynamic interconnections among agents, here the robot's links. Through the first part of this seminar, I thoroughly present both analytical and experimental efforts for a novel decentralized adaptive control scheme to efficiently learn the coupled uncertainties vs. the centralized adaptive one for a 7-DOF Baxter robot. Mentioning the computational burden, typically leading to the operational failure, promptly reveals a challenging problem of delay compensation for such a coupled dynamical system. Within the second part, I discuss the cumbersome analytical formulation of the delay compensator, for the first time, to be experimentally implemented for the robotic system.
BIO:
Dr. Peiman Naseradinmousavi earned his PhD at Villanova University in 2012 and was presented with the College's Outstanding PhD Student Award. Today he is an Associate Professor of Mechanical Engineering at San Diego State University. Before joining San Diego State, he was a Visiting Assistant Professor at Purdue University. Dr. Naseradinmousavi's research interests include robotics, smart flow distribution networks, nonlinear dynamics, control theory, optimization, magnetic bearings, and mathematical modeling. He serves as Associate editor for the ASME Letters in Dynamic Systems and Control, and the Journal of Vibration and Control. His robotic research work has been publicized on NPR (KPBS) news. He was the recipient of the John J. Gallen Alumni Award 2021. Dr. Naseradinmousavi earned his B.Sc. in Mechanical Engineering (dynamics and control) from Tabriz University in 2002.
For more information please contact Dr. Caiwei Shen, MNE Seminar Coordinator (cshen2@umassd.edu).
All are welcome.
Students taking MNE-500 are REQUIRED to attend!
All other MNE BS and MS students are encouraged to attend. EAS students are also encouraged to attend.
Thank you,
Sue Cunha, Administrative Assistant
scunha@umassd.edu
508-999-8492
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