| Robotics and Energetic Systems | Measurement Science and Systems Engineering Division | |
Dr. Lonnie J. Love
Dr. Lonnie J. Love is a Senior Research Scientist – Robotics, in the Measurement Science and Systems Engineering Division at the Oak Ridge National Laboratory (ORNL). Dr. Love earned his Ph.D. in Mechanical Engineering from Georgia Institute of Technology in
1995. His M.S. and B.S. are from Old Dominion University in 1990 and 1988, respectively. Dr. Love has been on the research staff at Oak Ridge National Laboratory since 1995, conducting research in human amplification, ship motion compensation, learning control, telerobotics, micro-assembly and smart and adaptive fluidic
systems. He presently holds one patent and has an additional patent pending.
Current and Recent Research Efforts
Ferrofluid Synthesis and Applications – Ferrofluids are fluids loaded
with nanometer sized magnetic particles. Our primary research interest has focuses
on synthesizing ferrofluids with specific magnetic and thermal properties. The
advantage of such a material is the potential for field (magnetic/thermal) induced
flow, e.g. pumping the fluid with no moving mechanical parts. Potential applications
include thermal management of electromagnetic devices and hydraulic power for
"Lab-on-a-chip" systems. This work is funded through DARPA.
Ship Motion Compensation for HAT Systems – HAT (Human Amplification
Technology) is a Force Control methodology that provides the ability to augment
human strength and dexterity. When implemented on a moving platform, such as
the deck of a ship, it becomes difficult to discriminate between force commands
from the human, interaction forces with the environment, or load disturbance
due to ship motion. This research effort, funded by the Office of Naval Research,
is directed at developing advanced control methodologies that mask sea state
disturbances to enable a high fidelity haptic interface.
Telerobotic Control for D&D Operations – This research is directed
towards developing new tools and algorithms for enabling rapid dismantlement
of hazardous equipment in remote and unstructured environments. In the summer
of 2001, we demonstrated remote cutting of metal components using a plasma arc
torch. The operating constraints of the torch (controlled velocity ~ 1 inch/sec
and standoff of 1/8 to 3/8" from material) preclude the use of pure teleoperation.
The operation in dynamic and unstructured environments precludes the use of
robotic control. The solution was a telerobotic control methodology that consisted
of combining the intelligence of the operator with the accuracy and remote operation
of the robot. This effort is currently funded through the DOE.
Distributed Actuation and Sensing - This work focused on developing the
fundamental principles related to distributed actuation and sensing that ensures
global asymptotic dissipative control of lightly damped structures.
Micro Assembly - One of the first demonstration of force reflecting teleoperation
systems directed towards micro assembly. This work includes advanced control
and actuation concepts and first experiments directed towards force guided assembly
of micro components. This work was funded through Internal Research and Development.
Publications
Books
L. J. Love, "Ferrofluids," Mc-Graw-Hill Encyclopedia of Science and Technology, 10th ed., Vol. 7, 2007.
Love, L. J., "Robot Simulation," pp. 21-1–21-7 in Robotics and Automation Handbook, CRC Press, Inc., 2005.
Book, W. and L Love, "Design of Teleoperators," in Handbook of Industrial Robotics, ed. Shimon Nof, 2nd ed., John Wiley and Sons, Inc., 1998.
Journals
J. F. Jansen, R. F. Lind, L. J. Love, P. D. Lloyd, J. C. Rowe, and F. G. Pin, “Design and Control of a Ship Motion Simulation Platform from an Energy Efficiency Perspective,” International Journal of Fluid Power 10(2), 19–28 (2009).
Moon, J. W., C. J. Rawn, A. J. Rondinone, L. J. Love, Y. Roh, R. J. Lauf, and T. J. Phelps, "Large Scale Production of Magnetic Nanoparticles Using Bacterial Fermentation," to be published in Journal of Industrial Microbiology and Biotechnology.
Love, L. J., R. F. Lind, J. F. Jansen, C. L. Fitzgerald, Jr., P. D. Lloyd, F. G. Pin, and J. C. Rowe, "Modeling of a Holonomic Omni-Directional Vehicle with Conventional Tires," to be published in IEEE Transactions on Mechatronics.
