Thomas L. Harman

Permanent URI for this collectionhttps://hdl.handle.net/10657.1/881

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Dr. Thomas L. Harman is the chair of the Engineering College at the University of Houston Clear Lake (UHCL). Dr. Harman began his full-time career at UHCL in 1979. Before that he was a staff engineer in the Controls System Department of Lockheed Engineering. His Ph.D. was granted by Rice University in Electrical Engineering. He is also the Director of the Center for Robotics Software recently formed at UHCL.

His research interests are control systems and applications of robotics and microprocessors. Several of his research papers with colleagues involved robot and laser applications to medicine.

His laboratory at UHCL has a Baxter two-armed robot and several mobile TurtleBots, flying drones, and other robots. UHCL students have participated in several robotic contests including the NASA Swarmathon held at KSC. He has been a judge and a safety advisor in the FIRST robotic contests in Houston.


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Recent Submissions

Now showing 1 - 20 of 74
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    Cartesian Space Velocity Control for Baxter with A 3DConnexion Space Mouse Pro device
    (Innovation and Automation 2017, 2017-10-28) Harman, Thomas L.; Farhat, Nabil; Nguyen, Luong; Fairchild, Carol
    Abstract not available.
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    The UHCL Center for Robotics Software
    (Innovation and Automation 2017, 2017-10-28) Harman, Thomas L.; Fairchild, Carol; Nguyen, Luong
    Abstract not available.
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    Multithreading/Multiprocessing Simulation of the International Space Station Multibody System Using a Divide and Conquer Formulation with Flexible Bodies
    (19th International Conference on Autonomous Robots and Agents (ICARA 2017), 2017-05-18) Harman, Thomas L.; Nguyen, Luong; Deneke, Elihu
    Abstract not available.
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    The NASA Swarmathon and Kennedy Space Center
    (Innovation and Automation 2016, 2016-10-26) Harman, Thomas L.; Nguyen, Luong
    Abstract not available.
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    ROS Networking for Turtlebot using Ad-hoc Network
    (Innovation and Automation 2016, 2016-10-28) Harman, Thomas L.; Krishna, Tiramala Sai; Krishnan, RajaKumar Murali; Fairchild, Carol
    Abstract not available.
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    Right Sizing Commercial Electrical Systems
    (IEEE Industry Applications, 2016-07) Harman, Thomas L.; Anthony, Michael A.; Harvey, James R.
    For decades, the application of National Electrical Code (NEC) rules for sizing services, feeders, and branch circuits has resulted in unused capacity in almost all occupancy classes. U.S. Department of Energy (DOE) data compiled in 1999 indicate the average load on building transformers to be between 10% and 25%. More recent data gathered by the educational facilities industry have verified this claim. Recognizing that aggressive energy codes are driving energy consumption lower and that larger-thannecessary transformers create a larger-than-necessary flash hazard, the 2014 NEC provided an exception in Section 220.12 that permitted designers to reduce transformer kilovoltampere ratings and all related components of the power delivery system. This was a conservative, incremental step in the direction of reduced load density that is limited to lighting systems. Further study of feeder and branch circuit loading is necessary to inform discussions about circuit design methods in future revisions of the NEC.
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    Series Elastic Actuators Principles and Research Issues
    (Innovation and Automation 2015 Conference, 2015-10-23) Dabney, J. B.; Harman, Thomas L.
    Abstract not available.
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    Baxter in robotic research and education at UHCL
    (Innovation and Automation 2015 Conference, 2015-10-23) Harman, Thomas L.; Nguyen, Luong; Fairchild, Carol
    Abstract not available.
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    Creating Robots in Simulation
    (INNOVATION and AUTOMATION 2015 Conference, October 23rd, 2015 Gilruth Center, NASA/JSC, 2015-10-23) Harman, Thomas L.; Fairchild, Carol; Nguyen, Luong
    Abstract not available.
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    Why the Robot Operating System is Vital to your Future in Robotics
    (INNOVATION and AUTOMATION 2015 Conference, 2015-10-23) Harman, Thomas L.; Fairchild, Carol; Nguyen, Luong
    Abstract not available.
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    A new approach to deal with sensor errors in structural controls with MR damper
    (Smart Structures and Systems, 2015) Harman, Thomas L.; Wang, Han; Li, Luyu; Song, Gangbing; Dabney, J. B.
    As commonly known, sensor errors and faulty signals may potentially lead structures in vibration to catastrophic failures. This paper presents a new approach to deal with sensor errors/faults in vibration control of structures by using the Fault detection and isolation (FDI) technique. To demonstrate the effectiveness of the approach, a space truss structure with semi-active devices such as Magneto-Rheological (MR) damper is used as an example. To address the problem, a Linear Matrix Inequality (LMI) based fixed-order H-infinity FDI filter is introduced and designed. Modeling errors are treated as uncertainties in the FDI filter design to verify the robustness of the proposed FDI filter. Furthermore, an innovative Fuzzy Fault Tolerant Controller (FFTC) has been developed for this space truss structure model to preserve the pre-specified performance in the presence of sensor errors or faults. Simulation results have demonstrated that the proposed FDI filter is capable of detecting and isolating sensor errors/faults and actuator faults e.g., accelerometers and MR dampers, and the proposed FFTC can maintain the structural vibration suppression in faulty conditions.
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    Baxter the friendly robot: Applications, architecture, and features
