MoSART-FAME Research at ASU

Motivation

• Robotic, Autonomous, and Biological Systems
• Automation, Manufacturing, and Chemical Processes
• Advanced Aerospace and Transportation Systems

MoSART-FAME Facility

The MoSART-FAME facility is a multidisciplinary lecture-laboratory-computation facility at Arizona State University. The laboratory is intended to serve students and faculty in Electrical Engineering (EE), Mechanical and Aerospace Engineering (MAE), Chemical, Biological and Materials Engineering (CBME), Mathematics (MAT), and Computer Science (CSE).

The facility supports multidisciplinary system and controls research-education efforts within the College of Engineering and Applied Science (CEAS), College of Liberal Arts and Science (CLAS), System Science and Engineering Research Center (SSERC), Center for Innovation in Engineering Education (CIEE), and the Center for Solid State Electronics Research (CSSER).

Industrial Partners include Intel Inc., Microsoft Inc., The Boeing Company , CADSI , Integrated Systems Inc., Knowledge Revolution Inc., and Semy Engineering.

Recent Grants and Donations to MoSART Facility

• Presidential Award For Excellence In Science, Mathematics and Engineering Mentoring (White House, NSTC, OSTP), $30K.
• National Science Foundation Instrumentation and Laboratory Improvement (NSF-ILI) Program, $95K.
• Western Alliance To Expand Student Opportunities (WAESO)/Coalition To Increase Minority Degrees (CIMD), $140K.
• Boeing Corporation - Boeing A.D. Welliver Fellowship, $25K.
• Intel Corporation - 25 200MHz Pentium Pro NT Workstations, $133K.
• Intel Corporation - 25 266MHz Pentium II/MMX NT Workstations, $80K+.
• Microsoft Corporation - Software Development Tools, $61K.
• CADSI - DADS/Plant, $135K.
• Integrated Systems - Matrix-X Software Development Suite, $70K.
• Knowledge Revolution - Working Model 3D/2D, $65K.

IEEE Center of Excellence for FAME Research

• AG Communications, Altera, Andersen Consulting, General Electric, Honeywell
• IBM, Integrated Information Systems, Intel, International Rectifier
• Lockheed Martin, Motorola, Mobilian, National Semiconductor
• ON Semiconductor, Orbital Sciences, Sundstrand Aerospace, TDK.

Development of FAME Testbeds

One goal is to develop a fleet of ground and air vehicles that will serve as flexible FAME testbeds.


• Fall 1999 - Robotic vehicle (ROVER) with high speed wireless data system, wireless video system, on board computing unit networked to remote command, control, and communication station, remote command, control, and communication station networked to suite of 25 pentium class Windows NT workstations.
  
  
  • Toward the Development of a Testbed for Research in the Area of Flexible Autonomous Machines operating in an uncertain Environment (FAME) - IEEE Southwest Area Conference Contest, 2nd Place (pdf).
  • Toward the Development of a Testbed for Research in the Area of Flexible Autonomous Machines operating in an uncertain Environment (FAME) - ASEE 2000 PSW Conference, Tucson, AZ (pdf).
  • Toward the Development of a Testbed for Research in the Area of Flexible Autonomous Machines operating in an uncertain Environment (FAME): Resurrection and Enhancement of an Autonomous Robotic Vehicle (ROVER) - Senior Design Project Final Report (Rough Draft), ASU EE Senior Design Prize, Fall 1999 (pdf).
  • ROVER-FAME presentation - IEEE Southwest Area Conference, March 18, 2000, San Diego, CA (powerpoint).
  
  
• Spring 2000 - Small robotic vehicle (SR1) that interacts with other vehicles.
  
  
• Spring 2000 - Robotic tank-like vehicle (R2K) that interacts with other vehicles.
  
  
• Summer 2000 - Large helium blimp that interacts with other vehicles.
  
  
This work involves many diverse areas:


• electromechanical design, virtual and rapid prototyping, sensor-actuator requirements
• wireless command, control, communications, and computation (C4)
• modeling, simulation, animation, control law design, data acquisition, implementation
• guidance, navigation, vision, data compression and storage, distributed computation, artifical intelligence
• human-machine interfaces and interaction, circuit design, software-hardware architectures, etc.

The above demonstrates the all-encompassing nature of the FAME umbrella.

