Control Cook

GERALD COOK

POSITION: Earle C. Williams Professor

Department of Electrical and Computer Engineering

George Mason University, Fairfax, VA 22030

Telephone: 703-***-**** E-mail *****@***.***

PERSONAL: Born - Hazard, Kentucky

Citizenship U.S.A.

Marital Status Married

Health Excellent

Home Address 4821 Fox Chapel Road, Fairfax, VA 22030

Home Telephone 703-***-****

EDUCATION:

Sc. D. (electrical engineering) Massachusetts Institute of Technology, 1965

M. S. (electrical engineering) Massachusetts Institute of Technology, 1962

B. S. (electrical engineering) Virginia Polytechnic Institute, 1961

(with honors)

SECURITY CLEARANCE: Secret (latest update 2004)

EXPERIENCE:

Earle C. Williams Professor of Electrical and Computer Engineering, 1985

Chairman of Electrical and Computer Engineering Department, 1990-1998

George Mason University, Fairfax, Virginia

Chairman, Department of Electrical and Biomedical Engineering, and

Professor of Electrical Engineering, 19811985

Vanderbilt University, Nashville, Tennessee

Visiting Professor, Control Engineering Laboratory, 19791980

Technical University of Denmark, Copenhagen, Denmark

Professor and Director, Computer and Control Laboratory, 19781979; 19801981

Professor of Electrical Engineering, 19731981

Associate Professor of Electrical Engineering, 19681973

University of Virginia, Charlottesville, Virginia

EXPERIENCE: (cont’d)

Research Associate F.J. Seiler Research Lab., 19651966

Assistant Professor of Astronautics, 19661968

U.S. Air Force Academy, Colorado Springs, Colorado

Lecturer, Department of Electrical Engineering, 19661968

University of Colorado, Colorado Springs, Colorado

Guidance Analyst Apollo Project, 19631965

M.I.T. Instrumentation Laboratory, Cambridge, Massachusetts

CURRENT AREAS OF EMPHASIS:

Modern Controls, Robotics, Estimation and Identification, Landmine Detection

CONSULTING:

Kaman Corporation, Nuclear Division, Philip Morris Tobacco Company,

Melpar Corporation, US Army Foreign Science and Technology Center,

Babcock and Wilcox Research Center, DEES Hyraulic Corporation,

QUEST Research Corporation, Omnimii Incorporated, TASC, TRW, SAIC,

Sverdrup Technology Inc., Alion Corp.

ADVISORY BOARD:

Committee of 100, College of Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA

SOCIETIES, HONORS AND AWARDS:

Life Fellow, Institute of Electrical and Electronics Engineers

IEEE Centennial Medal, 1984

Mittelmann Achievement Award, IEEE Industrial Electronics Society, 1989

Department of Army, Certificate of Achievement, 1981

Recipient of Eta Kappa Nu Teaching Award, Virginia Chapter, UVA, 1974

Outstanding Research Award, Southeastern Section, ASEE, 1971

Technical Achievement Award, USAF Office of Aerospace Research, 1968

Junior Officer of the Year, F.J. Seiler Res. Lab., US Air Force Academy, 1967

National Science Foundation Fellow, 19611964

Listed in Who's Who in America

Listed in American Men and Women of Science

Listed in Who's Who in Engineering

Listed in Who's Who in American Education

Listed in International Scholars Directory

Listed in Who's Who in the South and Southwest

Listed in Personalities of the South

Listed in Community Leaders and Noteworthy Americans

Listed in Who's Who in Technology Today

Listed in Directory of World Researchers

Listed in Who's Who in Frontiers of Science and Technology

Listed in Personalities of America

Listed in Men of Achievement

Member Sigma Xi

Member Eta Kappa Nu

Member Phi Kappa Phi

Member Tau Beta Pi

Member Omicron Delta Kappa

PROFESSIONAL ACTIVITIES:

Registered Professional Engineer, Commonwealth of Virginia

Life Member, Administrative Committee, IEEE-IES

Editor-in-Chief, IEEE Transactions on Industrial Electronics, 19831990

President, IEEE Industrial Electronics Society, 1981-1983

Vice President for Technical Activities, IEEEIES, 19781981

Secretary, IEEE Industrial Electronics Society, 19741977

Chairman, Education Committee, IEEEIES, 19761979

Associate Editor, IEEE Trans. on IES, 19731979

Chairman, Central VA. Section IEEE, 19761977

Chairman, Automatic Control Chapter, Central VA Section IEEE, 196970

Branch Counselor, UVA Student Chapter IEEE, 19691971

RESEARCH SPONSORS:

