Aman Behal
315 EIB, Clemson, SC - 29634,
Phone : (864) 656-7708, Fax : (864) 656-7220.
abehal@eng.clemson.edu

EDUCATIONAL BACKGROUND

• Ph.D (Electrical Engineering) - Clemson University, Clemson.
• M.Tech (Electrical Engineering) Indian Institute of Technology, Bombay.

• W.E. Dixon, D.M. Dawson, E. Zergeroglu, and A. Behal, "Adaptive Tracking Control of a Wheeled Mobile Robot via an Uncalibrated Camera System", IEEE Transactions on Man, Systems, and Cybernetics -Part B: Cybernetics, submitted.
• W.E. Dixon, F. Zhang, D. M. Dawson, and A. Behal, "Global Robust Output Feedback Tracking Control of Robot Manipulators", Robotica, submitted.
• M. Feemster, D. M. Dawson, A. Behal, and W.E. Dixon, "Tracking Control in the Presence of Nonlinear Dynamic Frictional Effects: Robot Extension," Asian Journal of Control, Vol. 1, No. 3, pp. 153-168, 1999.
• E. Zergeroglu, W.E. Dixon, A. Behal, and D. M. Dawson, "Adaptive Set-Point Control of Robotic Manipulators with Amplitude-Limited Control Inputs", Robotica, to appear.
• E. Zergeroglu, W.E. Dixon, D. M. Dawson, and A. Behal, "Lyapunov-Based Set-Point Control of the Acrobot", International Journal of Robotics and Automation, Vol. 14, No. 4, pp. 161-170, 1999.
• P. Aquino, M. Feemster, D. M. Dawson, and A. Behal, "Adaptive Partial State Feedback Control of the Induction Motor: Elimination of Rotor Flux and Rotor Velocity Measurements," International Journal of Adaptive Control and Signal Processing, accepted, December 1998, to appear.
• A Behal, M. Feemster, D. M. Dawson, and D. Haste, "An Improved Indirect Field Oriented Controller for the Induction Motor," Submitted to the IEEE Transactions on Control System Technology.
• A Behal, W. Dixon, D. M. Dawson, and Y. Fang, "Tracking and Regulation Control of an Underactuated Surface Vessel with Nonintegrable Dynamics", Submitted to the IEEE Transactions on Automatic Control.
• A Behal, M. Feemster, D. M. Dawson, and A. Mangal, "Partial State Feedback Control of Induction Motors with Magnetic Saturation: Elimination of Flux Measurements ", Submitted to the Automatica.

• M. Feemster, D. M. Dawson, A. Behal, and W.E. Dixon, "Tracking Control in the Presence of Nonlinear Dynamic Frictional Effects: Robot Extension", Session Title: Applications of Adaptive Control for Systems with Nonsmooth Nonlinearities, Proc. of the Conference on Control Applications, Kohala Coast, Hawaii, August 22-26, 1999 , pp. 1169-1174.

• A. Behal, W.E. Dixon, D. M. Dawson, and Y. Fang, "Tracking and Regulation Control of an Underactuated Surface Vessel with Nonintegrable Dynamics", Proc. of the 39th IEEE Conference on Decision and Control, Sydney, Australia, December, 2000, to appear.
• W.E. Dixon, A. Behal, D. M. Dawson, and Y. Fang, "Robust Output Feedback Tracking and Regulation Control for Wheeled Mobile Robots", Proc. of the American Control Conference, June, 2001, submitted.
• W.E. Dixon, D. M. Dawson, E. Zergeroglu, and A. Behal, "Adaptive Tracking Control of a Wheeled Mobile Robot via an Uncalibrated Camera System", Proc. of the American Control Conference, Chicago, Illinois, June, 2000, to appear.
• E. Zergeroglu, W.E. Dixon, A. Behal, and D. M. Dawson, "Composite Adaptive Output Feedback Tracking Control of Robotic Manipulators", Proc. of the American Control Conference, San Diego, CA, June 1999, pp. 3013-3017.
• W.E. Dixon, F. Zhang, D. M. Dawson, and A. Behal, "Global Robust Output Feedback Tracking Control of Robot Manipulators", Proc. of the 1998 IEEE International Conference on Control Applications, Trieste, Italy, Sept. 1-4, 1998, pp. 897-901.
• P. Aquino, M. Feemster, D. M. Dawson, and A. Behal, "Adaptive Partial State Feedback Control of the Induction Motor: Elimination of Rotor Flux and Rotor Velocity," Proceedings of the IEEE Conference on Decision and Control, Tampa, FL, December 1998, pp. 977-982.
• M. Feemster, P. Aquino, D. M. Dawson, and D. Haste, "Sensorless Rotor Velocity Tracking Control for Induction Motors," Proceedings of the IEEE American Control Conference, San Diego, CA, June 1999, pp. 2158-2162.
• A Behal, M. Feemster, D. M. Dawson, and D. Haste, "An Improved Indirect Field Oriented Controller for the Induction Motor," Proceedings of the IEEE Conference on Control Applications, Kohala, HI, August 1999, pp. 1084-1089.
• M. Feemster, A. Behal, P. Aquino, and D. M. Dawson, "Tracking Control of the Induction Motor in the Presence of Magnetic Saturation Effects," Proceedings of the Conference on Decision and Control, Phoenix, AZ, December 1999, pp. 341-346.
• A. Behal, M. Feemster, D. M. Dawson, and A. Mangal, "Partial State Feedback Control of Induction Motors with Magnetic Saturation: Elimination of Flux Measurements," Proceedings of the IEEE American Control Conference, Chicago, IL, June 2000, to appear.
• A. Behal, M. Feemster, D. M. Dawson, and A. Mangal, "Sensoress Rotor Velocity Tracking Controller for the Permanent Magnet Stepper Motor," Submitted to the Conference on Control Applications, Anchorage, AK, September 2000.

