F.L. Lewis, Assoc. Director for Research Moncrief-O ...Nonlinear Intelligent Control Objective: Develop new control algorithms for faster, more precise control of DoD and industrial

Automation & Robotics Research Institute (ARRI)The University of Texas at Arlington

F.L. Lewis, Assoc. Director for ResearchMoncrief-O’Donnell Endowed Chair

Head, Controls, Sensors, MEMS Group

http://ARRI.uta.edu/acs

Controls, Sensors, & MEMS Group

Mission: To help companies implement advanced controls to increase product quality and flexibility in the production process and to perform high quality research to expand the manufacturing knowledge base

Over $5M of research funding from industry, NSF, DoD, and Texas

• Industrial and Aerospace Controls Design - vibratory systems and actuator deadzone / backlash

• Intelligent control - neural networks and fuzzy logic• Aircraft Control and DoD Weapons Pointing Control• Discrete event manufacturing workcell control• Microelectromechanical MEMS Systems and Sensors• Wireless Sensor Networks for machinery and security

monitoring

Research accomplishments with hundreds of technical papers published and Eight Textbooks

Patents on Intelligent Nonlinear ControllersNumerous SBIR Contracts – ARRI won the SBA Tibbets Award

Contact Frank Lewis817-272-5900 [email protected]

Contact Frank Lewis817-272-5900 [email protected]

Autonomous Tank Gun Barrel Control

ARO SBIR Contract

$725K in 4 grantsFrom NSF and ARO

$725K in 4 grantsFrom NSF and ARO

Nonlinear Intelligent Control

Objective:Develop new control algorithms for faster, more

precise control of DoD and industrial systemsConfront complex systems with backlash,

deadzone, flexible modes, unknown disturbances and dynamics

• Three patents on neural network learning control • Internet- Remote Site Control and Monitoring• Rigorous Proofs and Design Algorithms• Applications to Tank Gun Barrels, Vehicle Active

Suspension, Industrial machine control• SBIR contracts for industry implementation• Numerous Books and Papers• Award-Winning PhD students

$300K in new NSF/ARO funding for Basic Controls Research

Neural Network Learning Control

[Λ I]

Robust ControlTerm vi(t)

Tracking Loop

rKr

Nonlinear FB Linearization Loop

F1(x)^ qr = qrqr.e

ee = .

qd =qdqd.

..qd

RobotSystem1/KB1 i

F2(x)^

Kη

ηid

NN#1

NN#2Backstepping Loop

ue[Λ I]


Tracking Loop

rKrKr


F1(x)F̂1(x)^ qr = qrqr.qr =qr = qrqr.qrqr.e

ee = .e = .

qd =qdqd.qd =qd =qdqd.qdqd.

..qd..qd

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F2(x)F̂2(x)^

KηKη

ηid

NN#1


ue[Λ I]


Tracking Loop

rKrKr


F1(x)F̂1(x)^ qr = qrqr.qr =qr = qrqr.qrqr.e

ee = .e = .

qd =qdqd.qd =qd =qdqd.qdqd.

..qd..qd

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F2(x)F̂2(x)^

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ηid

NN#1


ue[Λ I]


Tracking Loop

rKrKr


F1(x)F̂1(x)^ qr =qr = qrqr.qrqr.qr =qr = qrqr.qrqr.e

ee = .e = .

qd =qd =qdqd.qdqd.qd =qd =qdqd.qdqd.

..qd..qd

RobotSystem1/KB1 i

F2(x)F̂2(x)^

KηKη

ηid

NN#1


ueKηKη

ηid

NN#1


ue

Input Membership Fns. Output Membership Fns.

Fuzzy Logic Rule Base

NN

Input

NN

Output

Linguistics- Fuzzy Logic

Nervous System- Neural Network (NN)

Input x Output u

Input x Output u

(Includes Adaptive Control)

Input Membership Fns. Output Membership Fns.

