Research Narrative Statement
Summary:
Peer-reviewed Journal Articles 10 (5 as first author)
Conference Articles: 28 (10 as first author)
Funded Research as PI: $1,655,815
Honors and Awards:
2003 Xerox Creativity Award (Peachtree Robotics Competition)
1996-7 Department of Education Graduate Fellowship
1990 Society of Naval Architects and Marine Engineers Shipbuilding Research Award
1986 - Honorable Mention NSF Graduate Research Fellowship
Robots Designed
Mine-sweeping robot (treaded, differential)
Phoenix (Ackerman steering)
J5 (wheeled, differential)
Velvet Fog (suspension, award-winning)
Wolfgang (six-wheel, suspension)
Green Smog (chain driven)
Cassy (vex-based for educational use)
Cassy v2 (beaglebone black based, in progress)
Journal Articles
2015
Afzal, T., Iqbal, K., White, G., Wright, A. B., “A Method for Locomotion Mode Identification
Using Muscle Synergies,” submitted to IEEE TNSRE in 2015, in revision.
2013
Ann M Wright, Andrew B Wright, Traig Born and Ryan Strickland, “A six degree-of-freedom
thrust sensor for a labscale hybrid rocket,” Meas. Sci. Technol. 24 (2013) 125104 (10pp)
2008
Wright, A. B., Born, T., Ferrar, G. Wright, A. M., “Layered Mode Selection Logic for
Unstructured Environments,” INTERNATIONAL JOURNAL OF INTELLIGENT CONTROL
AND SYSTEMS VOL. 13, NO. 3, SEPTEMBER 2008, 162-177 .
2005
Wright, A. M, Teague, W., Hudson, M. K, Wright, A. B, Foley, P, “A Thrust and Impulse Study
of Guanadinium Azo-Tetrazolate as a Fuel Additive for Hybrid Rocket Motors,” J. Pyrotechnics,
n. 22, pp. 44-51, Winter 2005.
Wright, A. B., Elsasser, J. E., Hudson, M. K., Wright, A. M., “Optical Studies of Combustion
Chamber Flame in a Hybrid Rocket,” J. Pyrotechnics, n. 21, Summer 2005.
2002
Wright, A. B., “PLANTING THE SEEDS FOR A MECHATRONIC CURRICULUM AT
UALR,” Journal of Mechatronics, v. 12(2), pp. 271-280, 2002.
2000
A.B. Wright, B. Xie, A. Karthikeyan, “A comparison of white test signals used in active sound
cancellation, Applied Acoustics 59 (4) (2000) pp. 337-352.
1998
Wright, A., Craig, K. C., “Use of Schroeder-phased Waveform to Investigate Convergence and
Tracking of the LMS Algorithm in Active Sound Control,” Applied Acoustics, v. 53, n. 1-3, PP.
95-116, Jan.-Mar., 1998.
1992
Hardt, D. E., Constantine, E., Wright, A., “A Model of the Sequential Bending Process for
Manufacturing Simulation,” J. Engineering for Industry, v. 114, pp. 181-187, May, 1992.
1990
Hardt, D., Wright, A., Constantine, E., “A Design-Oriented Model of Plate Forming for
Shipbuilding,” J. Ship Production, v. 6, n. 4, Nov. 1990, pp. 212-218.
Conference Proceedings
2015
Afzal, T., Iqbal, K., White, G., Wright, A. B.,”Task Discrimination for Non-Weight-Bearing
Movements Using Muscle Synergies,” 37th Annual International Conference of the IEEE
Engineering in Medicine and Biology Society, Milan, Italy, August, 2015.
2014
Afzal, T. ; White, G. ; Wright, A.B. ; Iqbal, K., ”Locomotion mode identification for lower limbs
using neuromuscular and joint kinematic signals, ” in Engineering in Medicine and Biology
Society (EMBC), 2014 36th Annual International Conference of the IEEE, pp. 4071 – 4074,
Chicago, IL, 26-30 Aug. 2014.
2013
Wright, A. B., Wright, A. M., “NOVEL, INEXPENSIVE ROBOT FOR TEACHING
CONTROLS ENGINEERING”, Proceedings of the ASME 2013 International Mechanical
Engineering Congress and Exposition, IMECE2013-62245, November 15-21, 2013, San Diego,
California, USA
Wright, A. M., Wright, A. B., “An Inexpensive Dynamic System for Teaching Measurement and
Controls,” 51st AIAA Aerospace Sciences Meeting including the New Horizons Forum and
Aerospace Exposition 07 – 10 January 2013, Grapevine (Dallas/Ft. Worth Region), AIAA 20130981
Wright, A. M., Strickland, R., Steadman, S., Born, T., Wright, A. B., “Design and Calibration of
a Six Degree-of-Freedom Thrust Sensor for a Lab-Scale Hybrid Rocket,” 51st AIAA Aerospace
Sciences Meeting including the New Horizons Forum and Aerospace Exposition 07 – 10 January
2013, Grapevine (Dallas/Ft. Worth Region), Texas, AIAA 2013-1016.
