CRAIG R. CARIGNAN

Curriculum Vitae

Address:University of Maryland
Department of Aerospace Engineering
Space Systems Lab, Bldg. 382
College Park, Maryland 20742
Phone:301/405-1996
E-mail:craigc@ssl.umd.edu

FIELDS OF INTEREST

Robot Dynamics and Control
Motion-based Simulation
Haptic Interfaces
Man-Machine Systems

EDUCATION

August 1987Sc.D. Control and DynamicsMassachusetts Institute of Technology
June 1982S.M. Aeronautics and AstronauticsMassachusetts Institute of Technology
February 1981S.B. Aeronautics and AstronauticsMassachusetts Institute of Technology
Sept 1976-78B.S. Chemical Engineering (candidate)University of New Hampshire

WORK EXPERIENCE

08/91 - Research Associate, Space Systems Laboratory, University of Maryland, College Park
Lead robotics engineer on project to build a submersible telerobot vehicle. Work involves designing and testing an impedance controller for the dexterous manipulators. Responsibilities include writing real-time control software, building graphical simulations, and managing neutral buoyancy testing of the robotic tasks.

03/92 - 10/92 Attitude Control Engineer, Ithaco Technical Services, Lanham, Maryland
Consultant on the NASA Submillimeter Wave Astronomy Satellite (SWAS) to design a pointing control system for a three-axis stabilized satellite. Used Matlab to design a feedback regulator for generating reaction wheel commands from gyroscope data.

11/87 - 11/91 Robotics Engineer, Hughes/STX Corporation, Lanham, Maryland
Task leader on a NASA project to develop and test control systems for a robot testbed. Conducted experiments on an adaptive force-reflecting hand controller and wrote algorithms for implementing a force controller on a seven-joint manipulator arm. Member of the critical design review team for the Space Shuttle Demonstration Test Flight (DTF) Mission.

01/83 - 09/87 Research Assistant, M.I.T. Space Systems Lab, Cambridge, Massachusetts
Dissertation was on the design of inertial control systems for robot servicing in microgravity environments. Research included tracking control, distributed optimization, and dual-arm control/dynamics. Designed and constructed an air-bearing robot for testing control algorithms.

06/83 - 09/83 Control Systems Engineer, Ford Aerospace Corp., Palo Alto, California
Designed a failure detection system for two spacecraft gyro configurations based on generalized likelihood testing and then compared performances using analysis and simulation.

06/82 - 12/82 Systems Engineer, C.S. Draper Laboratory, Cambridge, Massachusetts
Investigated the reliability of a terrain following system for a tactical fighter with several interdependent collision avoidance systems and analyzed the risk of failure using Markov modeling methods.

02/81 - 06/82 Research Assistant, M.I.T. Space Systems Lab, Cambridge, Massachusetts
Master's thesis was on the design of failure detection filters for diagnosing component failures in large scale systems. Additional research included determining optimal actuator and sensor placement in distributed parameter systems. Courses taken include guidance, navigation, dynamics, optimal control, digital control, and robotics.

06/80 - 09/80 Control Systems Engineer, Hughes Aircraft Co., El Segundo, California
Assisted in the design of a gyrocompass controller and state estimator for the Venus Orbiting Imaging Radar (VOIR) satellite. Compared the gyrocompass/observer performance with a classical feedback control system using simulation.