NASA, NSF, NIH, Naval Surface Weapons Laboratory, Army Engineers Topographic Laboratory, Ballistic Missile Defense System Command, General Electric, Teledyne Avionics, Sperry Corporate Technology Center, Virginia Center for Innovative Technology, Night Vision Laboratory of US Army

BOOKS PUBLISHED:

Gerald Cook, Mobile Robots: Navigation, Control and Remote Sensing, John Wiley and Sons Inc, Hoboken, NJ, June 2011, ISBN 978-0-470-63021-1, 307 pages

PUBLICATIONS IN TECHNICAL JOURNALS:

Kansal, Smriti and Cook, G. Modeling Uneven Terrain for Geo-location of Mines Detected via Vehicular Mounted Sensors International Journal on Systems and Science, Vol. 36, No. 9 (15 July, 2005) pp559-571

Kansal, Smriti and Cook, G. Use of Fiducials and Un-surveyed Landmarks as Geo-location Tools in Vehicular Based Landmine Search IEEE Trans. On Geoscience and Remote Sensing Vol. 43, No. 6 (June ’05) pp 1432-1439

Jakkidi, S. and Cook, G. Landmine Geo-location; Dynamic Modeling and Target Tracking IEEE Trans on Aerospace and Electronics, Vol.41 No. 1 (Jan. ’05) pp 51-59

Kansal, S. and Cook, G. Use of a Sinusouidal Series for Modeling Discrete Windowed Data as an Alternative to Interpolation IEEE Trans on Industrial Electronics, Vol. 51, No. 4 (Aug '04) pp. 903-909.

Hartley, T. T., Veilette, R. J. and Cook, G., "Techniques in Deadbeat and One-step-ahead Control," Control and Dynamic Systems; Digital Control Systems Implementation and Computational Techniques, Vol. 79, pp. 117-157, 1996 Academic Press

Benson, Brian, Sage, Andrew P. and Cook, G. "Emerging Technology Evaluation Methodology: with Application to Micro Electro Mechanical Systems," IEEE Transactions an Engineering Management, Vol. 40, No. 2 (May 1993) pp.114-123.

Cook, G. "Discussion of 'Pre-shaping Command Inputs to Reduce System Vibration'" Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control, Vol. 115, No. 2 (June 1993)

Hartley, T. T. and Cook, G. "One-Step-Ahead Control with Improved Sensitivity Robustness," IEEE Transactions on Industrial Electronics, Vol. 39, No. 3 (June '92) pp. 268-272.

Lei Zhou and Cook, G. "Path Planning for Robots with Redundant Degrees of Freedom," IEEE Transactions on Industrial Electronics, Vol. 38, No. 6 (pp. 413-420 Dec. 1991).

Cook, G., "Comments on Johnson's Unreachable Poles Remedy", International Journal of Control, Vol. 51, No. 4 (pp. 949-951 Apr. 1990)

Pal, S., Stephanou, H. E., and Cook, G., "Optimal Control of A Single Link Flexible Manipulator," Journal of Intelligent and Robotic System, Vol. 2, 1989 pp. 187-199

Yen, K.K., Cook, G. and Beale, G. O., "Parameter Space Study of Algorithms Using Stale Data," Transactions of the Society for Computer Simulation, Vol. 5, No. 4 (Oct. 1988 pp. 229-241.)

Cook, G., "Counter Examples to Johnson's LQR Propriety Limits," International Journal of Control, Vol. 48, No. 2 (Aug. 1988) pp. 823825.

Hartley, T., Beale, G. O. and Cook, G., "Multi-rate Input Sampling for RealTime RungeKutta Simulation," IEEE Transactions on Industrial Electronics Vol. 34, No. 3 (Aug. 1987) pp. 387390.

Zheng, FangJing and Cook, G., "Energy Optimal Control for Steel Rolling," IEEE Transactions on Industrial Electronics, Vol. 32, No. 4 (November 1985), pp. 38892.

Beale, G. O. and Cook, G., "NonIterative System Identification Applied to Wind Tunnel Valve Control," IEEE Transactions on Industrial Electronics, Vol. 32, No. 1 (February 1985), pp. 7177

Cook, G., "Message from the Past PresidentA Brief History of the Industrial Electronics Society of IEEE," IEEE Transactions on Industrial Eelctronics, Vol. 31, No. 1 (February 1984) pp. 12.