    (Conference: INNOVATION’14 AND AUTOMATION’14, 2014) Harman, Thomas L.; Dabney, J. B.
    Abstract not available.
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    Rightsizing Electrical Power Systems in Large Commercial Facilities
    (IEEE Industrial and Commercial Power Systems, 2013) Harman, Thomas L.; Anthony, Michael A.; Harvey, James R.
    For decades, application of National Electrical Code (NEC) rules for sizing services, feeders and branch circuits has resulted in unused capacity in almost all occupancy classes. US Department of Energy data compiled in 1999 indicates average load on building transformers between 10 and 25 percent. More recent data gathered by the educational facilities industry has verified this claim. Recognizing that aggressive energy codes are driving energy consumption lower, and that larger than necessary transformers create larger than necessary flash hazard, the 2014 NEC will provide an exception in Section 220.12 that will permit designers to reduce transformer kVA ratings and all related components of the power delivery system. This is a conservative, incremental step in the direction of reduced load density that is limited to lighting systems. More study of feeder and branch circuit loading is necessary to inform discussion about circuit design methods in future revisions of the NEC.
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    Engaging Students in Science and Engineering Education with Intelligent Robotic Systems Development
    (Innovation 2012, 2012) Harman, Thomas L.; Wu, Lei
    Abstract not available.
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    What’s new in MATLAB for modeling physical systems with applications to robotics
    (Workshop on Automation and Robotics 2010, 2010-11) Harman, Thomas L.; Dabney, J. B.; Vangala, V. S.
    Abstract not available.
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    Nonlinear fault tolerant control of a space truss structure with MR damper
    (Earth and Space 2010, 2010-03-14) Harman, Thomas L.; Wang, Han; Li, Luyu; Song, Gangbing; Dabney, J. B.
    Fault detection and isolation (FDI) technology can provide early warning of faulty sensors and actuators in order to prevent events that lead to catastrophic failures. The main objective of this paper is to describe the application of FDI techniques for vibration suppression of a space truss structure. Thus, this paper presents a Linear Matrix Inequality (LMI) based fixed-order FDI filter design theorem and approach. Necessary and sufficient conditions for the existence of a solution to detecting and isolating faults using the H∞ formulation are provided. Furthermore, a Fuzzy Fault Tolerant Controller (FFTC) for a base isolation structure model based on the FDI filter is developed to preserve the pre-specified performance of the space truss structure in the presence of faults. A numerical example is given as well as FDI and FFTC results which demonstrate that the designed filter can successfully detect and isolate faults including displacement sensor and accelerometer failure, and that the FFTC can maintain excellent performance of vibration suppression in faulty conditions.
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    Stable Torque Regulation of Piezoelectric Ultrasonic Motors
    (American Society of Civil Engineers, 2008-03) Harman, Thomas L.; Dabney, J. B.; Ghorbel, F. H.
    Traveling wave piezoelectric ultrasonic motors (PUMs) are ideal actuators for a variety of important applications including medical and space robotics, haptic interfaces, and positioning devices. Consisting of a single moving part, the motors are much simpler mechanically than other drive systems that require transmissions and brakes. Many potential PUM applications require accurate real-time control of output torque, which is difficult due to the highly nonlinear PUM dynamics. This paper reviews the development of a model-based PUM torque regulation algorithm and applications of the algorithm. The paper then examines the stability of the torque control and demonstrates it experimentally.
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    Model Based Torque Control of Piezoelectric Ultrasonic Motors
    (International Mechanical Engineering Conference, 2006-11) Harman, Thomas L.; Ghorbel, F. H.; Dabney, J. B.; Chakkungal, J.
    Traveling wave piezoelectric ultrasonic motors (PUMs) are ideal actuators for a variety of important applications including medical and space robotics, haptic interfaces, and positioning devices. Consisting of a single moving part, the motors are much simpler mechanically than other drive systems that require transmissions and brakes. Many potential PUM applications require accurate real-time control of output torque, which is difficult due to the highly nonlinear PUM dynamics. This paper presents an algorithm that adjusts PUM drive signal frequency to achieve output torque control throughout the speed range of a typical commercial PUM.
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    Dynamic Response Modeling of Piezoelectric Ultrasonic Motors
    (ASME Congress, 2005-11) Harman, Thomas L.; Dabney, J. B.; Ghorbel, F. H.
    Piezoelectric ultrasonic motors (PUMs) fill a unique niche in mechatronic actuators. The motors are lightweight, simple, and reliable, containing a single moving part that provides the function of motor, transmission, and brake. They are ideal for a variety of robotic applications as well as commercial and medical applications. In order to exploit PUMs fully, computationally efficient models of dynamic response, capturing all important dynamics, are needed. This paper describes the experimental characterization of the dynamic response of a typical commercial PUM (Shinsei USR-30) using an inertial load and evaluation of three classes of dynamic models: second-order predictive (physics-based) models, algebraic (curve fitting) descriptive models, and neural network approximation.
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    Go Tankless…and Stay in Hot Water
    (Journal of the International Association of Electrical Inspectors, 2004-03) Harman, Thomas L.
    Abstract not available.