Grants

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  • Principal Investigator, "Embedding Procedure Assistance into Mission Control Tools," NASA Small Business Innovation Research Grant, 1/1/2009 -- 7/1/09, $100,000
  • Project manager, "Coordinated Mobile Manipulation for Robotics Material Handling," NASA Small Business Technology Transfer Grant, 2/5/2008 - 2/4/2009, $100,000 (with Dr. Sanjiv Singh)
  • Principal Investigator, ``Building a Coherent World View from Sensory Data,'' DARPA Small Business Innovation Research Grant, 1/18/2008 -- 7/17/08, $98,769
  • Principal Investigator, ``A Data Abstraction Architecture for Spacecraft Autonomy,'' NASA Small Business Innovation Research Grant, 1/18/2007 -- 1/17/10, $700,000
  • Co-Investigator, ``Task Examination/Aggregation/Learning (TEAL) to Support Adjustable Autonomy,'' Army Small Business Innovation Research Grant, 11/15/2006 -- 11/15/09, $850,000 with Dr. Bob Bechtel (PI) Soar Technologies Inc.
  • Co-Investigator, ``Modular, Multifunctional and Reconfigurable SuperBot,'' NASA Human and Robotic Technology Program, 05/01/05 -- 04/31/06 (Phase 1), $212,000 (TRACLabs portion), with Dr. Wei-Min Shen (PI), University of Southern California
  • Co-Investigator, ``Development and Application of Reliability Analysis Techniques to Early Advanced Life Support Systems,'' NASA Research Announcement (NRA) Grant, 03/01/04 - 09/30/07, $710,040 with Dr. Luis Rodriguez (PI), University of Illinois Urbana Champaign
  • Principal Investigator, "Qualitative Models for Planning, Scheduling and Control of Integrated Advanced Life Support Systems," NASA Research Announcement (NRA) Grant, 3/01/04 -- 2/29/07, $482,661.
  • Principal Investigator, "A Procedure Representation Language," NASA Engineering for Complex Systems NRA Grant, 01/01/04 -- 12/31/06, $1,020,000.
  • Principal Investigator, "Intelligent Procedure Tracking and Assistance," NASA Small Business Innovation Research Grant, 01/01/03 -- 06/30/03, $69,993.
  • Co-Investigator, `"Distributed Monitoring and Control of Complex Dynamic Systems," NASA Research Announcement (NRA) Grant (NRA 02-OBPR-01), 12/01/02 -- 12/01/05, $277,200 (with Dr. Gautam Biswas, Vanderbilt University).
  • Project lead, "EVA Robotic Assistant," NASA NEXT and CETDP funding, 05/01/02 -- 09/30/03, $415,000
  • Principal Investigator, "Automated Mobile Inspection of Spacecraft Exteriors," NASA Engineering Complex Systems Grant, 10/01/01 -- 9/30/02, $300,000.
  • "Space Robotics Assessment and Projections," NASA NEXT Grant, 06/01/01 -- 09/30/02, $298,000 (with Dr. Liam Pedersen and Dr. Daniel Clancy, NASA Ames Research Center).
  • Co-investigator, "Distributed Crew Interaction with Advanced Life Support Control Systems," NASA Intelligent Systems Research Grant, 03/05/01 -- 09/30/03, $1,297,250 (with Debra Schreckenghost, NASA Johnson Space Center).
  • Co-investigator, "A Hybrid Discrete/Continuous System for Health Management," NASA Intelligent Systems Research Grant, 03/05/01 -- 09/30/03, $250,000 (with Dr. Brian Williams, MIT).
  • Co-investigator, "Automatically Synthesizing Guaranteed Hybrid Controllers," NASA CETDP Research Grant, 10/01/00 -- 09/30/03, $150,000 (with Dr. Robert Goldman, Honeywell Technology Center).
  • Principal Investigator, "A Suite of Visualization Tools for Distributed Autonomous Systems,", NASA Small Business Innovation Research Grant, 12/1/98 -- 11/30/01, $669,679.
  • Co-Principal Investigator, "Evaluating the Application of Machine Learning to the Control of Advanced Life Support Systems," NASA CETDP Research Grant, 10/1/99 -- 9/30/00, $345,000, (Justin Boyan, co-PI).
  • Co-Principal Investigator, "Human-Centered Autonomous Agents," NASA CETDP Research Grant, $150,000, 10/1/99 -- 9/30/00, (Dr. Greg Dorais, NASA Ames, co-PI).
  • Co-principal Investigator, "A Distributed Architecture for Multi-Robot Coordination," NASA CETDP Research Grant, $150,000, 10/1/99 -- 9/30/00 (joint grant with Carnegie Mellon University, Reid Simmons co-PI, CMU is getting $300,000).
  • Principal Investigator, "An Intelligent Software Architecture for Semi-Autonomous Robot Control," NASA Small Business Innovation Research Grant, $664,581, 1/1/97 -- 12/31/98.
  • Principal Investigator, "Three-dimensional Path Planning and Execution for Free-flying Robots," NASA Small Business Technology Transfer Grant, 9/1/97 -- 8/31/98, $99,939 (in partnership with Carnegie Mellon University).
  • Principal Investigator, "Stereo-based Pursuit and Obstacle Avoidance for Mobile Robots," National Science Foundation Small Business Innovation Research Grant, 1/1/97 -- 6/31/97, $74,928.
  • Principal Investigator, "Integrating Intelligent Planning, Scheduling and Control for Robotic and Life Support Systems," NASA Small Business Technology Transfer Grant, 7/1/96 -- 6/31/97, $99,995 ( in partnership with Texas A&M University).