Cook, G., and Beale, G. O., "Application of Least Squares Parameter Identification with FixedLength Data Window to the Steel Bending Process," IEEE Transactions on Industrial Electronics, Vol. 30, No. 4 (November 1983) pp. 33439.

Cook, G., Trostmann, E. and Hansen, N.E., "General Scheme for Automatic Control of Continuous Bending of Beams," Measurement and Control for Batch Manufacturing, edited by D. E. Hardt, ASME Press, N.Y., N.Y., 1982, pp. 116.

Price, M. G., and Cook, G., Identification/Observation Using An Extended Luenberger Observer," IEEE Transaction on Industrial Electronics, Vol. 29, No. 4 (November 1982), pp. 27987.

Yen, K., and Cook, G., "Discrete Time Simulation Using Parallel Processing; New Integration Algorithms," IEEE Transactions on Industrial Electronics, Vol. 29, No. 3 (August 1982), pp. 21720.

Trostmann, E., Hansen, N.E., and Cook, G., "General Scheme for Automatic Control of Continuous Bending of Beams," Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control, Vol. 104, No. 2 (June 1982), pp. 173179.

Cook, G., Jacobson, I.D., Change, R.C., and Melton, R., "Methodology for Multi Aircraft Minimum Noise Impact Trajectories," IEEE Transactions on Aerospace Electronics, Vol. 18, No. 1 (January 1982), pp. 13146.

Yen, K., and Cook, G., "An Improved LocalLinearization Algorithm for Solving the Quaternion Equations," AIAA Journal on Guidance and Control, Vol. 3, No. 5 (SeptemberOctober 1980), pp. 46871.

Aylor, J.H., Ramey, R.L, and Cook, G., "Design and Application of a Microprocessor PID PredictorController, IEEE Transactions on IECI, Vol. 27, No. 3 (August 1980), pp. 13337.

Cook, G., and Lin, C.F., "Comparison of a LocalLinearization Algorithm with Standard Numerical Integration Methods for RealTime Simulation," IEEE Transactions on IECI, Vol. 27, No.3 (August 1980), pp. 12932.

Moon, C.W., Mullins, R.S., and Cook, G., "Electric Vehicles and Computer Control," Mundo Electronico, No. 93 (February 1980), pp. 14346.

Witt, R.M., Price, M. G., Thompson, P.M., and Cook, G., "MinimumNoise Aircraft Landing Trajectories," Mundo Electronico, No. 91 (December 1979), pp. 8186.

Witt, R.M., and Cook, G., "A Performance Measure for Evaluating Noise Effects During Landing," IEEE Transactions on Aerospace Electronic Systems, Vol. AES 14, No.5 (September 1978), pp. 78995.

Beale, G.O., and Cook, G., "Optimal Digital Simulation of Aircraft Via Random Search Techniques," AIAA Journal of Guidance and Control, Vol. 1, No. 4 (JulyAugust 1978), pp. 23741. Also in PAKETHAR TEXNKA KOCMOHABTNKA, Vol. 16, No. 9 (September 1978), pp.197203.

Cook, G., and Price, M.G., "Comment on a Comparison of the Smith Predictor and Optimal Design Approaches for Systems with Delay in the Control," IEEE Transactions on Industrial Electronics and Control Instrumentation, Vol. 25, No. 2 (May 1978), pp. 18081.

Price, M.G., and Cook, G., "ErrorStep Size TradeOffs for Pade Approximants to Exponentials," IEEE Transactions on Industrial Electronics and Control Instrumentation,, Vol. 25, No. 1 (February 1978), pp. 2425.

Beale, G. O., and Cook, G., "Frequency Domain Synthesis of Discrete Representations," IEEE Transactions on Industrial Electronics and Control Instrumentation, Vol. 23, No. 4 (November 1976), pp. 43843.

Cook, G., and Thomasson, F. Y., "Control Design for Linear Tracking Combined with Perfect Following," IEEE Transactions on Industrial Electronics and Control Instrumentation, Vol. 23, No. 4 (November 1976), pp. 40005.

Barkana, A., and Cook, G., "A System for Extracting Graphical Data Using a Mobile Optical Array," ISA Transactions, Vol. 14, No. 4 (1976), pp. 36878.

