Jay
Allen Farrell
Department of Electrical Engineering
University of California, Riverside, CA 92521
v: (951) 827-2159, c: (951) 827-2425, e-mail: farrell@ee.ucr.edu
Employment University of California at Riverside
Professor,
Electrical Engineering 2001
– Present
Chair
of Electrical Engineering Department 1998
– 2001, 2011 – Present
Chair
of Electrical Engineering Department 1998
– 2001
Associate
Professor, Electrical Engineering 1997
– 2001
Assistant
Professor, Electrical Engineering 1994
– 1997
Autonomous Vehicles. The objective of this research program is to develop
the advanced navigation, control, and planning technologies necessary to
enhance the demonstrated capabilities of autonomous vehicles. Support of this research
includes: ONR and DARPA – guidance and planning algorithms for chemical plume
tracing; PATH & CALTRANS – centimeter accuracy vehicle; NSF – On-line
approximation based control.
Charles Draper Laboratory
Principal
Member of Technical Staff 1989
– 1994
Education University of Notre Dame Notre Dame, IN 46556
Doctor of
Philosophy, Electrical Engineering May
1989
Major
Area: Systems and Applied Mathematics
Minor
Area: Mathematics
Master of Science,
Electrical Engineering December
1987
Iowa State University Ames,
IA 50010
Bachelor
of Science, Electrical Engineering May
1986
Degree
Conferred With Distinction
Bachelor
of Science, Physics May
1986
Degree
Conferred With Distinction
TEACHING Linear, Nonlinear, or Adaptive Systems
and Control; State and Parameter Estimation; Dynamics and Simulation.
RESEARCH Intelligent autonomous vehicles; high precision
vehicle state estimation; intelligent, nonlinear, adaptive control;
cooperative, distributed control.
AWARDS
· Charles Draper Laboratory Recognition Award. For outstanding performance and achievement, 1991
·
Charles Draper
Laboratory Recognition Award. For
outstanding performance and achievement, 1993
·
Engineering
Vice Presidents Annual Award for Best Technical Publication: 1990
"Connectionist Learning Systems for Control," SPIE OE/Boston '90
·
IEEE Fellow,
January 2008
·
Named a GNSS
Leader to Watch for 2009-2010 by GPS World Magazine, May 2009
·
2009 recipient of
the CSS Distinguished Member Award, December 2009
·
AAAS Fellow,
February 2011
· A Winner of Connected Vehicle Technology Challenge --
sponsored by U.S. Department of Transportation’s (DOT’s) Research and
Innovative Technology Administration (RITA), July 2011
Conference Organization
& Journal Associate Editorship
·
Financial Chair,
1995 IEEE Conf. on Decision and Control, New Orleans, LA
·
Local
Arrangements Chair, 1997 IEEE Conf. on Decision and Control, San Diego, CA
·
Associate Editor,
IEEE Transactions on Automatic Control, 1997 – 1999
·
Member, IEEE
Control Systems Society Conf. Editorial Board, 1994 – 1998.
·
Financial Chair,
2001 IEEE Conf. on Decision and Control, Orlando, FL
·
Financial Chair,
2003 IEEE Conference on Decision and Control
·
Guest Editor for
IEEE Control Systems Magazine Special Issue on Kalman Filtering, 2010.
·
General
Vice-Chair, 2011 Joint European Control Conf., IEEE Conference on Decision and
Control
·
General Chair of
the 51st IEEE Conf. on Decision and Control, December 2012
Professional
Society Leadership
·
Elected member of
the IEEE Control Systems Society Board of Governors Jan. 2003 – Jan. 2006
·
IEEE Control
Systems Society Vice President of Financial Affairs Jan. 2005 – Dec. 2006
·
IEEE Control
Systems Society Vice-President: Technical Activities Jan. 2007 – Dec. 2008
·
Chair of the
Ad-hoc Committee on Web-based financial reporting appointed by the IEEE Control
Systems Society Executive Committee May 2008 – Jun. 2008
·
Chair of the
Ad-hoc Committee on New Technical Awards appointed by the IEEE Control Systems
Society Executive Committee Sep.
2008 – Dec. 2008
·
Member of Task
Force to negotiate and write-up of an MOU with Papercept Nov.
2010 – Nov. 2011
·
Elected member of
the IEEE Control Systems Society Board of Governors Jan. 2012 – Jan. 2014
·
IEEE Control
Systems Society President Elect 2013
·
IEEE Control
Systems Society President 2014
·
IEEE Control
Systems Society Past President 2015
Plenary and Panel Presentations
·
Invited Member of
Panel Discussion on the Future on Neural Network Research at the International
Symposium on Neural Networks, Nanjing, China, June
2007.
·
Invited workshop
on self-organizing on-line approximation based control at the 2007
International Symposium on Neural Networks, June 3, 2007, in Nanjing China,
June 2007.
·
Member of the
Plenary Panel at the 2007 International Symposium on Neural Networks, June 5,
2007, in Nanjing China. Plenary panelists: S. N. Balakrishnan,
Tamer Basar, Tianyou Chai,
Jay A. Farrell, DeyiLi, Thomas Parisini,
Marios M. Polycarpou, Zengqi Sun, Jun Wang, Paul Werbos, Zongben Xu, June 2007.
·
Plenary presentation
entitled ''Vehicle Autonomy and Intelligent Control: Where are we and What Lies
Ahead?'' at the IEEE Control Systems Society (CSS), Multiconference
on Systems and Control, San Antonio, TX, Sept. 2008.
·
Member of
moderated panel on the ''50th Anniversary of the Kalman Filter'' at the 2010
Institute of Navigation (ION) Global Navigation Satellite System (GNSS)
conference. The participation included a 30 minute presentation by each
panelist plus group discussion, questions, and answers. September 2010.
Industrial
Collaborations
·
Booz, Allen,
Hamilton; Barron Associates; Boeing; IAC; MSA; NGC.
Department
● Jul.
1998-Jun. 2001: EE Department Chair
Accomplishments
for 1998-1999: Hired 3 new faculty, Established joint Computer Engineering
Program with Department of Computer Science and Engineering, Established EE
Department Staff;
Accomplishments
for 1999-2000: Hired 3 new faculty, Negotiated and obtained EE Graduate Program
block grant, Prepared ABET accreditation review materials (167 pages) for EE
program, Prepared ABET accreditation review materials (249 pages) for CE
program.
Accomplishments
for 2000-2001: Hired 2 new faculty, passed ABET review,
prepared graduate program review, designed and planned second engineering
building.
● Sep.
2001-Jun. 2003: Electrical Engineering & Computer Engineering,
Undergraduate Advisor and Chair of UG Committee
● Jul.
2006-Jun. 2007: Electrical Engineering, Undergraduate Adviser and Chair of
the UG Committee
● Sep.
2006-Jun. 2007: Chair, EE Workload Definition Committee
● Jul.
2011-Present: EE Department Chair
Goals:
Initiate endowment funds for chaired faculty and student support, enhance
revenues, grow the research faculty, revise lower division undergraduate
curriculum, led IGERT and motivated GAANN proposals, led and manage the 2012
ABET evaluation.
College
● Sep.
2009-Aug. 2012: Chair of the Faculty of the Bourns College of Engineering.
● Oct.
2009-To Present: Faculty adviser for the ION-UCR student club.
Campus
● Nov.
2002-Jan. 2003: Participant Chancellor's Planning Retreat
● Sep.
2003-Jun. 2006: Committee on Academic Personnel (CAP)
● Aug.
2007-Jul. 2010: Shadow CAP
● Jul.
2007-Jun. 2009: Planning and Budget
● Feb.
2009-Jun. 2009: UCR Budget Advisory Committee
EVC/P led committee. I was one of
6 faculty. Later expanded to include several more.
● Mar.
2009-Jun. 2009: UCR BAC Steering Committee
EVC/P led
committee including heads of two administrative units, two Deans, and two faculty. Its objective was to consider the information
provided from various campus sources to determine principles and
recommendations for implementation of the required budget cuts. Those
principles and recommendations were presented to the UCR budget advisory
committee and to Chancellor White.
● Jun.
2009-Jun. 2010: Academic Personnel Task Force
Appointed
by EVC/P: The charge to the Task Force is to examine and recommend on ways we
might improve the academic personnel process, starting from the preparation of
academic personnel files in the Departments through to when they are signed off
on by the EVC/P or Chancellor.
● Sep.
2009-Jun. 2010: Chair of the UCR Strategic Planning Resources, Budget Planning
and Infrastructure Subcommittee
This committee
was appointed by the Executive Vice Chancellor and Provost with the charge: To
evaluate and make recommendations on economic models, resource generation and
cost structure and budgetary transparency. To examine and make recommendations
on ways to increase the effectiveness and efficiency of the campus
infrastructure, including administrative structure, business affairs,
facilities, and services in support of the teaching and research missions.
● Sep. 2009-Jun.
2010: Member, UCR Strategic Planning Steering Committee
● Sep.
2009-Aug. 2012: Member, UCR Academic Senate Executive Committee
● Jan.