Love, L. J., R. F. Lind, P. D. Lloyd, J. F. Jansen, F. G. Pin, and J. C. Rowe, "Ship Motion Compensation for Force Controlled Systems," to be published in ASME Journal of Dynamic Systems, Measurement, and Control.
Moon, J.-W., L. W. Yeary, A. J. Rondinone, C. J. Rawn, M. J. Kirkham, Y. Roh, L. J. Love, and T. J. Phelps, "Magnetic Response of Microbially Synthesized Transition Metal- and Lanthanide-Substituted Nano-Sized Magnetites," Journal of Magnetism and Magnetic Materials 313, 283–292 (2007).
Moon, J., Roh, Y., Yeary, L. W., Lauf, R. J., Rawn, C. J., Love, L. J., Phelps, T. J., “Microbial formation of lanthanide-substituted magnetites by Thermoanaerobacter sp. TOR-39,” Extremophiles (2007).
Yeary, L. W., Ji-Won Moon, L. J. Love, J. R. Thompson, C. J. Rawn, and T. J. Phelps, "Magnetic Properties of Biosynthesized Magnetite Nanoparticles," IEEE Transactions on Magnetic Materials 41(12), 4384–4389 (2005).
Love, L. J., J. F. Jansen, T. E. McKnight, Y. Roh, T. J. Phelps, L. Yeary, and T. Cunningham, "Ferrofluid Field Induced Flow for Microfluidic Applications," IEEE Transactions, on Mechatronics 10(1), 68–76 (2005).
Love., L. J., J. F. Jansen, T. E. McKnight, Y. Roh, and T. J. Phelps, "A Magnetocaloric Pump for Microfluidic Applications," IEEE Transactions on NanoBioscience 3(2), 101–110 (2004).
Love, L. J. and W. J. Book, "Force Reflecting Teleoperation with Adaptive Impedance Control," IEEE Transactions on Systems, Man, and Cybernetics—Part B: Cybernetics 34(1), 159–165 (2004).
Kress, R. L., J. F. Jansen, and L. J. Love., "Hydraulic Manipulator Design, Analysis, and Control at Oak Ridge National Laboratory," Intelligent Automation and Soft Computing 5(1), 57–71 (1999).
Love, L. J., R. L. Kress, and B. L. Burks, "Modeling Teleoperated Tank Waste Removal at Oak Ridge National Laboratory, Intelligent Automation and Soft Computing 5(1), 73–85 (1999).
Love, L, R. Kress, and J. Jansen, "Control for a Hydraulically Actuated Flexible-Prismatic Link Robot," IEEE Control Systems Magazine 18(1), 34–41 (1998).
Brady, K., T. Tarn, N. Xi, L. Love, P. Lloyd, H. Davis, and B. Burks, "Remote Systems for Waste Retrieval from the Oak Ridge National Laboratory Gunite Tanks," International Journal of Robotics Research 17(4), 450–460 (1998).
Conferences
Noakes, M. W., R. F. Lind, J. F. Jansen, L. J. Love, F. G. Pin, and B. S. Richardson, "Development of a Remote Trauma Care Assist Robot," Proceedings of IROS 2009: The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, Mo., October 11–15, 2009, pp. 2580–2585.
Love, L. J., R. F. Lind, and J. F. Jansen, "Mesofluidic Actuation for Articulated Finger and Hand Prosthetics," Proceedings of IROS 2009: The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, Mo., October 11–15, 2009, pp. 2586–2591.
Love, L. J., J. F. Jansen, F. G. Pin, and P. D. Lloyd, "Force-Based Needle Insertion for Medical Applications," Proceedings of IROS 2009: The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, Mo., October 11–15, 2009, pp. 2592–2597.
Lind, R. F., L. J. Love, J. C. Rowe, and F. G. Pin, “Multi-Axis Foot Reaction Force/Torque Sensor for Biomedical Applications,” Proceedings of IROS 2009: The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, Mo., Oct. 11-15, 2009, pp. 2575–2579.
Love, L. J., "Mechanically Coupling Man and Machine," invited presentation at Georgia Tech, Atlanta, Ga., November 20, 2007.
Pin, F. G., L. J. Love, J. F. Jansen, R. F. Lind, P. D. Lloyd, and J. C. Rowe, "A Novel Ship Motion Simulation Platform (SMSP) and Ship Motion Compensation for Force-Controlled Systems (SMCFCS)," Proceedings of ShipTech 2007, Biloxi, Miss., January 30–31, 2007.
