| Robotics and Energetic Systems | Measurement Science and Systems Engineering Division | |
Mr. Mark W. Noakes
Mr. Mark W. Noakes is a R&D staff member in the
Robotics and Energetic Systems group of the Measurment Science and Systems Engineering Division of Oak Ridge
National Laboratory (ORNL). He received a B.S. in Electrical Engineering from Tennessee Technological University in
1979 and a M.S. in Electrical Engineering from the University of Tennessee at Knoxville (UTK) in 1989. He is currently
in the final stages of a Ph.D. in Engineering Science at UTK with an emphasis on robotics and control systems. He is
a registered professional electrical engineer in the state of Tennessee.
Current job responsibilities include assistant product line manager for the
deactivation and decommissioning (D&D) product line of the Department of
Energy’s Office of Science and Technology Robotics Crosscutting Program
(Rbx) on a national level and project leader responsibilities for ORNL Rbx D&D
projects in particular.
Prior experience has focused on a wide range of issues related to teleoperation
of manipulators and remote vehicles, damped oscillation crane control, human
factors-based design of operator control stations, laboratory automation, factory/plant
automation, systems integration, field testing, and deployment of completed
systems. Current interests focus on telerobotics for real world operations,
i.e. robotics, control systems, and artificial intelligence techniques that
are workable in the highly unstructured real world.
Experience prior to ORNL included hybrid microelectronic automotive sensors
systems design, industrial and process control, power systems design, gas chromatograph/mass
spectrometry instrumentation, analysis of satellite radar data, and flight simulator
human factors analysis and testing.
Project History (1990 to Present)
1990 - DC Damped Oscillation Crane Control
1991 - Remote Vehicle-Based Buried Waste Characterization System Development, Integration, and Demonstration (INEEL)
1992 - AC Damped Oscillation Crane Control
1993 - Contaminant Analysis Automation (CAA) Laboratory Automation
1994 - D&D Telerobotics Development
1995 - D&D Telerobotics Development
1996 - D&D Manipulation System for Dismantlement of the Argonne CP-5 Reactor
1997 - D&D Manipulation System for Dismantlement of the Argonne CP-5 Reactor
1998 - Scarab Remote Vehicle for Inspection of Underground Storage Tanks
1999 - Compact Remote Operator Console
2000 - Compact Console/Modified Brokk Remote Demolition Machine
2001 - D&D Telerobotic Controls and Telerobotic Manipulation System
2002 - D&D Telerobotic Controls and Telerobotic Manipulation System
Publications
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 Roboti," 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.
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.
Noakes, M. W., T. W. Burgess, and F. G. Pin, "Robotics and Remote Systems at the Oak Ridge National Laboratory," Proceedings of the 2nd International Joint Topical Meeting on Emergency Preparedness and Response and Robotics and Remote Systems, Albuquerque, N. Mex., March 9–12, 2008.
Noakes, M. W., T. W. Burgess, and F. G. Pin, "Robotics and Remote Systems at the Oak Ridge National Laboratory," Proceedings of the 2nd International Joint Topical Meeting on Emergency Preparedness and Response and Robotics and Remote Systems, Albuquerque, N. Mex., March 9–12, 2008.
Noakes, M. W. and W. R. Hamel, "Behavior-Based Assists for Telerobotic Manipulation," Proceedings of the 2nd International Joint Topical Meeting on Emergency Preparedness and Response and Robotics and Remote Systems, Albuquerque, N. Mex., March 9–12, 2008.
Noakes, M. W. and W. R. Hamel, "Difficulties Encountered in Unstructured Environments for Remote Systems," Proceedings of the 2nd International Joint Topical Meeting on Emergency Preparedness and Response and Robotics and Remote Systems, Albuquerque, N. Mex., March 9–12, 2008.
Noakes, M. W., "Robotic Nurse Support for Teleoperated Surgery," invited presentation at The University of Tennessee, Knoxville, Tenn., November 15, 2007.
Zhou, R., W. R. Hamel, A. S. Hariharan, and M. W. Noakes, "Using the WAM as a Master Controller," Proceedings of the ANS 2006 International Joint Topical Meeting: Sharing Solutions for Emergencies and Hazardous Environments (9th Emergency Prepardedness and Response/11th Robotics and Remote Systems for Hazardous Environments), Salt Lake City, Utah, February 12–15, 2006.
