Thomas E. Alberts

Professor Department of Aerospace Engineering Old Dominion University Phone: (757) 683-3736 Fax: (757) 683-3200 talberts@aero.odu.edu or talberts@aero.odu.edu

Born:
Milwaukee, Wisconsin, 1955

Education:
Ph.D. Mech. Eng., Georgia Institute of Technology, September 1986
M.S. Mech. Eng., University of Wisconsin Milw., December 1983
B.S. Mech. Eng., University of Wisconsin Milw., September 1982

Experience:
Old Dominion University, Norfolk, Virginia
Associate Professor of Aerospace Engineering, July 1993present
Associate Professor of Mechanical Engineering, Sept. 1992 July 1993
Assistant Professor of Mechanical Engineering, Sept. 1986Aug. 1992

Georgia Institute of Technology, Atlanta, Georgia
Lecturer, Summer 1985.
Graduate Research Assistant, Sept. 1983 Sept. 1986

University of Wisconsin Milwaukee, Milwaukee, WI.
Graduate Research Assistant, Sept. 1982 Sept. 1983.
Teaching Assistant, (as undergrad.), Sept. 1981 Sept. 1982.
Research Assistant, (as undergrad.), Jan. 1979 Sept. 1981.

Visiting Scholarship:
University College of Swansea, Wales UK
SERC Visiting Fellowship, approved for August 1994 and August 1995.

University of California Berkeley
Visiting Scholar (during sabbatical), August 1993 June 1994.

University of New South Wales, Australian Defence Force Academy
Visiting Fellow, July and August 1993.

US Air Force Academy, Frank J. Syler Laboratories
Summer Faculty Research Program, June August 1992.

Universita` Degli Studi Di Napoli
Research Collaboration with Bruno Siciliano, June July 1990.

Consulting Activities:
Material Analysis Inc., Norfolk VA, 1992
Speed computation for industrial flywheel explosion incident at Dresser-Rand.

Law Offices of Howell, Daugherty, Brown, Lawrence, Norfolk VA, 1990
Expert witness for produce liability case D.E. Foreman v. Time Savers Sanders, Inc.

Filmirage Productions, Rome Italy, 1988
Setup and programming of a unimate PUMA 260 robot arm as a special effect for the motion picture Metamorphosis.

Systolic Systems, Inc., San Jose CA, 1988, 1990
Development and application of real-time closed-loop control and data acquisition hardware for dynamic control experiments with scaled flexible space structures and for robotic manipulator experiments.

US NAVY, Norfolk Naval Base, Norfolk VA, 1988
Analysis of proposed pier steam distribution system for pressure loss, system capacity and control stability.

FMC Corporation Northern Ordance Div., Minneapolis, MN, 1986
Designed and produced prototypes of constrained viscoelastic damping treatments for large flexible robotic manipulator.

Welding Services Inc., Atlanta, GA, 1985.
Design consultation for development of a robotic weld positioner.

Honors and Awards:
Oustanding Faculty Award, MEM Department, ODU, 1988.
Ph.D. Dissertation selected as outstanding in ME Department at Georgia Tech for nomination in
Sigma Xi competition, 1986.
Georgia Tech Industrial Fellowship, 1983.
SAE Outstanding Student Service Award, 1978.

Membership In Professional Societies:
American Society of Mechanical Engineers, Member.
American Institute of Aeronautics and Astronautics, Member.
Institute of Electrical an dElectronics Engineers, Member.
Sigma Xi, Member 19851988.
SME Robotics International, Senior Member, 1985-1988.

Professional Service:
National Committee Activities
Associate Editor, ASME journal of Dynamic Systems, Measurement and Control, since Jan. 1994.

Associate Editor, ASME Dynamic Systems and Control Division Newsletter, June 1989-May 1992.

Chairman, ASME Dynamic Systems and Control Division, Aerospace Panel, Nov.1990-Dec. 1993.

