Contents 1 MARHES Colloquium 1.1 Spring 2012 1.2 Further Details of the Talks and Speakers - Spring 2012 1.3 Fall 2011 1.4 Further Details of the Talks and Speakers - Fall 2011 1.5 Summer 2011 1.6 Further Details of the Talks and Speakers - Summer 2011

MARHES Colloquium

In this section you can find information regarding the MARHES Colloquium. The Colloquium meets every week for one hour. The purpose is to discuss, coordinate and present members' or related work. The meetings are open to public and everybody is welcome to participate. Several guest speakers already confirmed to give talks.

A room and time of the meetings will be posted here in several days.

Spring 2012

Meeting	Speaker	Date	Room	Time	Topic
1.	MARHES Lab	1/26/2012, Thursday	ECE 118	3:30pm	old business/new business
2.	MARHES Lab	2/1/2012, Wednesday	ECE 237	2:00pm	testbed
3.	Lucas Chavez	2/8/2012, Wednesday	ECE 237	2:00pm	Kinect Magic
4.	Nicola Bezzo	2/15/2012, Wednesday	ECE 237	2:00pm	presenting his paper "Decentralized Connectivity and User Localization Via Wireless Robotic Networks" published at the Wi-UAV Workshop, GLOBECOM conference, Houston, TX, December 2011.
5.	all MARHES Lab Members should attend	2/22/2012, Wednesday	MARHES Lab	11:45am-1:15pm	OctoRoACH Webinar
6.	George Gorospe	2/29/2012, Wednesday	ECE 237	2:00pm	presenting the paper "Control of a Quadrotor Helicopter Using Visual Feedback" by Erdinc Altug, James P. Ostrowski, Robert Mahony
7.	canceled	3/7/2012, Wednesday	canceled	canceled	canceled due to absence of MARHES Lab members
8.	canceled due to Spring Break	3/14/2012, Wednesday	canceled	canceled	canceled due to Spring Break
9.	Prof. Dennice Gayme	3/21/2012, Wednesday	ECE 118	11:00am	Management of energy resources for grid integration of wind power
10.	Michael Anderson	3/30/2012, Friday	ECE 237	12:00pm	presenting the paper "Dynamic Vehicle Routing for Robotic Systems" by F. Bullo et al. published in Proceedings of the IEEE, Vol. 99, No. 9, September 2011.
11.	Domagoj Tolić	4/4/2012, Wednesday	ECE 237	2:00pm	Introduction to Intermittent Feedback: Event-triggering and Self-triggering
12.	canceled	4/11/2012, Wednesday	canceled	canceled	canceled
13.	MARHES Lab	4/18/2012, Wednesday	ECE 237	2:00pm	reporting research progress
14.	canceled due to a Lab Tour	4/25/2012, Wednesday	canceled	canceled	canceled

Further Details of the Talks and Speakers - Spring 2012

3. meeting

The presentation is based on the paper "KinectFusion: real-time 3D reconstruction and interaction using a moving depth camera" that can be accessed at: http://dl.acm.org/citation.cfm?id=2047270

4. meeting

The videos of the related experiments can be found at: http://marhes.ece.unm.edu/index.php/WiUAV and http://marhes.ece.unm.edu/index.php/Antenna_Diversity

9. meeting

Abstract: Concerns regarding global warming, the finite nature of conventional energy reserves, energy security and rising costs are driving the need to find more efficient and renewable energy sources and systems. Unfortunately, renewable power sources, such as solar cells or wind farms, differ significantly from conventional power plants and integrating them into the power grid poses a number of challenges. This talk examines strategies for mitigating these challenges through case studies using wind power. The first presents a simple framework to study the use of storage combined with fast-ramping spinning reserves (back-up generation) to mitigate the inherent variability of renewable sources. This idea is then extended to address the question of how to place storage resources in order to simultaneously mitigate risks and minimize costs given different network topologies. Finally, an examination of the complementary problem of wind farm placement and its effect on system damping is carried out. Achieving the full potential of "smart" and clean power systems will require a combination of different generation schemes, storage, ancillary services and other energy assets as well as an understanding of how to best coordinate and distribute these resources.

Biography: Dennice Gayme is an Assistant Professor in the Department of Mechanical Engineering at the Johns Hopkins University. She was previously a postdoctoral scholar in the Computing & Mathematical Sciences Department at the California Institute of Technology (Caltech). In 2010 she received her doctorate in Control and Dynamical Systems from Caltech, where she was a recipient of the P.E.O. scholar award in 2007 and the James Irvine Foundation Graduate Fellowship in 2003. She received a Master of Science from the University of California at Berkeley in 1998 and a Bachelor of Engineering & Society from McMaster University in 1997 both in Mechanical Engineering. Prior to her doctoral work she was a Senior Research Scientist in the Systems and Control Technology and Vehicle Health Monitoring Groups at Honeywell Laboratories from 1999-2003. Dennice's research interests are in the study of large-scale interconnected systems with an emphasis on renewable and efficient energy systems and wall turbulence.