Pin, F. G., J. F. Jansen, R. F. Lind, P. D. Lloyd, L. J. Love, J. C. Rowe, and C. L. Fitzgerald, Jr., "Compact Agile Material Mover (CAMM) for Shipboard Transport of Large Payloads," Proceedings of ShipTech 2007, Biloxi, Miss., January 30–31, 2007.
Yeary, L. W., J. W. Moon, L. J. Love, C. J. Rawn, A. J. Rondinone, J. R. Thompson, T. J. Phelps, "Biosynthesized Magnetic (ZNxFe1-x)Fe2O4 Nanoparticles," presented at the American Crystallographic Association Conference, Honolulu, Hawaii, July 22–26, 2006.
Rawn, C. J., L. W. Yeary, T. J. Phelps, L. J. Love, J. W. Moon, A. J. Rondinone, J. R. Thompson, A. Madden, and M. E. Madden, "Magnetic Characteristics of Metal-Doped Magnetite Nanoparticles Produced by Thermoanaerobacter Ethanolics," presented at the American Geophysical Union Conference, San Francisco, Calif., December 5–9, 2005.
Pin, F. G., T. L. Ferrell, L. J. Love, J. F. Jansen, K. W. Tobin, R. Farahi, J. R. Price, V. Paquit, D. Hedden, F. Meriaudeau, and R. Seulin, "Intellicath: Automated Needle-Insertion Systems and Intelligent Catheters," DARPA SBIR/Seedling Meeting, MMVR Conference, Long Beach, Calif., January 2006.
Love, L. J., L. W. Yeary, J. W. Moon, T. J. Phelps, and A. J. Rondinone, "Characterization of Bio-Synthesized Magnetic Nanoparticles," Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Monterey, Calif., July 24–28, 2005, pp. 111–115.
Ferrell, T. L., F. G. Pin, L. J. Love, J. F. Jansen, K. W. Tobin, R. Farahi, J. R. Price, V. Paquit, D. Hedden, F. Meriaudeau, and R. Seulin, "Intelli-Cath: Toward Automated Needle-Insertion Systems and Intelligent Catheters," Proceedings of the 13th Annual Medicine Meets Virtual Reality (MMVR) Conference, Long Beach, Calif., January 26–29, 2005.
Love, L. J., J. F. Jansen, and F. G. Pin, "On the Modeling of Robots Operating on Ships," Proceedings of the IEEE 2004 International Conference on Robotics and Automation (ICRA 2004), New Orleans, La., April 26–May 1, 2004, Vol. 3, pp. 2436–2443.
Jansen, J. F., R. F. Lind, L. J. Love, and J. B. Chesser, "Modeling and Testing of a Novel Piezoelectric Pump," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2004), New Orleans, La., April 26–May 1, 2004, Vol. 5, pp. 5238–5243.
Pin, F. G., L. J. Love, and D. L. Jung, "Automated Kinematic Equations Generation and Constrained Motion Planning Resolution for Modular and Reconfigurable Robots," Proceedings of the 27th ACS National Meeting, Anaheim, Calif., March 28–April 1, 2004.
Dixon, W. E. and L. J. Love, "Lyapunov-Based Visual Servo Control for Robotic Deactivation and Decommisioning," Proceedings of the ANS Spectrum 2002: International Conference on Nuclear and Hazardous Waste Management, Reno, Nev., August 4–8, 2002.
Noakes, M., L. Love, and P. Lloyd, "Telerobotic Planning and Control for DOE D&D Operations," Proceedings of the IEEE International Conference on Robotics and Automation, Washington, D.C., May 11–15, 2002, Vol. 4, pp. 3485–3492.
Glassell, R. L., S. M. Killough, P. D. Lloyd, L. J. Love, J. D. Randolph, S. D. Van Hoesen, J. A. Blank, B. L. Burks, R. E. Depew, W. H. Glover, D. D. Falter, and D. P. Vesco, "Use of the Modified Light Duty Utility Arm to Perform Nuclear Waste Cleanup of Underground Waste Storage Tanks at Oak Ridge National Laboratory," Proceedings of the 8th International Topical Meeting on Robotics and Remote Systems, Pittsburgh, Pa., April 1999.