Co-Chairman, ASME Dynamic Systems and Control Division, Education Panel, since Jan. 1994.

National Conference Organization Activities
Organizing Committee Member, ASME Design Engineering Division, 15th Biennial Conference on Vibration and Noise, Boston, MA, Sept. 1995.

1995 ASME Winter Annual Meeting Program Representative for Dynamic Systems and Control Division.

Technical Committee Member, SPIE's 1993 North American Conference on Smart Structures and Materials, Albuquerque, NM, Feb. 1993.

Chairman and Organizer, Session entitled "Experimental Control of Flexible Structures," 1993 American Control Conference, San Francisco, CA, June 1993.

Technical Committee Member, 2nd Conference on Recent Advances in Active Control of Sound and Vibration, also Session Chairman, Blacksburg, VA, April 1993.

Chairman and Organizer, Session entitled "Experimental Control of Flexible Structures," 1992 American Control Conference, Chicago, IL, June 1992.

Co-Chairman and Co-Organizer, Symposium entitled "Controls for Optical Systems,: 1992 SPIE Aerospace Sensing Conference, Orlando, FL, Apr. 1992.

Chairman and Organizer, Session entitled "Experimental Control of Flexible Structures," 1991 American Control Conference, Boston, MA, June 1991.

Technical Committee Member, Conference on Recent Advances in Active Control of Sound and Vibration, also Session Chairman, Blacksburg, VA, April 1991.

Co-Chairman and Co-Organizer, Symposium entitled "Controls for Optical Systems," 1991 SPIE Aerospace Sensing Conference, Orlando, FL, Apr. 1991.

Chairman, Session entitled "Flexible and Compliant Manipulators," 1990 ASME Computers in Engineering Conference, Boston, MA, August 1990.

Chairman and Organizer, Session entitled "Experimental Control of Flexible Structures," 1990 American Control Conference, San Diego, CA, May 1990.

Chairman and Organizer, Session entitled "Dynamics and Control Issues for Space Manipulators,: 1990 ASME Winter Annual Meeting, Dallas, TX, Nov. 1990.

Co-Chairman and Co-Organizer, Symposium entitled "Controls for Optical Systems,: 1990 SPIE Aerospace Sensing Conference, Orlando, FL, Apr. 1990.

Chairman and Organizer, Session entitled "Control of Flexible Manipulators,"
Chairman and Organizer, Session entitled "Dynamics and Control Issues for Space Manipulators,: 1989 ASME Winter Annual Meeting, San Francisco, CA, Dec. 1989.

Chairman, Session entitled "Perception Systems for Intelligent Robotics," 1989 ASME Computers in Engineering Conference, Anaheim, CA, August 1989.

Chairman and Organizer, Session entitled "Experimental Control of Flexible Structures," 1989 American Control Conference, Pittsburgh, PA, June 1989.

Co-Chairman, Session entitled "control of Flexible Manipulators," 1989 IEEE International Conference on Robotics and Automation, Scottsdale, AZ, May 1989.

Co-Chairman, Session entitled "Control of Flexible Manipulators," 1988 ASME Winter Annual Meeting, Chicago, IL, Dec. 1988.

Chairman, Session entitled "Robot kinematics and Motion Control," 1988 ASME Computers in Engineering Conference, San Francisco, CA, August 1988.

Chairman and Organizer, Session entitled "Flexible Structure Control Experiments," 1988 American Control Conference, Atlanta, GA, June 1988.

Reviewer for Technical Journals:
Automatica
Control Engineering Practice
ASME Journal of Vibration and Acoustics
ASME Journal of Dynamic Systems, Measurement, and Control
AIAA Journal of Guidance, Control and Dynamics
IEEE Journal of Robotics and Automation
IEEE Control Systems Magazine
IEEE Transactions on Systems, Man and Cybernetics
International Journal of Robotics Research
journal of Intelligent Material Systems and Structures

University Service
Faculty Advisor to WODU Radio Station, 1988-1992.