Fall 2011

Meeting	Speaker	Date	Room	Time	Topic
1.	George Gorospe	9/22/2011, Thursday	ECE 237	3:30pm	NASA Internship Experience
2.	cancelled due to 2011 IEEE Multiconference on Systems and Control (MSC 2011) in Denver	cancelled	cancelled	cancelled	cancelled
3.	Prof. Rafael Fierro	10/6/2011, Thursday	ECE 237	3:30pm	Old Business/New Business
4.	Domagoj Tolic	10/20/2011, Thursday	ECE 237	3:30pm	presenting paper "Hybrid Systems in Robotics - Toward Reachability-Based Controller Design" by J. Ding et al.
5.	Titus Appel	10/27/2011, Thursday	ECE 237	3:30pm	rehearsal for his Master thesis defense titled "The Development of a Robotic Test Bed with Applications in Q-Learning"
6.	cancelled due to the ECE Open House event	cancelled	cancelled	cancelled	cancelled
7.	Ivana Palunko	11/10/2011, Thursday	ECE 237	3:30pm	presenting paper "L1 Adaptive Control for Safety-Critical Systems: Guaranteed Robustness With Fast Adaptation" by Naira Hovakimyan et al.
8.	Nicola Bezzo	11/17/2011, Thursday	ECE 237	3:30pm	presenting paper "Decentralized Multi-Vehicle Path Coordination under Communication Constraints" by Pramod Abichandani et al.
9.	Tairen Chen	12/01/2011, Thursday	ECE 237	3:30pm	presenting paper "Semiautonomous Multivehicle Safety - A Hybrid Control Approach" by R. Verma and D. Del Vecchio

Further Details of the Talks and Speakers - Fall 2011

Summer 2011

Meeting	Speaker	Date	Room	Time	Topic
1.	Prof. Rafael Fierro	5/26/2011, Thursday	ECE 132	11am	Old Business/New Business
2.	Titus Appel	6/2/2011, Thursday	ECE 132	11am	Machine Learning (ML) Based Mobile Robot Navigation Algorithm & TXT-1 test bed
3.	cancelled due to a faculty meeting	6/9/2011, Thursday	ECE 132	11am	cancelled due to a faculty meeting
4.	Prof. Sayan Mitra	6/16/2011, Thursday	ECE 132	11am	Verification of Hybrid and Distributed Systems
5.	Nicola Bezzo and Domagoj Tolić	6/23/2011, Thursday	ECE 132	11am	presentations of the papers accepted for publication on American Control Conference 2011
6.	canceled due to participation in American Control Conference	6/30/2011, Thursday	canceled	canceled	canceled
7.	all MARHES members	7/7/2011, Thursday	ECE 132	11am	discussing testbed - Quadrotors and TXT-1
8.	canceled due to absence of the professor (traveling to Washington D.C.)	7/14/2011, Thursday	canceled	canceled	canceled
9.	Ivana Palunko	7/21/2011, Thursday	ECE 132	11am	Modelling and control design of rotorcraft UAVs
10.	Prof. Ricardo Sanfelice	7/28/2011, Thursday	ECE 132	11am	On Interconnections of Hybrid Systems with Inputs and Outputs
11.	canceled	8/4/2011, Thursday	canceled	canceled	canceled
12.	Marhes Lab members	8/11/2011, Thursday	ECE 132	11am	Marhes Lab topics

Further Details of the Talks and Speakers - Summer 2011

4. meeting

Abstract: The hybrid automaton framework is an expressive mathematical formalism for modeling a wide variety of cyber-physical systems. While automatic tools for verifying subclasses of hybrid automata, e.g., rectangular initialized automata are available, general hybrid automata are known to be intractable. As a result, creation of tractable abstractions for hybrid models has received a fair bit of attention. In this talk, we will discuss some recent results in this theme. Specifically, we will discuss a counterexample guided abstraction refinement algorithm for safety and stability verification. Then, we will present a technique for controller synthesis based on discrete abstractions. Finally, we will present some recent results on verifying distributed hybrid systems. In the process we will present several software tools we have developed and their applications.

Bio: Sayan Mitra is an Assistant Professor of Electrical and Computer Engineering at the University of Illinois at Urbana-Champaign since 2008. His research interests are in verification of cyber-physical systems, distributed algorithms, and application of formal methods in automotive and aerospace. Prior to joining Illinois, he was a post-doctoral fellow at the Center for Mathematics of Information of California Institute of Technology for a year. He earned a Ph.D. from MIT in 2007 and received National Science Foundation's Faculty Early Career Development award in 2011.

10. meeting

Abstract: Groups of autonomous vehicles performing surveillance, fireflies synchronizing their flashes, networks of genes regulating their expressions, distributed loads and energy sources interacting in the power grid are a few examples of complex, large-scale interconnections featuring continuous and discrete/impulsive dynamics. We present tools for the analysis of such interconnections, with individual systems modeled as hybrid dynamical systems. Hybrid dynamical systems with input and outputs given by constrained differential and difference equations/inclusions are considered. Interconnections of input-to-output and input-output-to-state stable hybrid systems, with respect to compact sets, are considered. Sufficient conditions in terms of Lyapunov functions, including a small gain theorem, are presented.

Bio: Ricardo G. Sanfelice received the B.S. degree in Electronics Engineering from the Universidad Nacional de Mar del Plata, Buenos Aires, Argentina, in 2001. He joined the Center for Control, Dynamical Systems, and Computation at the University of California, Santa Barbara in 2002, where he received his M.S. and Ph.D. degrees in 2004 and 2007, respectively. During 2007 and 2008, he was a Postdoctoral Associate at the Laboratory for Information and Decision Systems at the Massachusetts Institute of Technology. In 2009, he joined the faculty of the Department of Aerospace and Mechanical Engineering at the University of Arizona, where he is currently assistant professor. Professor Sanfelice received the 2010 IEEE Control Systems Magazine Outstanding Paper Award. His research interests are in modeling, stability, robust control, observer design, and simulation of nonlinear and hybrid systems with applications intersecting the areas of robotics, aerospace, and biology.