Fuzzy Logic Rule Base

NN

Input

NN

Output

Linguistics- Fuzzy Logic

Nervous System- Neural Network (NN)

Input x Output u

Input x Output u

(Includes Adaptive Control)

Intelligent Control Tools

Decision-Making Control

Objective:Develop new control algorithms

for decision-making, supervision, resource assignment

Apply to manufacturing workcell control, battlefield C&C systems, internetworked systems

• Patent on Discrete Event Supervisory Controller • Internet- Remote Site Control and Monitoring• Implemented on Intelligent Robotic Workcell• New Algorithms based on Matrices• USA/Mexico Collaboration• New course material for UTA curriculum• Exploring Applications to Battlefield Information

Systems

$75K in ARO Funding for Networked Robot Workcell Control$80K in NSF Funding for research and USA/Mexico Network

USA/Mexico Internetworked Control

Man/Machine User Interface

TexasTexas

Intelligent Robot Workcell

Dr. Jose Mireles- PI

[email protected]@arri.uta.edu

New Books in 03-04

1. F.L. Lewis, D.A. Tacconi, Ayla Gurel, and O.C. Pastravanu, "Method and Apparatus for Testing and Controlling a Flexible Manufacturing System," U.S. Patent 6,185,469, awarded 6 Feb. 2001.

2. R. Selmic, F.L. Lewis, A.J. Calise, and M.B. McFarland, "Backlash Compensation Using Neural Network," U.S. Patent 6,611,823, Awarded 26 Aug. 2003.

RecentPatents

Wireless Sensor Networks

• Machinery monitoring & Condition-Based Maintenance (CBM / PHM / RUL)• Remote site biochemical warfare (BCW) toxin monitoring• Personnel monitoring and secure area denial• Optical MEMS human biosensors

[email protected]://mems.uta.edu

C&C UserInterface forwireless networks-Wireless

Data Collection Networks

Wireless Sensor

Machine Monitoring

Security Personnel and Vehicle Monitoring

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Biochemical Monitoring

EnvironmentalMonitoring

WirelessData Collection Networks

Wireless Sensor

Machine Monitoring


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Objectives:Develop MEMS sensors for biochemical &

environmental monitoring, industrial and DoD equipment monitoring, and secure area personnel denial

Develop self-configuring wireless networks for remote site monitoring

LabVIEW Real-time Signaling & Processing

CBM Database and real time Monitoring

PDA access Failure Data from anytime and

anywhere

User Interface, Monitoring, & Decision AssistanceWireless Access over the Internet

Tiered Disaster/Emergency Response

• Full response requires local, state, and federal assets• State response includes National Guard• Military support requires Total Force involvement

Local ResponseIncident Commander

Federal Response

State Response

Dr. Ron Blanck, President, UNT Health Science Center

HomelandSecurity

Wireless Sensor Nets for BCW Monitoring• MEMS sensors for biochemical species including anthrax,

nerve gases, NOx, organophosphorus • Wireless Sensor Networks for remote site biochemical

monitoring

Structured chemically-activenanosphere thin film- Rajeshwar

3x3 IGEFET sensor micro-array- Kolesar

DSP and C&C User Interface for wireless networks- Lewis

Molecular Recognition- RudkevichEnzyme-Based Detection- Bob Gracy

Microcantilever MEMS sensor array- Kolesar

Collaboration!

Personnel Secure Area Monitoring

• Smart sensors and wireless MEMS sensor networks• Video surveillance and tracking• Biometrics and sensor fusion for personnel monitoring• Databases and Data Mining• Pervasive and mobile computing (PICO)• Agent-oriented software engineering• Psychology and Human Performance Prediction • Fail-safe construction and smart materials

Contact Behrooz [email protected]

Contact Behrooz [email protected]

LOWSECURITY

MEDIUMSECURITY

HIGHSECURITY

VENTILATIONGas Sensors

. .Human Performance

Video Tracking/SurveillanceImage Processing

Data FusionData Mining

WALLS

Blast Layer

SensorLayers

....