Faculty Senate Appointee to Student Media Advisory Board, 1988-89, 1989-90 and 1990-91.

Member of Faculty Senate Committee K (Administrative Services), 1989-90.

Departmental and College Service:
Faculty Advisor ASME Student Chapter, Jan. 1987 to Jan 1990. Hosted Regional Student Conference 1990; Placed 2nd in Allied Signal Contest 1987, 1988, 3rd 1989; Placed 2nd in Old Guard Competition 1987, 1988.

Chairman, Departmental Laboratory Development committee, since Sept. 1992.

Departmental Laboratory Equipment Committee, 1986--1989, (Chairman 1988-1989), coordinated Equipment Trust Fund purchases.

Principal Developer, MEM/ECE Controls Laboratory. Laboratory coordinator since 1986.

United States Patent
Fiber Enhancement of Viscoelastic Damping Polymers, U.S. Patent # 5,256,223, Oct. 26, 1993.

Book Editorships:
Controls for Aerospace Structures, Alberts, E.E., Editor, ASME Publication #H00725, DSC-Vol.35, Dec. 1991.

Advances in Dynamic and Control of Flexible Spacecraft and Space-Based Manipulators, Joshi, S.M., Alberts, E.E., and Kakad, Y.P., Editors, ASME Publication #G00533, DSC-Vol.20, Nov. 1990.

Dynamics and Control of Multibody/Robotic Systems with Space Applications, Joshi, S.M., Silverberg, L. and Alberts, T.E., Editors, ASME Publication #H00548, DSC-Vol. 15, Dec. 1989.

Journal Publications:
Pota, H.R. and Alberts, T.E., "Multivariable Transfer Functions for a Slewing Piezo-electric Laminate Beam," Accepted for publication in ASME Journal of Dynamic Systems Measurement and Control.

Alberts, E.E. and Xia, H., "Design and Analysis of Fiber Enhanced Viscoelastic Damping Polymers,: Accepted for publication in Journal of Vibration and Acoustics.

Kelkar, A.B., Joshi, S.M. and Alberts, T.E., "Global Asymptotic Stability of Dynamic Dissipative Compensators for Multibody Flexible Space Structures,: Accepted for publication in IEEE Transactions on Aerospace Electronics Systems.

Alberts, T.E., Xia, H. and Chen, Y., "Dynamic Scaling of Flexible Structures with Viscoelastic Components,: ASME Journal of Vibration and Acoustics, Oct. 1992, Vol. 114, No. 4, pp. 449-453.

Alberts, T.E., Xia, H. and Chen, Y., "Dynamic Analysis to Evaluate Viscoelastic Passive Damping Augmentation for the Space Shuttle Remote Manipulator System," ASME Journal of Dynamic Systems, Measurement and Control, Vol. 114, No. 3, Sept. 1992, pp. 468-475.

Alberts, E.E. and Colvin, J. A., "Observations on the Nature of Transfer Functions for Control of Piezoelectric Laminates," Journal of Intelligent Material Systems and Structures, Vol. 2, No. 4, Oct., 1991, pp. 528-541.

Book, W.J., Alerts, E.E., and Hastings, G.G., "Design Strategies for High Speed, Lightweight Robots," CIME Magazine, Vol. 5, No. 2, Sept. 1986, pp. 26- 33.

Alberts, E.E., Book, W.J. and Dickerson, S.L., "Modeling and Control of Flexible Manipulators," SME Transactions Manufacturing Technology Review, Vol. 1, May 1986, pp. 134-144. In Review

Alberts, T.E. and Harrell, J.V., "Optimal Passive/Active Control Design Synergism for Flexible Structures," Submitted to the AIAA Journal of Guidance, Control and Dynamics.

Kelkar, A.G., Joshi, S.M. and Alberts, T.E., "Globally Stabilizing Controllers for Flexible Multibody Systems," submitted to the IEEE Transactions on Automatic Control.