Barkana, A., and Cook, G., "An Aircraft Noise Pollution Model for Use in NearTerminal FlightTrajectory Optimization," IEEE Transactions on Aerospace Electronic Systems, Vol. 12, No. 2 (March 1976), pp. 10916.

Oakes, O.J., Jr., and Cook, G., "Piecewise Linear Control of NonLinear Systems," IEEE Transactions on Industrial Electronics and Control Instrumentation, Vol. 23, No. 1 (February 1976), pp. 5663.

Cook, G., and Lee, Y.C., "Use of Kalman Filtering for Data Resolution Enhancement," IEEE Transactions on Industrial Electronics and Control Instrumentation, Vol. 22, No.4 (November 1975), pp. 497500.

Wernli, A., and Cook, G., "Suboptimal Control for the NonLinear Quadratic Regulator Problem," Automatica, Vol. 11 No. 1 (January 1975), pp. 7584.

Cook, G., and Dawson, D. E., "Optimum ConstantGain Filters," IEEE Transactions on Industrial Electronics and Control Instrumentation, Vol. 21, No. 3 (August 1974), pp. 15963.

Demas, G. D., Barkana, A., and Cook, G., "Experimental Verification of the Improvement of Resolution when Applying Perturbation Theory to a Quantizer," IEEE Transactions on Industrial Electronics and Control Instrumentation, Vol. 20, No. 4 (November 1973), pp. 23639.

Cook, G., "Some Practical Limitations on the Use of Perturbation Signals for Resolution Enhancement," IEEE Transactions on Industrial Electronics and Control Instrumentation, Vol. 20, No. 3 (August 1973),pp. 11417.

White, R.R., and Cook, G., "Use of Piecewise Linearization for Suboptimal Control of NonLinear Systems," International Journal of Control, Vol. 18, No. 2 (August 1973), pp. 38597.

Barkana, A., Cook, G., and McVey, E.S., "A SolidState Relay," IEEE Transactions on Industrial Electronics and Control Instrumentation, Vol. 20, No. 2 (May 1973), pp. 9397.

Eads, B.G., and Cook, G., "Design and Application of a Time Optimum Controller for a Class of NonLinear Processes," IEEE Transactions on Industrial Electronics and Control Instrumentation, Vol. 20, No. 2 (May 1973), pp. 9397.

Thomasson, F.Y., and Cook, G., "On the Linear Regulator with Cross Terms in the Performance Index," International Journal of Control, Vol. 17, No. 5 (May 1973), pp. 11719.

Thomasson, F.Y., and Cook, G., "Solving FlightPath Optimization Problems on a MiniComputer," Astronautica Acta, Vol. 18, No. 1 (February 1973), pp. 4551.

Aylor, J.H., Parrish, E.A., and Cook, G., "Optimum Design of a Position Detection System with a Sinusoidal Perturbation Signal, IEEE IECI, Vol. 1, No. 4 (November 1972), pp. 11419.

Thomasson, F.Y., and Cook, G., "Comparison of Constant LiftCoefficient Climbs with FlightManual Climbs for a Jet Transport," AIAA Journal of Aircraft, Vol. 8, No.10 (October 1971), pp. 81012.

Shields, V.C., and Cook, G., "Application of an Approximate Time Delay to a Posicast Control System," International Journal of Control, Vol. 14, No. 4 (October 1971).

Cook, G., "A Systematic Procedure for Writing and Solving Equations of SampledData Systems," International Journal of Control, Vol. 13, No. 13 (March 1971), pp. 49196.

Cook, G., "The Singular Control Problem and Approximate Solutions," IEEE Transactions on Automatic Control, Vol. AC16, No. 1 (February 1971), pp. 5256.

Pracht, C.P., and Cook, G., "An Alternate Realization of the NearIdeal Prediction," IEEE Transactions on Automatic Control, Vol. AC15, No. 6 (December 1970), pp. 69899.

Thomasson, F.Y., and Cook, G., "Synthesis of A Near TimeOptimal Controller for Certain SecondOrder Linear Systems Having Delay in the Control Action," IEEE Transactions on Industrial Electronics and Control Instrumentation, Vol. IECI17, No. 6 (November 1970), pp. 40306.

Stanaway, J.J., Jr., and Cook, G., "Experimental Verification of Signal Perturbation Applied to the Accuracy of Position Detection," IEEE Transactions on Industrial Electronics and Control Instrumentation, Vol. IECI17, No. 5 (August 1970), pp. 36974.