TEACHING EXPERIENCE

Haptic Controls and Applications
University of Maryland		 Fall, 1998 Instructor (grad). Basic technologies required for applying haptic (robotic) interfaces in telerobotics, simulators, and computer displays. Major topics included kinematic design, sensory-motor control, force-feedback, human-centered design, and distributed processing.
Introduction to Space Robotics
University of Maryland		 Fall, 1997
Spring, 1995
Spring, 1992		 Co-Instructor (grad/senior). Introductory course covering kinematics, dynamics, and control of robotic manipulators. Numerous classical and in-house examples of robotic systems were used to illustrate these principles. Computer tools such as Mathematica were used to analyze more complex systems.
Control of Robot Manipulators
University of Maryland		 Fall, 1994 Instructor (grad). Examined PID, computed torque, stiffness, and force control for robotic manipulators. Time delay, sampling, friction, and torque saturation were modeled and their impact evaluated using dynamic simulations performed with Matlab. Variable-structure and adaptive controllers were also considered.
Applied Digital Control
University of Maryland		 Fall, 1992 Co-Instructor (grad). Digital control applied to sampled-data systems. Covered discrete equivalents of continuous transfer functions, compensator design in the z-domain, and stability analysis using Bode and Nyquist plots generated using Matlab. Used Matlab as computational analysis tool.
Astrodynamics
University of Maryland		 Fall, 1991 Co-Instructor (grad). Fundamentals of orbital mechanics beginning with the two-body problem and Kepler's Equation. Proceeded to develop the transfer-time equation and transfer orbits using two-impulse and continuous thrust. Examined restricted three-body problem, Lagrange points, and sphere of influence.

COMPUTER EXPERIENCE

Extensive programming in C and some in Fortran. Familiar with Mac/OS, IBM/DOS, VAX/VME and SGI UNIX platforms. Real-time experience with VxWorks on V3500.

HONORS AND AWARDS

VOLUNTEER SERVICES

OTHER INTERESTS

PUBLICATIONS

Journal Articles

Carignan C, Lane JC, Akin D: Control Architecture and Operator Interface for a Free-Flying Robotic Vehicle, IEEE Transactions on Systems, Man, and Cybernetics Part C: Applications and Reviews, Vol. 31C, No. 3, Aug. 2001

Lane JC, Carignan C, Akin D: Advanced Operator Interface Design for Complex Space Telerobots, Autonomous Robots 11, Kluwer Academic Publishers, pp. 49-58, 2001

Carignan C, Akin D: Reaction Stabilization of On-Orbit Robots, IEEE Control Systems Magazine, Vol. 20, No. 6, Dec. 2000

Carignan C, Howard R: A Partitioned Redundancy Management Scheme for an Eight-Joint Revolute Manipulator, J. Robotic Systems, Vol. 17, No. 9, September 2000

Carignan C, Cleary K: Closed-Loop Force Control for Haptic Simulation of Virtual Environments, Haptics-e, The Electronic Journal of Haptics Research (http://www.haptics-e.org), Vol. 2, No. 2, February 2000

Carignan C: Trajectory Optimization for Kinematically Redundant Arms, J. Robotic Systems, Vol. 8, No. 2, April 1991

Carignan C, Akin D: Optimal Force Distribution for Two-Arm Transport of a Payload in Zero-Gravity, J. Dynamic Systems, Measurement, and Control, Vol. 111, June 1989

Carignan C, Akin D: Cooperative Control of Two Arms in the Transport of an Inertial Load in Zero-Gravity, IEEE J. Robotics and Automation, Vol. 4, No. 4, August 1988

VanderVelde W, Carignan C: Number and Placement of Control System Components Considering Possible Failures, J. Guidance, Control and Dynamics, Vol. 7, No. 6, 1984 (reprinted in Soviet Aeronautics/Space Technology, Dec. 1985)

Peer-Reviewed Conference Papers

Carignan C, Howard R: A Skew-Axis Design for a 4-Joint Revolute Wrist, Proc. IEEE Int. Conf. on Robotics and Automation, Washington, May 2002

Lane JC, Carignan C, Sullivan B, Akin D, Hunt T, Cohen R: Effects of Time Delay on Telerobotic Control of Neutral Buoyancy Vehicles, Proc. IEEE Int. Conf. on Robotics and Automation, Washington, May 2002

Foster A, Akin D, Carignan C: Development of a Four-Fingered Dexterous Robot End-Effector for Space Operations, Proc. IEEE Int. Conf. on Robotics and Automation, Washington, May 2002

Carignan C, Lane JC, Akin D: Controlling Robots On-Orbit, Proc. of the IEEE International Symposium on Computational Intelligence in Robotics and Automation Conference, Banff, Alberta, Canada, July 2001

