John Jansen

Dr. John Jansen is a Distinguish Research Scientist at ORNL and received his Ph.D. in electrical engineering from Georgia Institute of Technology. He has worked in both industry (he is a registered professional engineer in the state of North Carolina) and in academia. Since joining the research staff at ORNL in 1988 his research interest, patents and journal publications have been in the design and control of electro-mechanical and electro-hydraulic systems. Recent years he has focused on the design and controls of high precision and high power robotics. He has successful implementation and demonstration the very first strength amplifying machines with sub-millimeter accuracy and multi-ton capacity and remain to this day the only working human amplifying machine achieving both high precision and very high payload capabilities.

Work Experience at Oak Ridge National Laboratory (1988-present)

Lead researcher in the Mechatronics Laboratory. Responsibilities include developing concepts and implementing advanced robotic systems for the Department of Energy (DOE), Department of Defense, and NASA. Executed lead scientific role on many projects with the following highlights:

•	Lead engineer on DARPA's exoskeleton program at ORNL. Project is currently ongoing. Key responsibilities are: controls, actuation, and power supply.

•	Lead researcher on an advanced actuation project utilizing piezoelectric ceramic materials. Trying to achieve power densities of five times that of conventional electric actuators with high-power densities in the power electronics. Project is currently ongoing.

•

Lead controls engineer and design engineer on an advanced heavy payload manipulator (over 2000 lbs) for the Air Force. Involved in all aspects of this project ranging from the design of the digital controllers, sensor selection, hydraulic system design, and mechanical design. First successful human amplifier at these payloads.

•	Lead controls and design engineer on a high-payload experimental hydraulic manipulator for DOE. High payload to weight ratios and human amplifier applications were goals.

•	Lead engineer on experimental water hydraulic manipulator that withstood temperatures up to 1000°F.

•	Designed and implemented the control system for an omni-directional five ton vehicle.

•	Designed and implemented digital controllers for numerous hydraulic manipulators (Schilling's Titan 7F and Titan II). Advanced force controllers were implemented based on an impedance based approach.

•	Designed and implemented a swing-free algorithm on a 25 ton overhead crane.

Formal Education

Ph.D. in Electrical Engineering from Georgia Institute of Technology, 1985. Majored in electromechanical systems, control theory, and power systems; minor in math. His M.S. and B.S. are both in Electrical Engineering from University of Florida, 1979 and 1977, respectively.

Awards and Professional Societies

1. Technical Achievement Award from Lockheed Martin 1998.
2. Outstanding Engineering Achievement Award 1989 in the state of Tennessee.
3. Outstanding Engineering Achievement Award 1990 in the state of Tennessee.
4. Registered Professional Engineer in the State of North Carolina.
5. Presently have three patents and one pending.
6. Over 30 publications.

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.

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.

Teleoperated Systems and Robotic Manipulators

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.

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.

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.

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.

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.

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.

Kress, R. L. and J. F. Jansen, "Improved Joint Design for Conventional Industrial Manipulators," Proc. of the ANS Fifth Topical Meeting on Robotics and Remote Systems, Knoxville, Tenn., April 26–29, 1993.

Jansen, J. F. and R. L. Kress, "Controller Design for a Force-Reflecting Teleoperator System with Kinematically Dissimilar Master and Slave," ASME J. of Dynamic Systems, Measurement, and Control 114(4), 641–649 (1992).

Kress, R. L. and J. F. Jansen, "Automatic Tuning for a Teleoperated Arm Controller," Proc. of the 31st Conf. on Decision and Control, Tucson, Ariz., December 1992, pp. 2692-2695.

Kress, R. L., J. F. Jansen, and J. W. Haas III, "Robotic Arm Design for a Remotely Deployed, In Situ Waste Characterization Probe," Proc. of the 1992 Waste Management Conf., Tucson, Ariz., March 1–5, 1992.