Cook, G. "Use of a Digital Computer to Determine CorrectSize Compensating Elements for a PreSpecified Circuit Configuration," IEEE Transactions on Industrial Electronics and Control Instrumentation, Vol. IECI16, No. 2 (September 1969), pp. 15760.

DeDoes, D. H., Shaefer, J. F., Morgan, B. S., Jr., and Cook, G., "Procedures to Check the Adjoint Equations When Using the Methods of Steepest Ascent," IEEE Transactions on Automatic Controls, Vol. AC 14, No. 3 (June 1969), pp. 30103.

Cook, G., and Funk, J.E., "The Quadratic Control Problem with an Energy Constraint, Approximate Solutions," Automatica, Vol. 4, No. 5 (November 1968), pp. 35164.

Cook, G., Stark, L., "The Human Eye Movement Mechanism: Experiments, Modeling and Model Testing," Archives of Ophthalomology, Vol. 79 (April 1968), pp. 42836.

Cook, G., and Stark, L., "Dynamic Behavior of the Human EyePositioning Mechanism," Communications in Behavioral Biology, Vol. 1, No. 3, Part A (March 1968), pp. 197204.

Cook, G., "Application of Green's Theorem to Optimization Problems with StateVariable Inequality Constraints," IEEE Transactions on Automatic Control, Vol. AC12, No. 1 (February 1967), pp. 10506.

Cook, G., and Stark, L., "Derivation of a Model for the Human EyePositioning Mechanism," Bulletin of Mathematical Biophysics, Vol. 29 (1967), pp. 15374.

Cook, G., Stark, L., and Zuber, B. L., "Horizontal Eye Movements Studied with the OnLine Computer," Archives of Ophthalmology, Vol. 76 (October 1966), pp. 58995.

Cook, G., "An Application of HalfCycle Posicast," IEEE Transactions on Automatic Control, Vol. AC11, No. 3 (July 1966), pp. 55659

Cook, G., and Stark, L., "Dynamics of the Saccadic Eye Movement Mechanism," Proceedings of the Symposium on Biomedical Engineering, Vol. 1 (Milwaukee, WI, June 1966),p. 35659. Also published in PSL Bulletin, Vol. 6, No. 2 (April 1967), pp. 14451.

Zuber, B.L., Stark, L. and Cook, G., "Microsaccades and the VelocityAmplitude Relationship for Saccadic Eye Movements," Science, Vol. 150, No. 3702 (December 10, 1965),pp. 145960.

PUBLICATIONS IN ENCYCLOPEDIA

Cook, G., "Guidance Systems," Encyclopedia of Science and Technology, 7th Edition, McGraw Hill.

Chang, S. S. L. (original), Cook, G. (revision), "Stochastic Control," Encyclopedia of Science and Technology, 7th Edition, McGraw Hill.

PUBLICATIONS IN CONFERENCE PROCEEDINGS:

Kadakkal, V. and Cook, G. Use of Preview Control Scheme with Knowledge of Future Trajectory Information for Lane-Tracking Control of a Wheeled Mobile Robot, Proceedings of IECON 2008, TT5-Trajectory Planning and Navigation (65) ( Orlando, FL, USA, Nov. 10-13, 2008)

Cook, G. Optimal Steering of a Mobile Robot, Proceedings SPIE Symposium on Defense and Security, Unmanned Systems Technology IX Vol. 6561-82 (Orlando, Florida, USA April 9-13, 2007)

Kansal, S. and Cook, G. Remote Sensing Using Vehicular Mounted Sensors and GPS Instrumentation, Proceedings of SPIE Fourth International Asia-Pacific Environmental Remote Sensing Symposium, Remote Sensing Applications of the Global Positioning System, Vol 5661( pp 88-95, Honolulu, Hawaii, USA Nov. 8-11, 2004)

Cook, G and Kansal, S. Exploitation of Complementary Sensors for Precise Ground Registration of Sensed Objects, Proceedings of SPIE Fourth International Asia- Pacific Environmental Remote Sensing Symposium, Image Processing and Pattern Recognition in Remote Sensing II, Vol 5657 ( pp 20-29 Honolulu, Hawaii, USA Nov. 8-11, 2004)

Kansal, S. Jakkidi, S. and Cook, G. The Use of Mobile Robots for Remote Sensing and Object Localization Proceedings of IECON 2003, ( pp 279-284, Roanoke, Va, USA, Nov. 2-6, 2003)

