| Robotics and Energetic Systems | Measurement Science and Systems Engineering Division | |
Mr. Peter D. Lloyd
Mr. Peter D. Lloyd received a Bachelor of Science in Mechanical Engineering from the United States Naval Academy in 1979 and a Master of Science in Electrical Engineering from the Naval Postgraduate School in 1989. After twelve years of service as a commissioned officer in the U.S. Marine Corps, Mr. Lloyd joined the ORNL staff in 1991 as a Development Engineer. His work at ORNL has included engineering and development of control systems for several large projects including the Future Armor Rearm System (FARS) and the Advanced Integrated Robotics Rearm System (AIRRS) for the U.S. Army and the Gunite and Associated Tanks (GAAT) Project for DOE's Tank Focus Area. He led the control system design and development efforts for both the AIRRS and GAAT projects. More recently, he developed a control system architecture and tools which are part of a DOE Robotics Crosscutting Technology test bed at ORNL. He has also contributed to the design and integration effort on several other smaller projects. He holds one patent and has been the recipient of several significant achievement awards since joining ORNL.
Publications
Lloyd, P. D., R. F. Lind, and L. J. Love, "Actuation and Control of Wearable Robotics," LDRD Final Report, 2009.
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.
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.
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).
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.
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.
Lewis, B. E., K. Billingsly, P. D. Lloyd, J. Emison, B. B. Spencer, M. A. Johnson, S. D. Van Hoesen, C. Higdon, B. L. Burks, and D. O. Mullen, "The Gunite and Associated Tanks Remediation Project Tank Waste Retrieval Performance and Lessons Learned," ORNL/TM-2001/142/V2 (vol. 2 of 2), Oak Ridge National Laboratory, Oak Ridge, Tenn., September 2003.
Lewis, B. E., K. Billingsly, P. D. Lloyd, J. Emison, B. B. Spencer, M. A. Johnson, S. D. Van Hoesen, C. Higdon, B. L. Burks, and D. O. Mullen, "The Gunite and Associated Tanks Remediation Project Tank Waste Retrieval Performance and Lessons Learned," ORNL/TM-2001/142/V1 (vol. 1 of 2), Oak Ridge National Laboratory, Oak Ridge, Tenn., September 2003.
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.
Depew, R. E., D. D. Falter, J. A. Blank, C. L. Fitzgerald, P. D. Lloyd, and H. Toy, "Performance Assessment of the Waste Dislodging and Conveyance System During the Gunite and Associated Tanks Remediation Project," Proceedings of the American Nuclear Society Ninth International Topical Meeting on Robotics and Remote Systems, Seattle, Wash., March 4–8, 2001.
Lewis, B. E, P. D. Lloyd, S. M. Killough, R. F. Lind, D. E. Rice, M. A. Johnson, and O. D. Mullen, Basis for Selection of a Residual Waste Retrieval System for Gunite and Associated Tank W-9 at the Oak Ridge National Laboratory, ORNL/TM–2000/251, Oak Ridge National Laboratory, Oak Ridge, Tenn., September 2000.
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, 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).
Burks, B. L., J. Blank, W. H. Glover, R. L. Glassell, J. D. Randolph, P. D. Lloyd, and V. Rule, Performance Assessment for Operation of the Modified Light-Duty Utility Arm and Confined Sluicing End Effector at Oak Ridge National Laboratory Tank W3, ORNL/TM-13646, Oak Ridge National Laboratory, Oak Ridge, Tenn., 1998.
Burks, B. L., D. D. Falter, R. L. Glassell, P. D. Lloyd, J. D. Randolph, S. D. Van Hoesen, and M. A. Johnson, "Development and Demonstration of a Remotely Operated Tank Waste Retrieval System for the Oak Ridge National Laboratory," RadWaste Mag. 4(2), 10–16 (1997).
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.
Speaks, D. M., C. T. Kring, P. D. Lloyd, T. L. Ray, W. B. Jatko, "Automated Ammunition Logistics for the Crusader Program," Proceedings of the 7th American Nuclear Society Topical Meeting on Robotics and Remote Handling, Augusta, Ga., April 27–May 1,1997, Vol. 2, pp. 1059–66.
Randolph, J. D, B. L. Burks, M. W. Rinker, D. Summers, J. Blank, P. D. Lloyd, M. A. Johnson, D. Mullen, and D. Alberts, "Development of a Waste Dislodging and Retrieval System for Use in the Oak Ridge National Laboratory Gunite Tank," Proceedings of the 7th American Nuclear Society Topical Meeting on Robotics and Remote Systems, Augusta, Ga., April 27–May 1,1997, Vol. 2, pp. 894–99.
Falter, D. D., S. M. Babcock, B. L. Burks, P. D. Lloyd, J. D. Randolph, J. E. Rutenber, and S. D. Van Hoesen "Remote Systems for Waste Retrieval from the Oak Ridge National Laboratory Gunite Tanks," Trans. Am. Nucl. Soc. 73, 466 (1995).
Varma, V. K., P. D. Lloyd, J. B. Chesser, J. F. Jansen, and C. T. Kring, Automated Artillery Ammunition Fuzing Using a Passive Compliance Device, ORNL/TM-13112, Oak Ridge National Laboratory, Oak Ridge, Tenn., 1995.
Chesser, J. B., J. F. Jansen, P. D. Lloyd, and V. K. Varma, "Development of an Automated Fuzing Station for the Future Armored Resupply Vehicle", Proceedings of the 6th American Nuclear Society Topical Meeting on Robotics and Remote Systems, Monterey, Calif., February 5–10, 1995, Vol. 2, pp. 885–92.
Speaks, D. M., J. B. Chesser, P. D. Lloyd, E. D. Miller, T. L. Ray, and B. S. Weil, "Development of an Automated Ammunition Processing System for Battlefield Use," Proceedings of the 6th Topical Meeting on Robotics and Remote Systems, Monterey, Calif., February 5–10,1995, Vol. 2, pp. 869–876.
Glassell, R. L., P. D. Lloyd and R. L. Kress, "Control System for the Future Armor
Rearm System," Proceedings of the 5th Topical Meeting on Robotics and
Remote Systems, Knoxville, Tenn., April 26–29, 1993, p. 297.
Ray, T. L., R. L. Glassell, W. H. Glover, J. H. Hannah, R. L. Kress, P. D. Lloyd,
and K. U. Vandergriff, Technology Demonstration for Automated Ammunition
Reloading of Heavy Armored Systems, ORNL/TM-12376, Oak Ridge National
Laboratory, Oak Ridge, Tenn., 1993.
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