2011-Dec. 2011: Member of UCR's Chancellor's Budget Advisory Council
I. Typical Courses
Undergraduate Courses: Dynamic Systems and Simulation, Automatic Control,
Linear Methods for Engineering Analysis and Design using MATLAB
Graduate Courses: Nonlinear Systems and Control, State and Parameter Estimation, Aided
Navigation Systems, GPS/GNSS, Linear Systems, Stochastic Processes
II. Graduate Student
Instruction.
|
Student Name
|
Degree |
Role |
Date Completed (Expected) |
|
Rathavut Vanitsthian |
Ph.D. |
Major Professor |
Expected Spring 2015 |
|
Qichi Yang |
Ph.D. |
Committee Member |
Expected Spring 2014 |
|
Haiyu
Zhang |
Ph.D. |
Committee Member |
Expected Spring 2014 |
|
Akshay Morye |
Ph.D. |
Major Professor |
Expected Spring 2014 |
|
Sheng Zhao |
Ph.D. |
Major Professor |
Expected Spring 2014 |
|
Sharat Suvarna |
Ph.D. |
Major Professor |
Expected Spring 2014 |
|
Dongfang Zheng |
Ph.D. |
Major Professor |
Expected Spring 2014 |
|
Yiming Chen |
Ph.D. |
Major Professor |
Expected Spring 2014 |
|
Curtiss Pro |
Ph.D. |
Committee Member |
Expected Spring 2013 |
|
Ahmed Kamal |
Ph.D. |
Committee Member |
Expected Spring 2013 |
|
Yingshuo
Fu |
Ph.D. |
Committee Member |
Expected Spring 2013 |
|
Kaiyun
Cui |
Ph.D. |
Committee Member |
Expected Spring 2013 |
|
Chong Ding |
Ph.D. |
Committee Member |
Expected Spring 2013 |
|
Barbara Herzog* |
Ph.D. |
Committee Member |
Expected Spring 2013 |
|
Jeff Herrera* |
M.S. |
Major Professor |
Expected Spring 2012 |
|
Scott Boskovich |
Ph.D. |
Committee Member |
Expected Spring 2012 |
|
Yiqian Li
|
Ph.D. |
Oral Exam |
Expected Spring 2011 |
|
Smruti Parichha* |
Ph.D. |
Oral Exam |
Expected Spring 2011 |
|
Anh Vu |
Ph.D. |
Committee Member |
Expected Spring 2011 |
|
Behlul Sutarwala |
M.S. |
Major Professor |
Expected Spring 2011 |
|
Utuk Celikan |
Ph.D. |
Committee Member |
Expected Spring 2011 |
|
Arvind Ramanandan |
Ph.D. |
Major Professor |
Expected Spring 2011 |
|
Anning Chen* |
Ph.D. |
Major Professor |
Expected Spring 2011 |
|
Lingfei
Zhou* |
Ph.D. |
Committee Member |
Spring 2010 |
|
Qian Gao |
Ph.D. |
Committee Member |
Winter 2010 |
|
Sindhura Mandava* |
M.S. |
Committee Member |
Spring 2010 |
|
Lili
Huang* |
Ph.D. |
Committee Member |
Expected Fall 2010 |
|
Yilei Xu |
Ph.D. |
Committee Member |
Spring 2009 |
|
Wenjie Dong |
Ph.D. |
Major Professor |
Spring 2009 |
|
Ning Liu |
Ph.D. |
Oral Exam |
Spring 2009 |
|
Ning Mi |
Ph.D. |
Oral Exam |
Spring 2009 |
|
Teddy Yap |
Ph.D. |
Committee Member |
Spring 2009 |
|
Weihua
Zhu |
Ph.D. |
Oral Exam |
Spring 2009 |
|
Vladimir Djapic |
Ph.D. |
Major Professor |
Fall 2008 |
|
Kevin Christopher |
M.S. |
Major Professor |
Fall 2008 |
|
Yuanyuan
Zhao* |
Ph.D. |
Major Professor |
Winter 2007 |
|
Yu Lu |
Ph.D. |
Major Professor |
Summer 2006 |
|
Zheng Fang |
Ph.D. |
Thesis defense |
Fall 2006 |
|
Jin Tang |
Ph.D. |
Thesis defense |
Fall 2006 |
|
Huaying
Xu |
Ph.D. |
Committee Member |
Summer 2006 |
|
Elmer Thomas* |
M.S. |
Major Professor |
Summer 2005 |
|
Jenna Cheng* |
Ph.D. |
Major Professor |
Spring 2005 |
|
John Napier |
M.S. |
Committee Member |
Fall 2004 |
|
Kelly Lynn Downey* |
M.S. |
Major Professor |
Summer 2004 |
|
Shuo Pang
|
Ph.D. |
Major Professor |
Fall 2004 |
|
Kirill Shabunov |
Ph.D. |
Oral Exam |
Winter 2004 |
|
Chuanjun
Zhang |
Ph.D. |
Oral Exam |
Spring 2004 |
|
Patrick Leang |
M.S. |
Committee Member |
Fall 2003 |
|
Jason Masters |
M.S. |
Committee Member |
Fall 2003 |
|
Steve Hawkinson |
M.S. |
Major Professor |
Fall 2002 |
|
Gang Chen |
Ph.D. |
Committee Member |
Summer 2002 |
|
Yunchun Yang |
Ph.D. |
Major Professor |
Spring 2001 |
|
Tony Givargis |
Ph.D. |
Committee Member |
Spring 2001 |
|
Torsten
Berger |
Ph. D. |
Major Professor |
Spring 1998 |
III. Other Teaching / Misc.
Supervision.
Mentorship of Graduates
|
From |
To |
Name |
|
March 2006 |
June 2006 |
Paul Miller |
Mentorship of Undergraduates
|
From |
To |
Name |
|
June 2000 |
June 2003 |
Elmer Thomas* |
|
April 2002 |
June 2004 |
June Fuller* |
Undergraduate
Student Supervision
|
From |
To |
Name |
|
January 2009 |
September 2011 |
Benjamin Wong, Jason Ramapuram, Jeff Herrera*,
Rathavut Vanitsthian |
|
January 2011 |
May 2012 |
Devin Auclair, Dennis Kwon,
Seyed Mortazavi, Amir Rustamzadeh, Daniela
Gutierrez* |
|
January 2012 |
Present |
Devin Auclair, Gevork Ashikyan, Tianchen Lu |
Visiting faculty
|
From |
To |
Name |
|
September 2002 |
August 2003 |
Cai Yuan
Li |
|
February 2003 |
March 2003 |
Huai Xun Liu |
*Names marked with an asterisk indicate students who fall into one or more underrepresented category.
Technical
Publications
a. Books
1. J.A. Farrell, M. Barth, ''The Global Positioning
System and Inertial Navigation: Theory and Practice, New York: McGraw-Hill
Publishing, 370 pp, 1999.
2. J.A. Farrell, M.M. Polycarpou, ''Adaptive
Approximation Based Control: Unifying Neural, Fuzzy, and Traditional
Approximation Based Approaches,'' Adaptive and Learning Systems for Signal
Processing, Communications and Control Series, Hoboken, NJ, John Wiley, S. Haykin (Ed.), 436 pages, 2006.
3. J.A. Farrell, ''Aided Navigation Systems: GPS and High
Rate Sensors,'' New York, NY, McGraw-Hill, W. Rinaldi
(Ed.), 552 pages, 2008.
b.
Journal Articles
1. A.N. Michel, J.A. Farrell, W. Porod,
''Qualitative analysis of neural networks. Information and
Decision Technologies,'' IEEE Trans. Circuits & Syst,
vol. 14, no. 3, pp. 169-194, 1988.
2. A.N. Michel, J.A. Farrell, W. Porod,
''Qualitative analysis of neural networks,'' IEEE Trans. Circuits &
Syst., vol. 36, pp. 229-243, 1989.
3. R.K. Miller, A.N.
Michel, J.A. Farrell, ''Quantizer effects on
steady-state error specifications of digital feedback control systems,'' IEEE
Trans. Automat. Contr., vol. 34, pp. 651-654, 1989.
4. J.A. Farrell, A.N.
Michel, ''Estimates of asymptotic trajectory bounds in digital implementations
of linear feedback control systems,'' IEEE Trans. Automat. Contr.,
vol 34, pp. 1319-1324, 1989.
5. A.N. Michel, J.A. Farrell, ''Associative memories via
artificial neural networks,'' IEEE Contr. Syst. Mag., vol. 10, no. 3,
pp. 6-17, 1990.
6. A.N. Michel, J.A. Farrell, H.F. Sun, ''Analysis and
synthesis techniques for Hopfield type synchronous discrete time neural
networks with application to associative memory,'' IEEE Trans. Circuits
& Syst., vol. 37, pp. 1356-1366, 1990.
7. J.A. Farrell, A.N.
Michel, ''A synthesis procedure for Hopfield’s continuous-time associative
memory,'' IEEE Trans. Circuits & Syst., 37, pp. 877-884, 1990.
8. J. Farrell, T. Berger, B. Appleby, ''Using learning
techniques to accommodate unanticipated faults,'' IEEE Contr. Syst. Mag.,
Special Issue on Intelligent Control, June, vol
13, no. 3, pp. 40-49, 1993.
9. J. Farrell, B. Clauberg, ''Issues in the implementation of an indirect
adaptive control system,'' IEEE J. Oceanic Eng., vol. 18, pp. 311-318,
1993.
10. M.M. Livstone, J.A. Farrell, M.A. Dahleh,
''Comments on least squares methods for H∞ control oriented
system identification,'' IEEE Trans.Automat. Contr.,
vol. 39, p. 1531, 1994.
11. J. Farrell, M. Livstone,
''Calculation of discrete-time process noise statistics for hybrid
continuous/discrete-time applications,'' Optimal Control: Application and
Methods, vol. 17, no. 2, pp. 151-155, 1996.
