Sanjay
S. Joshi
Associate Professor
Department of Mechanical & Aeronautical Engineering
University of California, Davis
2054 Bainer Hall, 1 Shields Avenue, Davis, Ca 95616
Email: maejoshi@ucdavis.edu ,
Phone (530) 754-9662
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My University Affiliations
Faculty, Mechanical and Aeronautical Engineering Graduate Group
Faculty, Biomedical Engineering Graduate Group
Faculty, Computer Science Graduate Group
Faculty, Electrical and Computer Engineering Graduate Group
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My Professional Affiliations
Associate Editor, Journal of Intelligent and Robotic Systems
Member, AIAA Guidance, Navigation & Control Technical Committee
Senior Member, AIAA
Member, IEEE
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My Research Interests
Autonomous Systems/Control
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My Background
1986-1990, Cornell University, Bachelor of Science
1990-1992, UCLA, Master of Science, Concentration in Control Systems
1992-1996, UCLA, PhD, Major in Control Systems, Minors in Dynamics and Signal Processing
1996-2000, NASA Jet Propulsion Laboratory, Pasadena, California, Member of Technical Staff,
Spacecraft and Robotics Dynamics and Control
2000-2001, Harvey Mudd College, Claremont, California, Visiting Assistant Professor of Engineering
2001-2008, UC Davis, Assistant Professor of Mechanical and Aeronautical Engineering
2008-Current, UC Davis, Associate Professor of Mechanical and Aeronautical Engineering
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Our Laboratory:
Robotics, Autonomous Systems, and Controls Laboratory (website)
In our lab, we are working on ways to understand how engineered systems can be controlled, and how natural systems control themselves. In addition, we explore how robotics and controls can be used as tools for biology and animal behavior studies. We have a variety of ongoing projects within the laboratory, and we are currently or have been supported by the National Science Foundation, NASA Jet Propulsion Laboratory, U.S. Naval Postgraduate School, Lockheed Martin Space Systems Company, and the University of California.
Current Projects:
robotic models of animals that can help study biological hypotheses in animal behavior, by trying to mimic the behavior of animals or by allowing the robotic animals to physically interact with live animals
small-satellite control systems that can allow science experiments to be conducted in space at much lower cost than previous spacecraft missions
brain-muscle-computer interfaces that can help paralyzed individuals move about in their environment and operate devices
functional electrical stimulation (FES) control systems that can use external stimulation to move muscles in purposeful ways
Recent Projects:
Biorobotics Study of Infant Norway Rats (New website!)
Person Following Robots
Biorobotics Study of Ground Squirrel/ Rattlesnake Interaction
Autonomous Action Learning Algorithms
Adaptive Control of Rover Groups
Dynamics and Control of Planetary Exploration Airships
Disturbance Rejection in Spacecraft
Our Students:
Students in our lab come from several different departments including Mechanical and Aeronautical Engineering, Electrical and Computer Engineering, Computer Science, and Biomedical Engineering.
Please read our publications listed below for more details.
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My Teaching
I teach undergraduate courses in Dynamics (E102), Control Systems (EME172), and Space Mission Design (EAE141), and graduate courses in Control Systems (MAE272) & Autonomous Robotics (MAE252).
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My Publications
(Papers listed after acceptance.)
42. M. CHUEH, Y.-L. YEUNG, K.-P. LEI, and S. JOSHI, Following Controller for Autonomous Mobile Robots Using Behavioral Cues, IEEE Transactions on Industrial Electronics, Vol. 55, No. 8, August 2008, pp. 3124-2132.
41. A. Rundus, D. Owings, S. Joshi, E. Chinn, & N. Giannini, Ground Squirrels Use an Infrared Signal to Deter Rattlesnake Predation, Proceedings of the National Academy of Sciences USA (PNAS), Vol. 104, 04 September 2007, pp. 14372-14376.
40. D. DIER & S. JOSHI, Reinforcement Learning Solution to a Benchmark Time Optimal Control Problem, AIAA Guidance, Navigation, and Control Conference, Hilton Head, SC, August 2007.
39. D. ACOSTA & S. JOSHI, Adaptive Nonlinear Dynamic Inversion Control of an Autonomous Airship for the Exploration of Titan, AIAA Guidance, Navigation, and Control Conference, Hilton Head, SC, August 2007.
38. R. Bish, S. Joshi, J. Schank, and J. Wexler, Mathematical Modeling and Computer Simulation of a Robotic Rat Pup, (Journal of) Mathematical and Computer Modeling, Vol. 45, April 2007, pp. 981-1000.
37. M. CHUEH, S. JOSHI, Y.-L. YEUNG, and K.-P. LEI, Towards a Mobile Robot Following Controller Using Behavioral Cues, IEEE International Conference on Industrial Technology, Mumbai, India, December 2006.
36. C. May, J. Schank, S. Joshi, J. Tran, R. Taylor, and I. Scott, Rat Pups and Random Robots Generate Similar Self-Organized and Intentional Behavior, (Journal of) Complexity, Vol. 12, No. 1, September/October 2006, pp. 53-66 (cover article).
