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DSCL research focuses on problems in the navigation, dynamics, and control of linear and nonlinear dynamical systems, observers, nonlinear systems analysis, modeling, and sensing relevant to robots that interact dynamically in extreme environments. We focus on problems motivated by several application areas that share a common underlying mathematical framework including underwater robotics, space telerobotics, and medical robotics.  Lab Director Louis Whitcomb and his students have participated in the development of numerous underwater vehicles for oceanographic science missions including the Nereus hybrid underwater vehicle that dove to the bottom of the Mariana Trench in 2009, and Nereid Under-Ice (NUI) hybrid underwater vehicle that was deployed under Arctic sea ice at 87 degrees North in 2016. Our methodology is to address fundamental theoretical issues with concise mathematical analysis, and to experimentally validate our research results in actual working systems.

Lab News

Recent DSCL Publications

Andrew Spielvogel published a paper in the International Journal of Robotics Research Andrew. R. Spielvogel and L. L. Whitcomb, Adaptive Bias and Attitude Observer on the Special Orthogonal Group for True-North Gyrocompass Systems: Theory and Preliminary Results, International Journal of Robotics Research. Invited Paper. In Press, 2019. Giancarlo Troni published a paper in the IEEE/ASME …

Zachary Harris Defended his PhD Thesis

Zachary Harris presented his thesis research entitled “Model-Based Cooperative Acoustic Navigation and Parameter Identification for Underactuated Underwater Vehicles” on August 16, 2019. His thesis committee included Professor Louis Whitcomb (primary advisor), Assistant Professor Marin Kobilarov, and Senior Scientist Dr. Dana Yoerger of the Woods Hole Oceanographic Institution. Abstract This thesis reports novel theoretical and experimental …

Students Teach Robots to Suture, Swarm, and Explore

Inspired by real-world problems, students in Johns Hopkins University’s graduate-level Robot Systems Programming course build a full-scale robotics system that can perform at least two tasks, one of which must be done autonomously. Spring 2018 demonstration day for independent class projects in 530.707 Robot Systems Programming – read about it here: https://hub.jhu.edu/2019/05/28/robotics-demo-day-2019