12. J.A. Farrell, ''Motivations for local approximators in passive learning control,'' Journal of
Intelligent Systems and Control, vol. 1, no. 2, pp. 195-210, 1996.
13. J. Chen, J.A. Farrell, C. Nett,
K. Zhou, ''H∞ identification of multivariable systems by tangential
interpolation methods,'' IEEE Transactions on Automatic Control, vol 41, no. 12, pp. 1822-1827, 1996.
14. J.A. Farrell, ''Persistence of excitation conditions
in passive learning control,'' Automatica, vol 33, no. 4, pp. 699-703, 1997.
15. J. Farrell, M. Djodat, M.
Barth, M. Grewel, ''Latency compensation for
differential GPS,'' Navigation: The Institute of Navigation, vol. 44,
no. 1, pp. 99-107, 1997.
16. J. Farrell, ''On performance evaluation in on-line
approximation for control,'' IEEE Transactions on Neural Networks, vol 9, no. 5, pp. 1001-1007, 1998.
17. J. Farrell, ''Stability and approximator
convergence in nonparametric nonlinear adaptive control,'' IEEE Transactions
on Neural Networks, vol. 9, no. 5, pp. 1008-1020, 1998.
18. A. Wistrom, J. Farrell,
''Simulation and system identification of dynamic models for flocculation
control,'' IAWQ Journal Water Science and Technology, vol 37, no. 12, pp. 181-192, 1998.
19. N. Sureshbabu,
J.A. Farrell, ''Wavelet based system identification for nonlinear control
applications,'' IEEE Trans. Automatic Control, vol. 44, no. 2, pp.
412-417, 1999.
20. J.Y. Choi, J.A. Farrell, ''Nonlinear adaptive control
using networks of piecewise linear approximators,”,''
IEEE Transactions on Neural Networks, vol 11,
no. 2, pp. 390-401, 2000.
21. J. Farrell, T. Givargis,
''Differential GPS reference station algorithm: Design and analysis,'' IEEE
Transactions on Control Systems Technology, vol
8, no. 3, pp. 519-531, 2000.
22. J. Farrell, T. Givargis, M.
Barth, ''Real-time differential carrier phase GPS-aided INS,'' IEEE
Transactions on Control Systems Technology, vol
8, no. 4, pp. 709-721, 2000.
23. W. Li, X.G. Chang, F. Wahl, J. Farrell, ''Tracking
control of a manipulator under uncertainty by FUZZY P+I D controller,'' Fuzzy
Sets and Systems, Elsevier Science: North Holland, vol
122, pp. 125-137, 2001.
24. W. Li, X.G. Chang, J.A. Farrell, F.M. Wahl, ''Design
of an Enhanced Hybrid Fuzzy P+ID Controller For a Mechanical Manipulator,'' IEEE
Systems, Man, and Cybernetics - Part B: Cybernetics, 31, 6, 938-945, 2001.
25. W. Li, J.A. Farrell, R.T. Cardé,
''Tracking of Fluid-Advected Odor Plumes: Strategies
Inspired by Insect Orientation to Pheromone,'' Adaptive Behavior, 9,
3/4, 143-170, 2001.
26. J.Y. Choi, J.A. Farrell, ''Adaptive observer based backstepping control using neural networks,'' IEEE
Transactions on Neural Networks, vol 12, no. 5,
pp. 1103-1112, 2002.
27. J. Stoev,
J.-Y. Choi, J.A.
Farrell, ''Adaptive control for output feedback nonlinear systems in the
presence of modeling errors,'' Automatica, 38,
10, 1761-1767, 2002.
28. J.A. Farrell, J. Murlis, W.
Li, R.T. Carde, ''Filament-Based Atmospheric
Dispersion Model to Achieve Short Time-Scale Structure of Odor Plumes,'' Environmental
Fluid Mechanics, vol. 2 2002, pp. 143-169, 2002.
29. Y. Yang, J.A. Farrell, ''Magnetometer and Differential
Carrier Phase GPS aided INS for Advanced Vehicle Control,'' IEEE Trans.
Robotics and Automation, 19, 2, 269-183, 2003.
30. Y. Yang, J.A. Farrell,
''Two Antenna GPS aided INS for Attitude Determination,'' IEEE Trans. on
Control Systems Technology, 11, 6, 905-918, 2003.
31. J.A. Farrell, S. Pang,
W. Li, ''Plume Mapping via Hidden Markov Methods,'' IEEE Trans. SMC-B,
33, 6, 850-863, 2003.
32. J.A. Farrell, H.S. Tan, Y. Yang, ''Carrier Phase
GPS-aided INS based Vehicle Lateral Control,'' ASME Journal of Dynamics
Systems, Measurement, & Control, 125, 3, 339-353, 2003.
33. J.A. Farrell, M. Polycarpou, M. Sharma, ''Longitudinal
Flight Path Control using On-line Function Approximation,'' AIAA Journal of
Guidance, Control and Dynamics, 26, 6, 885-897, 2003.
34. J. Nakanishi, J.A.
Farrell, S. Schaal, ''Composite Adaptive Control with
Locally Weighted Statistical Learning,'' Neural Networks, 18, 1, 71-90,
2005.
35. J.A. Farrell, S. Pang, W.
Li, ''Chemical Plume Tracing via an Autonomous Underwater Vehicle,'' IEEE J.
of Oceanic Engineering, 30, 2, 428-442, 2005.
36. J.A. Farrell, M.
Sharma, M. Polycarpou, ''Backstepping-Based Flight
Control with Adaptive Function Approximation,'' AIAA Journal of Guidance,
Control and Dynamics, 28, 6, 1089-1102, 2005.
37. W. Li, J.A. Farrell, S. Pang, R.M. Arrieta,
''Moth-Inspired Chemical Plume Tracing on an Autonomous Underwater Vehicle,'' IEEE
Transactions on Robotics, 22, 2, pp. 292-307, 2006.
38. S. Pang, J.A. Farrell, ''Chemical Plume Source
Localization,'' IEEE Systems, Man, and Cybernetics - Part B: Cybernetics,
36, 5, 1068-1080, 2006.
39. Y. Zhao, J.A.
Farrell, ''Locally Weighted Online Approximation Based Control for Nonaffine Systems,'' IEEE Transactions on Neural
Networks, 18, 6, 1709-1724, 2007.
40. Y. Zhao, J.A. Farrell,
''Self-organizing Approximation Based Control for Higher Order Systems,'' IEEE
Transactions on Neural Networks, 18, 4, 1220-1231, 2007.
41. W. Dong, J.A.
Farrell, ''Cooperative Control of Multiple Nonholonomic
Mobile Agents,'' IEEE Transactions on Automatic Control, 53, 6,
1434-1448, 2008.
42. W. Dong, J.A.
Farrell, ''Formation Control of Multiple Underactuated
Surface Vessels,'' IET Control Theory and Applications, 2, 12, April,
1077-1085, 2008.
43. Y. Zhao, J.A.
Farrell, ''Localized Adaptive Bounds for Approximation Based Backstepping,'' Automatica,
44, 10 2008, 2607-2613, 2008.
44. J.A. Farrell, M.
Polycarpou, M. Sharma, W. Dong, ''Command Filtered Backstepping,''
IEEE Transactions on Automatic Control, 54, 6, 1391-1395, 2009.
45. W. Dong, J.A. Farrell, ''Decentralized Cooperative
Control of Multiple Nonholonomic Dynamic Systems with
Uncertainty,'' Automatica, 45, 3, 706-710,
2009.
46. P. Miller, J.A. Farrell, Y. Zhao, V. Djapic, ''Autonomous Underwater Vehicle Navigation,'' May, IEEE
Journal of Ocean Engineering, 35, 3 663-678, 2010.
Miller won a 2008 Navy Top Scientists and Engineers
Award for his efforts on research related to this article. His nomination for
that award cites Farrell as his mentor. As of Sept. 2008, this paper is accepted
subject to minor modifications. The paper ID is TCST-2008-0250.
47. B. Song, A. Kamal, C. Soto, C. Ding, A. Roy-Chowdhury,
J.A. Farrell, ''Tracking and Activity Recognition through Consensus in
Distributed Camera Networks,'' IEEE Transactions on Image Processing,
19, 10, September 2010, 2564 - 2579, 2010.
48. B. Song, C. Ding, A.T. Kamal, J.A. Farrell, A.K.
Roy-Chowdhury, ''Distributed Camera Networks: Integrated Sensing and Analysis
for Wide Area Scene Understanding,'' May, IEEE Signal Processing Magazine,,
May 2011, 20-31, 2011.
49. W. Dong, J.A. Farrell, M.M. Polycarpou, V. Djapic, M. Sharma, ''Command Filtered Adaptive Backstepping,'' February, IEEE Trans. on Control Systems
Technology, 20,3, 566 – 580, 2012.
50. W. Dong, Y. Zhao, Y. Chen, J.A. Farrell, ''Tracking
Control for Nonaffine Systems: A Self-organizing
Approximation Approach,'' IEEE Transactions on Neural Networks and Learning
Systems, 23, 2, 223 - 235, 2012.
51. A. Ramanandan, A. Chen,
J.A. Farrell, ''Inertial Navigation Aiding by Stationary Updates,'' August, IEEE
Transactions on Intelligent Transportation Systems, 13, 1, 235 – 248, 2012.
