Ph.D.,Mechanical Engineering,Stanford University, 2001

M.S., Mechanical Engineering, Stanford University, 1995

B.S.M.E., Mechanical Engineering, University of Dayton, 1993

The goal of this research is to develop a methodology for designing low complexity mechanisms capable of performing a non-trivial translation and reorientation of a part in an automated assembly procedure.  These mechanisms would offer many of the benefits of a robot with lower material costs and programming complexity. 

The design process begins by specifying the desired initial and final positions and orientations of a part.  Further constraints can be placed upon the design, such as error tolerance, maximum acceleration or workspace obstacles.  The design procedure will find the optimal solution based upon the provided constraints and the desire to construct the mechanism economically.

The theoretical impact of this research is to incorporate “real world” constraints such as manufacturability and robustness into the design of spatial linkages. Current research in this field does not fully address these issues. The additional constraints will need to be formulated mathematically so that the space of possible mechanisms can be searched for the optimal solution.  For example, when selecting a motor it is important to balance the benefits of high torque, such as performance time, with the drawbacks such as higher cost and weight.  The exact formulation of this problem is what needs to be determined.

The practical benefit is to provide an alternative to a full robot in complex automated tasks.  The low degree-of-freedom mechanism can be built cheaper, perform as well and have the extra benefit of requiring less power to run it.

Tangible User Interfaces for Computer Interaction

The challenge of spatially manipulating objects in a virtual environment has limited the use and effectiveness of 3D interaction. Controlling the six degrees of freedom (three translation and three rotation) of an object, particularly with standard 2D input devices such as a mouse, is often frustrating, counter-intuitive and time consuming. One promising solution lies in the use of tangible user interfaces, physical objects whose motions are tracked in six dimensions and projected onto the virtual object. A person can manipulate the instrumented object in a natural and familiar way to produce the desired change in the virtual object.

In our first experiment, we asked each of 6 subjects to rotate a virtual object by a specified angle about an axis. Subjects used two different tangible interfaces and a mouse to perform the task. Our results show that the mouse was slightly superior to the tangible interface for this task when the virtual object was visible; when the virtual object was not displayed the tangible interfaces were significantly superior.

Future experiments will focus on multiple degree-of-freedom tasks and on assessing whether the tangible interface reduces the cognitive load on the user.

Independent Research

I have worked with several undergraduate and master's students on single semester research projects.

• Active Control of Aerodynamic Properties on a Car  (Jim Alverson)
• Modeling and Design of Non-Contact Force Couplings (Nicholas Hoffman)
• Controlling Motion of a Modified Stephenson III Linkage (Kevin Kosmac)
• Improving Design of a Coupler Driven Planar Four Bar (Dan DeBrosse)
• Preliminary Design of an Intelligent Wheel Chair System (John Mativo)

COURSES TAUGHT

• EGR 101: Introduction to Engineering Design
• EGM 202: Dynamics
• MEE 321: Theory of Machines
• MEE 434: Mechatronics
• MEE 435: Feedback and Control
• MEE 537: Mechatronics (Graduate)

PUBLICATIONS

JOURNAL ARTICLES:

T. A. Baudendistel, M.L. Turner, “A Novel Inverse-Magnetostrictive Force Sensor”, Accepted for publication by IEEE Sensors

A.P. Murray, M.L. Turner, D.T. Martin, “Determining Planar Single Degree-Of-Freedom Linkages with Similar Gross Motions via Transition Linkage Identification”, Submitted to Journal of Mechanism Design

CONFERENCE:

M.L. Turner, D.A. Perkins, A.P. Murray, P.M. Larochelle, “Systematic Process for Constructing Four-Bar Spherical Mechanisms” ASME IMECE Design for Manufacturing Symposium 2005

M.L. Turner, “Lessons in Teaching an Interdisciplinary Mechatronics Class,” ASME IMECE Mechanical Engineering Education Division 2005

L.S. Perry, M.L. Turner, A.P. Murray, “The Kinematic Synthesis of a Two Spatial Position, Two Velocity Involving a Spherical Mechanism” ASME Design Engineering Technical Conference, 2002.

W.B. Griffin, R.P. Findley, M.L. Turner, M.R. Cutkosky, “Calibration and Mapping of a Human Hand for Dexterous Telemanipulation”, ASME IMECE Dynamic Systems and Control Division, 2000

M.L. Turner, R.P. Findley, W.B. Griffin, M.R. Cutkosky, D.H. Gomez, “Development and Testing of a Telemanipulation System with Arm and Hand Motion”, ASME IMECE Dynamic Systems and Control Division, 2000

A.M. Okamura, M.L. Turner, M.R. Cutkosky, “Haptic Exploration of Objects with Rolling and Sliding,” IEEE Int’l Conf. on Robotics and Automation, pp. 2485-2490, 1997.

M.L.Turner, D.H. Gomez, M.R. Tremblay, M. R. Cutkosky, “Preliminary Tests of an Arm-Grounded Haptic Feedback Device in Telemanipulation.” Proc. of the ASME IMECE Dynamic Systems and Control Division. vol 64, pp.145-149, 1998.

A.M. Okamura, M.A. Costa, M.L. Turner, C.R. Richard, M.R. Cutkosky, “Haptic Surface Exploration”, Int’l Symp. on Experimental Robotics, pp. 367-376. 1999