Afzal, T., White, G., Wright, A. B., Iqbal, K., “Locomotion Mode Identification for Lower Limbs
using Neuromuscular and Joint Kinematic Signals,” J. Arkansas Academy of Sciences, volume
67 (2013), pp. 4071-4074
2007
Born, T., Wright, A. B., “Layered Mode Selection Logic Control with Fuzzy Sensor Fusion
Network,” Unmanned Systems Technology IX, Proc. SPIT, V. 6561, 65610L, 2007.
Born, T., Ferrer, G., Wright, A. M., Wright, A. B., “Layered Mode Selection Logic Control for
Border Security,” Unattended Ground, Sea, and Air SEnsor Technologies and Applications IX,
Proc. SPIE, V. 6562, 65620Q, 2007.
2006
Wright, A. B., Teague, W., Wright, A. M., Wilson, E., “Instrumentation of UALR Labscale
Hybrid Rocket Motor,” Sensors for Propulsion Measurement Applications, Proc. SPIE, V. 6222,
622202, 2006.
Anderson, E., Wright, A. B., “Study of Causal Component Placement in an Active Sound
Cancellation System,” J. Arkansas Academy of Science, Vol. 60, pp. 20-27, 2006.
2003
A. B. Wright, Calvin Cox, Abhijit Bhattacharyya, and M.K. Hudson,
“PRELIMINARY CHARACTERIZATION OF MATERIAL PROPERTIES OF HYDROXYLTERMINATED POLYBUTADIENE (HTPB) SOLID PROPELLANT,” 39th
AIAA/ASME/SAE/ASEE Joint Propulsion Conference, July 2003, Huntsville, Alabama.
Wright, A. B., Wright, A. M., “FIRST in Engineering: Elements of Mechanical Design,” 2003
ASEE Annual Conference.
Wright, A. M., Wright, A. B., “A Liberal Arts Approach to Teaching Robotics,” 2003 ASEE
Annual Conference.
2002
Wright, A. B., Wright, A. M. “FIRST in Engineering: a Service-Learning Approach to
Mechanical Design,” ASEE National Conference, 2002.
M.W. Teague, T.A. Jennings, A.M. Wright, and A.B. Wright, “UV Spectroscopic Monitoring of
Rocket Motor Combustion Efficiency,” 38th AIAA/ASME/SAE/ASEE Joint Propulsion
Conference, July 2002, Indianapolis, Indiana.
Meadors, C. Y, Wright, A. B., “Pressure and Flow Validation of a Second Generation Gas
Extraction Probe for a Hybrid Rocket Gas Extraction System,” Journal of Arkansas Academy of
Science, 56(2002), 117-124.
2000
Liu, L, Wright, A. B., Anderson, G. T., “Trajectory Planning and Control for a Human-like Robot
Leg with Coupled Neural Oscillators, Mechatronics 2000.
Liu, L, Wright, A. B., A Flexible, Real-Time Motor Control System for Robot Joints,
Mechatronics 2000.
Wright, A. B., Planting the Seeds for a Mechatronics Curriculum at UALR, Mechatronics 2000.
Meadors, C. Y., Elsasser, J. E., Wright, A. B., Hudson, M. K., “Design of an Optical Port in the
Combustion Chamber of a Lab Scale Hybrid Rocket Motor,” AIAA Paper Number AIAA-20003888.
Wright, A. B., “Mechatronic Design of a Treaded Mobile Robot for Mine Sweeping,” Journal
of Arkansas Academy of Science, 54 (2000), pp. 133-137.
1999
Wright, A. B., Amaleshekeran, K., “Experimental Characterization of the Near Field Zones of
Silence in Active Sound Cancellation,” Advanced Intelligent Mechatronics, 1999.
Wright, A. B., Tomany, A., Wright, A. M., Hudson, K., “Pressure Measurement in the PostCombustion Section of a Hybrid Rocket Motor,” AIAA Paper No. AIAA-99-2536.
Meadors, C., Wright, A. B., “The Design and Construction of a Gas Extraction Probe for a
Hybrid Rocket Gas Extraction System,” AIAA Paper No. AIAA-99-2535.
Meadors, C. Wright, A. B., “The Design and Construction of a Gas Extraction Probe for a Hybrid
Rocket Gas Extraction System,” Proceedings Journal of the 1999 Arkansas Undergraduate
Research Conference and Space Grant Consortium, pp. 142-146.
Wright, A. B., “Equations of Motion for a Four Degree of Freedom Leg,” Journal of Arkansas
Academy of Science, 53 (1999), pp.137-142.
Elsasser, J, Wright, A. B., “Design of a Hybrid Rocket Motor Injector Head for Combustion
Studies Using Fiber Optics,” Proc. 1999 Undergraduate Research Conference
1991
Ericksen, J., Godere, E., Wright, A. B., “Digital Controller Improves Power and Flexibility of
Gas Turbine Driven M1A1 Tank,” 91-GT-295.
