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This DSCL web site is obsolete, please see our new web site at

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 with their environments. We principally focus on problems motivated by two application areas that share a common underlying mathematical framework: underwater robot vehicles and robot manipulators. 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

  • JHU Doctoral and Post Doctoral Position in Underwater Robotics: Information and how to apply here!
  • 530.707 Robot Systems Programming will be offered again in spring 2017. Please see the 2017 course home page for more information including prerequisites and links to information about las year's class
  • Ph.D. Student Jonathan Bohren defended his thesis entitled 'Intent-Recognition-Based Traded Control for Telerobotic Assembly Over High-Latency Telemetry' on November 17, 2016! Congratulations Dr. Jon! In Jan 2016 Jon will begin as a Senior Robotics Engineer at Honeybee Robotics.
NUI Polarstern 101 97N 61E 2016 09 20.jpg
  • On October 23, 2016 a team of engineers and scientists completed a 45 day expedition to deploy the Nereid-UI (NUI) underwater robotic vehicle under moving sea ice to explore the Karasik Seamount at 87N 61E in the Arctic Ocean, from aboard the F/S Polarstern of the Alfred Wegener Institute, Bremerhaven, Germany. The Woods Hole Oceanographic Institution and collaborators from the Johns Hopkins University and the University of New Hampshire developed NUI for the Polar Science Community. NUI is a remotely-controlled underwater robotic vehicle capable of being teleoperated under ice under remote real-time human supervision. The goal of the NUI system is to provide scientific access to under-ice and ice-margin environments that is presently impractical or infeasible. Here are some web sites with more information:
  • Selected Recent Journal Publications
    • Stephen C. Martin and Louis L. Whitcomb, Fully Actuated Model-Based Control with Six Degree-of-Freedom Coupled Dynamical Plant Models for Underwater Vehicles: Theory and Experimental valuation, International Journal of Robotics Research. Published online ahead of print on February 17, 2016 doi:10.1177/0278364915620032.
    • Christian Katlein, Stefanie Arndt, Marcel Nicoaus, Donald K. Perovich, Michael V. Jakuba, Stefano Suman, Stephen Elliott, Louis L. Whitcomb, Christopher J. McFarland*, Rüdiger Gerdes, Antje Boetius, Christopher R. German, Influence of ice thickness and surface properties on light transmission through Arctic sea ice, Journal of Geophysical research, 120(9):5932–5944, 2015,
    • Giancarlo Troni and Louis L. Whitcomb, Advances in In-Situ Alignment Calibration of Doppler and High/Low-End Attitude Sensors for Underwater Vehicle Navigation: Theory and Experimental Evaluation, Journal of Field Robotics, 32(5): 655–674, August 2015.
    • Amy A. Blank, Allison M. Okamura, and Louis L. Whitcomb. Task-dependent impedance and implications for upper-limb prosthesis control. Intl. J. Robotics Research, 33(6):827–846, May, 2014.
    • Stephen C. Martin* and Louis L. Whitcomb, Experimental Identification of Six-Degree-of-Freedom Coupled Dynamic Plant Models for Underwater Robot Vehicles, IEEE Journal of Oceanic Engineering, 39(4): 662-671, October, 2014.
    • For additional recent conference, journal, and book chapter publications please see Louis Whitcomb's Google Scholar Profile and sort by date.

This page was last modified on 21 July 2017, at 09:35.