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| <table border=1 width=100%>
| | [[Image:Murray-mar13.jpg|150px|left]] |
| <tr>
| | {{RMM short bio}} |
| <td align=center width=20%> [[Image:Murray-redeye.gif]]
| | * [[Expanded bio]] |
| <td width=60% align=center>
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| <font face="Comic Sans MS" size=5>
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| <b>Richard M. Murray</b><br><br>
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| </font>
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| <font face="Comic Sans MS" size=4>
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| Professor of Control and Dynamical Systems<br>
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| Division of Engineering and Applied Science<br>
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| California Institute of Technology<br>
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| </font>
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| <font face="Comic Sans MS"><br><hr><br>
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| <table width=100%> __NOTOC__
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| <tr>
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| <td width=20% align=center> Papers
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| <td width=20% align=center> Research
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| <td width=20% align=center> Group
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| <td width=20% align=center> [[#Teaching|Teaching]]
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| <td width=20% align=center> Contact
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| </table></font>
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| <td align=center width=20%>
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| <font face="Comic Sans MS">
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| Other Activities:<br><br>
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| [[Homepage:Murray|Private homepage]]<br>
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| [http://www.cds.caltech.edu/~murray Public homepage]<br>
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| [[cds110b|CDS 110b]]<br>
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| [http://www.ist.caltech.edu IST] / [http://www.cmi.caltech.edu CMI]
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| </font>
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| </table>
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| == Papers ==
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| * [[User:Murray/Papers]]
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| == Projects ==
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| <table border=0 cellspacing=0 cellpadding=0 width=100%>
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| <tr valign=top>
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| <td width=50%>
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| * [[MVWT_Main_Page|Multi-Vehicle Wireless Testbed]]
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| * [[DGC75_Main_Page|Caltech Project Management Toolset]]
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| * [[Packet-Based Estimation and Control]]
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| <td width=50%>
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| * [[Undergraduate and Masters Projects]]
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| * [[WASC Undergraduate Education Committee]] | |
| </table>
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| == SysAdmin functions ==
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| <table>
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| <tr valign=top><td>
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| * [http://www.cds.caltech.edu/~murray/wiki/index.php?title=Special:Userlogin Create User]
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| * [[MediaWiki:Sidebar|Update the navigation bar]]
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| <td>
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| * [[MurrayWiki Changes|Change Log]]
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| * [[Special:Recentchanges|Recent Changes]]
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| * [[Special:Interwiki|Interwiki]]
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| </table>
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| == Notes ==
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| * [[DARPA Grand Challenge Follow-On]]
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| * [[Employment Contacts]] (restricted)
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| * [[Student Projects]] (restricted)
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| === Notes from MVWT review, 28 Jul 04 ===
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| Steve: prioritize what needs to get done this summer; leave enough time for documentation; think hard about latency.
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| Lars: documentation is very important; pay a lot of attention to arrows on the interface charts; C2 API extensions to bats and Kellys - will probably need to consider commanding accelerations instead of velocities.
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| Claire: will be hard to get everything working at the end => start working on interfaces between the teams. Pair up people from different teams.
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| Jeff: positioning team presentation did a nice job giving motivation. Put the status chart at the end.
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| Bob: get in touch with Geir Dullerud at UIUC and look at their hovercraft. C2 group should also look at this - trade ideas with what they are doing. Position group - detecting orientation might be hard; differential GPS may not give you what you need. What's the fall back? Think about developing set of test trajectories for testing out controllers (flatness, etc).
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| == GOTChA Chart ==
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| === Goals ===
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| * Design a control algorithm that keeps the micro-inspector at a safe distance
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| * Second goal
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| === Objectives ===
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| === Technical Challenges ===
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| === Approach ===
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