35. E. KULCZYCKI, S. JOSHI, R. HESS and E. ELFES, Towards Controller Design for Autonomous Airships Using SLC and LQR Methods, AIAA Guidance, Navigation, and Control Conference, Keystone, CO, August 2006.
34. J. LAU, S. JOSHI, B. AGRAWAL, and S. KIM, Investigation of Periodic-Disturbance Identification and Rejection in Spacecraft, AIAA Journal of Guidance, Control, and Dynamics, Vol. 29, No. 4, July-August 2006, pp. 792-798.
33. F. GANJI, S. JOSHI, and D. BAYARD, Adaptive Formation Control for Rovers Traveling Over Unknown Terrains, AIAA Journal of Guidance, Control, and Dynamics, Vol. 29, No. 3, May-June 2006, pp. 714-724.
32. S. JOSHI and B. GUILHABERT, Sequence Learning Algorithm Based on Backward Chaining, (Journal of) Adaptive Behavior, Vol. 14, No. 1, March 2006, pp. 53-71.
31. A. ELFES, J. MONTGOMERY, J. HALL, S. JOSHI, J. PAYNE, and C. BERGH, Autonomous Flight Control for a Planetary Exploration Aerobot, AIAA Space 2005 Conference, Long Beach, CA, August 2005.
30. F. HARMON, A. FRANK, and S. JOSHI, The Control of a Parallel Hybrid-Electric Propulsion System for a Small Unmanned Arial Vehicle Using a CMAC Neural Network, (Journal of) Neural Networks, Vol. 18, 2005, pp. 772-780.
29. F. GANJI, S. JOSHI, and D. BAYARD, Adaptive Rover Formation Control Over Unknown Terrains, AIAA Guidance, Navigation, and Control Conference, San Francisco, CA, August 2005.
28. S. JOSHI, D. ACOSTA, J. PAYNE, S. SHARMA, A. ELFES, A. TREBI-OLLENNU, and J. HALL, Dynamics and Control Study of a Titan Aerobot from a System Design Perspective, AIAA Guidance, Navigation, and Control Conference, San Francisco, CA, August 2005.
27. J. LAU, S. JOSHI, B. AGRAWAL, and S. KIM, Disturbance Filtering and Identification on the Naval Postgraduate School 3-Axis Spacecraft Simulator, AIAA Guidance, Navigation, and Control Conference, San Francisco, CA, August 2005.
26. F. HARMON, A. FRANK, and S. JOSHI, Application of a CMAC Neural Network to the Control of a Parallel Hybrid-Electric Propulsion System for a Small Unmanned Arial Vehicle, IEEE Conference on Neural Networks, Montreal, Canada, August 2005.
25. J. SCHANK, C. MAY, J. TRAN, and S. JOSHI, A Biorobotic Investigation of Norway Rat Pups (Rattus norvegicus) in an Arena, (Journal of) Adaptive Behavior, Vol. 12, No. 3/4, 2004, pp. 161-173.
24. C. MAY, J. TRAN, J. SCHANK, and S. JOSHI, Biorobotic Study of Norway Rats in Individuals and Groups, SPIE Robotics and Machine Perception Newsletter (invited short article), Vol. 13, No. 2, October 2004, pp.1,7.
23. S. JOSHI, G. NAGAI, and C. SULLIVAN, Planetary Navigation Architecture for Cooperative Autonomous Ground-Air-Space Robots, 1st AIAA Intelligent Systems Technical Conference, Chicago, IL, September 2004, AIAA Paper 2004-6256.
22. S.S. JOSHI, J. SCHANK, N. GIANNINI, L. HARGREAVES, and R. BISH, Development of Autonomous Robotics Technology for the Study of Rat Pups, IEEE International Conference on Robotics and Automation (ICRA), New Orleans, LA, April 2004, pp. 2860-2864.
21. S.S. JOSHI, Development and Implementation of a MATLAB Simulation Project for a Multidisciplinary Graduate Course in Autonomous Robotics, Journal of Computer Applications in Engineering Education, Wiley Publishing Company, Volume 12, Number 1, April 2004, pp. 54-64.
20. S.S. JOSHI and J. SCHANK, Of Rats and Robots: A New Biorobotics Study of Norway Rat Pups, Proceedings of the 2nd International Workshop on the Mathematics and Algorithms of Social Insects, Atlanta, Georgia, December 2003, pp. 68-74.
19. T.L. HUNTSBERGER, P. PIRJANIAN , A. TREBI-OLLENNU, H. DAS NAYAR, H. AGHAZARIAN, A.J. GANINO, M.S. GARRETT, S.S. JOSHI, and P.S. SCHENKER, CAMPOUT: A Control Architecture for Tightly Coupled Coordination for Multi-robot Systems for Planetary Surface Exploration, IEEE Transactions on Systems, Man, and Cybernetics-Part A, Volume 33, Number 5, September 2003, pp. 550-559.
18. S.S. JOSHI, J.R. RIEHL, and F. GANJI, Investigation of Target Speed Adjustment of the Lead Robot in an Adaptively Controlled Multiple Robot Formation, AIAA Guidance, Navigation, and Control Conference, Monterey, CA, August 2002.
