**Teaching and Supervisory Responsibilities**

*Undergraduate Teaching at UCCS*- ID101: Freshman Seminar—Mindstorms.
- ECE1001: Introduction to Robotics.
- ECE2205: Circuits and Systems I.
- ECE2610: Introduction to Signals and Systems.
- ECE3510: Linear Systems Theory.
- ECE3610: Engineering Probability and Statistics.
- ECE4510: Feedback Control Systems.
- ECE4520: Multivariable Control Systems I.
- ECE4530: Control-Systems Laboratory, Supervised: Aut. 2008, Aut. 2007, Spr. 2004, Spr. 2003, Spr. 2002, Aut. 2000, Aut. 1999, Aut. 1998.
- ECE4540: Digital Control Systems.
- ECE4560: Digital Control Laboratory, Supervised: Spr. 2001.
- ECE4710: Modeling, Simulation, and Identification of Battery Dynamics.
- ECE4899/4892: Electrical/Computer Engineering Design Project.

Remember Star Wars’ R2D2 and 3CPO? For years, movies have explored the world of robots. Could robots actually take over the world? Maybe not, but these marvelous machines are becoming more and more capable. Just how do humans and robots differ? Can robots actually see, play soccer, vacuum the living room, or collect the trash? This freshman Seminar course will teach you basic technology common to robots, as you and your teammates design and build one of your own.

An introductory course presenting foundational material in the design of robots. Topics include basic properties of sensors, motors, gears, drive mechanisms, control schemes, and processors to guide and control robots. LEGO kits will be used to implement student designs.

Modeling and analysis of analog circuits and linear systems. Kirchoff’s current and voltage laws. Uses time-domain methods and s-domain transfer functions to solve differential equations of first and second order RLC circuits with op amps. Transient and steady-state response to steps and complex exponentials. Zero-input, zero-state, and initial-state response. Introduction to circuit simulation.

Mathematical representation of signals and systems; spectrum representation; representation of signals by sample values; discrete-time filter characterization and response; the z-transform; continuous-time signals and linear, time-invariant systems; frequency-response; continuous-time Fourier transform and applications to system analysis. MATLAB basics with application to signals and systems. Includes lectures, demonstrations, and laboratory assignments.

Characterization of linear systems by impulse response, convolution, transfer function. Linear differential equations and linear difference equations as models. Applications to circuits, electromechanical systems, etc. Transform methods include: Fourier series, Fourier transforms, and Laplace transforms. Introduction to state variables and the state-transition matrix. Use of a variety of models in design.

[This course is no longer offered. The ECE2220/2230/3510 sequence was replaced by ECE2610/2205/3205.]

An introduction to probability and statistics with application to solving engineering problems. Includes the axioms of probability, random variables, density functions, distribution functions, expectations. Gaussian random variables, bivariate random variables, sums of independent random variables. Estimation of sample mean and variance. Monte Carlo simulation, binomial, hypergeometric, Poisson counting process, Erlang model and applications to telephone calls, etc., introduction to queues, confidence intervals, reliability, failure rates, the Weibull model, the log-normal model, estimation using regression. Introduction to random processes. Involves a project making use of simulation of random variables on a computer.

Linear analysis and analog simulation of electrical, chemical, hydraulic, and mechanical systems using block diagrams and signal-flow graphs. Comparison of open- and closed-loop configurations. Feedback control system design using Nyquist, Bode, and root-locus methods. Effects of simple networks on system response. Introduction of state-variable techniques and digital computer solutions.

Fundamental aspects of modern control theory are covered, including solutions to systems modeled in state-variable format, controllability, observability, pole placement, and linear transformation. Computer based tools for control system design are used.

Introductory experiments on response of control system components. Open-loop and closed-loop (feedback) response of servo systems. Simulation of systems on analog computer. Design of compensator systems.

Theory and application of classical and modern discrete-time control systems. Analysis and design of discrete-time and hybrid control using z-transforms, root locus, frequency domain and state-variable compensation techniques. On-line implementation by digital computers will be studied.

[This course is not regularly offered. Please contact Dr. Plett if you are interested in taking it.]

Discrete-time control systems will be designed and tested using microcomputers, compensators, A/D and D/A converter analog computers. Experiments in the control of discrete and analog systems will be performed.

[This lab is no longer offered on a regular basis.]

Derives mathematical models of the electrochemical dynamics of battery cells, including thermodynamic and kinematic properties, at multiple scales. Modern, lithium-ion chemistries are emphasized. Students will use simulation software and will use lab-test data to create and validate parameterized models.

