Intelligent Servosystems Laboratory, University of Maryland
The Intelligent Servosystems Laboratory (ISL) at the University of Maryland focuses on advancing state-of-the-art design and real-time control of intelligent systems, drawing on advances in the following: novel sensing, actuation materials, mechanism designs, new principles for actuation, propulsion, detection, reduction, learning and adaptation and conceptualization and prototyping across scales to sense, actuate, communicate and manipulate.
The ISL has also performed research in: a) Autonomous robotics, b) Motion Control and Nonholonomic systems; geometric control theory, c) Coupled oscillators, neural networks; dynamic system theory, d) Control of networked systems, e) Control theory for semiconductor manufacturing processes; physical modeling; model reduction; learning control, and f) Fundamental physical properties of magnetostrictive and electrostrictive materials, elastodynamics of such materials; exploitation of it in actuators and sensors.
Spearheaded by Professor P.S. Krishnaprasad, the lab has developed the Modular Dexterous Hand; a general purpose robotic hand. It has 3 single DOF fingers which are used for grasping, and a separate module utilized for manipulating grasped objects.
They also created the Micro-controller based prototype of Roller-Racer, which is an example of 2 node SE(2) snake, utilizing the kinematics, dynamics and control of nonholonomic systems. The ISL also developed the PZT Motor, created by Miriam Betnum in the summer of 1998 while studying as an REU student.
This machine was developed to show how a pair of piezo-electric benders, which were constructed to trace a Lissajous figure at the distal end under periodic driving, can be utilized to make uni-directional rotary movement.
The laboratory also has 4 Nomadic Technologies Super Scout II Robots and IRobot ATRV-Mini Mobile Robots to help in its research.
The laboratory is also associated with the following research centers: the Center for Dynamics and Control of Smart Structures, the Center for Auditory and Acoustics Research, and the Learning Binaurally Directed Movement. And aside from the funding coming from the University, the laboratory in order to continue its massive research also gets it funding from the following, the AFOSR, ARO, NASA, NRL, NSF, Industrial gifts, and from the DRIF funding.