Hamel, W. R. and M. W. Noakes, "Recent Telerobotics Systems Developments at the University of Tennessee," Proceedings of the ANS 2006 International Joint Topical Meeting: Sharing Solutions for Emergencies and Hazardous Environments (9th Emergency Prepardedness and Response/11th Robotics and Remote Systems for Hazardous Environments), Salt Lake City, Utah, February 12–15, 2006.
Burgess, T. W., M. W. Noakes, and P. T. Spampinato, "Robotics Scoping Study to Evaluate Advances in Robotics Technologies that Support Enhanced Efficiencies for Yucca Mountains Repository Operations," Proceedings of the DOE-OCRWM, WM Symposia, Tucson, Arizona, February 27–March 4, 2005.
Noakes, M. W., "Saw Blade Chatter Detection and Correction—Developing the Smart Tooling Concept for Remote Manipulation," Proceedings of the 10th International Conference on Robotics and Remote Systems for Hazardous Environments, Gainesville, Florida, March 28–April 1, 2004.
Noakes, M. W. and W. E. Dixon, "Ergonomic Interface Concepts for Minimally Invasive, Remote, and Virtual Surgical Systems," 12th Annual Medicine Meets Virtual Reality Conference, Newport Beach, California, January 15–17, 2004, pp. 275–277.
Noakes, M. W. and W. R. Hamel, "Robot Task Space Analyzer Integration and Testing," Proceedings of the American Nuclear Society Spectrum 2002, Reno, Nev., August 4–8, 2002.
Noakes, M. W. and W. D. Willis, "Compact Remote Operator Console Development, Deployments, and Technology Transfer," Proceedings of the American Nuclear Society Spectrum 2002, Reno, Nev., August 4–8, 2002.
Noakes, M. W., L. J. Love, and P. D. 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.
Noakes, M. W., D. C. Haley, and R. Vagnetti,
"Deployment of Remote Systems in U.S. Department of Energy Decontaminaton and Decommissioning Projects," Proceedings of the American Nuclear Society Spectrum 2000, Chattanooga, Tenn., September 24–28, 2000.
Noakes, M. W., "Dual Arm Work Module Development and Applications," Proceedings of the American Nuclear Society Eighth Topical Meeting on Robotics and Remote Systems,
Pittsburgh, Pa., April 25–29, 1999.
Noakes, M. W., "Scarab III Remote Vehicle
Deployment for Waste Retrieval and Tank Inspection," Proceedings of the American Nuclear Society Eighth Topical Meeting
on Robotics and Remote Systems, Pittsburgh, Pa., April 25–29, 1999.
Noakes, M. W., "Remote Dismantlement Tasks for the CP5 Reactor:
Implementation, Operation, and Lessons Learned," Proceedings of the Spectrum 98 International Conference on Decommissioning
and Decontamination and on Nuclear and Hazardous Waste Management, Denver, Colo., September 13–18, 1998.
M. W. Noakes, "CP5 Reactor Remote Dismantlement Activities:
Lessons Learned in the Integration of New Technology in an Operations Environment," Proceedings of the Advanced Robotics
Beyond 2000, 29th International Symposium on Robotics, Birmingham, UK, April 27–May 1, 1998.
Noakes, M. W., D. C. Haley, and W. D. Willis, "The Selective
Equipment Removal System Dual Arm Work Module," Proceedings of the American Nuclear Society Seventh Topical Meeting on
Robotics and Remote Systems, Augusta, Ga., April 27–May 1, 1997.
Hooper, R. and M. W. Noakes, "Kinematic Control Modes for
Teleoperation of Redundant Robots," Proceedings of the American Nuclear Society Seventh Topical Meeting on Robotics
and Remote Systems, Augusta, Ga., April 27–May 1, 1997, Vol. 1, pp. 38–43.
Noakes, M. W., "Remote Dismantlement Activities for the
Argonne CP-5 Research Reactor," Proceedings of the Third Annual Conference on Emerging Technologies and Applications
in Remote Handling and Robotics, London, U.K., December 2–3, 1996.
Chan, T. F., R. V. Dubey, and M. W. Noakes, "Generalized Bilateral Control for Dissimilar Kinematic Teleoperators and Application to D&D Type Tasks," Proceedings of the American Nuclear Society Sixth Topical Meeting on Robotics and Remote Systems, Monterey, Calif., February 5–10, 1995.
