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PRODID:-//University of Illinois//Web Services Calendar//EN
VERSION:2.0
CALSCALE:GREGORIAN
BEGIN:VEVENT
DTSTAMP:20120214T142726Z
DTSTART;TZID=America/Chicago:20091111T150000
DTEND;TZID=America/Chicago:20091111T150000
SUMMARY:Projection-Based Mode Detection in Skid-Steering
CREATED:20091101T140000Z
DESCRIPTION:Abstract:  Physical sensing and control often involves switch
 ing in the governing equations. For instance\, skid-steered vehicles mus
 t violate nonholonomic constraints in order to maneuver. This sliding of
  the wheel against the ground causes the vehicle to behave discontinuous
 ly during a maneuver as well as making the vehicle's state difficult to 
 estimate. Estimation of contact state is most naturally framed in the co
 ntext of switched systems\, where the vehicle's ground interaction is mo
 deled by partitioning the system dynamics into distinct modes of behavio
 r. Thus\, as the vehicle maneuvers\, the system evolves over some mode s
 equence\, transitioning between modes over some set of switching times. 
 A hybrid form of the maximum principle can be used to pose the estimatio
 n process as a hybrid optimization over the space of all possible modal 
 behaviors. Somewhat surprisingly\, this combinatoric estimation problem 
 can be represented as a projection of an infinite-dimensional optimizati
 on problem that can be approximated by relaxing the projection. Using th
 is approach\, both first-order and second-order optimization techniques 
 can be employed\, even in the presence of significant noise. Moreover\, 
 because of the quadratic convergence associated with second-order method
 s\, one can implement these techniques in real-time settings.  Biography
 :  Todd Murphey received his undergraduate degree in mathematics from th
 e University of Arizona and a Ph.D. in Control and Dynamical Systems fro
 m the California Institute of Technology. He was a postdoctoral scholar 
 at Northwestern University for a year\, after which he worked for the Ae
 rospace Corporation in the Electro-Mechanical Control Department. He was
  an Assistant Professor of Electrical and Computer Engineering at the Un
 iversity of Colorado at Boulder from 2004 to 2008 and is now an Assistan
 t Professor of Mechanical Engineering at Northwestern University. He is 
 the recipient of a National Science Foundation CAREER award.
LAST-MODIFIED:20091101T140000Z
LOCATION:B02 CSL
CATEGORIES:Academic
CONTACT:Jana Lenz 217-244-1654
ORGANIZER:janalenz@illinois.edu
URL:http://illinois.edu/calendar/detail/1045?key=2000010120000101147025
UID:147025@illinois.edu
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END:VCALENDAR