Biometrics

Smart MaterialsSmart SensorsSmart Structures

Wireless NetworksPICO

Screening

Multiple-Clearance-Level Secure Access Areas

© L. Holder

Larry HolderSajal Das, UTA CSE

PHM Architecture and Enabling Technologies

Air Vehicle On-BoardHealth Assessment

Health Management,Reporting & Recording

Autonomic Logistics& Off-Board PHM

PVI

MAINTAINERVEHICLE INTERFACE

Mission Critical

PHMData

Displays & ControlsCrashRecorder

MaintenanceInterface Functions

IETMsConsumables

On-Board Diagnostics

PMD

.

PMA

In-Flight &Maintenance Data Link

Flight Critical

PHM / Service Info

Database

AMD/PMD

PHM Area Managers

MS Subsystems

• Sensor Fusion• Model-Based Reasoning• Tailored Algorithms• Systems Specific

Logic / Rules• Feature Extraction

Provides:• AV-Level Info Management• Intelligent FI• Prognostics/Trends• Auto. Logistics

Enabling/Interface

Methods Used:

FCS/UtilitySubsystems

NVMICAWSManager

AVPHMHosted in ICP

Structures

MissionSystems

• Decision Support• Troubleshooting and Repair• Condition-Based Maintenance• Efficient Logistics

Vehicle Systems

Propulsion

Results In:

ALIS• Automated Pilot / Maint. Debrief

• Off-Board Prognostics

• Intelligent Help Environment

• Store / Distribute PHM Information

Hosted in ICP

Mike Gandy, Lockheed

New Business Models for Machinery MaintenanceOriginal Equipment Manufacturer Becomes the Service Provider

Integrate Manufacturing, Service, and MaintenanceLifetime Machine Service ContractGuaranteed Up-Time for UserGuaranteed Lifetime Revenue Stream for OEM

• Internet-Based E-Maintenance• Integrate Internet with Machine On-Board Diagnostics• Centralized Service Scheduling and Dispatching• Reduced Service Costs

Subcontracted Maintenance Service ProvidersMSP provides and maintains the wireless sensor networkMSP monitors equipment, schedules & provides maintenanceLike current Security Systems- Brinks, etc.

Dr. Jay Lee Univ. of Wisc. MilwaukeeG. Vachtsevanos, Ga. Tech

http://www.echelon.com/

Building automationUtilities automationIndustrial automationHome automationTransportation automation

LonWorks

Control Networks for

Smart Home Networksreprinted with permission of Artech House, from R. Frank [2000]

Smart Home Networks

Major driver for the smart home is the power distribution industry,Could save enormous sums with demand-side regulation and automated remote meter reading. The Intelligent Building Institute has been a force in developing appropriate standards.

Contact Diane CookUTA CSE [email protected]

Contact Diane CookUTA CSE [email protected]

sensor signalconditioning

DSP

local userinterface

applicationalgorithms

data storage

communicationanalog-to-

digitalconversion

NETWORK

hardwareinterface

Network SpecificNetwork Independent

Virtual Sensor

IEEE 1451 Standard for Smart Sensor Networks

Concept of Smart Sensorcontains functions in addition to those needed foraccurate presentation of the measurand

Objective: Develop-MEMS sensors for biomedical, industrial and DoD

equipment monitoring, environmental, gas monitoring, and wireless security networks.

MEMS control systems, micro robotics, and actuators for micro assembly and manipulation.

$180K in ARO/ UTA/ Texas funding to set up ARRI MEMS lab $250K in MEMS related Grants from NSF and ARO

F.L. Lewis, Head, Controls, Sensors, MEMS GroupUTA Automation & Robotics Research Institute

Stored Map FromMEMS-Pro3D info

Visioninfo

LocalizationWith 3D info

Feature-basedVision

User-Guided Microassembly Station

User Interface & DSP for wireless networks


Wireless Sensor

Machine Monitoring


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Wireless Sensor

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Wireless MEMS Sensor Networks