52. A. Vu, A.
Ramanandan, A. Chen, J.A. Farrell, M. Barth, ''Real-Time Computer
Vision/DGPS-Aided Inertial Navigation System for Lane-Level Vehicle
Navigation,'' December, IEEE Transactions on Intelligent Transportation
Systems, 13, 2, 899-913, 2012.
53. C. Ding, B.
Song, A. Morye, J.A. Farrell, and A. Roy-Chowdhury, ''Collaborative Sensing In
A Distributed PTZ Camera Network,'' December, IEEE Transactions on Image
Processing, 21(7), 3282-3295, 2012.
c. Symposia/Conference Proceedings
1.
A. Michel, J.
Farrell, W. Porod, ''Qualitative analysis of neural
networks,'' Int. Symp. Mathematical Theory of
Networks and Systems, Phoenix, Arizona, June 1987, 1-8, 1987.
2. A. Michel, J. Farrell, W. Porod,
''Qualitative analysis of neural networks: Local theory,'' Proc. 25th Ann. Allerton Conf., University of Illinois, Urbana,
Illinois, September 1987, pp. 989-992, 1987 (Non-Refereed).
3. A. Michel, W. Porod, J.
Farrell, ''Stability results for neural networks,'' IEEE Conf. Neural
Inform. Proc. Syst., Denver,
Colorado, November 1987, pp. 51-55, 1987 (Non-Refereed).
4. J. Farrell, A.N. Michel, ''Asymptotic trajectory
bounds in digital implementations of linear feedback control systems,'' Proc.
22nd Ann. Conf. Inform, Sciences & Systems, Princeton, New Jersey,
March 1988, pp. 1877-1881, 1988 (Non-Refereed).
5. A.N. Michel, J.A. Farrell, W. Porod,
''Qualitative analysis of neural networks,'' Proc. IEEE Int. Symp. Circuits & Syst., Helsinki, Finland, June
1988, pp. 989-992, 1988.
6. J. Farrell, A. Michel, ''New estimates of asymptotic
trajectory bounds for digital filters: Improved results,'' Proc. 26th Annual
Allerton Conf. Communication, Control, &
Computing, University of Illinois, Urbana, Illinois, September 1988, pp.
852-861, 1988 (Non-Refereed).
7. R.K. Miller, A.N. Michel, J.A. Farrell, ''Quantizer effects on steady-state error specifications of
digital feedback control systems,'' Proc. 27th IEEE Conf. Decision &
Control, Austin, Texas, December 1988, pp. 1897-1901, 1988.
8. J.A. Farrell, A.N. Michel, ''Estimates of asymptotic
trajectory bounds in digital implementations of linear feedback control
systems,'' Proc. 27th IEEE Conf. Decision & Control, Austin, Texas,
December 1988, pp. 1877-1882, 1988.
9. A.N. Michel, J.A. Farrell, H.F. Sun, ''Analysis
techniques for Hopfield type synchronous discrete time neural networks,'' Proc.
1989 Conf. Information Sciences & Systems, Baltimore, Maryland, March
1989, pp. 597-602, 1989 (Non-Refereed).
10. A.M. Michel, J.A. Farrell, D.L. Gray, W. Porod, ''Some results on the modeling, analysis, and design
of neural networks,'' Proc. IEEE Int. Symp.
Circuits & Systems, Portland, Oregon, May 1989, pp. 482-485, 1989.
11. J. A. Farrell, A.N. Michel, ''A synthesis procedure
for Hopfield’s continuous time content addressable memory,'' Proc. IEEE Int.
Symp. Circuits & Systems, Portland, Oregon,
May 1989, pp. 2173-2176, 1989.
12. A.N. Michel, J.A. Farrell, ''Design techniques of
neural networks for associative memories,'' Proc. 28th IEEE Conf. Decision
& Control, Tampa, Florida, December 1989, pp. 252-259, 1989.
13. A. N. Michel, J.A. Farrell, H.F. Sun, ''Synthesis
techniques for discrete time neural network models,”,'' Proc. 28th IEEE
Conf. Decision & Control, Tampa, Florida, December 1989, pp. 773-778,
1989.
14. A.N. Michel, J.A. Farrell, ''Digital implementations
of linear feedback controllers: Qualitative properties and limitations,'' Proc.
28th IEEE Conf. Decision & Control, Tampa, Florida, December 1989, pp.
2233-2237, 1989.
15. W. Goldenthal, J. Farrell, ''Application
of neural networks to automatic control,'' Proc. AIAA Guidance, Navigation,
& Control Conf., Portland Oregon, August 1990, pp. 1108-1112, 1990.
16. W.L. Baker, J.A.
Farrell, ''Connectionist learning systems for control,'' Proc. SPIE Int. Soc.
of Optical Eng., Boston, Massachusetts, November 1990, pp.181-198, 1990
(Non-Refereed).
17. J. Farrell, B. Goldenthal,
K. Govindarajan, ''Connectionist learning control
systems: Submarine depth control,'' Proc. 29th Ann. IEEE Conf. Decision
& Control, Honolulu, Hawaii, December 1990, pp. 2362-2367, 1990.
18. J.S. Alexander, L.C. Baird, W.L. Baker, J.A. Farrell,
''A design & simulation tool for connectionist learning control systems:
Application to autonomous underwater vehicles,'' Proc. SCS Summer Computer
Simulation Conf., Baltimore, Maryland, July 1991, pp. 771-776, 1991
(Non-Refereed).
19. W.L. Baker, J.A. Farrell, ''Learning augmented flight
control for high performance aircraft,'' Proc. AIAA Conf. Guidance,
Navigation, & Control, New orleans,
Louisiana, August 1991, pp. 347-358, 1991.
20. J. Farrell, W. Baker,
''Learning augmented control for advanced autonomous underwater vehicles,'' Proc.
18th Ann. Symp. & Exhibit Assoc. Unmanned Vehicle Systems, Washington, DC, August 1991, pp. 462-468, 1991
(Non-Refereed).
21. M.M. Livstone, J.A. Farrell, W.L. Baker, ''A computationally
efficient algorithm for training recurrent connectionist networks,'' Proc.
Amer. Controls Conf., Chicago, Illinois, June 1992, pp. 555-561, 1992.
22. J. Farrell, B. Appleby, T. Berger, ''On the detection
and accommodation of unanticipated faults,'' Proc. AIAA Conf. Guidance,
Navigation, & Control, Hilton Head, South Carolina, August 1992, pp.
1045-1054, 1992.
23. B. Clauberg,
J. Farrell, ''Issues in the implementation of an indirect adaptive control
system,'' Proc. 1st IEEE Conf. Control Applications, Dayton, Ohio,
September 1992, pp. 1068-1075, 1992.
24. R. Mangoubi, B. Appleby, J.
Farrell, ''Robust estimation in fault detection,'' Proc. 31st IEEE Conf. Decision
& Control, Tucson, AZ, December 1992, pp. 2317-2322, 1992.
25. J. Farrell, J. Plump, ''Adaptive ballast control,'' Proc.
20th Ann. Symp. & Exhibit Assoc. Unmanned Vehicle
Systems, Washington, DC, June 1993, pp. 322-329, 1993 (Non-Refereed).
26. J. Farrell, M. Livstone,
''Exact calculation of discrete-time process noise statistics for hybrid
continuous/discrete time applications,'' Proc. 32nd IEEE Conf. Decision
& Control, San Antonio, Texas, December 1993, pp. 857-858, 1993.
27. M.M. Livstone, M.A. Dahleh, J.A. Farrell, ''A framework for robust control
based model invalidation,'' Proc. 1994 Amer. Control Conf., Baltimore,
Maryland, June 1994, pp. 3017-3020, 1994.
28. W.D. Hall, J.A.
Farrell, ''Activity-based mission planning and plan management for autonomous
vehicles,'' Proc. 1994 IEEE Symp. Autonomous Underwater Vehicle Tech., Cambridge, Massachusetts, July 1994, pp. 45-53,
1994 (Non-Refereed).
29. J. Chen, J. Farrell, C.N. Nett,
K. Zhou, ''H∞ identification of multivariable systems by
tangential interpolation methods,'' Proc. 32nd IEEE Conf. Decision &
Control, Lake Buena Vista, Florida, December 1994, pp. 4158-4163, 1994.
30. J.A. Farrell, T. Berger, ''On the effects of the
training sample density in passive learning control,'' Proc. 1995 American
Control Conf., Portland, Oregon, June 1995, pp. 872-877, 1995.
31. M.M. Livstone, M.A. Dahleh, J.A.
Farrell, ''A new framework for iterative identification and control,'' Proc.
1995 IEEE American Control Conference ACC '95, Seattle, Washington, June
1995, pp. 3546-3550, 1995.
32. N. Sureshbabu,
J.A. Farrell, ''Wavelet based system identification for nonlinear control
applications,'' Proc. 10th IEEE Int. Symp. Intelligent Control, Monterey, California, August 1995, pp. 236-241, 1995.
33. M. Grewal, J. Farrell,
M. Barth, ''Application of DGPS/INS to automobile navigation with latency
compensation,'' 1996 IEEE Position Location & Navigation Symp, Atlanta, Georgia, April 1996, pp. 433-436, 1996
(Non-Refereed).
34. J.A. Farrell, ''Persistence of excitation conditions
in passive learning control,'' Proc. Int. Federation Automatic Control Conf.,
San Francisco, California, June 1996, pp. 313-318, 1996.