Published Proceedings:
Alberts, T.E., DuBois, T.V., and Pota, H.R., "Experimental Verification of Multivariable Transfer Functions for a Slewing Piezoelectric Laminate Beam," Proceedings of the IFAC 12th World Congress, Sydney, Australia, July 1993, Vol 8, pp 515-518.

Kelkar, A.G., Joshi, S.M. and Alberts, E.E., "Global Asymptotic Stability of Dynamic Dissipative Compensators for Multibody Flexible Space Structures," Proceedings of the 1993 American Control Conference, San Francisco CA, June 1993, Vol. 2, pp. 1277-1281.

Alberts, T.E., DuBois, T.V., and Pota, H.R., "Development and Experimental Verification of Multivariable Transfer Functions for a Slewing Piezoelectric Laminate Beam," Proceedings of the Ninth VPI&SU Symposium on Dynamics and Control of Large Structures, May 1993.

Alberts, T.E. and Harrell, J.V., and Xia, H., "Simultaneously Optimal Active and Passive Control Design for a Slewing Piezoelectric and Viscoelastic Laminate Beam," Recent Advances in Active Control of Sound and Vibration, Blacksburg VA, April 1993, pp. 693-704.

Alberts, T.E., and Xia, H., "Ivestigation of Damping Properties for Fiber Enhanced Viscoelastic Damping Polymers," Proceedings of Damping `93, Feb. 1993.

H. R. Pota and T. E. Alberts, " Control of a Flexible Slewing Link with Active Damping," proceedings of the SPIE International Symposium Smart Structures and Materials `93, Feb. 1993.

Alberts, T.E., DuBois, T.V., and Pota, H.R., "Experimental Verification of Slewing Piezoelectric Laminate Beam Transfer Functions, with Both Minimum Phase and Non-minimum Phase Zeros," in intelligent Robotics, Proceedings of International Symposium on Intelligent Robotics, Bangalore, India, Jan. 1993, pp. 349-359.

Kelkar, A.G., Joshi, S.M. and Alberts, T.E., "Globally Stabilizing Controllers for Flexible Multibody Systems," proceedings of the 1992 IEEE Conference on Decision and Control, Tucson AZ, Dec. 1992, Vol. III p. 2856-2859.

Kelkar, A.G., Joshi, S.M. and Alberts, T.E., "Asymptotic Stability of Dissipative Compensators for Multibody Systems in the Presence of Actuator/Sensor nonlinearities," Dynamics of Flexible Systems:Theory and Experiment, 1992 ASME Winter Annual Meeting DSC-Vol. 37, Nov 1992, pp. 35-38.

H. R. Pota and T. E. Alberts, "multivariable Transfer Functions for a Slewing Piezoelectric Laminate Beam," Proc. IEEE Int. Conf. on Systems Engineering, Sept 17-19, Kobe, Japan, 1992.

Kelkar, A.G., Koganti, G., Alberts, T.E., Hou, G., "CSI Design of Articulated Space Structures," paper #AIAA-92-4515-CP, Proc. AIAA/AAS Astrodynamics Conference, Hilton Head SC, Aug. 1992, pp. 307-315.

Alberts, T.E., "An Approach to Teaching Control System Design and Application," Proceedings of the 1992 American Control Conference, Chicago, IL, June 1992, pp. 468-472. (Invited)

Cudney, H., Alberts, T.E., and Colvin, J.A., "A Classical Approach to Structural Control with Piezoelectric Actuators and Sensors," Proceedings of the AIAA/ASME/ASCE/AHS 33rd Structures, Structural Dynamics, and Materials Conference, Dallas TX, April 1992, pp. 2118-2126.

