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.
- JHU Post Doctoral Position in Underwater Robotics: Information and how to apply here!
- Louis Whitcomb and Christopher McFarland and collaborators from the Woods Hole Oceanographic Institution conducted the first under-ice sea trials of their newly developed 'Nereid Under-Ice' (NUI) Underwater Robotic Vehicle on the month-long F/V Polarstern Expedition PS86 in July, 2-14. See weekly cruise reports, AGU Engineering Abstract, AGU Science Abstract. The team completed four NUI dives at 86 N 6 W, about 200 km North East of Greenland in the Arctic Ocean.
- Ph.D. Student Zak Harris was awarded a prestigious and highly-competitive 2014 National Defense Science and Engineering Graduate (NDSEG) Fellowship on April 10, 2014! Congratulations Zak!
- NEW Graduate Course! In spring 2014 we creating a new graduate course in Robot Systems Programming using the open-source Robot Operating System (ROS).
- Ph.D. Student Christopher McFarland defended his thesis entitled Adaptive Identification and Control for Underwater Vehicles: Theory and Comparative Experimental Evaluation, on November 20, 2013! Congratulations Dr. McFarland! Christopher is presently a post-doc with Louis Whitcomb at JHU.
- Ph.D. Student Giancarlo Troni defended his thesis entitled Advances in Precision Navigation of Underwater Vehicles on June 10, 2013! Congratulations Dr. Troni! Giancarlo is presently a post-doc with Ryan Eustice in the PeRL Lab at the University of Michigan.
- Ph.D. Student Giancarlo Troni is awarded a Best Student Poster Award for his poster entitled Experimental evaluation of a MEMS inertial measurements unit for Doppler navigation of underwater vehicles on October 18, 2012 at the 2012 IEEE/MTS Oceans Conference.
- Ph.D. Student Amy Blank defended her thesis entitled Proprioceptive Motion Feedback and User-Selectable Impedance for Upper-Limb Prosthesis Control on September 10, 2012! Congratulations Dr. Blank! Amy is presently a post-doc with Marcia O"Malley the MAHI Lab at Rice University.
- Ph.D. Student Christopher McFarland is awarded a 2012 ARCS Graduate Fellowship by the Metro-Washington Chapter of the ARCS Foundation and a 2012 Link Fellowship for Ocean Engineering and Instrumentation.
- Ph.D. Student Jonathan Bohren is awarded a 2012 NASA Space Technology Research Fellowship Kazanzides
- Prof. Louis L. Whitcomb and Prof. Peter Kazanzides (PI) and Dr. Simon Leonard were awarded a $1M grant entitled NRI-Small: Managing Uncertainty in Human-Robot Cooperative Systems from the National Science Foundation under the new U.S. National Robotics Initiative.
- The JHURSAEB developed this past year for Robot Sensors and Actuators (Fall 2011 website) now has its own home on the web.
- Prof. Louis L. Whitcomb and his collaborators from WHOI and UNH were awarded a $2M grant entitled MRI: Development of a Light-Tethered Undersea Robotic Vehicle for Seafloor Intervention in Ice-Covered Environments and Ship of Opportunity Deployment by the NSF Office of Polar Programs.
- Louis L. Whitcomb and collaborators publish their report of the Deepwater Horizon well flow rate in PNAS: Richard Camilli, Andrew Bowen, Christopher M. Reddy, Alexandra H. Techet, Dana R. Yoerger, Louis L. Whitcomb, Daniela Di Iorio, Jeff Seewald, Sean P. Sylva, Judith Fenwick, Acoustic Measurement of the Deepwater Horizon Macondo Well Flow Rate. Proceedings of the National Academy of Sciences, National Academies Press, 2011. Published online before print September 8, 2011, doi:10.1073/pnas.1100385108.
- 2011 Summer Crash Course in the Robot Operating System (ROS) Slides here: Introduction to ROS ROS Patterns
- Prof. Louis L. Whitcomb was awarded the 2011 William H. Huggins Excellence in Teaching Award in May, 2011.
- Prof. Louis L. Whitcomb was appointed Fellow of the Institute of Electrical and Electronics Engineers (IEEE) in January 2011 for “contributions to the theory and application of robotics for intervention in extreme environments.”
- Ph.D. Student Amy Blank is awarded a 2010 Link Foundation Advanced Simulation and Training Fellowship.
- Ph.D. Student Sarah E. Webster featured in Winter 2010 JHU Engineering Magazine.
- DSCL Lab members are awarded the 2009 Best Paper Award by IEEE Transactions on Biomedical Engineering for Krieger, Whitcomb, et. al., Design of A Novel MRI Compatible Manipulator for Image Guided Prostate Interventions, IEEE Transactions on Biomedical Engineering. 52(2):306-313, February 2005. One of these awards is given annually to the Transactions paper that has accrued the most citations in the first five years after publication
- Prof. Louis L. Whitcomb is named the inaugural Louis M. Sardella Faculty Scholar on October 2009 by the JHU G.W.C. Whiting School of Engineering.
- Nereus Expedition Oases for Life on the Mid-Cayman Rise
- Nereus Robotic Vehicle Explores the Challenger Deep in the Mariana Trench
- Louis L. Whitcomb, Michael V. Jakuba, James C. Kinsey, Stephen C. Martin, Sarah E. Webster, Jonathan C. Howland, Chris L. Taylor, Daniel Gomez-Ibanez, Dana R. Yoerger. Navigation and Control of the Nereus Hybrid Underwater Vehicle for Global Ocean Science to 10,903 m Depth: Preliminary Results. Proceedings of the 2010 IEEE International Conference on Robotics and Automation. IEEE (2010).
- Andrew Bowen, Dana R. Yoerger, Barbara Fletcher, Louis L. Whitcomb. Journey to the Challenger Deep: Fifty Years Later with the Nereus Hybrid Remotely Operated Vehicle. Journal of the Marine Technology Society 43(5):65-76, Winter 2009.
- Combined acoustic communication and navigation for multiple underwater vehicles.
- The DVLNAV navigation system for underwater robot vehicles and inhabited submersibles.
- Medical Robotics: Development of MR-Compatible Medical Robot Systems, ultrasound guided intervention, and impedance control for prosthetic devices.