Jakkidi, S. and Cook, G. Geo-location of Detected Landmines via Mobile Robots Equipped with Multiple Sensors, Proceedings of IECON 2002, ( pp 1972-1977 Seville, Spain, Nov. 4-8, 2002 )

Cook, G., Jakkidi, S. Kansal, S., Sherbondy, K., and Amazeen, C., Impact of Uneven Terrain on Geo-location Errors for Mines Detected via Vehicular Mounted Sensors, Proceedings of SPIE Conference on Detection and Remediation Technologies for Mine and Minelike Targets VI, Vol. 4742, (pp594-605, Orlando, FL, April 1-5, 2002)

Cook, G., Sherbondy, K., and Jakkidi, S., Geo-Location of Mines Detected via Vehicular-Mounted Forward-Looking Sensors, Proceedings of SPIE Conference on Detection and Remediation Technologies for Mine and Minelike Targets VI, Vol. 4394, (pp922-933, Orlando, FL, April 16-20, 2001)

O’Brien, G. F. and Cook, G. Effects of Misalignment on Pixel Averaging when Scaling Templates and Images Before Scanning, Proceedings of IEEE SoutheastCon 2000, pp399-406 (Nashville, TN, April 7-9, 2000)

Cook G. and O’Brien, G. F. Principal Components Analysis; Extension to Scaling for Application to Images Acquired at Various Ranges, Proceedings of SPIE 44th Annual Meeting, paper [3810-12], (Denver, Colorado July 18-23, 1999)

Bowers, H. and Cook, G. "Uniting Model-based and Model-less Methods for Robotic Manipulator Direction Control, Proceedings of IECON '98 pp. 1103-1108 (Aachen, Germany Aug. 31-Sept. 4, 1998)

Lin, Y. S. and Cook, G. "Automobile Steering Autopilot with Lane Change Capability," Proceedings of IECON '97 pp. 143-148 (New Orleans, LA, Nov. 10-14, 1997.)

Bauer, B. and Cook, G. "Algorithm and Simulation Development of Autonomous Robotics Search," Proceedings of IECON '97 pp. 1278-1283 (New Orleans, LA, Nov. 10-14, 1997.)

Tshingambo, Tshing and Cook, G., "Network Optimization with Application to Vehicular Routing," Proceedings of IECON '95 (Orlando, FL, Nov. 6-10, 1995.)

Cook, G., Balzar, J., Frietchen, D., Nayfeh, M., "Resolving Kinematic Redundancy in Robotic Manipulators; Performance Measures, Repeatability, and Algorithmic Singularities," Proc. of IECON '94 pp. 708-712, (Bologna Italy, Sept 5-9, 1994.)

Kreidl, O. P., Cooley, M. L. and Cook, G. "Computer Simulation of a Robotic Golfer" Proceedings of IECON '93 (Lahaina, Maui, HI, Nov. 15-19, 1993)

Araujo, R. and Cook, G. "Comparison of Two Adaptive Control Methods for Robotic Applications," Proceedings of IECON '93 (Lahaina, Maui, HI, Nov. 15-19, 1993.)

Maciag, C. J. and Cook, G. "Does Slave Manipulator Need Any Autonomy," Virtual Reality Conference, Beyond Speech Recognition, Tele-operation '93, SIG Advanced Applications (New York, N.Y. Oct. 16-19, 1993).

Maciag, C. and Cook, G. "Robotic Control in Uncertain Environment; Hypothesis Testing, Identification and Accommodation" IROS '92, International Conference on Intelligent Robots and Systems, pp. 301-308 (Raleigh, N. C. July 7-10, 1992).

Cook, G. "Multilevel Problems of Robotics: Path Planning, Steering and Control," Proc. Inter-American Engineering Conference '90 (Miami, FL, Dec. 3-6, 1990)

Cook, G. "Resolving Kinematic Redundancy for Robotic Manipulators," Proceedings IECON '90 (Monterey, CA, Nov. 26-30, 1990)

Yang, X. H. and Cook, G., "Vehicle Tracking Using Bearings-Only Measurements with Multiple Fixed Observers," Proc. IECON '90 (Monterey, CA, Nov. 26-30, 1990)

Yang, X. H. and Cook, G. "Collision Free Paths in Joint Space for Robotic Manipulators," Proceedings IECON '89 (Philadelphia, PA November 610, 1989).

