Education

Research Description

There are several on-going research projects in our lab. 1) We are working on topology optimization methods to engineer nonlinearities into continuous systems to enhance their dynamics in the presence of noise. 2) By fabricating biomimetic robots, we want to study the role of reservoir computing in the control of biological systems. 3) Adaptive oscillators are a type of nonlinear oscillator that can encode information in its states. We want to exploit this phenomenon to create smart systems. 4) To promote undergraduate research and engagement with the public, the lab also has a music-focused research track to explore the nonlinear vibrations of musical instruments.

Honors and Awards

• DARPA Young Faculty Award, 2020
• Mark A. Spencer Creative Mentorship Award, 2020
• Office of Naval Research Young Investigator Award, 2019
• Sloan Scholars Mentoring Network Seed Grant, 2019
• AFOSR Air Force Summer Faculty Fellow, 2019
• ASME’s Haythornthwaite Research Initiation Grant, 2017
• Ford Foundation Fellow, 2011
• Sloan Minority PhD Program Scholar, 2010
• Choctaw Nation for Higher Education Scholar, 2001

Publications

A Hopf physical reservoir computer

Ul Shougat, M. R. E., Li, X. F., Mollik, T., & Perkins, E. (2021), SCIENTIFIC REPORTS, 9. https://doi.org/10.1038/s41598-021-98982-x

A four-state adaptive Hopf oscillator

Li, X. F., Ul Shougat, M. R. E., Kennedy, S., Fendley, C., Dean, R. N., Beal, A. N., & Perkins, E. (2021), PLOS ONE, 3. https://doi.org/10.1371/journal.pone.0249131

An Information Theoretic Study of a Duffing Oscillator Array Reservoir Computer

Ul Shougat, M. R. E., Li, X. F., Mollik, T., & Perkins, E. (2021), JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS, 8. https://doi.org/10.1115/1.4051270

Flexible Tensegrity Reservoir Computing Robots

Perkins, E. (2021). , . Presented at the Defense Advanced Research Projects Agency Young Faculty Award Virtual Poster Exhibition.

Local dynamic stability of the lower-limb as a means of post-hoc injury classification

Larson, J., Perkins, E., Oldfather, T., & Zabala, M. (2021), PLOS ONE, 6. https://doi.org/10.1371/journal.pone.0252839

Nonlinear vibratory properties of additive manufactured continuous carbon fiber reinforced polymer composites

Zhao, J., Perkins, E., Li, X. F., Bond, A., & Marghitu, D. (2021, August 4), INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, Vol. 8. https://doi.org/10.1007/s00170-021-07456-x

Stochastic effects on a Hopf adaptive frequency oscillator

Li, X. F., Shougat, M. R. E. U., Mollik, T., Beal, A. N., Dean, R. N., & Perkins, E. (2021), JOURNAL OF APPLIED PHYSICS, 6. https://doi.org/10.1063/5.0050819

3D Printed MEMS-Scale Vibration Isolators

Bond, A., Bottenfield, B. D., Dean, R. N., Adams, M. L., Zhao, J., Li, X. F., … Perkins, E. (2020), Volume 7A: Dynamics, Vibration, and Control. Presented at the ASME 2020 International Mechanical Engineering Congress and Exposition. https://doi.org/10.1115/imece2020-24357

A Neural NARX Network Controller for a Pneumatic Artificial Muscle Driven Translational System

Mollik, T., & Perkins, E. (2020). , . Presented at the IMECE 2020: American Society of Mechanical Engineers International Mechanical Engineering Congress & Exposition.

Additively Manufactured 2D Truss Demonstration"

Crifasi, D., Roy, C., & Perkins, E. (2020). , . Presented at the 2020 American Society for Engineering Education Southeast Section Conference, Auburn, AL.

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Grants

ONR Young Investigator Award

US Navy-Office Of Naval Research(8/16/20 - 1/31/22)

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ONR Young Investigator Award

Sponsor: US Navy-Office Of Naval Research

Start Date: 8/16/20

End Date: 1/31/22

Abstract

Almost all physical systems possess nonlinearity in their dynamics. Due to their added complex- ity, these nonlinear effects are often suppressed with a controller or simply ignored. Similarly, noise, which is prevalent in the physical environment, is often an overlooked element in system modeling. As mechanical systems are optimized to have lower weights and higher flexibility, nonlinear and stochastic effects will become more conspicuous. Although both are typically detri- mental, noise and nonlinearity can synergistically enhance a system’s dynamic response (e.g., the stochastic resonance phenomenon). A fundamental understanding of how to exploit nonlinearity and stochasticity in continuous systems will significantly improve our ability to create a wide range of noise-utilizing systems. However, the lack of an ability to incorporate tuned nonlinearity into continuous systems poses an obstacle in pursuing noise utilization research. To this end, the PI proposes to study noise-utilizing nonlinear dynamics using an extension of topological optimiza- tion and 3D printed experiments, which will enable novel, enhanced stochastic responses to be incorporated into continuous systems. The research objective of this proposal is to extend the theory of topological optimization (a mathematical method that is used to find the optimal material distribution of a continuous struc- ture) to include the stochastic regime to exploit noise. This work will include diagnostics of 3D printed material, mathematical modeling of the continuous system, nonlinear dynamic analysis, and an exploration of passive control of the resulting structures.

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Flexible Reservoir Computing Tensegrity Robots

Defense Advanced Research Projects Agency (DARPA)(9/20/20 - 9/19/22)

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Flexible Reservoir Computing Tensegrity Robots

Sponsor: Defense Advanced Research Projects Agency (DARPA)

Start Date: 9/20/20

End Date: 9/19/22

Abstract

The proposed work attempts to create flexible tensegrity hand/foot robots that offload a portion of the controls to reservoir computing, by using the complex dynamics of the flexible robots themselves. “Tensegrity”, coined by Buckminster Fuller, is an elision of “tensional” and “integrity”; these structures are composed of rigid portions in compression and flexible portions in tension. Although typically not considered as such, many organisms are tensegrities. By using the flexible tensegrity dynamics as a reservoir computer (RC), a richer set of controlled dynamics can be gained without the need for meticulously controlling the infinite degrees of freedom present in these systems.

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