Research

Agility in Autonomous Ground Vehicles

My MS research work at the Illinois Institute of Technology focused on robotics and mechanical design. We designed and built a man-portable omni-directional unmanned ground vehicle (ODV) for performing on rough terrains. The vehicle was capable of achieving maximum kinematic isotropy and the suspension system was optimized for ground holding and handling performance. In my MS thesis, I presented the vehicle design and a strategy for the suspension optimization. Furthermore, I derived the the dynamic equations of motion in a modular form and presented an inverse dynamics based controller. Numerical simulations were performed to analyze the effectiveness of the design and the controller. More information about the project can be found here and here.

Efficient Multibody Dynamics Algorithms

My PhD research focused on developing highly parallelizable, divide-and-conquer based (DCA-based), multibody dynamics algorithms for adaptive simulation of complex mechanical and bio-molecular systems. The DCA-based algorithms are applicable to both rigid and flexible articulated systems with O(10^3)~O(10^6) dofs. This class of algorithms provide linear and logarithmic complexity when implemented in serial and parallel respectively, thus providing significant overall computational savings. More information this research may be found here.