Frank [email protected]://mems.uta.edu

1 2 3 4 5 6 7 8 940

60

80

100

120

140

160

Rtto

t[K/W

]

V[V]

Trm

RtrRtcvCt

T

qRtcd

Thermal ModelMechanical ModelElectrical ModelOptical Model

( )( )

( )( )TsCR

TRsqsT

ttot

ttot

+=

1

MEMS Modeling and Control

FEA

Experiment

ARRI Probe Station

Karl Suss Probe StationMitutoyo 2000x MicroscopeManual ProbesMP-285 Automated Probe (40 nm)Camera & Vision SystemNI control boardsLabVIEW for image proc. & DSP

MEMS Design & FEA Software MEMS-ProIntelliSuiteANSYS

Trm

RtrRtcvCt

T

qRtcd

MEMS Modeling and Control

Thermal Model( )( )

( )( )TsCR

TRsqsT

ttot

ttot

+=

1

1 2 3 4 5 6 7 8 940

60

80

100

120

140

160

Rtto

t[K/W

]

V[V]

( ) ( ) ( )txkdtdxxc

dtxdm mm f=++2

2

Mechanical Model

Electrical Model

RC

L

Z(s)=R+sL+1/sC

FEA Experiment

( ) ( ) ( )sVTRsCLCs

sCsIeee

e

12 ++=

Optical Model2/1

20

22

20

exp2),(⎭⎬⎫

⎩⎨⎧ +−=

wst

wstU

π

Bruno BorovicWith Ai Qun Liu, NTU Singapore

Intellisuite simulation showing dry (RIE) etching of 110 Si to get Micro Channels. Channels are more than 100 microns high (ARRI).

MicroFluidics for VLSI Chip CoolingNumber of transistors on a chip is now limited by heat dissipation.Fabricate micro-channels on the back of the chip for cooling.

With Dereje Agonafer, DirectorUTA Packaging Center

Wendell McCulley, InterMEMS

Syed Haider

N

S

N

S

Ferromagneticmaterial

Non- -ferromagnetic

material

Permanentmagnet

MEMSChip

Vibrating bodywith the coil

C0

VP

++++

____

V0

+ +

++

+ +

++

_ _

__

_ _

__

CP

Vibrations

Cross section

Cross section

+ + ++ + ++ + + - - -- - -- - -

New Sensor Technologies- MEMSPower Generation

E-Mag Vibration

E-Static

RFID

New Sensing MethodsOptical Pulmonary Pressure Sensor

Membrane deflection FEA

TableXY Stage mounted on

rotational stageResolution: 3 µm, 0.01 deg

MP-285XYZ degree of freedom

Motorized probeResolution: 40 nm

VerticalFocusing

Stage

Rotational stageResolution: 0.01 deg

CameraResolution: NTSC

Microscope RS-232

MOTIONCONTROLLERS

IMAGE AQUISITIONCARD

Analog / Digital Input- output CARD

LabView&

Windows CVI

Microassembly StationBruno Borovic

Micro ManipulatorMP-285

Automated- 40 nm accuracy

Automatic Probe MP-285

Manual Control

Probe ControllerTableXY Stage mounted on

rotational stageResolution: 3 µm, 0.01 deg

MP-285XYZ degree of freedom

Motorized probeResolution: 40 nm

VerticalFocusing

Stage

Rotational stageResolution: 0.01 deg

CameraResolution: NTSC

MicroscopeRS-232

MOTIONCONTROLLERS



LabView&

Windows CVI

Vision Feedback

Map FromMEMS-Pro3D info

Visioninfo

LocalizationWith 3D info

Stored map

Feature-based

Based or pre-programmed behaviours

OpenGL LabWindows /CVI

RS-232

MOTIONCONTROLLERS



LabView&

Windows CVI

International Workshop Series

Workshop Series:Hong Kong Workshop on Controls, Chinese Univ. of HK, Nov 2001UTA/UNM Joint Workshop on Research and Academic Opportunities with