17. P.S. SCHENKER, T.L. HUNTSBERGER, P. PIRJANIAN, A. TREBI-OLLENNU, H. DAS, S. JOSHI, H. AGHAZARIAN, A.J. GANINO, B.A. KENNEDY, and M.S. GARRETT, Robot work crews for planetary outposts: Close cooperation and coordination of multiple mobile robots, Proc. SPIE Symposium on Sensor Fusion and Decentralized Control in Robotic Systems III, Vol. 4196, Boston, MA, Nov. 2000.
16. P. PIRJANIAN , T.L. HUNTSBERGER, A. TREBI-OLLENNU, H. AGHAZARIAN, H. DAS, S. JOSHI, and P.S. SCHENKER, CAMPOUT: A control architecture for multi-robot planetary outposts, Proc. SPIE Symposium on Sensor Fusion and Decentralized Control in Robotic Systems III, Vol. 4196, Boston, MA, Nov. 2000.
15. S.S. JOSHI, Multilevel Adaptation for Autonomous Mobile Robot Formations, AIAA Guidance, Navigation, and Control Conference, Denver, CO, August 15-18, 2000.
14. S.S. JOSHI, Damper Placement for Spaceborne Interferometers Using H-Infinity Norm Optimization, American Controls Conference , Chicago, IL, June 28-30, 2000.
13. S.S. JOSHI, The Need for a Systems Perspective in Control Theory and Practice (invited), IEEE Control Systems Magazine, December 1999, pp. 56-63.
12. S.S. JOSHI, J.L. SPEYER, & J. KIM, Finite-Dimensional Optimal Control of Poiseuille Flow, AIAA Journal of Guidance, Control, and Dynamics, March-April 1999, pp. 341-348.
10. G. NEAT, A. ABRAMOVICI, R. CALVET, R. KORECHOFF, S. JOSHI, & R. GOULLIOUD, Use of the Microprecision Interferometer Testbed for Developing Control Technology for Spaceborne Optical Interferometer Missions (invited), SPIE International Symposium on Astronomical Telescopes and Instrumentation, Kona, HI, March 20-28, 1998 (Published as SPIE Volume 3350, Ed. by R. Reasenberg, July 1998).
10. S.S. JOSHI & G. NEAT, Lessons Learned from Multiple Fidelity Modeling of Ground Interferometer Testbeds (invited), SPIE International Symposium on Astronomical Telescopes and Instrumentation, Kona, HI, March 20-28, 1998 (Published as SPIE Volume 3350, Ed. by R. Reasenberg, July 1998).
9. G. Neat, A. Abramovici, R. Goullioud, R. Korechoff, R. Calvet, & S. Joshi, Overview of the Microprecision Interferometer Testbed (invited), American Controls Conference, Philadelphia, PA, June 1998.
8. S.S. JOSHI, J.W. MELODY, & G. NEAT, A Case Study of the Role of Structural/Optical Model Fidelity in Performance Predication of Complex Opto-Mechanical Instruments, 36th IEEE Conference on Decision and Control, San Diego, CA, December 10-12, 1997.
7. S.S. JOSHI, J.W. MELODY, G. NEAT, & A. KISSIL, Benefits of Model Updating: A Case Study Using the MicroPrecision Interferometer Testbed (invited), ASME Design Engineering Technical Conferences (DETC97/VIB-4242), Sacramento, CA, September 11-14, 1997.
6. S.S. JOSHI, M. MILMAN, & J.W. MELODY, Optimal Passive Damper Placement Methodology for Interferometers Using Integrated Structures/Optics Modeling, AIAA Guidance, Navigation, and Control Conference, New Orleans, LA, August 11-13, 1997.
5. S.S. JOSHI, J.L. SPEYER, & J. KIM, A Systems Theory Approach To The Feedback Stabilization of Infinitesimal and Finite-Amplitude Disturbances in Plane Poiseuille Flow, Journal of Fluid Mechanics, Volume 332, 10 February 1997, pp. 157-184.
4. S.S. JOSHI, J.L. SPEYER, & J. KIM, Modeling and Control of Two Dimensional Poiseuille Flow, IEEE Conference on Decision and Control, New Orleans, LA, December 1995, pp. 567-578.
3. S.S. JOSHI, J.L. SPEYER, & J. KIM, A Systems Theory Approach to the Control of Transitional Flows, SPIE Sensing, Actuation, and Control in Aeropropulsion Conference, Orlando, FL, April 1995, pp. 87-102.
2. S.S. JOSHI & D.S. BAYARD, A New Approach to Structural Failure Detection Based on Adaptive Lattice Filtering, 32nd IEEE Conference on Decision and Control, San Antonio, TX, December 1993, pp. 249-254.
1. S.S. JOSHI & D.S. BAYARD, An Adaptive Lattice Filter Approach to Structural Failure Detection and Localization Based on Acoustic Reflections, IEEE Regional Conference on Aerospace Applications, Westlake Village, CA, May 1993, pp. 53-57.
Articles of Interest (Not authored by me, but contain information about my group's research.)
1. J. KNIGHT, When robots go wild., Nature, Volume 434, 21 April 2005, pp. 954-955.
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