A project lab taken during the last semester of the senior year for the design of system components and systems in the areas of communications, computer engineering, controls, digital signal processing, electromagnetics, microelectronic fabrication processes, or CMOS integrated circuits. Students will identify, select, and complete a design project. Design specification, analysis, design, simulation and/or construction of a successful project is required for completion of the course.

*Graduate Teaching at UCCS*- ECE5510: Feedback Control Systems.
- ECE5520: Multivariable Control Systems I.
- ECE5530: Multivariable Control Systems II.
- ECE5540: Digital Control Systems.
- ECE5550: Applied Kalman Filtering.
- ECE5560: System Identification.
- ECE5710: Modeling, Simulation, and Identification of Battery Dynamics.
- ECE5720: Battery Management and Control.

Linear analysis and analog simulation of electrical, chemical, hydraulic, and mechanical systems using block diagrams and signal-flow graphs. Comparison of open- and closed-loop configurations. Feedback control system design using Nyquist, Bode, and root-locus methods. Effects of simple networks on system response. Introduction of state-variable techniques and digital computer solutions.

Fundamental aspects of modern control theory are covered, including solutions to systems modeled in state-variable format, controllability, observability, pole placement, and linear transformation. Computer based tools for control system design are used.

Design of systems in state variable format are covered including linear quadratic regulators, state estimators, model-reference compensators, and H_{∞}control. Computer tools are used.

Theory and application of classical and modern discrete-time control systems. Analysis and design of discrete-time and hybrid control using z-transforms, root locus, frequency domain and state-variable compensation techniques. On-line implementation by digital computers will be studied.

[This course is not regularly offered. Please contact Dr. Plett if you are interested in taking it.]

Theory and application of Kalman filters for state estimation, information fusion, multitarget tracking, and data association. Special focus on the discrete linear Kalman filter, the extended Kalman filter, and the unscented Kalman filter. Practical issues related to robust performance are studied.

Modern methods for identifying mathematical models of systems from observations of their behavior; input- output and state-space models; parameterization and identifiability; non-parametric methods; prediction and output error methods; recursive estimation; Kalman filters; order estimation; subspace identification.

Derives mathematical models of the electrochemical dynamics of battery cells, including thermodynamic and kinematic properties, at multiple scales. Modern, lithium-ion chemistries are emphasized. Students will use simulation software and will use lab-test data to create and validate parameterized models.

Considers design of battery management systems: basic thermal and high-voltage electrical control, architectures for modular design, and different methods for cell equalization. Algorithms for estimating state-of-charge and state-of-health will be studied in depth. Students will implement their own software designs.

*Graduate Teaching Elsewhere*- Adaptive Inverse Control, at the Universidad Nacional Autónoma de México, México D.F., México.
- EE264: Digital Filtering, at Stanford University.
- EE278: Introduction to Stochastic Signal Processing, at Stanford University, Teaching Assistant for Profs. Gray and El Gamal, Aut. 1995, Aut. 1992.
- EE284: Basic Tools in Computer System Modeling, at Stanford University, Teaching Assistant for Prof. Tobagi, Win. 1996, Win. 1995.
- EE372: Quantization and Data Compression, at Stanford University, Teaching Assistant for Prof. Chou, Spr. 1995.

**Teaching Awards**

- University of Colorado at Colorado Springs “2004 Innovations in Teaching with Technology Award” award.
- College of Engineering and Applied Science “2004 Outstanding Teacher of the Year” award.

**Undergraduate and Graduate Supervision**

*Doctoral Theses for which I have served as Major Adviser*- A. Smiley, “An Improved Approach to State-of-age Estimation for Lithium-Ion Battery Cells using Interacting Multiple Model Kalman Filters,” Spring 2019.
- R. Jobman, “Identification of lithium-ion-cell physics-model parameter values ,” Fall 2016.
- A. Mundy, “Reduced-Order Physics-Based Model Of Electrochemical Double Layer Capacitors,” Spring 2015.
- J. Lee, “Reduced-Order Physics-Based Model of Lithium-Ion Batteries,” Summer 2012.