35. A. Wistrom, J. Farrell,
''Automatic control of flocculation processes,'' ASCE Proc. North American
Water Environ. Congress '96, Anaheim, California, June 1996, 997-1002,
1996.
36. J.A. Farrell, ''Approximator
characteristics and their effect on training misbehavior in passive learning
control,'' 1996 IEEE Int. Symp. Intelligent
Control, Detroit, Michigan, September 1996, pp.
181-187, 1996.
37. J. Farrell, M. Grewal,
M. Djodat, M. Barth, ''Differential GPS with latency
compensation for autonomous navigation,'' 1996 IEEE Int. Symp. Intelligent Control, Detroit, Michigan, September 1996, pp. 20-25, 1996.
38. J. Farrell, ''Exponential convergence conditions for
passive learning control,'' Proc. 1997 American Control Conference, New
Mexico, June 1997, pp. 1809-1813, 1997.
39. J. Farrell, ''On performance evaluation in on-line
approximation based control: methods and pitfalls,'' Proc. 1997 IEEE CDC,
New Mexico, June 1997, pp. 1585-1590, 1997.
40. J. Farrell, A. Wistrom,
''Flocculation control: System identification - experimental results,'' Proc.
7th IAWQ ICAWorkshop, Brighton, United Kingdom,
July 1997, pp. 373-380, 1997.
41. A. Wistrom, J. Farrell,
''Simulation of dynamic models for automatic flocculation control,'' Proc.
7th IAWQ ICAWorkshop, Brighton, United Kingdom,
July 1997, pp. 381-386, 1997.
42. W. Li, F.M. Wahl, B. Krebs, J.A. Farrell, ''Extraction
of line and step edges by fuzzy reasoning,'' Int. Conf. on Computational
Intelligence for Modeling Control, and Automation, Vienna, Austria,
February 1999, pp. 507-512, 1999.
43. X.G. Chang, W. Li, J. A. Zhou, J.A. Farrell, ''Dynamic
behavior modeling of stoker-fired boilers by recurrent fuzzy-neuro networks,'' Int. Conf. on Computational
Intelligence for Modeling Control, and Automation, Vienna, Austria,
February 1999, pp. 190-195, 1999.
44. J. Farrell, T. Givargis,
''Experimental differential GPS reference station evaluation,'' Proceedings
of the 1999 American Control Conference, San Diego, California, June 1999,
pp. 3645-3649, 1999.
45. J. Farrell, T. Givargis, M.
Barth, ''Differential carrier phase GPS-aided INS for automotive
applications,'' Proceedings of the 1999 American Control Conference,,
San Diego, California, June 1999, pp. 3660-3664, 1999.
46. J.Y. Choi, J.A. Farrell, ''Adaptive observer for a
class of nonlinear systems using neural networks,'' Proceedings of the 1999
IEEE International Symposium on Intelligent Control, Cambridge,
Massachusetts, September 1999, pp. 114-119, 1999.
47. J.Y. Choi, J.A.
Farrell, ''Nonlinear adaptive control using networks of piecewise linear approximators,'' 38th IEEE Conference on Decision and
Control, Phoenix, Arizona, December 1999, pp. 1671-1676, 1999.
48. Y. Yang, J. Farrell, M. Barth, ''High-accuracy, high
frequency differential carrier phase GPS aided low-cost INS,'' IEEE PLANS,
San Diego, California, March 2000, pp. 148-155, 2000.
49. X. Chang, W. Li, J. Farrell, ''A C-means clustering
based fuzzy modeling method,'' Proceedings of the 2000 IEEE International
Conference on Fuzzy Systems, San Antonio, Texas, May 2000, pp. 937-40,
2000.
50. J. Choi, J. Farrell, ''Observer-based backstepping control using on-line approximation,'' Proceedings
of the 2000 IEEE American Controls Conference, Chicago, Illinois, June
2000, pp. 3646-3650, 2000.
51. W. Williamson, J. Min, J. Speyer, J. Farrell, ''A
comparison of state space, range space, and carrier phase differential GPS/INS
relative navigation,'' Proceedings of the 2000 IEEE American Controls
Conference, Chicago, Illinois, June 2000, pp. 2932-2938, 2000.
52. W. Li, J. Farrell, F.M. Wahl, K.R. Kozlowski, ''A nonholonomic mobile robot navigation in uncertain
environments based on behavior control,'' Proceedings of World Automation
Congress, Maui, Hawaii, June 2000, 7 m.s.p. in
CD-ROM (no hard copy), 2000.
53. Y. Yang, J. Farrell, H.S. Tan, ''Carrier Phase
Differential GPS-aided INS based Vehicle Control: Experimental Results,'' 2001
ION National Technical Meeting, Long Beach, CA, January 2001, pp. 679-689,
2001.
54. Y. Yang, J. Farrell, ''Magnetometer and Carrier Phase
GPS aided INS for Automotive Control,'' 2001 ION National Technical Meeting,
Long Beach, CA, January 2001, pp. 690-695, 2001.
55. Y. Yang, J. A. Farrell, H.S. Tan, ''GPS-aided INS
Based Control State Calculation for AHS,'' 2001 American Control Conference,
Arlington, VA, June 2001, pp. 2321-2326, 2001.
56. S. Pang, J. Farrell, J. Du, M. Barth, ''Battery
State-of-Charge Estimation,'' 2001 American Control Conference,
Arlington, VA, June 2001, pp. 1644-1649, 2001.
57. W. Li, X. Chang, J. Farrell, ''Stability and
performance analysis of an enhanced hybrid fuzzy p+id
controller,'' 2001 American Control Conference, Arlington, VA, June
2001, pp. 3855-3860, 2001.
58. J. Stoev, J.Y. Choi, J.A.
Farrell, ''Adaptive neuro control for output feedback
nonlinear systems,'' 2001 American Control Conference, Arlington, VA,
June 2001, pp. 3097-3102, 2001.
59. V.K. Gazi, M. Passino, J. A. Farrell,
''Adaptive Control of Discrete Time Nonlinear Systems Using Dynamic Structure Approximators,'' 2001 American Control Conference,
Arlington, VA, June 2001, pp. 3091-3096, 2001.
60. Y. Yang, J. Farrell,
''Fast Ambiguity Resolution for GPS/IMU Attitude Determination,'' ION GPS
2001, Salt Lake City, UT, September 2001, pp. 2990-2997, 2001.
61. Y. Yang, J. Farrell,
''Two-Antenna GPS and Low Cost INS Tight Integration for Attitude
Determination,'' ION GPS 2001, Salt Lake City, UT, September 2001, pp.
2960-2971, 2001.
62. J. Nakanishi, J. A.
Farrell, S. Schaal, ''A Locally Weighted Learning
Composite Adaptive Controller with Structure Adapatation,''
IEEE/RSJ International Conference on Intelligent Robots and Systems,
Lausanne, Switzerland, May 2002, 882-889, 2002.
63. M. Polycarpou, J. A. Farrell, M. Sharma, ''On-Line
Approximation Control of Uncertain Nonlinear Systems: Issues with Control Input
Saturation,'' American Control Conference, Denver, CO, June 2003,
543-548, 2003.
64. J. A. Farrell, M. Polycarpou, M. Sharma, ''Adaptive backstepping with magnitude, rate, and bandwidth
constraints: Aircraft longitude control,'' American Control Conference,
Denver, CO, June, 3898-3903, 2003.
65. H.-S. Tan, B. Bougler, J. A.
Farrell, Y. Yang, ''Automated Steering Controls: DGPS/INS and Magnetic
Markers,'' American Control Conference, Denver, CO, June, 60-65, 2003.
66. J. A. Farrell, M.
Sharma, M. M. Polycarpou, ''On-line Approximation Based Aircraft Longitudinal
Control,'' American Control Conference, Denver, CO, June, 1011-1015, 2003.
67. R. M. Arrieta, J. A. Farrell, W. Li, S. Pang, ''Initial
Development and Testing of an Adaptive Mission Planner for a Small Unmanned
Underwater Vehicle,'' Proc.
Of the 22nd Int. Conf. On Offshore
Mechanics and Artic Engineering, Cancun,
Mexico, June, OMEA2003-37273, 2003 (Non-Refereed).
68. M. Sharma, J. A. Farrell, M. Polycarpou, N. D.
Richards, D. G. Ward, ''Backstepping Flight Control
using On-Line Function Approximation,'' AIAA Guidance, Navigation, and
Control Conference, AIAA 2003-5713, Austin, TX, August, 10 proceedings
pages, 2003 (Partially-Refereed).
69. J. A. Farrell, W. Li,
S. Pang, R. Arrieta, ''Chemical Plume Tracing
Experimental Results with a REMUS AUV,'' MTS/IEEE Oceans 2003, San
Diego, CA, September, 962-968, 2003 (Partially-Refereed).
70. S. Pang, J. A. Farrell, R. M. Arrieta,
W. Li, ''AUV Reactive Planning: Deepest Point,'' MTS/IEEE Oceans 2003,
San Diego, CA, September, 2222-2226, 2003 (Non-Refereed).
71. J. Cheng, J. A. Farrell, L. Yu, E. Thomas, ''Aided
Integer Ambiguity Resolution Algorithm,'' IEEE Position, Location, and
Navigation Conference, Monterey, CA, April, 740-745, 2004.
72. M. M. Polycarpou, J. A. Farrell, M. Sharma, ''Robust
On-Line Approximation Control of Uncertain Nonlinear Systems Subject to Constraints,''
9th IEEE International Conference on Engineering of Complex Computer Systems,
Florence, Italy, April, 66-74, 2004.