Research Grants
As Principal Investigator
ASTA TTAG, “Free Earth Resources,” $2500, 2013.
NASA EPSCOR, “Instrumentation for a Chemical Rocket Motor,” $500,000, 2004-2005
NASA EPSCOR, “Instrumentation for a Chemical Rocket Motor,” $750,000, 2001-2004
NASA EPSCOR, “Instrumentation and Diagnosis of a Hybrid Rocket Motor,” $102,500, 2000
NASA EPSCOR, “Instrumentation and Diagnosis of a Hybrid Rocket Motor,” $102,500, 1999
ASGC CRP, “Hybrid Rocket Exhaust Gas Analysis and Combustion Instability Study,” $52,000,
1998
ASGC Infrastructure, “Sensor Development for NASA Projects,” $2550, 1998
ASGC Infrastructure, “Acoustic Modelling of Hybrid Rocket Motor,” $2000, 1997
NASA Fellowship, Constance Meadors, “Design of High Temperature Probe for Mass
Spectroscopy of Hybrid Rocket Plume,” $66,000, 1998-2000
“Active Sound Cancellation in Large Earth Moving Machinery,” NSF MCEC, $35,000, 1998
“Active Sound Cancellation in Corporate Luxury Aircraft,” Arkansas Science and Technology
Authority, $30,000, 1997
ASGC Faculty Infrastructure Grant, “Biological Strategies for Control of Mobile Robots,” $8238,
1996
ASGC Student Fellowship (Jeff Dobbins), “Design of Robotic Leg,” $2527, 1997
As Co-Investigator
ASGC CRP (PI: Gary Anderson), $30,000, 1996-1997
DoD Epscor (PI: Gary Anderson), “A Coupled Oscillator Approach for Control of Autonomous
Mobile Robots,” $277,855, 1997-1998
Narrative Statement
In my Masters degree, I discovered why the edge of a piece that has been roll-bent cannot be bent
to the same curvature as the rest of the piece. Up until then, shipyards had invested resources in
trying to correct this problem without success. This resulted in two journal publications and the
ship-building research award.
In my PhD work, I investigated how different broad-frequency-spectrum test signals affected
convergence and tracking in adaptive algorithms. I determined that the Galois signal was the
lowest peak-factor signal to achieve the result. In a discrete frequency system identification (such
as the DFT), the Galois signal allows just those frequencies being reconstructed to be excited.
This allows more precise system identification than a white noise signal, which excites
frequencies in between the reconstruction frequencies.
Early in my career at UALR, I continued my active sound cancellation research and discovered
how the placement of sensors and actuators affects zones of silence. Unfortunately, this work
showed the limitations on active sound cancellation, and I chose to stop pursuing this avenue of
research.
In my NASA funded work, I developed a number of measurements. The applied science program
at that time was focused on instrumental science, so I moved my career in the direction of
measurements as that was what the student training supported. I developed a high temperature,
high pressure measurement of hot combustion gases in a rocket motor and performed some basic
chaos analysis to confirm the chaotic nature of the combustion process. I designed a video
measurement of the combustion chamber and determined a surprising result, that the gases in the
rocket motor swirl. This result confirmed the observation that the spent fuel in a hybrid rocket
maintained a circular bore. It also explained the unexpected result when spaceship-one, a hybrid
rocket powered suborbital craft, rolled when it left the atmosphere.
In conjunction with my collaborator, Ann Wright at Hendrix College, we developed a six degree
of freedom thrust stand along a different principal than NASA uses. This principal allowed
smaller forces to be measured, so it is suitable to lab scale measurements. This stand confirmed
the roll torque in the hybrid rocket motor, seen in the optical measurement.
The primary focus of my research through the next phase of my career is in mobile robotics. I
started this work at the end of my time in applied science, and its progress has been slowed by my
transition to systems engineering and increase in both teaching and service duties. I have pursued
a behavior based control strategy for cooperative mobile robots; however, I developed a more
systematic algorithm for designing desired outcomes into behaviors rather than looking for
emergent behaviors. This algorithm (Layered Mode Selection Logic) was tested using an ad hoc
scheme and published in Born, et al (2007) and Wright, et al (2008). The systematic scheme was
developed subsequently and publication of this result is in revision.
Because of space limitations, I have moved from big robots to smaller robots. I designed the
Control and Sensor System (CASSY, see Wright, et al (2013)) which I also used in the
introductory control engineering course (SYEN 3364) to illustrate PID and state space control
algorithms. The processor on this system was too limited to incorporate true artificial intelligence
algorithms. The system is being redesigned to use the beaglebone black processor (estimated
completion date December 2015). The main problem that I’m pursuing now is the difficulty of
two robots in a team knowing where their closest partner is and who it is. Infrared and ultrasonic
sensors should give a location result; however, extra information to determine identity is needed.