Control Electrical
Resume:
David Braganza
***, ***** ****** *********** ********** Building,
Clemson University,
Clemson, SC 29634-0915
Phone: 864-***-****
Email: *******@***.*******.***
Webpage: http://www.ces.clemson.edu/~dbragan
EDUCATION:
Ph.D. in Electrical Engineering, Clemson University, Clemson,
SC, August 2007.
M.S. in Electrical Engineering, Clemson University, Clemson,
SC, August 2004.B.E. in Electrical Engineering,
Pune University, Pune, India, July 2002.RESEARCH INTERESTS/AREAS OF EXPERTISE:Nonlinear control: Adaptive systems, robust control, neural network control, autonomous systems.Robotics: Kinematics, manipulation, real-time control and haptic tele-operation.Computer vision: Machine vision and image processing techniques.Real-time control system implementation.Dynamic simulation of mechatronic systems.RESEARCH EXPERIENCE:Graduate Research Assistant, Robotics and Mechatronics Laboratory, Department of
Electrical and Computer Engineering, Clemson University, Clemson, SC, USA,
(August 2002 - present):Vision based reconstruction: Designed and implemented Euclidean
structure estimation algorithms for vision systems.Positioning of disabled ships using multiple tugboats: Developed an
adaptive controller for positioning of large disabled ships using external
tugboats which required minimum communication between the tugboats.Soft robotic manipulators (DARPA Biodynotics program): Responsibilities
included testing of the integrated hardware and software. Developed efficient
real-time control algorithms for the biomimetic Octarm continuum manipulator.
Developed haptic tele-operation control of the continuum manipulator slave
using an identical master manipulator.Neural network control: Designed a neural network controller for robot
manipulators with highly uncertain dynamics. Implemented the controller on the
Barrett whole arm manipulator and the Octarm continuum manipulator.Whole arm grasping: Designed a whole arm grasping control algorithm
for redundant robot manipulators by exploiting the kinematic redundancy of the
manipulator. Implemented the algorithm on the Barrett whole arm manipulator.Control of robot manipulators with kinematic and dynamic uncertainty:
Developed a quaternion based adaptive tracking controller for robot manipulators
in the presence of both kinematic and dynamic uncertainties. Evaluated the
performance of the controller on the Barrett whole arm manipulator.Fault detection and identification for robot manipulators: Implemented
a fault detection and identification algorithm for a set of actuator faults on
the Barrett whole arm manipulator.On-line path planning for robot manipulators: Implemented navigation
function and velocity field path planning controllers on the Barrett whole arm
manipulator.Haptic interface for steer-by-wire systems: Developed an experimental
test-bed, setup the hardware and software with visual feedback for an "in-car"
steer-by-wire vehicle simulator, implemented the control algorithms on the
vehicle simulator.Steer-by-wire vehicle tracking controller: Developed dynamic simulations
for a steer-by-wire vehicle tracking controller.Administrative tasks: Maintained robotics research group webpages and
accounts, selected and procured equipment for the robotics research laboratory.Mentored undergraduate and junior graduate students in the robotics research
laboratory.TEACHING EXPERIENCE:Laboratory Assistant, Department of Electrical and Computer Engineering,
Clemson University, Clemson, SC, USA, (August 2004 - April 2005 and August 2006 - December 2006):Taught multiple sections of the following laboratories: Digital Logic
and Computing Devices (ECE 201), Electric Circuits I (ECE 211), Electric Circuits
II (ECE 212).SELECTED PUBLICATIONS:ThesisD. Braganza, "Control Techniques for Robot Manipulator Systems with
Modeling Uncertainties", Clemson University PhD Dissertation, August 2007.D. Braganza, "Lyapunov Based Nonlinear Techniques for Mechatronic
Systems", Clemson University Masters Thesis, August 2004.JournalA. Baviskar, J. R. Wagner, D. M. Dawson D. Braganza and P. Setlur,
"An Adjustable Steer-by-Wire Haptic Interface Tracking Controller for Hybrid
Vehicles", IEEE Transactions on Vehicular Technology, (under review).D. Braganza, M. L. McIntyre, D. M. Dawson and I. D. Walker, "Whole
Arm Grasping Controller for Redundant Robot Manipulators", IEEE Transactions