Maciag, C. and Cook. G., "Identification of Linear Plants Using State Space Models," Proceedings IECON '89 (Philadelphia, PA, November 610, 1989).

Cook, G. and Zhou, L., "Control of Robots with Redundant Degrees of Freedom", Proceedings IECON `88 Topical Conference on Robotics, (Singapore, Oct. 2428, 1988).

Cook, G. and Alvandi, F., "Comparison of Linear and Nonlinear Models for Aircraft Tracking," Proceedings IECON `88 Topical Conference on Control, (Singapore, Oct. 2428, 1988).

Pal, S., Stephanou, H. E. and Cook, G., "Optimal Control of a Singlelink Flexible Manipulator," Proceedings Conference on Robotics & Automation, pp. 171175 (Philadelphia, PA, April 1988).

Pal, S., Cook, G. and Stephanou, H. E. "Near Optimal Control of Flexible Robots," Proceedings IECON `87 Topical Conference on Robotics and Vision, pp. 622629 (Cambridge, Mass. Nov. 36, 1987).

Crapps, C. and Cook, G., "Identification and Control of Flexible Limb Robots with Unknown Loads,"Proceedings IECON `87 Topical Conference on Control and Simulation, pp. 133141 (Cambridge, Mass, Nov. 36, 1987).

Pal, S., Stephanou, H. E., and Cook, G., "State Space Modeling and Control of Flexible Manipulators," Proceedings of IEEE Symposium on Intelligent Control, (Philadelphia, PA, January, 1987).

Yen, K. K., and Cook, G., "Stability and Accuracy Studies of Parallel Algorithms Using Stale Data," Proceedings of TwentyFifth Annual SICE Conference (SICE '86) International Section, Tokyo, Japan, July 2325, 1986.

Cook, G., "Control of Flexible Robots with Unknown Loads, " Proceedings of 1986 Symposium on Intelligent Systems for Army Logistics Support and Combat Engineering Operations (Fort Belvoir, VA, March 2527, 1986).

Cook, G., "Control of Flexible Structures Via Posicast," Proceedings 1986 Southeastern Symposium on System Theory pp. 31-35 (Knoxville, TN, April 78, 1986).

Cook, G., and Gunter, E., "Digital Signal Processing of Rotor Dynamics," Proceedings of 1986 Southeastern Symposium on System Theory pp. 225-228 (Knoxville, TN, April 78, 1986).

Yen, K., and Cook, G., "Parallel Digital Simulation by Decomposition of System Equations," Southeastcon '85 (Raleigh, NC, March 31April 3, 1985).

Arteaga, F. J., Cook, G., and Beale, G. O., "Computer Aided Digital Control Design Using TimeDomain Specifications," Southeastcon '85 (Raleigh, NC, March 31April 3, 1985).

Yen, K., Cook, G., and Beale, G. O., "A Comparison of Three RealTime Digital Simulation Methods Using MultiRate Input Sampling," Proceedings IECON '84 (Tokyo, Japan, October 2226, 1984).

Shepard, M.E., Beale, G. O., and Cook, G., "Optimal Discrete Transfer Functions Through Complex Curve Fitting," Proceedings of 1984 Southeastern Symposium on System Theory (Starkville, MI, March 2527, 1984).

Patel, M.R. and Cook, G., "Comparison of Performance Characteristics of DDC Algorithms Implemented on a Microprocessor," Proceedings of IEEE Southeastcon '84 (Louisville, KY, April 911, 1984).

Barkana, A. and Cook, G., "Optimal Perturbation Signal for Linearizing Nonlinearities," Proceedings of IEEE Southeastcon '84 (Louisville, KY, April 911, 1984).

Cook, G., Trostmann, E., Hansen, N. E., "General Scheme for Automatic Control of Continuous Bending of Beams," Proceedings Symposium on Measurement and Control for Batch Manufacturing, ASME 1982 Winter Annual Meeting (Phoenix, AZ, November 1517, 1982).

Cook, G., and Beale, G. O., "Application of Least Squares Parameter Identification with FixedLength Data Window to the Steel Bending Process," Proceedings IECON '82 (Palo Alto, CA, November 1517, 1982).

Hintz, K. J., McVey, E. S., and Cook, G., "Time Optimal Control of the Mirror Track Radar Antenna," 1981 Joint Automatic Control Conference (Charlottesville, VA, June 1719, 1981).

Cook, G., Hansen, N. E., and Trostman, E., "Automatic Control of Continuous Bending of Steel Beams," 1981 Joint Automatic Control Conference (Charlottesville, VA, June 1719, 1981).