Jansen, J. F. and R. L. Kress, "Use of Force-Measuring Transducers in Manipulator Control Part I - Theory," Invited Paper, Proc. of the Society of Experimental Mechanics Conf., Milwaukee, Wis., June 9–12, 1991.

Kress, R. L. and J. F. Jansen, "Use of Force-Measuring Transducers in Manipulator Control Part II - Implementation," Invited Paper, Proc. of the Society of Experimental Mechanics Conf., Milwaukee, Wis., June 9–12, 1991.

Jansen, J. F., and R. L. Kress, "Control of a Teleoperator System with Redundancy Based on Passivity Conditions," Proceedings of the IEEE Int. Conf. on Robotics and Automation, Sacramento, Calif., April 7–12, 1991, pp. 478-484.

Burks, B. L., B. S. Richardson, G. A. Armstrong, W. R. Hamel, J. F. Jansen, S. M. Killough, D. H. Thompson, and M. S. Emery, "A Demonstration of Remote Survey and Characterization of a Buried Waste Site Using the SRIP Testbed," Proceedings of the 4th ANS Topical Meeting on Robotics and Remote Systems, Albuquerque, N. Mex., February 24–28, 1991, pp. 179–86.

Jansen, J. F., R. L. Kress, S. M. Babcock, and W. R. Hamel, "Controller Design for a Teleoperator System with Dissimilar Kinematics and Force Feedback," Proc. of the Fourth ANS Topical Meeting on Robotics and Remote Systems, Albuquerque, New Mex., February 24–28, 1991, pp. 161–170.

Jansen, J. F., and J. N. Herndon, "Design of a Telerobotic Controller with Joint Torque Sensors," Proceedings of the IEEE Int. Conf. on Robotics and Automation, Cincinnati, Ohio, 1990, pp. 1109-1115.

Jansen, J. F., R. L. Kress, S. M. Babcock, and W. R. Hamel, "Stiffness Control of Teleoperators with Redundant, Dissimilar Kinematics," Proceedings of the IEEE Int. Conf. on System Engineering, Pittsburgh, Pa.., August 9–11, 1990.

Jansen, J. F., R. L. Kress, and S. M. Babcock, "Controller Design for a Force-Reflecting Teleoperator System with Dissimilar Kinematically Master and Slave," Proc. of the ASME Winter Annual Meeting, Dallas, Tex., November 25–30, 1990.

Jansen, J. F. and J. N. Herndon, "Design of A Telerobotic Controller with Joint Torque Sensors Using 2-Port Network Theory," Proceedings of the Third Int. Symposium on Robotics and Manufacturing, Vancouver, B.C., Canada, July 18–20, 1990.

Kress, R. L., J. F. Jansen, F. W. DePiero, and S. M. Babcock, "Force-Reflecting Control of a Teleoperated System Coupling a Nonredundant Master with a Redundant Slave," Proceedings of the Third Int. Symposium on Robotics and Manufacturing, Vancouver, B.C., Canada, July 18–20, 1990.

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.

Jansen, J. F. and R. L. Kress, "Gain Selection for an Independent Joint MRAC for Robotic Manipulators," Proceedings of the Third ANS Topical Meeting on Robotics and Remote Systems, Charleston, S.C., March 1989.

Jansen, J. F., and R. L. Kress, "A One Degree-of-Freedom Hydraulically Powered Test Stand for Force Control Experiments," Invited talk at a special seminar on Force Control at the IEEE Int. Conf. on Robotics and Automation, Minneapolis, Minnesota, 1996.

Hydraulic Manipulators

Richardson, B. S., J. F. Birdwell, Jr., F. G. Pin, J. F. Jansen, and R. F. Lind, "Sodium Borohydride Based Power System," Journal of Power Sources 145(1), 21–29 (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).

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.

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.

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.

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.