73. J. Nakanishi, J. A. Farrell, S. Schaal,
''Learning Composite Adaptive Control for a Class of Nonlinear Systems,'' IEEE
International Conference on Robotics and Automation, New Orleans, LA,
April, 2647-2652, 2004.
74. J. A. Farrell, M.
Polycarpou, M. Sharma, ''On-Line Approximation Based Control of Uncertain
Nonlinear Systems with Magnitude, Rate and Bandwidth Constraints on the States
and Actuators,'' American Control Conference, Boston, MA, June,
2557-2562, 2004.
75. Y. Zhao, J. A. Farrell,
M. M. Polycarpou, ''Localized Adaptive Bounds for Online Approximation Based
Control,'' American Control Conference, Boston, MA, June, 590-595, 2004.
76. J. A. Farrell, S. Pang, W. Li., R. Arrieta,
''Biologically Inspired Chemical Plume Tracing Demonstrated on an Autonomous
Underwater Vehicle,'' IEEE Systems, Man, and Cybernetics Conference,
Hague, Netherlands, October, 5991-5996, 2004.
77. Y. Lu, J. Cheng, J. A. Farrell, ''A New Method to
Enhance GPS SNR its Application in Fast Signal Acquisition,'' 61st annual
meeting of the Institute of Navigation, Cambridge, MA, June, 8 ms, 2005 (Partially-Refereed).
78. Y. Zhao, J. A. Farrell,
''A Locally Weighted Learning Method for Online Approximation Based Control,'' IEEE
CDC/ECC 2005, Seville, Spain, December, 2694-2701, 2005.
79. Y. Zhao, J. A. Farrell,
''Localized Adaptive Bounds for Online Approximation Based Control,'' IEEE
CDC/ECC 2005, Seville, Spain, December, 789-795, 2005.
80. J. A. Farrell, Y. Zhao,
''Self-organizing Approximation Based Control,'' Proceedings of the American
Control Conference, Minneapolis, MN, June, 3378-3384, 2006.
81. W. J. Dong, Y. Guo, J. A.
Farrell, ''Formation Control of Nonholonomic Mobile
Robots,'' Proceedings of the American Control Conference, Minneapolis,
MN, June, 5602-5607, 2006.
82. Y. Zhao, J. A. Farrell, ''A Locally Weighted Learning
Method for Nonaffine-in-Control Systems,'' IEEE
Conference on Decision and Control, San Diego, CA, December, 3454-3460,
2006.
83. W. Dong and J. A. Farrell, ''Decentralized Cooperative
Control of Multiple Nonholonomic Systems,'' IEEE
Conference on Decision and Control, New Orleans, LA, December, 1486-1491,
2007.
84. Y. Zhao, J. A. Farrell,
''Performance-Based Self-Organizing Approximation for Scalar State Estimation
and Control,'' American Control Conference, New York, NY, July,
3913-3918, 2007.
85. P. Miller, Y. Zhao, V. Djapic,
J. A. Farrell, ''Advanced Navigation Algorithms applied to Autonomous
Underwater Vehicles,'' 15th International Symposium on Unmanned Untethered
Submersible Technology, U. New Hampshire, August, 8 ms, 2007 (Partially-Refereed).
Miller
won a 2008 Navy Top Scientists and Engineers Award for his efforts on research
related to this article. His nomination for that award cites Farrell as his
mentor.
86. V. Djapic, J. A. Farrell, P.
Miller, R. Arrieta, ''Advanced non-linear control
algorithms applied to design highly maneuverable Autonomous Underwater
Vehicles,'' 15th International Symposium on Unmanned Untethered Submersible
Technology, University of New Hampshire, August, 8 ms,
2007 (Partially-Refereed).
87. W. Dong and J. A. Farrell, ''Decentralized Cooperative
Control of Multiple Nonholonomic Systems,'' IEEE
Conference on Decision and Control, New Orleans, LA, December, 6 ms, 2007.
88. Y. Zhao and J.A. Farrell, ''Self-organizing
Approximation for Controllable Nonaffine Systems,'' IEEE
Conference on Decision and Control, New Orleans, LA, December 2007,
1281-1287, 2007.
89. B. Song, C. Soto, A. K. Roy-Chowdhury, J. A. Farrell,
''Decentralized Camera Control using Game Theory,'' Workshop on Smart Camera
and Visual Sensor Networks at ICDSC 2008, pp. 1-8, 2008.
90. W. Dong, J. A. Farrell, ''Consensus of multiple
uncertain mechanical systems and its application in cooperative control of mobile
robots,'' IEEE International Conference on Robotics and Automation,
Pasadena, CA, May, 1954-1959, 2008.
91. W. Dong, J. A. Farrell,
''Formation Control of Multiple Mobile Robots with Uncertainty,'' American
Control Conference, Seattle, WA, June 2008, 1412-1417, 2008.
92. W. Dong, Y. Zhao, J. A. Farrell, ''Tracking Control of
Nonaffine System: A Self-organizing Approximation
Approach,'' American Control Conference, Seattle, WA, June, 69-74, 2008.
93. J. A. Farrell, M.
Polycarpou, M. Sharma, W. Dong, ''Command Filtered Backstepping,''
American Control Conference, Seattle, WA, June, 1923-1928, 2008.
94. V. Djapic, J. A. Farrell, W.
Dong, ''Land Vehicle Control Using Command Filtered Backstepping
Approach,'' American Control Conference, Seattle, WA, June, 2461-2466,
2008.
95. W. Dong, J. A. Farrell, ''Optimal Regulation of
Unknown Nonlinear Systems Based on Locally Weighted Learning,'' Multiconference on Systems and Control:
International Symposium on Intelligent Control, San Antonio, TX, September,
1079-1084, 2008.
96. V. Djapic, J. A. Farrell, W.
Dong, ''Hybrid Control Design Applied in Land Vehicle Behavior-Based Switching
Controller,'' 2008 IEEE Multi-conference on Systems and Control, San
Antonio, September, 648-653, 2008.
97. W. Dong, J. A. Farrell,
''Consensus of Multiple Nonholonomic Systems,'' 47th
IEEE Conference on Decision and Control, Cancun, Mexico, December,
2270--2275, 2008.
98. W. Dong, J. A. Farrell, ''Optimal Tracking Control for
Unknown Nonlinear Systems Based on Locally Weighted Learning,'' 47th IEEE
Conference on Decision and Control, Cancun, Mexico, December, 2148-2153,
2008.
99. W. Dong and J. A. Farrell, ''Adaptive Approximately
Optimal Control of Unknown Nonlinear Systems Based on Locally Weighted
Learning,'' IEEE Conf. on Decision and Control, Shanghai, China,
December, 345-350, 2009.
100. V. Djapic,
J. A. Farrell, W. Dong, ''Unifying Behavior-Based Control Design and Hybrid
Stability Theory,'' American Control Conference, St. Louis, June 2009,
3650-3655, 2009.
101. A. Chen, A. Ramanandan and J. A. Farrell, ''Improved
Integer Ambiguity Resolution by Combining LAMBDA and LMS,'' Proceedings of
the 22nd International Technical Meeting of the Satellite Division of the
Institute of Navigation (ION GNSS 2009), Savannah, GA, September 2009,
963-969, 2009 (Partially-Refereed).
102. A. Chen, A. Ramanandan, J. A. Farrell,
''High-precision lane-level road map building for vehicle navigation: nodal
approach,'' IEEE/ION PLANS 2010, Indian Wells CA, May 2010, 1035-1042,
2010 (Partially-Refereed).
103. W. Dong, J. A. Farrell,
M. M. Polycarpou, M. Sharma, ''Command Filtered Adaptive Backstepping,''
American Control Conference, Baltimore, MD, June 2010, 105-110, 2010.
104. A. Ramanandan, A. Chen,
J. A. Farrell, S. Suvarna, ''Detection of Stationarity in an Inertial Navigation System,'' Proceedings
of the ION GNSS 2010, Portland, OR, September 2010, 238 - 244, 2010
(Partially-Refereed).
105. A. Ramanandan, A. Chen, J. A. Farrell, ''Observability analysis of INS and lever-arm error states
with CDGPS-Camera aiding,'' April, IEEE Position Location and Navigation
Symposium (PLANS), Indian Wells CA, April 2010, 1197--1203, 2010
(Partially-Refereed).
106. A. Vu, J. A. Farrell, M. Barth, ''Landmark
Surveying Using an Integrated Camera, Carrier-Phase DGPS, and Inertial
Navigation System,''Proceedings of the ION
GNSS 2011, Portland OR, 2287-2293, 2011 (Partially-Refereed).
107. A. Ramanandan, A. Chen, J. A. Farrell,
''Improving Robustness of Aided Inertial Navigation Systems with Near Real Time
Processing,''Proceedings of the ION GNSS
2011, Portland OR, 3868-3893, 2011 (Partially-Refereed).
108. Y. Chen, W. Dong, J. A. Farrell,
''Self-Organized Locally Linearized Optimal Regulation for Unknown Nonlinear
Systems,'' 2011 IEEE Multiconference on
Systems and Control, Denver, CO, 1276-1281, 2011.
109. D. Zheng, K. Cui, B. Bai,
G. Chen, J. A. Farrell, ''Indoor navigation based on LEDs,'' IEEE Multiconference on Systems and Control, Denver, CO,
573-578, 2011.