Interactive MoSART Environments

	Fixed Base Inverted Pendulum Environment
	Cart Base Inverted Pendulum Environment
	Flexible Inverted Pendulum Environment
	Rotary Base Inverted Pendulum Environment
	Seesaw Base Inverted Pendulum Environment
	Ball and Beam Environment: Original Sp'98 Team
	Ball and Beam Environment: Fall '98 team
	Puma 560 Robot Environment
	Dual Puma 560 Robot Environment
	Missle-Target Engagement Environment
	The Evasive Monkey: An Environment for the Study of Adaptive Learning Algorithms
	Interactive Orbital Vehicle Environment
	Single Helicopter Environment- IEEE Best Paper: Presentation (Albuquerque, New Mexico, 4/98) Also visit: Interactive MoSART Helicopter Environment Web Site
	Twin Lift Helicopter Environment
	Aerospace Vehicle Environment
	Liquid Level Environment
	Spring-Mass-Dashpot Environment
	MATLAB-Based Interactive Computer Aided Lessons (ICALS)

Development of Interactive MoSART Environments

MoSART Research Projects: Getting Involved

Selected Publications

	Teaching Control System Design Using A Virtual Inverted Pendulum Environment
	Modeling, Simulation, Animation, and Control for a Single Robotic Manipulator
	Modeling, Simulation, and Graphical Visualization of a Liquid Control System
	The Evasive Monkey: An Environment For Evaluating Adaptive Learning Algorithms
	Teaching Systems and Controls Using A MATLAB-Based Interactive Environment
	Modeling, Simulation, Animation, and Real-Time Control (MoSART) Environments: Tools for Education and Research
	An Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Helicopter Environment: A Tool For Enhancing Education and Research (Best Student Paper Award, IEEE WESCON 1998)
	American Society of Engineering Education (ASEE) 1999
	Interactive Modeling, Simulation, Animation and Real-Time Control (MoSART) Vehicle-Based Environments
	American Control Conference (ACC) 1999
	An Interactive Modeling, Simulation, Animation and Real-Time Control (MoSART) Twin Lift Helicopter System Environment
	A Tool For Analyzing, Designing, and Visualizing Multivariable Aircraft Control Systems
	Multivariable Submarine Control System Analysis and Design Using an Interactive Visualization Tool
	Conference on Decision and Control (CDC) 1999
	Multivariable Control of Helicopter Systems Using An Interactive Modeling, Simulation, and Visualization Tool
	Multivariable Analysis and Control of a Cart-Pendulum-Seesaw System Using an Animation Tool
	IEEE Region 6, SW Area, Best Student Paper 1999
	Toward the Development of an Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Hardware/Software Testbed for a Tilt-Wing Rotorcraft

Selected Presentations

	IEEE Region 6, SW Area, Best Paper: Interactive MoSART Helicopter Environment Presentation (Albuquerque, New Mexico, 4/98)
	IEEE Region 6 Best Student Paper: Interactive MoSART Helicopter Environment Presentation (WESCON, Anaheim, CA, 9/98)
	Development of Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Environments: Tools for Enhancing Research & Education (University of Barcelona, 6/98)
	An Interactive MATLAB-Based Tool for Teaching Classical Systems and Controls (FIE Salt Lake City, Utah, 11/96)
	Modeling, Simulation, Animation, and Control for a Single Robotic Manipulator (ICSEE Phoenix, Arizona, 1/97)
	Teaching Control System Design Concepts Using A Virtual Inverted Pendulum Environment (ICSEE Phoenix, Arizona, 1/97)
	A Web/MATLAB-Based Interactive Environment for Teaching Systems and Controls (ICSEE Phoenix, Arizona, 1/97)
	Modeling, Simulation, Animation, and Real-Time Control (MoSART) Environments: Tools for Education and Research (FIE Tempe, Arizona, 11/98)
	Development of Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Environments for Research and Education, MIDL Seminar at ASU, 11/98
	The Age of Intelligent Systems Has Arrived: Feedback Control Systems Will Be Everywhere, ASU March 11 1999
	American Society for Engineering Education, Las Vegas March 20 1999
	IEEE Region 6, SW Area, Best Paper: Toward the Development of an Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Hardware/Software Testbed for a Tilt-Wing Rotorcraft (San Diego, CA, 3/99)
	Awesome Opportunities In Engineering And the Value of IEEE Membership - Student Branch Meeting, September 8, 1999
	Chen-I Lim's M.S. Thesis Defence, December 3rd 1999

