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Eric J. Barth
Assistant Professor of Mechanical Engineering

Email: barthej@vuse.vanderbilt.edu
Office: 517 OH
Phone: 615-322-1893
Fax: 615-343-6925
 
Research Interests
Dynamic systems and control. Design, modeling and control of mechatronic and fluid power systems, free-piston internal combustion and free-piston Stirling engines, power supply and actuation for autonomous robots, and applied non-linear control.

For a description of current research topics, go to Laboratory for the Design and Control of Energetic Systems homepage.
Teaching Interests
Linear, Digital and Nonlinear Control; System Modeling, Robotics, Mechatronics, Instrumentation, Dynamics, Vibrations, Nonlinear Differential Equations, Neural Networks and Fuzzy Logic.
 
Education
B.S., Engineering Physics, University of California, Berkeley, 1994
M.S., Mechanical Engineering, Georgia Institute of Technology, 1996
Ph.D., Mechanical Engineering, Georgia Institute of Technology, 2000
Selected Publications
E. J. Barth. "Global Robotic Swarm Search and Navigation using Deployable Relay Markers". IEEE Transactions on Robotics, in revision, August 2009.

Y. Zhu, E. J. Barth, "Accurate Sub-millimeter Servo-Pneumatic Tracking using Model Reference Adaptive Control (MRAC)". International Journal of Fluid Power, in review, July 2009.

N. Gulati, E. J. Barth. "A Globally Stable, Load Independent Pressure Observer for the Servo Control of Pneumatic Actuators". IEEE/ASME Transactions on Mechatronics, vol. 14, issue 3, pp.295 - 306, DOI 10.1109/TMECH.2008.2009222, June 2009.

M. A. Adams, E. J. Barth. "Dynamic Modeling and Design of a Bulk-Loaded Liquid Monopropellant Powered Rifle". ASME Journal of Dynamic Systems, Measurement and Control, vol. 130, issue 6, pp.061001-1 - 061001-8, November 2008

Y. Zhu, E. J. Barth. "An Energetic Control Methodology for Exploiting the Passive Dynamics of Pneumatically Actuated Hopping". ASME Journal of Dynamic Systems, Measurement and Control, vol. 130, issue 4, pp.041004-1 - 041004-11, July 2008.

Y. Zhu, E. J. Barth. "Passivity-based Impact and Force Control of a Pneumatic Actuator". ASME Journal of Dynamic Systems, Measurement and Control, vol. 130, issue 2, pp.024501-1 - 024501-7, March 2008.

J. A. Riofrio and E. J. Barth. "Experimental Assessment of a Free Elastic-Piston Engine Compressor with Separated Combustion Chamber," Bath/ASME Symposium on Fluid Power and Motion Control (FPMC 2008), pp. 233-244, September 10-12, 2008. Bath, U K. NOTE: Winner of the Best Paper Award for the entire Symposium.

N. Gulati, E. J. Barth. "Dynamic Modeling of a Monopropellant-Based Chemofluidic Actuation System". ASME Journal of Dynamic Systems, Measurement, and Control, vol. 129, no. 4, pp.435-445, July 2007.

J. Riofrio, E. J. Barth. "A Free Piston Compressor as a Pneumatic Mobile Robot Power Supply: Design, Characterization and Experimental Operation". International Journal of Fluid Power, vol. 8, no. 1, pp.17-28, March, 2007.

B. L. Shields, E. J. Barth, M. Goldfarb. "Predictive Control for Time-Delayed Switching Control Systems". ASME Journal of Dynamic Systems, Measurement, and Control, vol. 128, no. 4, pp. 999-1004, December 2006.

K. B. Fite, J. E. Mitchell, E. J. Barth, M. Goldfarb. "A Unified Force Controller for a Proportional-Injector Direct-Injection Monopropellant-Powered Actuator". ASME Journal of Dynamic Systems, Measurement, and Control, vol. 128, no. 1, pp. 159-164, March 2006.

X. Shen, J. Zhang, E. J. Barth, M. Goldfarb. "Nonlinear Model Based Control of Pulse Width Modulated Pneumatic Servo Systems". ASME Journal of Dynamic Systems, Measurement, and Control, vol. 128, no. 3, pp. 663-669, September 2006.

K. A. Al-Dakkan, E. J. Barth, M. Goldfarb. "Dynamic Constraint Based Energy Saving Control of Pneumatic Servo Systems". ASME Journal of Dynamic Systems, Measurement, and Control, vol. 128, no. 3, pp. 655-662, September 2006.

J. Wu, M. Goldfarb, E. J. Barth. "On the Observability of Pressure in a Pneumatic Servo Actuator". ASME Journal of Dynamic Systems, Measurement, and Control, vol. 126, pp. 921-924, December 2004.

