My research is focused on the design and development of active automotive safety systems
that have the capability to reduce the risk of loss-of-control accidents to vehicle occupants.
VIVID: Vehicle-Infrastructure-Vehicle Friction Identification
This project is based around developing ``vehicle-neutral''
roadway information that any vehicle can generate and share
with the local infrastructure. This intellligent
infrastructure can then relay the information to subsequent
vehicles traveling through the area to provide better
situational awareness to drivers. Several smaller
undergraduate projects support the VIVID framework by
investigating the idea of ``vehicle-neutral'' data, by
experimenting with intelligent infrastructure, and by
investigating methods of delivering information to drivers
to improve situational awareness.
Dissertation: Model Predictive Envelope Control
In my dissertation research, I designed a state
envelope guaranteeing vehicle stability that included the
determination of boundaries that are intuitive for human
drivers. Once completed, I implemented a model predictive
controller to keep vehicle inside boundaries of the envelope
and adjusted the underlying vehicle model to include
essential tire nonlinearities. To test the controller, I
developed real-time code for a target lab test vehicle and
collected data from dynamic driving maneuvers to examine
controller performance. I also developed proofs of
controller action with worst-case performance guarantees.
test vehicle without Model Predictive Envelope
Control Watch the
performance with Model Predictive Envelope Control
Graduate Project: Development of a modular electric vehicle as a research
testbed for vehicle dynamics.
As part of a team responsible for the design and construction of a modular electric vehicle,
I worked on many aspects of the vehicle. In the initial stages, I helped design and analyze
the chassis of the vehicle. Later in the project, I designed and assembled the electrical systems
necessary to safely supply the traction motor with power from the battery pack as well as operate
our control and sensing systems. After the vehicle was fully constructed, I was responsible
for installing and calibrating GPS and inertial sensing systems as well as collaborating with
researchers from Braunschweig, Germany to install a FlexRay communication bus on the
See the X1 modular electric research testbed
Pulse-width control criteria and evaluation of serially connected flexible robotic arms.
Use of novel actuation approaches to generate lifelike motion in animatronic figures.
User interface development for CFD use in investigation of contaminant transport in urban areas.