*Member of Doctoral Theses Committees (in addition to above)*- G. Florentino, “Real-time implementation of Model Predictive Control for performance improvement of lithium-ion battery packs,” Spring 2018.
- A. Rodríguez, “Improvements to Fidelity, Generation and Implementation of Physics-Based Lithium-Ion Reduced-Order Models,” Fall 2017.
- C. Spells, “Development of a Dynamic Thrust Stand,” Fall 2017.
- F. Zhang, “Modeling and Control of a Modular Battery Management System for Lithium-Ion Battery Packs,” Fall 2017.
- M. Araujo, “Model Predictive Control Implementations for Lithium Ion Battery Cells and Sub-Modules,” Fall 2016.
- P. Wood, “Connecting the Perception of Emotion to Music Signals,” Spring 2016.
- J. Slane, “Analysis of Periodic Nonautonomous, Inhomogeneous Systems,” Summer 2010.
- G. Zheng, “Projective Invariant Hand Geometry,” Spring 2005.
- D. Bunnjaweht, “On the Investigation of Physical Layer Multiple Path Connections in a Wireless Network,” Spring 2005.
- T. Mathurasai, “Vector Error Correction of Time Domain Waveforms in a Vector Network Analyzer Employing Digital Modulation,” Spring 2005.
- P. Chayratsami, “Inter-carrier Interference (ICI) Mitigation Technique for Orthogonal Frequency Division Multiplexing (OFDM) System,” Fall 2004.
- C. Stallard, “Long Range Wireless Channel Prediction,” Fall 2004.
- D. Harvatin, “Multirate DS-CDMA for Advanced Communications Systems,” Spring 2002.

*Masters Theses for which I have served as Major Adviser*- R. Wilson, “Comparing BMS Algoriithm Implementations based on Equivalent-Circuit and Physics-Based Models,” Spring 2019.
- J. Marts, “Enhanced Physics-Based Reduced-Order Model of Non-Faradaic EDLC Dynamics,” Spring 2018.
- A. Smiley, “Estimation of Battery Aging using an Interacting Multiple Model Kalman Filter,” Fall 2015.
- A. Rodríguez, “Reduced-Order Models Of Lithium-Ion Cells Having Blended Electrodes,” Spring 2015.
- J. Moore, “Equations And Modeling For Lithium-Ion Battery Balancing Systems,” Spring 2015.
- M. Aldrich, “Reduced-Order Coupled Electrochemical-Thermal Modeling Of Lithium-Ion Battery Cells,” Spring 2015.
- K. Stetzel, “Model-Based Estimation Of Battery Cell Internal Physical State,” Spring 2014.
- L. Aldrich, “Reduced-Order Degradation Models For Lithium-Ion Cells,” Spring 2014.
- J.A. Stewart, “Linear Optimal Control of a Two-Stage Hydraulic Valve Actuator,” Spring 2006.
- R. Murray, “Pole Placement and LQR Methods to Control a Focus Actuator of An Optical Disk Drive,” Spring 2006.
- J.D. Musick, “Target-Tracking a Non-Linear Target Path Using Kalman Predictive Algorithm,” Fall 2005.
- M. Seil, “Adaptive Neural Network Control of Cylinder Position Utilizing Digitally Latching Pneumatic Poppet Valves,” Fall 2004.
- R. Perkins, “Application of Adaptive Inverse Control to Linear MIMO Systems,” Summer 2004.
- I. Rueda, “Regeneration Control via Traction Estimation in E.V.,” Spring 2003.
- A. Mansouri, “Adaptive Switched-Mode Control of a Hydraulic Pump,” Spring 2000.
- H. Böttrich, “Adaptive Inverse Control of Nonlinear Systems Using Recurrent Neural Networks,” Spring 2000.

*Member of Masters Theses Committees (in addition to above)*- R. Mann, “Embedded GPU CAF for GPS Coarse Acquisition using SDR,” Spring 2019.
- D. DePalma, “Efficient Computation Of Reduced-Order Models Of Lithium-Ion Cells,” Spring 2014.
- K. Karami, “Constrained Model Predictive Control Applied to a Reduced-Order Physics-Based Model of a Lithium-Ion Battery Cell,” Fall 2013.
- M. Xavier, “Lithium Ion Battery Cell Management: A Model Predictive Control Approach,” Summer 2013.
- A. Gruca, “Optimal Access Configurations for Heirarchical Ad Hoc Networks,” Spring 2011.
- S. Kirkbride, “The Two-Dimensional Local Alignment Filter,” Spring 2011.
- L. Cash, “Multi-h CPM Demodulation in Walsh Signal Space,” Fall 2010.
- G. Florentino, “A Novel Real-Time Locating System of RFID Tags through Phase Discrimination,” Summer 2010.
- T. Hansen, “Recognizing Individual Dogs (Canis Familiaris) By Their Barks With A Support Vector Machine,” Spring 2009.
- K.M. Jackson, “Active Noise Control: Air Duct Application,” Spring 2008.
- T.C. McNally, “Satellite and Channel Simulator,” Spring 2006.
- J.A. Gerczynski Jr., “Burst/Periodic Spread Spectrum,” Spring 2006.
- P.D. Roberts, “Network-Aware Stochastic Communication for Network-on-a-chip,” Spring 2005.
- H. Padubrin, “Transmit Diversity Performance in a Doubly Spread Radio Channel Using Space-Time Block Coding,” Fall 2004.
- M. Radermacher, “Probability of Error Analysis Using a Gauss-Chebyshev Quadrature Rule,” Fall 1998.