110. A. Chen, D. Zheng, A. Ramanandan, J. A.
Farrell, ''INS Aided GPS Integer Ambiguity Resolution,'' 2011 IEEE Multiconference on Systems and Control, Denver, CO,
567-572, 2011.
111. A. Ramanandan, J. A. Farrell, A. Chen, ''A
Near-Real Time Nonlinear State Estimation Approach with Application to
Initialization of Navigation Systems,'' 50th IEEE Conference on
Decision and Control and European Control Conference, Orlando, FL,
3184-3191, 2011.
112. A. Chen, D. Zheng, A. Ramanandan, J. A.
Farrell, ''Near-real-time GPS Integer Ambiguity Resolution,'' 50th IEEE
Conference on Decision and Control and European Control Conference, Orlando
FL, 7281-7286, 2011.
113. Y. Chen, W. Dong, J. A. Farrell,
''Self-Organized Locally Linearized Optimal Tracking Control for Unknown
Nonlinear Systems,'' 50th IEEE Conference on Decision and Control and
European Control Conference, Orlando, FL, 5401-5406, 2011.
114. S. Zhao, J. A. Farrell,
''Optimization-based Road Curve Fitting,'' 50th IEEE Conference on
Decision and Control and European Control Conference, Orlando, FL,
5293-5298, 2011.
115. A. Kamal, C. Ding, J. A. Farrell, A. K.
Roy-Chowdhury, ''A Generalized Kalman Consensus Filter for Wide-Area Video
Networks,'' 50th IEEE Conference on Decision and Control and European
Control Conference, Orlando, FL, 7863-7869, 2011.
116. W. Dong, M. B. Ghalia,
J. A. Farrell, ''Tracking Control of Multiple Nonlinear Systems via Information
Interchange,'' 50th IEEE Conference on Decision and Control and
European Control Conference, Orlando, FL, 5076-5081, 2011.
117. W. Dong, M. B. Ghalia,
J. A. Farrell, ''Distributed Control of Multiple Wheeled Mobile Robots,'' 50th
IEEE Conference on Decision and Control and European Control Conference,
Orlando, FL, 1373-1378, 2011.
118. A. Morye, C. Ding, B. Song, A. K.
Roy-Chowdhury, J. A. Farrell, ''Optimized Imaging and Target Tracking within a
Distributed Camera Network,'' June, American Control Conference,
San Francisco, 474-480, 2011.
119. Y. Chen, J. A. Farrell, ''Self-organizing
Approximation Based Control with L1 Transient Performance Guarantees,''
June, American Control Conference, San Francisco, 1169-1175, 2011.
120. A. Ramanandan, A. Chen, J. A. Farrell, ''Observability Analysis of an Inertial Navigation System
with Stationary Updates,'' September,American
Control Conference, San Francisco, 5292-5299, 2011.
Symposia/Conference Proceedings (In Press)
121. M. Barth, J. A. Farrell, M. Todd,
''Innovative Approaches for Next-Generation Vehicle Positioning,'' TRB,
2011 (Non-Refereed).
122. A. Vu, J. A. Farrell, R. Vanitsthian, M.
Barth, ''Improved Vehicle Trajectory and State Estimation Using Raw GPS and IMU
Data Smoothing,'' IEEE IV 2012 Workshop on Navigation, Accurate
Positioning, and Mapping for Intelligent Vehicles 6 m.s., 2012.
123. C. Ding, A. Morye, J. A. Farrell, A. K.
Roy-Chowdhury, ''Coordinated Sensing and Tracking for Mobile Camera
Platforms,'' June, 2012 American Control Conference, Montreal, CA,
6 m.s., 2012.
Book
Chapters
1. A. Michel, J. Farrell, W. Porod,
''Stability Results for Neural Networks,'' In Neural Information Processing
Systems, American Institute of Physics, D.Z. Anderson (ed.), pp. 554-563,
1988.
2. A.N. Michel, J.A. Farrell, W. Porod,
''Qualitative Analysis of Neural Networks,'' Analysis and Control of
Nonlinear Systems, Elsevier Science Publishers B. V, North Holland, C.I.
Byrnes, C.F. Martin, R.E. Saeks (eds.), pp. 349-358,
1988.
3. W.L. Baker, J.A. Farrell, ''Chapter 2: An Introduction
to Connectionist Learning Control Systems,'' Handbook of Intelligent
Control: Neural Network, Fuzzy Logic, and Adaptive Implementations, Van Nostrand Reinhold Publishers, D. White, D. Sofge (eds.), pp. 35-63, 1992.
4. J. Farrell, W. Baker, ''Chapter 10: Learning Control
Systems,'' An Introduction to Intelligent & Autonomous Control,
Kluwer Academic Publishers, P. Antsaklis,
K. Passino (eds.), pp. 237-262, 1992.
5. J. Farrell, W. Baker, ''Chapter 17: Learning Control
Systems: Motivation and Implementation,'' Intelligent Control Systems:
Theory & Practice, IEEE Press, M. Gupta, N. Sinha
(eds.), pp. 445-478, 1995.
6. J. Farrell, ''Chapter 57.11: Neural Control,'' The
Controls Handbook, CRC Press, W.S. Levine (Ed.), pp. 1017-1030, 1996.
7. W. Li, F.M. Wahl, B. Krebs, J. Farrell, ''Extraction
of Line and Step Edges by Fuzzy Reasoning, Computational Intelligence for
Modeling, Control and Automation,'' In Evolutionary Computation & Fuzzy
Logic for Intelligent Control, Knowledge Acquisition & Information
Retrieval, IOS Press, Netherlands, M. Mohammadian
(ed.), pp. 507-512, 1999.
8. X. Chang, W. Li, J.Z.
Zhou, J. Farrell, ''Dynamic Behavior Modeling of Stoker-Fired Boilers by
Recurrent Fuzzy-Neuro Networks,'' Computational
Intelligence for Modeling, Control and Automation. In Neural Networks & Advanced Control Strategies, IOS Press, Netherlands, M. Mohammadian
(eds.), pp. 190-195, 1999.
9. J. Farrell, M. Polycarpou, ''Chapter 6: Neural, Fuzzy,
and Approximation-Based Control,'' In Perspectives in Control Engineering
Technologies, Applications, and New Directions (ISBN 0-7803-5356-0), IEEE
Press, T. Samad (ed.), pp. 134-164, 2000.
10. J. Farrell, ''Control Systems,'' Embedded System
Design: a unified hardware/software introduction, Chapter 9, New York:Wiley, F. Vahid, T. Givargis (authors), pp. 245-267, 2002.
11. J. A. Farrell, M. Sharma, M. Polycarpou, ''Online
Approximation-Based Aircraft State Estimation,'' Stability and Control of
Dynamical Systems with Applications, Birkhauser,
Boston, D. Liu, P. J. Antsaklis (eds.), 229-246, 2003 (Partially-Refereed).
12. J. Farrell, ''State Estimation,'' Electrical
Engineering Handbook, Elsevier Academic Press, W.-K. Chen
(Ed.), 1049--1060, 2005 (Partially-Refereed).
13. Y. Zhao, J. A. Farrell, ''Robust Adaptive
Approximation Based Backstepping Via Localized
Adaptive Bounding,'' Ch. 13 in Advances in Computational Intelligence:
Theory and Applications, World Scientific, F.-Y. Wang, D.
Liu, 381-412, 2005 (Partially-Refereed).
14. J. Cheng, L. Yu, E. R. Thomas, J. A. Farrell, ''Data
Fusion via Kalman Filter: GPS & INS,'' Autonomous Mobile Robots:
Sensing, Control, Decision-Making, and Applications, Taylor and Francis, S.
S. Ge, F. Lewis (Eds.), 99-148, 2006.
15. B. Song, C. Ding, A. Roy-Chowdhury J. Farrell,
''Persistent Observation of Dynamic Scenes in An Active Camera Network,'' Distributed
Video Sensor Networks 2010, Springer, 2010 (Non-Refereed).
16. M.
M. Polycarpou, J. A. Farrell, ''Neural Control,'' February, The
Control Handbook: Control System Advanced Methods, Second Edition. Chapter
56, CRC Press, W. Levine, 1-20, 2011 (Invited, Non-Refereed).
Semi-Technical Publications
a.
Magazine Articles
1. S. Pang, J. A. Farrell, W. Li, ''AUV-Based Chemical
Plume Tracing,'' Sea Technology Magazine, 48, 7, 43-46, 2007.
b.
Review of Articles/Books
1. J. A. Farrell, ''Review of 'Stable Adaptive Control
and Estimation for Nonlinear Systems: Neural and Fuzzy Approximation
Techniques' by J. T. Spooner, M. Maggiore, R. Ordonez, and K. M. Passino, New York, NY: Wiley-Interscience
2002,'' International Journal of Robust and Nonlinear Control, 15,
53-54, 2005 (Partially-Refereed).
2. J. A. Farrell, ''Review of 'Handbook of Learning and
Approximate Dynamic Programming' by Si, Barto,
Powell, and Wunsch, Piscataway, NJ: IEEE 2004,'' IEEE
Transactions on Automatic Control, 51, 10, 1730-1731, 2006
(Partially-Refereed).
c. Other Miscellaneous
1. J.
A. Farrell, ''Technical Committee Activities: Technical Committee on Automotive
Control,'' IEEE Control Systems Magazine, 28, 2, April 2008, 20, 2008.
2. J.
A. Farrell, ''Technical Committee Activities: Systems Biology Technical
Committee,'' IEEE Control Systems Magazine, 28, 3, June 2008, 22, 35,
2008.