M. H. Smith, E. J. Barth, N. Sadegh, G. J. Vachtsevanos. "The Horsepower Reserve Formulation of Driveability for a Vehicle Fitted with a Continuously Variable Transmission". Vehicle System Dynamics, vol. 41, no. 3, pp.157 - 180, March 2004.(Awarded one of the ten most popular articles of volume 41.)

E. J. Barth, J. Zhang, M. Goldfarb. "Control Design for Relative Stability in a PWM-Controlled Pneumatic System". ASME Journal of Dynamic Systems, Measurement, and Control, vol. 125, no. 3, pp. 504-508, September 2003.

M. Goldfarb, E. J. Barth, M. A. Gogola, J. A. Wehrmeyer. "Design and Energetic Characterization of a Liquid-Propellant-Powered Actuator for Self-Powered Robots". IEEE/ASME Transactions on Mechatronics, vol. 8, no. 2, pp. 254-262, June 2003.

E. J. Barth, N. Sadegh. "The Limited Coupling Approximation with Application to CMAC Networks". Smart Engineering System Design, vol. 4, pp. 195-204, 2002.

N. Sadegh, G. J. Vachtsevanos, E. J. Barth, D. K. Pirovolou, and M. H. Smith. "Modeling the glass forming process". Glass Technology, vol. 38, no. 6, pp. 216-218, December 1997.

C. Yong, J. A. Riofrio and E. J. Barth. "Modeling and Control of a Free-Liquid-Piston Engine Compressor," Bath/ASME Symposium on Fluid Power and Motion Control (FPMC 2008), pp. 245-257, September 10-12, 2008. Bath, U K.

J. A. Riofrio, K. Al-Dakkan, M. E. Hofacker, E. J. Barth. "Control-based Design of Free-Piston Stirling Engines," Proceedings of the 2008 American Control Conference (ACC), pp. 1533-1538, June 11-13, 2008. Seattle, WA.

J. A. Riofrio, E. J. Barth. "Design and Analysis of a Resonating Free Liquid-Piston Engine Compressor," 2007 ASME International Mechanical Engineering Congress and Exposition (IMECE), IMECE2007-42369, November 11-15, 2007, Seattle, WA.

C. Yong, E. J. Barth. "Real-Time Dynamic Path Planning for Dubins' Nonholonomic Robot," 45th IEEE Conference on Decision and Control, Paper# ThA02.5, December 13-15, 2006, San Diego, CA.

Y. Zhu, E. J. Barth. "Energy-Based Control of a Pneumatic Oscillator with Application to Energy Efficient Hopping Robots," 2006 ASME International Mechanical Engineering Congress and Exposition (IMECE), IMECE2006-15015, November 5-10, 2006, Chicago, IL.

E. J. Barth. "A Cooperative Control Structure for UAV's Executing a Cooperative Ground Moving Target Engagement (CGMTE) Scenario," The 2006 American Control Conference (ACC), pp. 2183-2190, June 14-16, 2006. Minneapolis, MN. DOI 10.1109/ACC.2006.1656543.

Y. Zhu, E. J. Barth. "Planar Peg-in-Hole Insertion Using a Stiffness Controllable Pneumatic Manipulator," 2005 ASME International Mechanical Engineering Congress and Exposition (IMECE), IMECE2005-81667, November 5-9, 2005, Orlando, Fl.

J. Riofrio, E. J. Barth. "Experimental Operation and Characterization of a Free Piston Compressor," 2005 ASME International Mechanical Engineering Congress and Exposition (IMECE), IMECE2005-81743, November 5-9, 2005, Orlando, Fl.

N. Gulati, E. J. Barth. "Non-Linear Pressure Observer Design for Pneumatic Actuators," Proceedings of the 2005 IEEE/ASME, International Conference on Advanced Intelligent Mechatronics (AIM), pp. 783-788, Monterey, CA, 24-28 July, 2005.

N. Gulati, E. J. Barth. "Pressure Observer Based Servo Control of Pneumatic Actuators," Proceedings of the 2005 IEEE/ASME, International Conference on Advanced Intelligent Mechatronics (AIM), pp. 498-503, Monterey, CA, 24-28 July, 2005.

J. Riofrio, E. J. Barth. "Design of a Free Piston Pneumatic Compressor as a Mobile Robot Power Supply," Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA), pp. 236-241, Barcelona, Spain, April 2005.

Y. Zhu, E. J. Barth. "Impedance Control of a Pneumatic Actuator for Contact Tasks," Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA), pp. 999-1004, Barcelona, Spain, April 2005.

E. J. Barth, J. Riofrio. "Dynamic Characteristics of a Free Piston Compressor". 2004 ASME International Mechanical Engineering Congress and Exposition (IMECE), IMECE2004-59594, November 13-19, 2004, Anaheim, CA.

M. A. Adams and E. J. Barth. "A Compressible Fluid Power Dynamic Model of a Liquid Propellant Powered Rifle". 2004 ASME International Mechanical Engineering Congress and Exposition (IMECE), IMECE2004-59620, November 13-19, 2004, Anaheim, CA.

 
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