Pota, H.R. and Alberts, T.E., "Experiments in Control of Flexible Beam with Modified Outputs," paper # 169617 in Proc. SPIE Int. Symposium on Optical Engineering and Potonics in Aerospace Sensing Conf # 1696 on Control for Optical Systems, Orlando, Fl. 20-24 April 1992, pp. 222-230.

Alberts, T.E. and Colvin, J.A., "Transfer Function Analysis for a Flexible Beam with Piezoelectric Film Actuators and Sensors," Recent Advances in Active Control of Sound and Vibration, Blacksburg, VA, April 1991, pp. 64-77.

Alberts, T.E., Kelkar, A. and Siciliano, B., "Two-Time Scale Control for an Arm with Joint and Link Compliance," in Intelligent Robotics, Proceedings of International Symposium on Intelligent Robotics, Bangalore, India, Jan. 1991, pp. 138-146.

Alberts, T.E., Xia, h. and Chen, Y., "Dynamic Analysis to Evaluate Viscoelastic Passive Damping Augmentation for the Space Shuttle Remote Manipulator System," ASME Publication #G00533, DSC-Vol. 20, Advances in Dynamics and Control of Flexible Spacecraft and Space-Based Manipulators, Nov. 1990, pp. 35-41.

Alberts, T.E., Xia, H. and Chen, Y., "Dynamic Analysis and Evaluation of the Space Shuttle Remote Manipulator System," Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, Kobe, Japan, Nov. 1990.

Alberts, T.E. and Love, L.J., "A Versatile Robot Control Architecture Using Off-the-Shelf General Purpose Components," Proceedings of the 1990 ASME Computers in Engineering Conference, Boston, Aug. 5-9, 1990.

Alberts, T.E., Love, L.J., Bayo, E., "Experiments with Endpoint Control of a Flexible Link Using the Inverse Dynamics Approach and Passive Damping," proceedings of the 1990 American Control Conference, San Diego, CA, May 23-25, 1990, pp. 350-355.

Alberts, T.E., Chen, Y. and Xia, H., "On the Effectiveness of Section Length Optimization for Constrained Viscoelastic Layer Damping Treatments," Presented at the SPIE Aerospace Sensing Conference, April 16-20, 1990, SPIE volume: Advances in Optical Structures, SPIE Vol. 1303, ISBN 0-8194-0354-7, 1990, pp. 274-286.

Alberts, T.E. and Colvin, J.A., "Transfer Functions for Piezoelectric Control of a Flexible Beam," Presented at the SPIE Aerospace Sensing Conference, April 16-20, 1990, SPIE Volume: Advances in Optical Structures, SPIE Vol. 1303, ISBN 0-8194-0354-7, 1990, pp. 381-391.

Kelkar, A. and Alberts, T. E., "Computing Maximum Tracking Error Due to Payload Dynamics," Proceedings of the 1990 IEEE International Conference on Robotics and Automation, May 13-18, 1990, Vol. 2, pp. 851-855.

Silwa, N.E., Harrison, F.W., Soloway, D.I., McKinney, W.S., Cornils, K., Doggett, W.R., Cooper, E.G. and Alberts, T.E., "Automation and Robotics Considerations for a Lunar Base," also presented at Symposium on Lunar Base & Space Activities for the 21st Century, Houston, Texas, April 1988, Paper No. LBS-88--184, also published in the book Lunar Bases and Space Activities of the 21st Century, Ed. W.W. Mendel, 1992, NASA CP 3166, Vol. 2, pp. 603-608.

Soloway, D.I. and Alberts, T.E., "Comparison of Joint Space Versus Task Space Load Distribution Optimization for a Multi-Arm Manipulator System," NASA Conference on Space Telerobotics, Jan. 1989, Vol. 4, pp. 431-443.

Alberts, T.E. and Soloway, D.I., "Force Control of a Multi-Arm Robot System," Proceedings of the 1988 IEEE international Conference on Robotics and Automation, April 1988, Vol. 3, pp. 1490-1496.