Draper, J. V. and M. W. Noakes, "Fundamental Issues in the
Application of Teleoperation, Robotics, and Supervisory Control," Proceedings of the American Nuclear Society Sixth
Topical Meeting on Robotics and Remote Systems, Monterey, Calif., February 5–10, 1995.
Hamel, W. R., M. W. Noakes, and D. C. Haley, "Telerobotics Philosophy and
Concepts Applicable to Decontamination and Dismantlement," Proceedings
of the American Nuclear Society Sixth Topical Meeting on Robotics and Remote
Systems, Monterey, Calif., Februar 5–10, 1995.
Noakes, M. W., W. R. Hamel, and W. E. Dixon, "Application of a Selective Equipment Removal
System to D&D Tasks," Proceedings of the American Nuclear Society
Sixth Topical Meeting on Robotics and Remote Systems, Monterey, Calif.,
February 5–10, 1995.
Kress, R. L., J. F. Jansen,
and M. W. Noakes, "Implementation of Damped Oscillation Motion Control
on an AC Induction Motor Driven Crane," Proceedings of the Fifth International
Symposium on Robotics and Manufacturing, Wailea, Maui, Hawaii, August 15–17,
1994.
Kress, R. L., J. F. Jansen, and M. W. Noakes, "Experimental Implementation
of a Robust Damped-Oscillation Control Algorithm on a Full-Sized, Two-Degree-Of-Freedom,
AC Induction Motor-Driven Crane," Proceedings of the Fifth Int. Symposium
on Robotics and Manufacturing, Maui, Hawaii, August 14–18, 1994,
Vol. 5, pp. 585–592.
Noakes, M. W., B. S. Richardson, J. C. Rowe, J. V. Draper, and G. R. Sandness, "Human Factors Based Implementation of
the Remote Characterization System High-Level Control Station," Proceedings of the Fourth DOE Industry/University/Lab
Forum on Robotics for Environmental Restoration and Waste Management, Albuquerque, N. Mex., July 20–21,
1993.
Noakes, M. W., B. S. Richardson, J. C. Rowe, J. V. Draper, and G. R. Sandness,
"Human Factors-Based Implementation of the Remote Characterization System
High-Level Control Station," Proceedings of the ANS Fifth Topical Meeting
on Robotics and Remote Systems, Knoxville, Tenn., April 25–30,
1993, Vol. 1, pp. 493–500.
Noakes, M. W., R. L. Kress, and G. T. Appleton, "Implementation of Damped-oscillation Crane Control for Existing
AC Induction Motor-driven Facility Cranes," Proceedings of the ANS Fifth Topical Meeting on Robotics and Remote
Systems, Knoxville, Tenn., April 25–30, 1993.
Noakes, M. W., B. S. Richardson, and B. L. Burks, "Development of Robotics Technology for Remote Characterization
and Remediation of Buried Waste," Proceedings of the Institute of Nuclear Materials Management 33rd Annual Meeting,
Orlando, Fla., July 19–22, 1992.
Noakes, M. W., B. S. Richardson, and G. R. Sandness, "Development of a Remote Characterization System for Locating
Hazardous Waste," Proceedings of the Association for Unmanned Vehicle Systems Nineteenth Annual Technical Symposium
and Exhibition, June 23, 1992.
Richardson, B. S., M. W. Noakes, B. E. Griebenow, and N. E. Josten, "Buried Waste Remote Survey of the Idaho National
Engineering Laboratory Surface Disposal Area," Proceedings of the American Nuclear Society 1991 Winter Meeting,
San Francisco, Calif., November 10–14, 1991.
Noakes, M. W. and J. F. Jansen, "Shaping Inputs to Reduce Vibration for Suspended Payloads," Proceedings of
the Fourth ANS Topical Meeting on Robotics and Remote Systems, Albuquerque, N. Mex., February 24–28, 1991.
Noakes, M. W., "An Expert System for Tuning Force-Reflecting Servomanipulators," Proceedings of the Third
International Symposium on Robotics and Manufacturing, Vancouver, British Columbia, Canada, July 18–20, 1990.
Noakes, M. W., B. J. Petterson, and J. C. Werner, "An Application of Oscillation-Damped Motion for Suspended Payloads
to the Advanced Integrated Maintenance System," Proceedings of the Annual Meeting of the American Nuclear Society,
Nashville, Tenn., June 10–14, 1990.