*Masters Projects for which I have served as Major Adviser*- K. Davidson, “Virtual Automated Mechanism for Pursuing Investigations in Redox Electrochemistry,” Fall 2018.
- J. Cromer, “Improvements to data-collection procedures and modeling equations for lithium-ion battery cells,” Summer 2017.
- M. Kraska, “Real-Time Embedded Implementation of Multiple One- Dimensional Physics-Based Reduced-Order Models of Lithium-Ion Dynamics,” Fall 2013.
- M. Li, “Hysteresis modeling in lithium ion batteries,” Fall 2010.
- P. Zercher, “Parameter Optimization of the Enhanced Self-Correcting Cell Model for Lithium Ion Cells,” Fall 2010.
- R. Jobman, “Implementation of a Quad-Rotor Control System,” Fall 2009.
- M. Johnson, “Practical Implementation of a Low Cost Solid-State Gyro-Less Attitude Determination System,” Spring 2009.
- K. Bailey, “Simulated Control of a Four-rotor Unmanned Aerial Vehicle,” Spring 2008.
- F. Ingesdotter-Bank, “Investigation of Suitable Sensors for the NAVGOLD Nanosatellite Project,” Spring 1999.
- F. Davidson, “An Investigating Study of Actuators Suitable for the NAVGOLD Nanosatellite Project,” Spring 1999.

*Member of Masters Project Committee (in addition to above)*- H. Shane, “Model Predictive Control of the Magnetic Levitation Device,” Spring 2011.
- L. Morgan, “Data Fusion Techniques for Improved State Estimation,” Spring 2011.
- P. Siroky, “HDL Implementation of a BCH Forward Error Correcting Scheme Using the Perfect Golay Code and Kasami Decoder,” Spring 2008.
- J. Malone, “Real-Time Sound-Source Localization using Li-Levinson Phase Unwrapping on the TMS320C6713 DSK,” Fall 2007.
- C. Felton, “Real-Time DSP Implementation for a MDCT Filter Bank,” Spring 2005.
- J. Lovejoy, “Development of a Flexible Beam Laboratory Apparatus,” Spring 2003.
- S. Paine, “Satellite Anomaly Resolution with Artificial Neural Networks,” Fall 2002.
- H. Williams, “Software Implemented Real Time QPSK Modem Using TI C67XX DSP,” Spring 2002.