Latin America, 1 April 2003Texas MEMS Workshop, 6 May 2003MEMS Workshop on Mexico/USA Collaboration, 7 May 2003ARRI / TMAC/ Georgia Tech Workshop on Automated Machinery

Maintenance, 17 July 2003ARRI/UTD/HSC International Symposium on Homeland Security, 28-30

JulyIberoAmerican Workshop on Micro-Systems MEMS, Puerto Vallarta,

Mexico. 19-20 Sep. 2003A-Star Workshop on Autonomous Systems, Nanyang Technological Univ.,

Singapore, 27 Oct. 2003Wireless Sensor Networks, National Univ. Singapore, 13 Nov. 2003

Summer Program for K-12 students and undergraduate students, summer 2003.Robotics Workshop for local High School Teachers, summer 2003.Initiated a scholarship program for UNT Health Science Center students to

do research at UTA. A top female minority student is the first awardee.Started US/Mexico MEMS workshop series with J. Mireles, Univ. Autonoma

de Ciudad Juarez. Two workshops have been organized so far, one at UTA and one in Puerto Vallarta.Started a UTA/Mexico student exchange program for Mexico graduate and

undergraduate students.Obtained NSF REU supplement funding to support minority students, one

of whom wrote a winning paper.Started several Dallas/Ft Worth Metroplex-wide activities in MEMS, CBM,

and Homeland Security with TCU, UTD, UNT Health Science Center, Lockheed-Martin. Ran a series of technology transfer workshops in these areas.

Broader Impact Activities

Partners Respironics Inc., InterMEMS Inc., UT Southwestern Medical Institute, “Design of MEMS Optical Biosensors for Control of Critical Care Pulmonary Ventilators,” funded by NSF.

Partners Texas Instruments, TEXMEMS 03 (see list above).Partners Univ. Autonoma de Ciudad Juarez, Mexico, and Mexico/US

Foundation for Science, Workshop on US/Mexico MEMS Collaboration, (see list above).

Partners Georgia Tech, Texas Manufacturing Assistance Center, National Instruments, Lockheed-Martin, “Workshop on Automated Machinery Maintenance,” (see above list).

Partners Univ. Texas at Dallas, US EPA, Russian Academy of Rocket & Artillery Sciences, UK QinetiQ, International Symposium on Homeland Security,” (see above list).

Tech. Transfer & Outreach Initiative Partners

General Chairman, Mediterranean Control Conference, Rhodes, June 2003.

General Chairman, IEEE Conference on Decision and Control, Hawaii, Dec. 2003.

Organized “Plenary Panel on International Funding Thrusts and Mechanisms” at CDC 2003. Attendees were:

Paul Werbos, US NSF, ChairJean-Michel Dion, French Ministry of ResearchAlkis Konstantellos, European CommissionKishan Baheti, US NSFIan Petersen, Australian Research CouncilXiren Cao from Hong Kong.Chenghong Wang of the Chinese National Natural Science

Foundation could not attend due to visa delays.

International Outreach Activities

F.L. Lewis, Assoc. Director for ResearchMoncrief-O’Donnell Endowed Chair

Head, Controls, Sensors, MEMS Group

Automation & Robotics Research Institute (ARRI)The University of Texas at Arlington

Sponsored byIEEE Singapore SMC, R&A, and Control Chapters

Organized and invited by Professor Sam Ge, NUS

UTA / IEEE Singapore Short CourseWireless Sensor Networks for Monitoring Machinery,

Human Biofunctions, and Biochemical Agents

Mediterranean Control AssociationFounded 1992

Conferences held inCrete, Cyprus, RhodesIsraelItalyDubrovnik, CroatiaKusadasi Turkey 2004

Founding MembersM. ChristodoulouP. IoannouK. ValavanisF.L. LewisP. AntsaklisTed DjaferisP. Groumpos

Bringing the Mediterranean Together for Collaboration and Research

F.L. Lewis, Assoc. Director for Research Moncrief-O ...Nonlinear Intelligent Control Objective: Develop new control algorithms for faster, more precise control of DoD and industrial

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