Mr. Mark W. Noakes is a R&D staff member in the Robotics and Energetic Systems group of the Engineering Science and Technology 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

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

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, 449–54 (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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Last updated:  January 23, 2008