Alberts, T.E., "Reducing Model Uncertainty Effects in Flexible Manipulators Through the Addition of Passive Damping," Proceedings of the NASA/JPL Workshop on Space Telerobotics, Jan. 1987, Vol. 1, pp. 307-316.

Alberts, T.E., "Progress in High-Speed Light-Weight Motion Control," Proceedings 1987 Annual Material Handling Research Forum, Georgia Institute of Technology, Sept. 1987. (Invited Paper)

Alberts, T.E., Book, W.J. and Dickerson, S.L., "On the Transfer Function Modeling of Flexible Structures with Distributed Damping," 1986 ASME Winter Annual Meeting, Dec. 1986, Published in bound volume Robotics: Theory and Applications, ASME DSC-Vol 3. (Invited Paper)

Alberts, T.E., Hastings, G.G., Book, W.J. and Dickerson, S.L., Experiments in Optimal Control of a Flexible Arm with Passive Damping, "Proceedings of the VPI&SU/AIAA Symposium on Dynamics and Control of Large Structures, Blacksburg, VA, June 1985, pp. 423-435.

Book, W.J., Dickerson, S.L., Hastings, G.G., Cetinkunt, S. and Alberts, T.E., "Combined Approaches to Lightweight Arm Utilization," 1985 ASME Winter Annual Meeting, Nov. 1985, Published in bound volume Robotics and Manufacturing Automation, PED-Vol. 15, pp. 97-108.

Neusen, K.F., Chan, S.H. and Alberts, T.E., "The Effects of Elevated Temperature and Pressure upon Erosion and Scale Removal by Submerged Cavitating Jets," Proceedings of the International Symposium on Jet Cutting Technology, June 1984, pp. 589-600.

Alberts, T.E., Book, W.J. and Dickerson, S.L., "Experiments in Augmenting Active Control of a Flexible Structure with Passive Damping," AIAA 24th Aerospace Sciences Meeting, Jan. 1986.

Presentations at National or International Conferences:
Alberts, T.E. and Soloway, D.I., "Force Control of a Multi-Arm Robot System Load Distribution Strategies," 1988 American Control Conference, June 1988. (Invited Presentation)

McKinney, W.S., Alberts, T.E. and Soloway, D.I., "A Computer Architecture for Laboratory Experiments in Robot Control," 1988 ASME International Computers in Engineering Conference, August 1988.

Alberts, T.E., Sangveraphunsiri, V. and Book, Wayne J., "Optimal Control of a Flexible Manipulator Arm: Volume I, Dynamic Modeling," MHRC Technical Report, MHRC-TR-85-06, Georgia Inst. of Technology, 1985, 9 fig., 2 tbls., 13 ref., 39 pgs.

Alberts, T.E., Sangveraphunsiri, V. and Book, Wayne J. "Optimal Control of a Flexible Manipulator Arm: Volume II, Control System Design and Implementation," MHRC Technical Report, MHRC-TR-85-07, Georgia Inst. Of Technology, 1985, 10 fig., 6 tbls., 15 ref., 31 pags.

Lane, J.S., Alberts, T.E. and Dickerson, S.L., "Flexible Manipulator Arms Using Active and Passive Control," MHRC Technical Report, MHRC-TR-85-03, 1985, 49 fig., 4 tbls., 19 ref., 68 pgs.

Alberts, T.E., "Augmenting the Control of a Flexible Manipulator with Passive Mechanical Damping," MHRC Technical Report, MHRC-TD-86-05, 1985, 46 fig., 18 tbls., 74 ref., 134 pgs.