Brady, K., T. Tarn, N. Xi, L. Love, P. Lloyd, B. Burks, and H. Davis, "A Modular Telerobotic Architecture for Waste Retrieval and Remediation," Proceedings of the 1997 SPIE Symposium on Intelligent Systems and Advanced Manufacturing, Pittsburgh, Pa., October 13–17, 1997.
Love, L., R. Kress, and J. Jansen, "Modeling and Control of a Hydraulically Actuated Flexible-Prismatic Link Robot," Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, N. Mex., April 1997, Vol. 1, pp. 669–675.
Love, L., R. Kress, R. Dubey, A. Gizelar, "Waste Tank Clean-Up Manipulator Modeling and Control," Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, N. Mex., April 1997, Vol. 1, pp. 662–668.
Love, L., R. Kress, and K. Bills, "Simulation Tools for Robotic and Teleoperated Hazardous Waste Removal," Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, N. Mex., April 1997, Vol. 1, pp. 66–71.
Love, L. J., R. L. Kress, and J. F. Jansen, "Control of Flexible Robots with Prismatic Joints and Hydraulic Drives," Proceedings of the 1997 American Nuclear Society Topical Meeting on Robotics and Remote Systems, Augusta, Ga., April 27–May 1, 1997, Vol. 2, pp. 825–832.
Love, L. and R. Kress, "A Comparative Study of Flexure Control on Long Reach Manipulators with Prismatic Joints," Proceedings of the 1997 American Nuclear Society Topical Meeting on Robotics and Remote Systems, Augusta, Ga., April 27–May 1, 1997.
Love, L. J., "Control Issues Related to Bilateral Teleoperation of Long-Reach, Flexible Manipulators," Proceedings of the 1997 American Nuclear Society Topical Meeting on Robotics and Remote Systems, Augusta, Ga., April 27–May 1, 1997, Vol. 1, pp. 232–238.
Dubey, R. and L. Love, "Strategies for Redundancy Resolution of Dual Arm Systems with Passive Elements for Tank Waste Retrieval," Proceedings of the 1997 American Nuclear Society 7th Topical Meeting on Robotics and Remote Systems, Augusta, Ga., April 27–May 1, 1997, Vol. 2, pp. 880–886.
Bills, K. and L. Love, "Simulation Tools for Hazardous Waste Removal," Proceedings of the 1997 American Nuclear Society Topical Meeting on Robotics and Remote Systems, Augusta, Ga., April 27–May 1, 1997, Vol. 1, pp. 887–893.
Kress, R. and L. Love, "The Virtual Robotics Laboratory," Proceedings of the 1997 American Nuclear Society Topical Meeting on Robotics and Remote Systems, Augusta, Ga., April 27–May 1, 1997, Vol. 1, pp. 611–619.
Kress, R., L. J. Love, and J. F. Jansen, "Human De-Amplifier Manipulator Concept," Proceedings of the 1997 American Nuclear Society Topical Meeting on Robotics and Remote Systems, Augusta, Ga., April 27–May 1, 1997, Vol. 1, pp. 247–253.
Basher, A. and L. Love, "Hydraulic Actuator Modeling and Simulation," Proceedings of the 1997 American Nuclear Society Topical Meeting on Robotics and Remote Systems, Augusta, Ga., April 27–May 1, 1997.
Love, L. and D. Magee, "Command Filtering and Path Planning for Remote Manipulation of a Long Reach Flexible Robot," Proceedings of the 1996 IEEE Robotics and Automation Conference, Minneapolis, Minn., 1996, Vol. 1, pp. 810–815.
Book, W., H. Lane, L. Love, D. Magee, and K. Obergfell, "A Novel Teleoperated Long-Reach Manipulator Testbed and its Remote Capabilities via the Internet," Proceedings of the 1996 IEEE Robotics and Automation Conference, Minneapolis, Minn., 1996, Vol. 2, pp. 1036–1041.
Love, L. and W. Book, "Adaptive Impedance Control for Bilateral Teleoperation of Long Reach, Flexible Manipulators," Proceedings of the 13th IFAC World Congress, San Francisco, Calif., June 30–July 5, 1996.
Love, L. and W. Book, "Contact Stability Analysis of Virtual Walls," Proceedings of the 1995 ASME-WAM, San Francisco, Calif., November 12–17, 1995.