3. J.
A. Farrell, ''Technical Committee Activities: Technical Committee on Hybrid
Systems,'' IEEE Control Systems Magazine, 28, 4, August 2008, 24-25,
2008.
4. J.
A. Farrell, ''Technical Committee Activities: Technical Committee on
Intelligent Control,'' IEEE Control Systems Magazine, 28, 5, October
2008, 19-20, 2008.
|
Dates |
Agency |
Title |
Amount |
Role |
Status |
|
Nov. 2002-Sep. 2004 |
Caltrans |
Carrier Phase Differential GPS aided INS for Snowplow
Guidance - Phase I |
228,500 |
PI |
Closed |
|
Jul. 2001-Oct. 2003 |
California PATH |
Magnetometer/GPS/INS Demo 2002 Support and Rapid
Integer Ambiguity Resolution Research |
193,889 |
PI |
Closed |
|
Jul. 2001-Oct. 2004 |
ONR |
Chemical Plume Tracing |
365,185 |
PI |
Closed |
|
Aug. 2003-Dec. 2006 |
NSF |
Stability and Performance Guarantees for
Self-Organizing On-Line Approximation Based Control |
222,670 |
PI |
Closed |
|
Jul. 2004-Jun. 2006 |
Caltrans |
Carrier Phase Differential GPS aided INS for Snowplow
Guidance |
237,786 |
PI |
Closed |
|
Jan. 2008-Jun. 2010 |
California Department of Transportation |
Carrier Phase Differential GPS aided INS for Snowplow
Guidance |
178,423 |
PI |
Closed |
|
May 2007-Apr. 2012 |
NSF |
Self-organizing Approximation-based Control |
267,548 |
PI |
Current |
|
Apr. 2009-Mar. 2012 |
Office of Naval Research |
Distributed Dynamic Scene Analysis in a
Self-Configuring Multimodal Sensor Network |
524,000 |
Co-PI |
Current |
|
Apr. 2010-Mar. 2012 |
Federal Transit Administration (FTA) |
Pilot Program to Demonstrate the Benefits of
Vehicle-Assist and Automation (VAA) Applications for Full-Size Public Transit
Buses |
287,549 |
PI |
Current |
|
Jan. 2009-Dec. 2015 |
UC MRPI Program |
UC-Light |
3,586,215 |
Co-PI |
Current |
|
Oct. 2008-Mar. 2009 |
Caltrans |
Skymeter
evaluation |
22,947 |
PI |
Current |
|
Oct. 2009-Sep. 2012 |
DOT FHWA |
Innovative Approaches for Next Generation Vehicle
Positioning |
619,937 |
Co-PI |
Current |
|
Submitted: May 2011 |
FHWA IRDQ |
Mapping Technology Assessment |
578,000 |
PI |
Current |
Research
My research program focuses on developing advanced
real-time reasoning capabilities in the areas of estimation and control. My
main area of application interest is enhancing the capabilities of intelligent
autonomous agents (e.g., vehicles). My research program addresses both theory
and practice, leading to significant industrial interaction and consulting. I
strive to have each publication contain a rigorous theoretical solution to an
open problem and an application of the new solution either in practice or
simulation. Building on this research approach, I have several sustained and
emerging research directions. My research on real-time function approximation
for control started in the early 1990’s and continues to the present, having
produced 19 journal and 46 conference articles and one book. The book and
several publications are the result of international collaborations. Recent
innovations in this research include: development and analysis of a performance
driven, Lyapunov based, self-organized function approximation method; and,
development and analysis of the command filtered backstepping
method and its application to aircraft and underwater vehicles. My research in
precision vehicle navigation, achieving decimeter position accuracy in
real-time for highway “where in lane” applications, has been ongoing with
continuous funding since the mid 1990’s, yielding 8 journal and 28 conference
articles as well as two well received books. This research yielded the first
demonstrations of centimeter accuracy differential GPS aided INS and the uses
of that method for car control, bus control, and snowplow guidance. For this
work, I was identified as a 2009/2010 GNSS Leader to Watch by GPS World Magazine. This research has
recently expanded to include funded work on precision automated roadway
mapping, which is identified as a necessary technology for future intelligent
transportation applications by the FHWA. From 1997-2000, a DARPA effort had 10 teams,
each with at least one biologist and one engineer, compete to extend biological
chemical plume tracing (CPT) to autonomous vehicles. I collaborated on this
interdisciplinary effort with Ring Carde of UCR’s
entomology department. Other teams were from Sandia, U. of Arizona, Georgia
Tech, CalTech, Stanford, UCB, Cornell, Boston U.,
etc. UCR was the only team selected to continue from 2000-2004 with ONR funding
to develop, implement, and demonstrate a working system with the US Navy on a
small submersible vehicle. The UCR system was successfully demonstrated in
near-shore ocean conditions at Duck NC to trace a plume for 975m and estimate
the source location with an accuracy of 13 m. This is by far the largest
successful CPT test and demonstration ever by an engineered system. In addition
to the demonstration success, the research effort generated 6 well-cited
journal and 5 conference articles, a lot of fun, and learning about new fields
by biologists, engineers, and naval personnel, one of whom subsequently came to
UCR to complete his Ph.D. A recent new direction of research is developing
collaborative multiagent camera networks to enable
and enhance system performance for security applications. Since 2006, this
research direction has yielded 7 journal and 12 conference articles.
The quality and quantity of
my research is demonstrated to be exceptional by various metrics.
·
In the previous
three year review period, I have (co-)authored ten journal articles, two book
chapters, and twenty two conference articles.
·
Since promotion
to Professor (July 2001), I have (co-)authored two books, 28 journal articles,
7 book chapters, and 60 conference articles.
·
The majority of
these publications are in the top venues for my field (i.e., IEEE Transactions,
Automatica, Proc. AIAA GNC, Proc. ACC, Proc. CDC, Proc. ICRA). All venues are well-respected and standard for
my areas of research. All conference involved at least one round of anonymous
reviews of the full paper, followed by revisions, unless the paper is marked as
“Non-Refereed” or “Partially-Refereed.”
·
The h-index for
my publications is 33 and the i10-index is 72 (computed with google scholar link on my web page). These indices compare
favorably with my eighteen years in academia.
Funding in the area of control systems research is
extremely competitive; nevertheless, I have a well-funded research program. As
demonstrated by my funding record, I very much enjoy collaborative, multi-PI, cross-disciplinary
research.
Teaching
I thoroughly enjoy both undergraduate and graduate
teaching and research collaboration. I strive for rigor, very high quality, and
extensive student interaction. I promote an interactive class environment by
asking students questions during lecture, discussing with them outside of
class, and by revising labs each year to be synchronized with differences in
the lecture pace and with student interests. As my teaching evaluations show,
most students greatly appreciate this effort. According to the UCR BCOE
teaching policy, I am teaching in overload (i.e., above the level required).
For example, in 11/12, I should be teaching one course – four courses is the
standard load, my supervision of eight Ph.D. students
counts as one course, and EE chair earns two course relief – yet I agree to
teach two courses. Similar analysis applies to each year. In the last three
year period, I have supervised ten Ph.D., four M.S, and ten UG’s students. I
officially co-supervise one additional Ph.D. student. Unofficially I have been
actively collaborating on the research of Ding and Kamal with Prof.
Roy-Chowdhury and Huang and Vu with Prof. Barth. My supervision approach is
extremely interactive on a daily basis. Some students have won awards.
Diversity
While
engineering careers offer great merit-based potential, students from different
precollege backgrounds have different understandings of these engineering
career paths and opportunities. Early in my career at UCR I participated in UC
organized programs to enhance undergraduate diversity, such as UC Leads with with Elmer Thomas and June Fuller. Since obtaining more
significant research funds, I have continued this practice by hosting teams of
undergraduates in my research lab each year. Names of students who fall into
one or more under-represented category are marked with an asterisk in the
teaching section of my C.V.
Service
I am exceptionally active both professionally and
within UCR. Professionally, in addition to numerous smaller items, my highest
profile activities include: IEEE Control Systems Society (CSS) VP Finance, IEEE
CSS VP Technical Activities, CSS General Vice Chair
for the 50th IEEE Conference on Decision and Control (CDC), and General
Chair for the 51st IEEE CDC. The IEEE CDC is the most prestigious
conference in my research area. Finally, in June 2012 I was elected to lead the
IEEE CSS in the following sequence of offices: President Elect (2014),
President (2014), and Past President (2015) At UCR, my major activities
include: two terms as Chair of EE; UCR Committee on Academic Personnel; UCR Planning
and Budget; faculty representative to the UCR Budget Advisory Committee and its
steering committee; Chair of the UCR Strategic Planning Committee on Resources,
Budget Planning, and Infrastructure; member of the UCR Strategic Planning
Steering Committee; and, member of the UCR Chancellor’s Budget Advisory
Council.
Awards and Recognition
Following are a few items
that recognize my academic distinction:
1.
IEEE Fellow
(2008): “for contributions to intelligent,
autonomous vehicle analysis and design”
2.
CSS Distinguished Member Award (2009): This award recognizes significant technical contributions and
outstanding long-term service to the Control Systems Society.
3.
Named One of 50 “GNSS Leaders to Watch 2009/2010” by GPS World Magazine
4.
AAAS Fellow
(2011): “For distinguished research,
educational, and service contributions to the field of intelligent, autonomous
vehicle analysis and design”