Research Interests
Dr. Carroll is associated with the Mechatronic Systems Laboratory which conducts research in areas such as adaptive signal processing, nonlinear system identification, active noise control, RBF neural networks, real-time computing software and hardware systems, advanced modeling and control techniques, computer vision and image processing, system virtualization/prototyping and virtual environments, high-performance motion control and robotics that combines state-of-the-art computer hardware and software with recent advances in control theory and signal processing. In addition, he founded the Advanced Visualization Laboratory in summer 2002 which conducts research in visualization, immersive virtual reality/virtual environments, and information fusion conducted with a core theme of enhancing human-computer interaction and enabling information technology as an assistive partner in human activities. Research conducted in this laboratory currently targets two broad areas: rehabilitation engineering and homeland security.

Research and Development projects worked on include several contracts with GE Global Research and Development for work in ultrasonic NDE of plastics; ONR contract work in modeling and control of shipboard power systems; AFOSR contract work to develop an active dynamometer for testing electric actuators; ARO contract work to develop an auxiliary ground power unit for starting helicopters; subcontract from US ARMY-TACOM for capturing human motion in virtual environments. All of these projects involved some form of instrumentation and signal processing, data acquisition and control, computer modeling and simulation, visualization and/or system prototyping.

Current research areas include: design/control of assistive robotic devices, design/control of a virtual reality wheel chair simulator, human body modeling/tracking using 3D voxel data from infrared images, and virtual reality applications in physical therapy.

Selected Publications

Book Chapters

 

C. Perazzola, W. George, D. Simpson, M. Eisenstein and J. Carroll, chapter entitled “Accelerating Alternatively Fueled Vehicles for Air Force Applications,” Electric and Hybrid Vehicle Technology '95: UK & International Press, Surrey UK, 1995.

 

J. Carroll, E. Kriikku, D. Dawson and Z. Qu, Robotics and Remote Systems for Hazardous Environments, edited by M. Jamshidi, chapter entitled “Robust Impedance Control of a Robot Manipulator: Theory, Simulation, and Implementation,” Prentice Hall: New York, pp. 31-52, 1993.

Refereed Journal Papers

 

R.J. Schilling, Al-Ajlouni, J.J. Carroll, and S.L. Harris, “Active Control of Narrowband Acoustic Noise of Unknown Frequency Using a Phase-locked Loop,” Int. Journal of Systems Science, Vol. 29, No. 3, pp. 287-295, 1998.

 

M. Long, J.J. Carroll and R. Mukundan, “Comments on Computing Time Delay and Its Effects on Real-Time Control Systems,” IEEE Trans. on Control Systems Technology, Vol. 5, No. 3, pp. 379, 1997.

 

R.J. Schilling, P. Zulch, J.J. Carroll and R. Mukundan, “Active Noise Control Using a
Dual Feedforward Approach,” Int. Journal of Systems Science, Vol. 27, No. 10, pp. 905-915, 1996.

 

J.J. Carroll and D.M. Dawson, “Backstepping Techniques for the Tracking Control of Permanent Magnet Brush DC Motors,” IEEE Trans. on Industry Applications, Vol. 31, No. 2, pp. 248-255, 1995

 

D.M. Dawson, J.J. Carroll and M. Schneider, “Integrator Backstepping Control for a Brushed DC Motor Turning a Robotic Load,” IEEE Trans. on Control Systems Technology, Vol. 2, No. 3, pp. 233-244, 1994

 

J. Guldner, J.J. Carroll, D.M. Dawson and Z. Qu, “Robust Tracking Control of Rigid-Link Electrically-Driven Robot Manipulators,” Int. Journal of Systems Science, Vol. 25, No. 4, pp. 629-649, 1994.

 

M.T. Grabbe, J.J. Carroll, D.M. Dawson and Z. Qu, “Review and Unification of Reduced Order Force Control Methods,” Journal of Robotic Systems, Vol. 10, No. 4, pp. 481-504, 1993.

 

D.M. Dawson, Z. Qu, J.J. Carroll and M.M. Bridges, “Control of Robot Manipulators in the Presence of Actuator Dynamics,” Int. Journal of Robotics and Automation, Vol. 8, No. 1, pp. 13-21, 1993.

 

D.M. Dawson, Z. Qu and J.J. Carroll, “Tracking Control of Rigid-Link Electrically-Driven Robot Manipulators,” Int. Journal of Control, Vol. 56, No. 5, pp. 991-1006, 1992.

 

D.M. Dawson, Z. Qu and J.J. Carroll “On the State Observation and Output Feedback Problems for Nonlinear Uncertain Dynamics Systems,” Systems and Controls Letters, Vol. 18, No. 3, pp. 217-222, 1992.