on Robotics, (under review), 2007.D. Braganza, D. M. Dawson, I. D. Walker and N. Nath, "A Neural Network
Controller for Continuum Robots", IEEE Transactions on Robotics, accepted to
appear, 2007.D. Braganza, W. E. Dixon, D. M. Dawson and B. Xian, "Tracking Control
for Robot Manipulators with Kinematic and Dynamic Uncertainty", International
Journal of Robotics and Automation, accepted to appear, 2007.P. Setlur, J. R. Wagner, D. M. Dawson and D. Braganza, "A Trajectory
Tracking Steer-by-Wire Control System for Ground Vehicles", IEEE Transactions
on Vehicular Technology, vol. 55, no. 1, pp. 76-85, Jan. 2006.ConferenceD. Braganza, D. M. Dawson and T. Hughes, "Euclidean Position Estimation
of Static Features using a Moving Camera with Known Velocities", Proc. of the 46th
IEEE International Conference on Decision and Control, accepted to appear.D. Braganza, M. Feemster and D. M. Dawson, "Positioning of Large Surface
Vessels using Multiple Tugboats", Proc. of the American Control Conference,
pp. 912-917, Jul. 2007. D. Braganza, D. M. Dawson, I. D. Walker and N. Nath, "Neural Network
Grasping Controller for Continuum Robots", Proc. of the 45th IEEE International
Conference on Decision and Control, pp. 6445-6449, Dec. 2006D. Braganza, M. McIntyre, D. M. Dawson and I. D. Walker, "Whole Arm
Grasping Control for Redundant Robot Manipulators", Proc. of the American
Control Conference, pp. 3194-3199, Jun. 2006.D. Braganza, W. E. Dixon, D. M. Dawson and B. Xian, "Tracking Control
for Robot Manipulators with Kinematic and Dynamic Uncertainty", Proc. of the
44th IEEE International Conference on Decision and Control, pp. 5293-5297,
Dec. 2005.OtherD. Braganza, D. M. Dawson and T. Hughes, "Euclidean Position Estimation
of Static Features using a Moving Camera with Known Velocities", Clemson University
CRB Technical Report, CU/CRB/3/9/07#2, http://www.ces.clemson.edu/ece/crb/publictn/tr.htm, March, 2007.D. Braganza, M. Feemster and D. M. Dawson, "Positioning of Large Surface
Vessels using Multiple Tugboats", Clemson University CRB Technical Report,
CU/CRB/9/24/06/#1, http://www.ces.clemson.edu/ece/crb/publictn/tr.htm, September, 2006. D. Braganza, D. M. Dawson, I. D. Walker and N. Nath, "Neural Network
Grasping Controller for Continuum Robots", Clemson University CRB Technical
Report, CU/CRB/3/2/06/#1, http://www.ces.clemson.edu/ece/crb/publictn/tr.htm, March, 2006. D. Braganza, M. McIntyre, D. M. Dawson and I. D. Walker, "Whole Arm
Grasping Control for Redundant Robot Manipulators", Clemson University CRB
Technical Report, CU/CRB/10/12/05/#1, http://www.ces.clemson.edu/ece/crb/publictn/tr.htm, October, 2005. D. Braganza, P. Dhoka, A. Mandhre and N. Srivastava, "Design and
Development of a Brushless D.C. Motor", Undergraduate Project Report, Pune
University, Pune, India, 2002.PRESENTATIONS:45th IEEE International Conference on Decision and Control, San Diego, CA,
USA, Dec. 2006: Poster presentation on "Neural Network Grasping Controller
for Continuum Robots".Mechatronics Forum: Department of Electrical and Computer Engineering,
Clemson University, Clemson, SC, USASpring 2007: "Positioning of Large Surface Vessels Using Multiple Tugboats".Fall 2006: "Neural Network Grasping Controller for Continuum Robots".Spring 2006: "Whole Arm Grasping Control for Redundant Robot Manipulators".Fall 2005: "Tracking Control for Robot Manipulators with Kinematic and Dynamic
Uncertainty".Bharati Vidyapeeth's College of Engineering, Pune, India, December 2001:
Undergraduate seminar on "Robot Sensors".REVIEW WORK:Served as a reviewer for the following conferences and journals:American Control Conference, Minneapolis, MN, June 200645th IEEE International Conference on Decision and Control, San Diego, CA, December 2006Inaugural IEEE Multi-conference on Systems and Control (MSC), Singapore, October 2007Automatica (Elsevier)IEEE Transactions on Automatic ControlIEEE Transactions on Control Systems TechnologyIEEE Transactions on Neural NetworksIET Control Theory and ApplicationsASME Journal of Dynamic Systems Measurement and ControlJournal of Robotics and Computer Integrated Manufacturing (Elsevier)International Journal of Robotics and Automation (ACTA Press)Robotica (Cambridge Univ. Press)AFFILIATIONS:Student Member, Institute of Electrical and Electronics Engineers (IEEE), 2004 - present.REFERENCES:
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