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RI | People | Pradeep Khosla
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Text only version of this site
Pradeep Khosla
Dean and Philip and Marsha Dowd Prof ECE, RI/ECE
Associated centers: VASC and CFR
Email address: pkk@ece.cmu.edu
Mailing address:
Carnegie Mellon University
Electrical and Computer Engineering
Hamerschlag Hall
Pittsburgh, PA 15213
For more information, see my personal homepage.
Jump to: Biography | Research interests | Labs & Groups | Projects | Publications
| Biography |
Pradeep Khosla received B. Tech (Hons) from IIT (Kharagpur, India) in 1980, and both MS (1984) and PhD (1986) degrees from Carnegie-Mellon University. He served as Asst Professor of ECE and Robotics (1986-90), Associate Professor (1990-94), and Professor (1994 - ), Founding Director (1/97-6/99) of Institute for Complex Engineered Systems (which includes the former Engineering Design Research Center - a NSF ERC). During his tenure ICES grew to a total budget of more than $10M per year. He achieved this by strategically positioning ICES to pursue interdisciplinary projects in Embedded Systems, Tissue Engineering, Design and Manufacturing, and Networking. He is currently the Philip and Marsha Dowd Professor of Engineering and Robotics, and Head of Electrical and Computer Engineering Department at Carnegie Mellon. Prior to joining Carnegie-Mellon, he worked with Tata Consulting Engineers and Siemens (1980- 82) in the area of real- time control.
From January 1994 to August 1996 he was on leave from Carnegie Mellon and served as a DARPA Program Manager in the Software and Intelligent Systems Technology Office (SISTO), Defense Sciences Office (DSO) and Tactical Technology Office (TTO) where he managed advanced research and development programs, with a total budget exceeding $50M in FY96, in the areas of Information based Design and Manufacturing, Web based Information Technology Infrastructure, Real-Time Planning, and Distributed AI and Intelligent Systems, Real-Time Embedded Software, Sensor-based Control, and Collaborative Robotics.
Professor Khosla's research interests are in the areas of internet-enabled distributed and collaboratve design, collaborating autonomous systems, agent-based architectures for embedded control, software composition and reconfigurable software for real-time embedded systems, reconfigurable and distributed robotic systems, and distributed information systems. His research is multidisciplinary and has focused on the theme of "creating complex embedded and information systems through composition of and collaboration amongst building blocks".
He is involved in Electrical and Computer Engineering, Design, and Robotics education both at the graduate and the undergraduate level. He was a member of the committee that formulated a curriculum for the multidisciplinary PhD program in Robotics at Carnegie Mellon. He was also a member of the Wipe the Slate Clean Committee that created a new 4 year undergraduate ECE degree curriculum at CMU. In support of the new curriculum he developed the Introductory Freshman level course "Introduction to Electrical and Computer Engineering" that emphasizes the notion of Teaching in Context. He is the co-author of a text book and a laboratory manual related to this course.
Professor Khosla was the Program Vice-Chairman for the 1989 IEEE International Conference on Systems Engineering, General Chairman for the 1990 IEEE International Conference on Systems Engineering, Program Vice Chairman of the 1993 International Coference on Robotics and Automation, General Co-Chairman of the 1995 Intelligent Robotics Systems (IROS) conference, and Program Vice-Chair for the 1997 IEEE Robotics and Automation Conference. He has been a keynote speaker at several international conferences. He has served as member of the AdCom of the IEEE Robotics and Automation Society and the IEEE Systems, Man and Cybernetics Society, Chairman of the Education Committee of the IEEE Robotics and Automation Society, Professinal Activities (PACE) Chair of the Robotics and Automation Society, member of Robotics and Intelligent Machines Coordinating Council (RIMCC), member of the Long Range Planning Committee of the Robotics and Automation Society, member of the Board of Directors of The Robotics Industries Association (RIA), and served as member of the Board of Directors of Pittsburgh Tissue Engineering Initiative (PTEI) during 2000-2001. He served as technical Editor of the IEEE Transactions on Robotics and Automation and is currently an Associate Editor for ASME Journal of Computers and Information Science in Engineering (JCISE).