Grants Awarded:
Simultaneous Passive and Active Dissipation Mechanisms in a Gantry Crane and Spreader System, UK Science and Engineering Research Council, Contract GR/J97946.
Duration: 1/7/94 to 8/31/95 Amount Funded: $17,125

Active Control Design for the FJSRL Slewing Piezoelectric Laminate Beam, AFOSR Summer Graduate Student Research Program, Conducted at the US Air Force Academy, Frank J. Syler Laboratories.
Duration: 6/1/93 to 8/31/93 Amount Funded: $7,300

Broadband Implementation of Feedforward Control for Dynamic Modification, NASA Langley Research Center, ACOD Structural Acoustics Branch, Contract NAS1-19858-50
Duration: 2/1/94 to 9/31/94 Amount Funded: $19,800

Advanced Control Law Designs for Flexible Spacecraft, NASA Langley Research Center, GCD Spacecraft Controls Branch, Contract NAS1-19858-9.
Duration: 1/1/92 to 12/31/93 Amount Funded: $69,000

Active and Passive Control Designs for the FJSRL Flexible Structure Testbeds, US AIr Force, AFSOR Research Initiation Program, Contract RDL 93-156.
Duration: 1/1/92 to 12/31/93 Amount Funded: $20,000

Graphite Fiber Enhancement of Viscoelastic Damping Polymers, 3M
Corporation.
Duration: 6/15/92 o 3/15/93Amount Funded: $23,688
Additional patent application funds provided to Virginia's Center for
Innovative
Technology: $10,000

Identification and Design of Nonlinear Control Systems Using Real-Time
Neural Network, ISD Automation Technology Branch, Contract
NAS1--18584--146.
Duration: 8/6/92 to 12/31/92Amount Funded: $5,050

Multivariable Transfer Functions and Optimal Passive Damping for a
Slewing Piezoelectric Laminate Beam, AFOSR Summer Faculty Research
Program, Conducted at the US Air Force Academy, Frank J. Syler
Laboratories.
Duration: 6/1/92 to 8/31/92Amount Funded: $17,000

Mathematical Modeling and Control of Flexible Spacecraft Sytems NASA
Langley Research Center, GCD Spacecraft Controls Branch, Contract
NAS1--18584--126.
Duration: 1/1/91 to 12/31/92Amount Funded: $65,475

Mathematical Modeling and Control of Flexible Spacecraft Systems NASA
Langley Research Center, GCD Spacecraft Controls Branch, Contract
NAS1--18584--81.
Duration: 11/16/90 to 12/31/91Amount Funded: $59,996

Hand Controller Evaluation Experiment Subjects NASA Langley Research
Center, ISD Automation Technology Branch, Contract NAS1--18584--91.
Duration: 8/16/90 to 12/31/91Amount Funded: $5,700

Modeling and Control for Articulated Flexible Space Structures NASA
Langley Research Center, GCD Spacecraft Controls Branch, Contract
NAS1--18584--81.
Duration: 6/1/90 to 12/30/90Amount Funded: $25,970

Influence of Joint Non-Linearities on the Control of Manipulators NASA
Langley Research Center, ISD Automation Technology Branch, Contract
NAS1--18584--79.
Duration: 5/16/90 to 8/15/90Amount Funded: $15,000

Viscoelastic Damping of Torsional Vibrations NASA Langley Research
Center, Graduate Student Researchers Program, Underrepresented Minority
Focus, Contract NGT-70124 SUPP#1.
Duration: 7/1/90 to 6/30/91Amount Funded: $22,000

Viscoelastic Damping of Torsional Vibrations NASA Langley Research
Center, Graduate Student Researchers Program, Underrepresented Minority
Focus, Contract NGT-70124.
Duration: 7/1/89 to 6/30/90Amount Funded: $18,000

Piezoelectric Damping of Flexible Structures National Science
Foundation, Creativity in Engineering Award program, Contract
ENG-8811633.
Duration: 1/1/89 to 12/31/91Amount Funded: $90,000

Force Control of Multiple Coordinated Manipulators: Extension and
Considerations for Space Applications NASA Langley Research Center, ISD
Automation Technology Branch, Contract NAS1--18584-52.
Duration: 1/1/89 to 12/31/89Amount Funded: $90,000