Selected Animations

	Cart-and-Pendulum, Fixed-Base Pendulum, and Rotary Pendulum
	Animated GIF created from the inverted pendulum and cart environment. The animation shows the inverted pendulum's response, starting with zero initial conditions, to one period of a square wave cart position reference command. (File Size : 762KB)
	Cart and Pendulum: Sinusoidal command following (File Size : 1.65 MB)
	Cart and Pendulum: Effects of force saturation (File Size : 3.0 MB)
	Fixed Base Pendulum: Natural Response, with and without friction (File Size : 1.6 MB)
	Fixed Base Pendulum: Natural Response, nonlinear and linear model (File Size : 1.1 MB)
	Fixed Base Pendulum: Sinusoidal command following (File Size : 3.8 MB)
	Fixed Base Pendulum: Effects of plant uncertainty - mass perturbation (File Size : 3.9 MB)
	Fixed Base Pendulum: Effects of a RHP pole-zero cancellation (File Size : 1.2 MB)
	Rotary Pendulum: Sinusoidal command following (File Size : 2.1 MB)
	Helicopter
	Helicopter: Open-loop backflapping mode (File Size : 1.4 MB)
	Helicopter: Closed loop command following (File Size : 2.9 MB)
	Helicopter: Multiple plotting (File Size : 3.5 MB)
	Helicopter: Pitch indicators (File Size : 8.3 MB)
	Helicopter: Simultaneous Multiple Animation Capability (SMAC) (File Size : 4.8 MB)
	Helicopter: Open-loop joystick control (File Size : 6.8 MB)
	Helicopter: Proportional gain root-locus via MATLAB (File Size : 1.1 MB)
	Seesaw Pendulum
	See-saw Pendulum: Menu structure (File Size : 1.0 MB)
	See-saw Pendulum: Sinusoidal command following (File Size : 1.2 MB)
	See-saw Pendulum: Balanced natural mode and effect of numerical inaccuracies (File Size : 2.9 MB)
	Flexible Inverted Pendulum
	Flexible Inverted Pendulum: Constant command following (File Size : 1.4 MB)
	Flexible Inverted Pendulum: Sinusoidal command following (File Size : 2.5 MB)
	Flexible Inverted Pendulum: Stable decaying natural mode (File Size : 2.1 MB)
	Flexible Inverted Pendulum: Stable sinusoidal mode (File Size : 1.7 MB)
	Airplane
	Aircraft: Command Following (File Size : 4.8 MB)
	Aircraft: Lateral Dutch Roll mode (File Size : 1.0 MB)
	Aircraft: Lateral Roll Subsidence (File Size : 0.4 MB)
	Aircraft: Longitudinal Phugoid Mode (File Size : 2.9 MB)
	Aircraft: Longitudinal short period mode (File Size : 0.6 MB)
	Simplified Airplane
	Simplified Aircraft: Stable system (File Size : 0.6 MB)
	Simplified Aircraft: Unstable system (File Size : 0.6 MB)
	Air-Vehicle
	Air-Vehicle: Mesh selection (File Size : 0.8 MB)
	Submarine
	Submarine: Command Following (File Size: MB)

Selected Interactive Environment Demonstrations

DirectX Run Time Software must be installed on your computer in order to run these demonstrations. This software can be downloaded at no cost from Microsoft's DirectX Webpage.

	Interactive Fixed Base Inverted Pendulum Control Environment - Beta Version. Download a zip file containing a beta version of the Interactive Fixed Base Inverted Pendulum Environment. This demonstration version does not contain a complete set of features. The fully-featured version may be made available in the future. Please check back in the future. (File Size : 74Kb)		Interactive Cart Base Inverted Pendulum Control Environment - Beta Version. Download a zip file containing a beta version of the Interactive Cart Base Inverted Pendulum Environment. This demonstration version does not contain a complete set of features. The fully-featured version may be made available in the future. Please check back in the future. (File Size : 95Kb)
	Interactive Rotary Base Inverted Pendulum Control Environment - Beta Version. Download a zip file containing a beta version of the Interactive Rotary Base Inverted Pendulum Environment. This demonstration version does not contain a complete set of features. The fully-featured version may be made available in the future. Please check back in the future. (File Size : 60Kb)		Interactive Helicopter Environment - Demo Version v1.2 beta Download a zip file containing the latest demo version of the Interactive Helicopter Environment. This demonstration version does not contain a complete set of features. The fully-featured version may be made available in the future. Please check back later. To install, run the self-extracting file helid3d_demo.exe, unzip the files to a directory, then run heli32.exe. Read short_guide.rtf for instructions. (File Size : 369Kb) Also see the helicopter environment homepage
	MoSART Animation Lab (A-Lab). Download a self-extracting file of the latest release of the MoSART Animation-Lab library. Check back periodically for future releases.

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