Noakes, M. W., "Teleoperator Servoloop Tuning Using an Expert System," Proceedings of the IEEE Twenty-Second
Southeastern Symposium of System Theory, Cookeville, Tenn., March 11–13, 1990.
Reister, D. B. and M. W. Noakes, "Design of An Obstacle Avoidance Systems for AIMS," Proceedings of the 1989
SPIE Cambridge Symposium, Advances in Intelligent Robotics Systems, Cambridge, Mass., November 6–11, 1989.
Corbett, G. K., J. F. Jansen, R. L. Kress, and M. W. Noakes, "Modifying a Telerobotic System to Include Robotic
Operation by Means of Dynamic Modeling," Proceedings of the Inst. Electr. Electron. Eng. International Conference
on Robotics and Automation, Scottsdale, Ariz., May 14–19, 1989.
Noakes, M. W., G. K. Corbett, and C. T. Kring, "A Flexible Controls Architecture that Supports Servomanipulator
Development," Proceedings of the American Nuclear Society Third Topical Meeting on Robotics and Remote Systems,
Charleston, S.C., March 13–16, 1989, Section 10-4, pp. 1–9.
Corbett, G. K., M. W. Noakes, and C. T. Kring, "Integration of Robotics and Teleoperation for the Advanced
Servomanipulator," Proceedings of the Second International Symposium Robotics and Manufacturing Research,
Education and Applications, Albuquerque, N. Mex., November 16–18, 1988 in Recent Trends in Research
Education and Applications, ASME Press, New York, pp. 597–606, 1988.
Kuban, D. P., M. W. Noakes, and E. C. Bradley, "The Advanced Servomanipulator System: Development Status and
Preliminary Test Results," Proceedings of the International Topical Meeting on Remote Systems and Robotics in
Hostile Environment, Pasco, Wash., March 29–April 2, 1987.
Journal Articles
Garcia, P., J. Rosen, C. Kapoor, M. Noakes, G. Elbert, M. Treat, T. Ganous, M.Hanson, J. Manak, C. Hasser, D. Rohler, and R. Satava, "Trauma Pod: A Semi-Automated Telerobotic Surgical System," The International Journal of Medical Robotics and Computer Assisted Surgery 5(2), 136–146 (2009).
Noakes, M. W. and J. F. Jansen, "Generalized Inputs for Damped-Vibration Control of Suspended Payloads," Robotics and Autonomous Systems 10, 199–205 (1992).
Noakes, M. W., "An Expert System for Tuning Force-Reflecting Servomanipulators," Robotics
and Manufacturing 3, 449–454 (1990).
Technical Reports
Boercker, F. D. and M. W. Noakes, Metered Energy Savings from Installing Microprocessor Controls of
Space Heating Systems in Army Buildings: Final Report - ECIP Project Validation,
ORNL/CON-242, Oak Ridge National Laboratory, Oak Ridge, Tenn., September 1987.
Boercker, F. D., M. W. Noakes, and W. L. Turnage, Energy Savings from FM
Radio Control of Setback Thermostats in Army Buildings: Final Report - ECIP
Project Validation, ORNL/CON-232, Oak Ridge National Laboratory, Oak Ridge,
Tenn., July 1987.
Boercker, F. D. and M. W. Noakes, DOD: Energy Conservation Investment Program
(ECIP), Phases I & II: ECIP Project Validation Design Plan, ORNL/TM-8931,
Oak Ridge National Laboratory, Oak Ridge, Tenn., December 1985.
Boercker, F. D., M. W. Noakes, and K. Carr, DOD: Energy Conservation Investment
Program (ECIP), Phases I & II: ECIP Project Validation Design Plan,
ORNL/TM-9589, Oak Ridge National Laboratory, Oak Ridge, Tenn., July 1985.
Boercker, F. D., M. W. Noakes, and W. L. Turnage, DOD: Energy Conservation
Investment Program (ECIP), Phases I & II: ECIP Project Validation Design
Plan, ORNL/TM-8930/P2, Oak Ridge National Laboratory, Oak Ridge,
Tenn., February 1985.
Master's Thesis
Noakes, M. W., "An
Expert System Applied to the Controls Tuning of Digital Force-Reflecting Servomanipulators,"
a thesis presented for the Master of Science Degree, The University of Tennessee,
Knoxville, December 1989.
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