From Mechatronics Research Laboratory (MRL)

Adam Wahab

Master's Candidate in Mechanical Engineering MRL co-webmaster Personal website

Research: Modeling, Identification, and Control of Compliant Biomimetic Swimmers

Expanding upon previous work and prototypes, my research focus is on developing a framework to facilitate the modeling, design, and control of a unique class of compliant fish-like devices. By integrating first-principles modeling with system identification techniques, one may obtain a competent model that is suited for real-time simulation and control. Difficulties in modeling the complex dynamics of the flexible body and hydrodynamic coupling are circumvented by implementing grey-box identification and parameter estimation methods.

Model postulation, experiment design, parameter and state estimation, and model validation procedures are presented with the intent of minimizing development time and cost. Diagnostics and error analyses are also discussed to aid in streamlining the iterative modeling and design process.

A minimalist approach is taken in terms of device actuation and instrumentation. Interfacing the MEMs inertial sensors and the inexpensive off-the-shelf actuators is accomplished through a central embedded processor, permitting and remote data monitoring and control.

In collaboration with Dan Klenk.

Academic Background

• 2006-Present: Massachusetts Institute of Technology, Cambridge, MA

M.Sc., Mechanical Engineering

• 2002-2006: McGill University, Montreal, QC

B.Eng., Mechanical Engineering (plus Aeronautical Engineering specialization)

• 2001-2002: Carleton University, Ottawa, ON

Electrical Engineering (Transferred to McGill Univ.)