Jansen, J. F., B. S. Richardson, F. G. Pin, R. F. Lind, and J. F. Birdwell, Exoskeleton for Soldier Enhancement Systems Feasibility Study, ORNL/TM-2000/256, Oak Ridge National Laboratory, Oak Ridge, Tenn., September 2000.

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).

Pin, F. G., J. F. Jansen, R. F. Lind, J. C. Rowe, J. V. Draper, D. L. Conner, and T. L. Ray, Next Generation Munitions Handler – Advanced Telerobotics Technologies Demonstrator (NGMH-ATTD): Demonstration and Evaluation Report, ORNL/TM-13736, Oak Ridge National Laboratory, Oak Ridge, Tenn., May 1999.

Draper, J. V., F. G. Pin, J. C. Rowe, and J. F. Jansen, "Next Generation Munitions Handler: Human-Machine Interface and Preliminary Performance Evaluation," Proceedings of the American Nuclear Society 8th Topical Meeting on Robotics and Remote Systems, Pittsburgh, Pa., April 25–29, 1999.

Love, L, R. Kress, and J. Jansen, "Control of Hydraulically Actuated Flexible Robots with Prismatic Links," IEEE Control Systems Magazine 18(1), 34–41 (1998).

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.

Jansen, J. F. and R. L. Kress, "Hydraulically Powered Dissimilar Teleoperated System Controller Design," IEEE Int. Conf. on Robotics and Automation, Minneapolis, Minn., April 22–28, 1996, Vol. 3, pp. 2484–2491.

Jansen, J. F. and R. L. Kress, "Control Issues for a Hydraulically Powered Dissimilar Teleoperated System," Proceedings of the ANS Winter Annual Meeting, San Francisco, Calif., October 29–November 2, 1995.

Jansen, J. F. and S. M. Babcock, Bilateral Force Reflection for Teleoperators with Masters and Slaves with Dissimilar and Possibly Redundant Kinematics, ORNL/TM-11326, Oak Ridge National Laboratory, Oak Ridge, Tenn., November 1989.

Mobile Robots

Jansen, J. F. and R. L. Kress, "Analysis and Control of a Three-Degree-of-Freedom Robot Platform," Journal of Mechanical Working Technology, No. 20, pp. 295–304 (1989).

Flexible Robots

Love, L, R. Kress, and J. Jansen, "Control of Hydraulically Actuated Flexible Robots with Prismatic Links," IEEE Control Systems Magazine 18(1) pp.34–41 (1998).

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. 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.

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 International Symposium on Robotics and Manufacturing, Maui, Hawaii., August 14-18, 1994, Vol. 5, pp. 585-592.

Noakes, M. W. and J. F. Jansen, "Generalized Inputs for Damped-Vibration Control of Suspended Payloads," Robotics and Autonomous Systems 10, 199–205 (1992).

Jansen, J. F., Control and Analysis of a Single-Link Flexible Beam with Experimental Verification, ORNL/TM-12198, Oak Ridge National Laboratory, Oak Ridge, Tenn., December 1992.

Jansen, J. F., S. M. Babcock, R. L. Kress, and W. R. Hamel, "Bench-Scale Experiments in Long-Reach Manipulation for Waste Storage Tank Remediation," Proceedings of the ANS International Meeting, Chicago, Ill., November 15–20, 1992.

Jansen, J. F., S. March-Leuba, D. S. Kwon, S. M. Babcock, B. L. Burks, R. L. Kress, and W. R. Hamel, Long-Reach Manipulation for Waste Storage Tank Remediation - FY 1991 Report, ORNL/TM-11999, Oak Ridge National Laboratory, Oak Ridge, Tenn., March 1992.

Jansen, J. F., S. M. Babcock, R. L. Kress, B. L. Burks, and W. Hamel, "Long Reach Manipulation for Underground Storage Tank Remediation," Proceedings of the ASME Winter Annual Meeting, Atlanta, Ga., December 1991, pp. 67-73.

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.