Force Control of Multiple Coordinated Manipulators: Extension and
Considerations for Space Applications NASA Langley Research Center, ISD
Automation Technology Branch, Contract NAS1--18584-52.
Duration: 1/1/89 to 12/31/89Amount Funded: $55,170

Passive Damping Augmentation for Space Manipulators NASA, Space Station
Office with cost sharing from 3M Corporation, Contract NAS1--18687.
Duration: 5/16/88 to 5/15/90 NASA Funding: $121,486
Industry Share from 3M Corporation: $28,500

Force Control of Multiple Manipulators: Implementation and Refinement
NASA Langley Research Center, ISD Automation Technology Branch, Contract
NAS1--18584--15.
Duration: 1/1/88 to 12/315/88 Amount Funding: $62,622

Force Control of Multiple Coordinated Manipulators NASA Langley Research
Center, ISD Automation Technology Branch, Contract NAS1--17993--67.
Duration: 5/16/87 to 12/315/87 Amount Funding: $25,354

Programmable Robot Controller for Laboratory Research NASA Langley
Research Center, ISD Automation Technology Branch, Contract
NAS1--17993--68.
Duration: 5/16/87 to 12/31/87Amount Funding: $15,787

Equipment Grants from Industrial Sponsors:

Optima 3 -- Real Time Robot Control Hardware, Systolic Systems Inc.
Commercial Value of Equipment Donated: 35,000

SILMA 3D Graphic Software for Robot Simulation, Silma Incorporated
Commercial Value of Equipment Donated: $80,000

Steel Optics Table for Robotics Research, NASA Langley Research Center
Note: Equipment currently on loan, formal donation pending.
Estimated Value of Equipment Donated: $5,000

Note: Dr. Alberts is principle investigator on all grants cited.

Notes: * Designates course developed by Dr. Alberts. Average
undergraduate class size has been 40, average graduate class size has
been 7.

At Georgia Institute of Technology

Automatic Control, Senior, Summer 1985, 75 students.

At University of Wisconsin -- Milwaukee

Engineering Instrumentation, Senior, Fall 1981 to Summer 1982.

Other Evidence of Quality Teaching:

Selected by vote of students for Outstanding Faculty Award in MEM
Department at ODU, 1988.

Co-developer and Coordinator of MEM/ECE Controls Lab and author of lab
manual.

Mullaney, Robert C., "The Influence of Drive Train Nonlinearities on the
Control of a Flexible Manipulator," Expected May 1994.

Duboios, Travis V., "Active and Passive Control Designs and Experiments
with a Slewing Piezoelectric Laminate Beam," April 1994.

Colvin, Joseph A., "A Transfer Function Approach for Piezoelectric
Control of Flexible Structures," April 1992.

Chowdhary, Mahesh, "Thermal Compatibility Analysis of the Passive
Damping Treatment Proposed for the Space Shuttle Remote Manipulator
System (SRMS)," May 1991.

Remias, Leah L., "The Effectiveness of Viscoelastic Damping Treatments
on a Flexible Manipulator Subjected to Torsional Loads," December 1990.

Chen, Yung, "Finite Element Analysis of Structures With Constrained
Viscoelastic Layer Damping," August 1990.

Kelkar, Atul G., "The Influence of Payload Dynamics on Trajectory
Tracking Performance of a Robot Manipulator," April 1990.

Love, Lonnie J., "A Detailed Analysis of Dynamic Robotic Simulation,"
February 1990.

Harrell, Joseph V., "Theoretical Results Supporting the Use of Passive
Damping as Augmentation to Active Control for Flexible Structures."

Kelkar, Atul G., "Optimal Control/Structure Design Methodology for a
Space Platform with Articulated Appendages," June 1993.

Xia, Houchun, "Finite Element Analysis and Experimental Evaluation of a
New Fiber-Reinforced Polymer for Viscoelastic Damping," December 1993.