*Senior-Design Projects*- I. Ilin, R. Peterson, A. Miller, R. Walsh, “Hardware-in-the-Loop Electric Vehicle Simulator,” Spring 2015.
- J. Johnson, C. Merrick, S. Shoemaker, “Thermal Chamber Control,” Fall 2013.
- J. Couey, L. Howard, M. Peckham, “Autonomous Robot 2.0 - U.S.A.,” Spring 2012.
- N. Shaffer, J. Alvarez, J. Valenzuela, R. Hindley, “Autonomous Robot Delivery System,” Spring 2011.
- B. Lessard, K. Stetzel, “Novel Solar Tracking Charge Device,” Fall 2010.
- S. McCormick, J. Lawson, J. Detwiler, “Multisensory Feedback System,” Spring 2009.
- R. Freckleton, M. Hausman, “Performance Model for Array-to-array Replication,” Fall 2008.
- A. Alvarez, D. Ruiz, “Battery Replacement,” Spring 2008.
- T. Dorr, N. Nolte, J. Winford, “Wireless Charging Pad,” Spring 2008.
- J. Johnson, T. Pugh, “Portable Aluminum Can and Plastic Bottle Crusher,” Spring 2008.
- M. Atallah, P. Daliparthi, P. McGregor, V. Salvador, “Waypoint Navigation for a Man Portable Robot,” Spring 2006.
- S. Bretzke, G. Deemer, “Deetzke Coffee-Bean Roaster,” Fall 2005.
- T. Poley, A. Sanchez, K. Whitacre, “Cyclist Start Simulator 5000,” Spring 2005.
- J. Cox, P. Ly, W. Mauger, J. Sikora, “Fully Automated Traction Control / Acceleration Management System,” Spring 2005.
- A.M. Waalkes, “The Painter’s Symphony: Musicification of Art,” Fall 2004.
- D. Seck, G. Ukazu, “The Intelligent Solar Power Battery Backup System,” Fall 2004.
- A.E. Speed, “GEMENI: An Analysis of Robot Design,” Fall 2004.
- R. Gallegos, T. McCorkle, L. Morgan, “Mag-pulsion Track Vehicle,” Spring 2004.
- C. Lange, R. Bailey, W. Cicerelli, “Doorman,” Spring 2004.
- M. Anderson, S. Hopp, C. Cotey, “Automated Personal Use Bartender (A.P.U.B.),” Spring 2003.
- Z. Stiles, E. Reeves, “Automated Local Errand Runner,” Spring 2003.
- C. Bossetti, T. Hansen, S. Truong, “IEEE Maze Racer,” Spring 2002.
- T. Bouma, E. Silva, “Automatic Temperature Regulated Vehicle Power Window Controller,” Spring 2002.
- E. Bischoff, K. Griffin, L. Horton, “Five-Axis Robot Arm Controller and Interface Box,” Fall 2001.
- P. Fernandez Jr, K. Nunn, “RGV—Robotic Ground Vehicle,” Fall 2001.
- L. Burns, J. Pagba, M. Flaherty, “LMJ 1 Autonomous Robot Maze Racer,” Spring 2001.
- A. Levasseur, P. Cotey, C. Runyan, “P.O.T.T. (Phone Operated Toy Truck),” Spring 2001.
- W. Robinson, M. Shaw, “Vehicle Performance Improvement,” Spring 2000.
- E. Baxter, J. Blazi, D. Way, “Robotic Arm with Human Interface,” Spring 2000.
- J. Lussenden, K. Jackson, D. Muniz, “Infrared Detection and Tracking System,” Fall 1999.
- L. Cash, W. Swope, “DSP Controller for Puma 760 Industrial Robot,” Spring 1999.
- J. Lovejoy, S. Lovejoy, “Dual-Axis Solar Tracking System,” Spring 1999.

*Senior-Level Independent Study*- K. Stetzel, “Battery Controls Lab,” (1 credit hour), Summer 2010.
- E. Asanganwa, “Control Lab,” (1 credit hour), Spring 1999.
- V. Sandrk, “Digital Control Lab,” (1 credit hour), Spring 1999.

*Graduate-Level Independent Study*- M. Kraska, “Analog implementation of reduced-order battery models,” (3 credit hours), Fall 2012.
- M. Kraska, “Embedded Systems Implementation of Reduced-Order Battery Models,” (3 credit hours), Spring 2012.
- L. Morgan, “Kalman Filtering,” (3 credit hours), Spring 2008.
- B. Shepherd, “Servo Control of Dynamic Systems,” (3 credit hours), Summer 2005.
- D. Musick, “Adaptive Inverse Control of Linear and Nonlinear Dynamic Systems,” (3 credit hours), Summer 2004.
- R. Perkins, “Adaptive Inverse Control of Linear and Nonlinear Dynamic Systems,” (3 credit hours), Summer 2003.
- C. Heupel, “Digital Image Processing,” (3 credit hours), Spring–Summer 2003.
- M. Cole, “Lab-Based Digital Control System Design,” (3 credit hours), Fall 2001.
- H. Böttrich, “Nonlinear Control Methods,” (3 credit hours), Spring 2000.
- E. Asanganwa, “Servo Control of Dynamic Systems,” (4 credit hours), Fall 1999.
- E. Asanganwa, “State-Space Control Design Project,” (1 credit hour), Fall 1999.
- C. Eads, “Adaptive Inverse Control of Linear and Nonlinear Dynamic Systems,” (3 credit hours), Fall 1999.
- F. Davidson and F. Ingesdotter-Bank, “System Identification of the Fan-Flap System,” (6 credit hours), Spring 1999.