Love, L. and W. Book, "Environment Estimation for Enhanced Impedance Control," Proceedings of the IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 1995.
Love, L., D. Magee, and W. Book, "A Comparison of Joint Control Algorithms for Teleoperated Pick and Place Tasks Using a Flexible Manipulator," Proceedings of the IEEE Systems, Man, and Cybernetics Conference, San Antonio, Tex., October 1994.
Love, L. and W. Book, "Design and Control of a Multiple Degree of Freedom Haptic Interface," Proceedings of the 1994 ASME-WAM, Chicago, Ill., November 1994.
Love, L. and S. Dickerson, "Mechanical Systems Lab: A Real Life Approach to Teaching Engineering," Proceedings of the 1994 ASME-WAM, Chicago, Ill., November 1994.
Book, W., L. Love, and M. Farah, "A Teleoperation Testbed for Nuclear Waste Restoration," Proceedings of the 1994 Spectrum Conference, Atlanta, Ga., August 1994.
Alberts, T., E. Bayo, L. Love, and H. Moulin, "Experiments in End Point Positioning of a Flexible Manipulator Using Inverse Dynamics Approach and Passive Damping," Proceedings of the 1990 American Control Conference, San Diego, Calif., 1990.
Love, L., T. Alberts, and D. Soloway, "A Versatile Real Time Robot Control
Architecture Using Off-the-Shelf General Purpose Components," Proceedings
of the 1990 ASME Computers in Mechanical Engineering, Boston, Mass., August 1990.
Technical Reports
Chawda, P. V., W. E. Dixon, T. J. Flynn, E. B. Holcombe, L. J. Love, and J. C. Rowe, "Proof-of-Concept Demonstration Results for Robotic Visual Servo Controllers," ORNL/TM-2004/110, Oak Ridge National Laboratory, Oak Ridge, Tenn., September 2004.
Love, L. J., J. F. Jansen, T. E. McKnight, Y. Roh, and T. J. Phelps, "A Magnetocaloric Pump for Lab-on-a-Chip Technology: Phase I Report," ORNL/TM-2003/245, Oak Ridge National Laboratory, Oak Ridge, Tenn., October 2003.
Love, L. J., J. F. Jansen, and F. G. Pin, "Compensation of Wave-Induced Motion and Force Phenomena for Ship-Based High Performance Robotic and Human Amplifying Systems," ORNL/TM-2003/233, Oak Ridge National Laboratory, Oak Ridge, Tenn., October 2003.
Jansen, J. F., J. F. Birdwell, A. C. Boynton, H. P. Crowell, III, W. K. Durfee, J. D. Gongola, S. M. Killough, D. J. Leo, R. F. Lind, L. J. Love, M. Mungiole, F. G. Pin, B. S. Richardson, J. C. Rowe, O. A. Velev, and T. Zambrano, Phase I Report: DARPA Exoskeleton Program, ed. B. S. Richardson, ORNL/TM-2003/216, Oak Ridge National Laboratory, Oak Ridge, Tenn., January 2004.
Jansen, J. F., R. F. Lind, J. B. Chesser, and L. J. Love, "Design, Analysis, Fabrication, and Testing of a Novel Piezoelectric Pump," ORNL/TM-2003/188, Oak Ridge National Laboratory, Oak Ridge, Tenn., October 2003.
Love. L. J., "Force Reflecting Micro-Teleoperation with Haptic Feedback," ORNL/TM-2002/265.
Randolph, J., S. Babcock, B. Burks, W. Dixon, J. Jansen, L. Love, and J. Younkin, "Force/Torque Testing of a Simulated Waste Dislodging and Conveyance System," ORNL/TM-13279, Oak Ridge National Laboratory, Oak Ridge, Tenn., 1997.
Kress, R., J. Jansen, L. Love, and A. Basher, "Hydraulic Manipulator Design, Analysis, and Control at Oak Ridge National Laboratory," ORNL/TM-13300, Oak Ridge National Laboratory, Oak Ridge, Tenn., 1996.
Other Reports
Lloyd, P. D., R. F. Lind, and L. J. Love, "Actuation and Control of Wearable Robotics," LDRD Final Report, 2009.
Patents
Patent No. 6,285,919: Robotic system for retractable teleoperated arm within
enclosed shell with capability of operating within a confined space, September
4, 2001.
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