Cook, G., and Lin, C. F., "Comparison of a LocalLinearization Algorithm with Standard Numerical Integration Methods for RealTime Simulation," Proceedings of Southeastcon '79 IEEE Region III Conference (Roanoke, VA, April 24, 1979).

Price, M.G., and Cook, G., "Use of An Extended Luenberger Observer for System Identification," Proceedings of Southeastcon '79 IEEE Region III Conference (Roanoke, VA, April 24, 1979).

Cook, G., "Sampling Requirements in Signal Processing," Proceedings of Southeastcon '79 IEEE Region III Conference (Roanoke, VA, April 24, 1979).

Beale, G. O., and Cook, G., "Digital Simulation and Optimization Via Random Search Techniques, " Proceedings of IMACS International Symposium on Simulation Software and Numerical Methods for Differential Equations (Blacksburg, Virginia, March, 911, 1977).

Rose, S. A., and Cook, G., "Implementation of Least Squares Identification of MultiVariable Systems," Proceedings of Southeastern '77IEEE Region III Conference, (Williamsburg, Virginia, April 57, 1977).

Cook, G., and Thomasson, F. Y., "Linear Tracking Combined with Perfect Following and Applied to a Power Generation Station." Proceedings of 1975 Triennial Congress, International Federation of Automatic Control (Boston, Massachusetts, August 2430, 1975).

Cook, G., and Lee, Y.C., "Map Interpretation Utilizing Kalman Filtering," Proceedings of Southeastern Symposium on System Theory (Baton Rouge, Louisiana, February 2122, 1974).

Pettus, W.G., and Cook, G., "Modeling a Heat Exchanger for Dynamic State Estimation," Proceedings of the Meeting of the Virginia Academy of Science, Engineering Section (Williamsburg, Virginia, May 1973).

Cook, G., and Dawson, D.W., "Kalman Type Filters with TimeInvariant Gains," Proceedings of Southeastern Symposium on System Theory (Raleigh, North Carolina, March, 1973).

Eads, B.G., and Cook, G., "Design and Application of a TimeOptimum Controller for a Nonlinear TimeDelay Process," Proceedings of Southeastern Symposium on System Theory (Lexington, Kentucky, April 34, 1972).

Motwani, R.L., and Cook, G., "Control of Temperature and Humidity of Anesthesia Gases," Proceedings of Southeastern Symposium on System Theory (Lexington, Kentucky, April 34, 1972).

Thomasson, F.Y., and Cook, G., "NearOptimal FlightPath Trajectories for a Jet Transport," Proceedings of IEEE Region III Conference (Charlottesville, Virginia, April 2628, 1971).

White, R.R. and Cook, G., "Suboptimal Solutions to the Nonlinear Regulator Problem Via PiecewiseLinear Modeling," Proceedings of Southeastern Symposium on System Theory (Atlanta, Georgia, April 34, 1971).

Cook, G., "An Approximation Technique for Singular Control Problems, "Proceedings of International Federation of Automatic Control Congress (Warsaw, Poland, June 1969).

Schaefer, J.F., DeDoes, D. H., Ciletti, M. D., Cook, G., and Morgan, B. S., Jr., "A Computer Optimization Study of a ThreeDimensional Model of an Engagement Between a SurfacetoAir Missile and a Tactical Aircraft," Proceedings of Air Force Science and Engineering Symposium (Colorado Springs, Colorado, October 30November 1, 1968).

Morgan, B. S., Jr., Schaefer, J. F., DeDoes, D. H., Ciletti, M. D., and Cook, G., "The Application of the Method of Steepest Descent to a Very High-Order Optimization Problem: The Problem of Developing Evasion Tactics for Aircraft Pursued by Missiles," Proceedings of Sixth Annual Allerton Conference on Circuit and System Theory, Allerton House (Monticello, Illinois, October 1968).

Vachino, R F., Schaefer, J. R., DeDoes, D.H., Morgan, B. S., Jr., Cook, G., "The Application of the Method of Steepest Descent to a PursuitEvasion Problem, "Proceedings of AIAA Guidance Control and Flight Dynamics Conference, AIAA Paper No. 68878 (Pasadena, California, August 1214, 1968).

Cook, G., "An Approximation Technique for Singular Control Problems," Proceedings of Second Annual Princeton Conference on Information Sciences and Systems, Princeton University

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