Professor Khosla is a recipient of the Inlaks Foundation Fellowship in 1982, the Carnegie Institute of Technology Ladd award for excellence in research in 1989, 2 NASA Tech Brief awards (1992, 1993), the ASEE 1999 George Westinghouse Award for Education, Siliconindia Leadership award for Excellence in academics and technology in 2000, the W. Wallace McDowell award from IEEE Computer Society in 2001, and was elected as an IEEE Fellow in January 1995. He was appointed a Distinguished lecturer for the IEEE Robotics and Automation Society for 1998-01. Professor Khosla's research has resulted in 2 books and more than 200 journal articles, conference papers and book contributions.
Professor Khosla served as a member of the Technical Advisory Board of DoD and NASA-JPL sponsored projects. He has been an invited participant to the Department of Commerce workshops on the Intelligent Manufacuring Systems program and USA-Japan R&D consortia and collaboration, and DARPA ISAT study panels. He is a consultant to several industries in the USA and also to Venture Capitalist firms. He serves on the technology Advisory Board of Abeona Networks inc., ITU Ventures, and on Alcoa's CIO Advisory Board. He is a member of the Board of Directors of Quantapoint Inc., Halosft Inc., and Intellion Inc. He also serves on the advisory boards of Institute for Systems Research at University of Maryland, and Dean's advisory board for the College of Engineering at Michigan State University. He is a co- founder of Quantapoint inc and Halosoft inc. -- two high tech companies based in Pittsburgh. Halosoft specializes in internet software. Quantapoint specializes in high precision laser scanners that are used for creating high fidelity 3D models of as built structures. The company is serving various market segments including Architecture and Engineering, Movie Industry, and Video Game industry.
| Research interests |
My research interests are in the areas of sensor-based manipulator control, real-time architectures for control, design for assembly, methodologies for manipulator design, and applications of robotics in assembly and manufacturing. The goal of my research is twofold: to develop the basis for incorporating multiple sensing modalities in the dynamic loop of a manipulator, and to apply such a system in automatic assembly and manufacturing applications. My research thus involves both theory and experimental implementation in a laboratory.
CMU Direct-Drive Arm II Testbed: My research on sensor-based control revolves around this project. Strategies for using position, velocity, force/torque, vision, proximity, and tactile sensors for both controlling a manipulator and for interacting intelligently with the environment are being addressed in this work. One project addresses the use of joint position, velocity and end-effector force/torque sensing for obstacle avoidance and force control. In another project techniques are being developed for using tactile data for dynamic object exploration. The use of a camera as a sensor in the dynamic feedback loop is being studied in a project on dynamic visual servoing. The goal here is to bridge the gap between traditional vision research and control theory. The CMU Direct-Drive Arm II testbed is equipped with the above mentioned sensors and one of the projects aims at developing a real-time kernel, called CHIMERA, and a hierarchical controller structure for incorporating these multiple sensors, in the control loop, in an unified manner.
CMU Reconfigurable Modular Manipulator System (RMMS): My research on methodologies for manipulator design revolve around the RMMS. In this project, the goal is to address theoretical issues in mapping kinematic and dynamic task requirements into kinematic and dynamic configurations of a manipulator that is configured from a set of modular joints and links. Projects that address the automatic generation of kinematic and dynamic equations, reconfigurable controllers, dynamic control of redundant manipulators are being pursued in this context.
Reconfigurable Control Software and Programming Interface: In this project, we are interested in developing techniques for reconfiguring control software in real-time. We are also developing an icon based programming interface for rapid development of applications.
Rapid Assembly System: In this project our goal is to develop an integrated design-manufacturing environment. We are developing reasoning, planning, and representational methodologies for the assembly and the facility. Our initial work has shown that it is possible to accept a 3-D solid modeler description of an assembly as input, and automatically generate and execute real-time code to create the physical assembly.
Combined Mobility and Manipulation: In this research, we are interested in developing algorithms to utilize the redundancy provided by combining mobile platforms with manipulators. We are also developing techniques for multiple task execution.
| Past Labs & Groups |
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| Current Projects [Past projects] |
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| Recent publications [View all 251 publications] |
