Research

Rehabilitation Robotics, Systems Biology, Visual Servoing, System Identification

	Systems Biology Research is focused on identifying and modeling the behavior of signaling pathways inside the cell as well as the interaction of living cells with abiotic surfaces.
	Assistive Robotics Research is focused on the development of novel human-robot interface (HRI) designs to facilitate ADL (activities of daily living) tasks for wheelchair bound subjects in arbitrary unstructured environments.

Current Funding

• NSF: Collaborative Research: A Novel User Interface for Operating an Assistive Robot in Unstructured Environments
  PI: Behal,  9/2006 - 11/2007

Courses

Networks and Systems, Control Systems, Electrical Science, Dynamical Systems

Selected Publications

1. V. Thakore, A. Behal, P. Molnar, D.C. Leistritz, and J.J. Hickman, "Nanoscale Nonlinear Dynamic Characterization of the Neuron-Electrode Junction" Journal of Computational and Theoretical Nanoscience, accepted, to appear.
2. A. Behal, J. Chen, and D. Dawson, "A Novel Path Planning and Control Framework for Passive Resistance Therapy with a Robot Manipulator", International Journal of Systems Science, accepted, to appear.
3. J. Chen, A. Behal, and D.M. Dawson, "Robust Feedback Control for a Class of Uncertain MIMO Nonlinear Systems", IEEE Transactions on Automatic Control, vol. 53, no. 2, pp. 591-596, March 2008.
4. A. Behal, A. K. Jain, and K. Joshi, "Observers for a Special Class of Bilinear Systems: Design and Application", IEEE Transactions on Automatic Control, vol. 51, no. 11, pp. 1854-1858, November 2006.
5. V.K. Chitrakaran, A. Behal, D.M. Dawson, and I.D. Walker, "Setpoint Regulation of Continuum Robots Using a Fixed Camera", Robotica, vol. 25, no. 5, pp. 581-586, September 2007.
6. A. Behal, W. Dixon, D.M. Dawson, and Y. Fang, "Tracking and Regulation Control of an Underactuated Surface Vessel with Nonintegrable Dynamics", IEEE Transactions on Automatic Control, vol. 47, no. 3, pp. 495-500, March 2002.
7. A. Behal, M. Feemster, D.M. Dawson, and D. Haste, "An Improved Indirect Field Oriented Controller for the Induction Motor", IEEE Transactions on Control Systems Technology, vol. 11, no. 2, pp. 248-252, March 2003.
8. W. E. Dixon, A. Behal, D. M. Dawson, and B. Xian, Lyapunov-Based Control of Robotic Systems, CRC Press, under contract, to appear, 2007.
9. W. E. Dixon, A. Behal, D. M. Dawson, and S. Nagarkatti, Nonlinear Control of Engineering Systems, Birkhauser, May 2003, ISBN 0-8176-4265-X.
10. W. E. Dixon, D. M. Dawson, E. Zergeroglu, and A. Behal, Nonlinear Control of Wheeled Mobile Robots, Prentice-Hall, 2001, ISBN 1-85233-414-2.

Awards, Honors and Societies