Carignan C, Akin D, Lane JC: Dynamic Tool Vectors for Robo-Centric Control, Proc. IEEE Int. Conf. on Robotics and Automation, San Francisco, April 2000

Carignan C, Akin D: Achieving Impedance Objectives in Robot Teleoperation, Proc. IEEE Int. Conf. on Robotics and Automation, Albuquerque, April 1997

Carignan C, Smith J: Manipulator Impedance Accuracy in Position-Based Impedance Control Implementations, Proc. IEEE Int. Conf. on Robotics and Automation, San Diego, May 1994

Carignan C: Adaptive Tracking for Complex Systems using Reduced-Order Models, Proc. IEEE Int. Conf. on Robotics and Automation, Cincinnati, May 1990

Carignan C, Akin D: Trajectory Tracking and Station Keeping for Free-Flying Robots using Sliding Mode Methods, Proc. IEEE Int. Conf. on Robotics and Automation, Philadelphia, April 1988

Conference/Workshop Proceedings

Gefke G, Carignan C, Roberts B, Lane JC : Ranger Telerobotic Shuttle Experiment: Status Report, SPIE Int. Symposium on Intelligent Systems and Manufacturing, Proc. of the SPIE, Vol. 4570: Telemanipulator and Telepresence Technologies VIII, October 2001, Newton, Mass.

Lane JC, Carignan C, Akin D: Time Delay and Communication Bandwidth Limitation on Telerobotic Control, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, Proc. of SPIE Vol. 4195 (2001), Boston, November 2000

Carignan C, Lane JC, Akin D: Real-Time Simulation of a Free-Flying Robotic Vehicle, Proc. AIAA Modeling and Simulation Technologies Conference, Portland, August 1999 (selected best paper)

Cleary K, Carignan C, Traynor L: Realistic Force Feedback for a Spine Biopsy Simulator, International Workshop on Haptic Devices in Medical Applications, Dillmann R, Salb T, Eds. 1999, 66-75, Paris, June 1999

Cleary K, Lathan C, Carignan C: Simulator/Planner for CT-Directed Needle Biopsy of Spine, Proc. of the SPIE, Vol. 3262: Minimally Invasive Instrumentation, San Jose, January 1998

Carignan C, Akin D: Actively Controlled Mockups for EVA Training in Neutral Buoyancy, Proc. IEEE Int. Conf. on Systems, Man, and Cybernetics, Orlando, October 1997

J. Corde Lane, Carignan C, Akin D: Reconfigurable Control Station Design for Robotic Operations, Proc. IEEE Int. Conf. on Systems, Man, and Cybernetics, Orlando, October 1997

Carignan C, Tarrant J: Constrained Trajectory Optimization for Kinematically Redundant Arms, Proc. 3rd Int. Symposium on Robotics and Manufacturing, Burnaby, July 1990

Carignan C, Tarrant J, Mosier G: An Adaptive Controller for Enhancing Operator Performance During Teleoperation, Proc. IEEE Int. Conf. on Systems, Man, and Cybernetics, Cambridge, November 1989

Carignan C, Tarrant J: Impedance Hand Controllers for Increasing Efficiency in Teleoperations, NASA Conf. on Space Telerobotics, JPL, Pasadena, 1989

VanderVelde W, Carignan C: Number and Placement of Control System Actuators Considering Possible Failures, Proc. American Control Conference, Arlington, June 1982

Non-Technical Conference Papers

Whittemore WL, Nokuri H, Carignan C: Advisor Volunteers: Providing mentors for First-Year Exploratory Students and Gaining Campus Support for their Advising Unit, 20th National Conference on Academic Advising (NACADA), Washington, DC, October 1996

Whittemore WL, Carignan C, Nokuri H, : Advisor Volunteers: Building Campus Connections, 11th Mid-Atlantic Regional Conference on Academic Advising (NACADA), Lancaster, PA, April 1995

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February 2002 by craigc@ssl.umd.edu