• Conference on Decision and Control
• American Control Conference
• Conference on Advanced Intelligent Mechatronics
• Automatica
• Journal of Robotic Systems
• IEEE Transactions on Control Systems Technology
• Mechatronics - An International Journal

RESEARCH/PROJECTS

• 6-legged Walking Machine
  The project at Robotics Laboratory, IIT Bombay, involved design of a 6-legged walking machine which would be able to move about on rough surfaces, climb steps and move over obstacles, tasks which cannot be accomplished by wheeled or tracked robots. The machine is being designed with the specific objective of using it in radioactive environment not safe for humans. The machine would carry vision equipment as the payload which would send the data via cable to a computer outside. I designed and tested the digital controller cards for the actuators. A lead compensator has been designed for the servo-mechanism. When complete, 18 motors would be controlled using a pentium mother-board.

Under-Graduate and Graduate

• M.Tech Project- Design and Fabrication of an EMCS
  The project, titled Design of an Energy Management System, aimed at building a Demand-limiting system for both industrial and domestic usage. The system, the heart of which was a PC, used the Motorola 68HC11 microcontrollers as remote processing units, all wired on a common bus. The communication link used was the RS485 Industrial interface. The controller cards, power conditioning, communication and microcontroller circuit boards were designed and fabricated, the communication and predictive demand controller software was written and the project was successfully completed in June '96 .
• Other Hardware/Software Projects
  The project Microcontroller based power sensing and communication, was undertaken mainly in order to understand the functioning of the Motorola 68HC11 and software was developed and tested on an EVBU. During the course of the project, the A/D conversion, serial communication capabilities and the number crunching capabilities of the 68HC11 were tested and understood.
  The project titled 3-band Graphic Equalizer was done as a part of the Analog Circuits Laboratory.
  Did a project for a dental surgeon which involved writing a GUI in C++(OOP)and implementing an interrupt driven I/O card with discrete as well as analog inputs and outputs.

Industrial Experience

• Was a trainee at SSK Pvt. Ltd, which manufactures a wide variety of switches and switchgears from May'93 - June'93.
  

• Worked on an 8751-based project at Bradma of India, Bombay. The project involved design of the 8751 board and the associated circuitry for interface with an EPSON printer and a PC. The project was completed successfully within the set time frame. At the same time, I was also associated with an 80286-based project going on in the company. This was from May'94 - June'94.
  
• Worked on a project involving Design of Digital Filters at Punjab Wireless Systems Pvt. Ltd. and gave some concrete proposals for the implementation of the results obtained. This was from May'95 - June'95

Other Experience

• Webmaster of the ECE Department Website from August 1997-May 1999
• Worked on the Multimedia Facility of Robotics Laboratory at Clemson University.

COMPUTER KNOWLEDGE

Programming Languages - C, C++, FORTRAN, Intel 8085/80x86/8751/8096 Assembly, Motorola 6811 Assembly, SQL

Packages - Latex, OrCAD, MS-Office, PSpice, SIMULINK, MATLAB, gnuplot, simnon, scientific workplace.

Operating Systems - MS-DOS, NOS-VE, Windows 3.1/WFW, Windows 95, Windows NT, Unix/Linux.

Hardware Platforms - Silicon Graphics Indy, SUN Sparc 10, Intel Based PC's, DEC ALPHA

REFERENCES

• Dr. Darren M. Dawson
  Professor, ECE Dept., Clemson University, Clemson, SC 29634.
• Dr. Bharat Seth
  Professor, Mech. Engg., IIT Bombay Powai Bombay-76