Mitch Pryor, PhD

mpryor@mail.utexas.edu

I am the Program Manager for the Robotics Research Group (RRG) at The University of Texas at Austin. I am also a Lecturer in the Department of Mechanical Engineering at UT.

I completed my undergraduate studies at Southern Methodist University in 1993. After spending 2 years teaching at St. James School in St. James Maryland, I was accepted to the PhD program at UT. I earned my doctorate in Mechanical Engineering in 2002 with an emphasis on the modeling, simulation, and operation of redundant serial chain manipulators. I have been at UT since the completion of my dissertation thanks to opportunties to teach and challenging research. My complete CV is available here (pdf).

Research Background

NOTE: The following is an excerpt from my complete Research Statement (pdf).

Robots are no longer the industrial monoliths we carefully segregate from ourselves behind laser curtains or in metal cages. They are increasingly sophisticated devices found in a multitude of geometric configurations working in complex (compact, unstructured, dynamic, etc.) environments, often interacting with humans as well as other manipulators.

My research background has given me a skill set that impacts a variety of robotic and related domains. My graduate research focused on real-time, task-based resource allocation for redundancy resolution of high Degree-of-Freedom (DOF) manipulators. The objective was to develop a general decision making strategy for modular, reconfigurable systems where tasks were not predetermined. To describe the manipulator's environmental interactions, I considered multiple task representations including constraint-based, impedance, and ellipsoidal models. Additionally, I implemented and tested over 30 criteria derived from kinematic, dynamic, compliance, and obstacle models to evaluate and improve performance.

I developed the critical boundaries concept to determine which criteria were relevant in a given operational state. The resulting algorithm selected (and weighed) a subset of criteria used to determine locally optimal joint-space configurations. For example, if a system is at payload capacity, I include a minimize joint torque criterion. I then explored a variety of potentially real-time optimization techniques, including gradient projection and direct search methods. Finally, I simulated the developed algorithms - known as a Decision Making System - on a 10-DOF chain, completing a set of random and dexterously challenging activities.

My research also included an in-depth review of kinematic representations and modeling techniques including screw theory representations, quaternions, spatial vector recursive algorithms, Kinematic Influence Coefficients, and Lie algebra. A detailed analysis was necessary to ensure that: 1) the proposed algorithms were computationally efficient and 2) performance criteria with physical significance could be derived from the model.

I implemented the algorithms as a part of OSCAR (Operational Software Components for Advanced Robotics) - an extensible set of architecture agnostic software classes for simulation and control of robotic hardware. Developed during the last 14 years, OSCAR contains the support classes (math, data, error-handling, etc.), models, and operational algorithms necessary to control general manipulator devices. UT researchers are continually extending and improving its capabilities which reduces the development time for new applications and ensures accomplishments are available to future generations of researchers.

My dissertation can be found here (pdf).

Publications

Archival Journals

[PDF] Pryor, M., Taylor, R., Kapoor, C. Tesar, D, "Generalized software components for reconfiguring hyper-redundant manipulators," IEEE/ASME Transaction On Mechatronics, Vol. 7, December, 2002, No. 4, pp. 475-478.

Conference Proceedings

[PDF] Spencer, A., Pryor, M., Kapoor, C., and Tesar, D., "Collision Avoidance Techniques for Tele-Operated and Autonomous Manipulators in Overlapping Workspaces," Proceedings Of IEEE/ICRA, IEEE/ICRA, Pasadena, CA, May 19-23, 2008 (Accepted)

[PDF] Kang, S. Pryor, M., and Tesar, D., "Kinematic Model and Metrology System for Modular Robot Calibration," Proceedings Of IEEE/ICRA, IEEE/ICRA, New Orleans, LA, April 26 - May 1, 2004

[PDF] Pholsiri, C., Rabindran, D., Pryor, M., and Kapoor, C., "Extended Generalized Impedance Control for Redundant Robots," Proceedings Of The CDC, IEEE/CDC, Honolulu, Hawaii, pp 3331-3336, December, 2003

[PDF] T. Harden, M. Pryor, R. Rajan, J. Yoo, C. Kapoor, and D. Tesar, "Prototyping D&D Tasks using a Dual-Arm Robotic System," Proceedings Of The ANS 9th International Topical Meeting On Robotics And Remote Systems, 9th International Topical Meeting On Robotics And Remote Systems, published by ANS, March, 2001

[PDF] Mitch Pryor, Matthew Van Doren, and Delbert Tesar, "Manipulator Performance Criteria Based on Kinematic, Dynamic, and Compliance Models," Proceeding Of The ASME 1999 Design And Technical Engineering Conference, ASME 1999 Design And Technical Engineering Conference, Las Vegas, NV, published by ASME, September 12-15, 1999

[PDF] Daniel Cox, Mitch Pryor, Murat Cetin, Delbert Tesar, "Experiments of Cooperative Manipulation for Dual-arm Robotic Operations," Proceedings Of The 10th World Congress On The Theory Of Machines And Mechanisms, 10th World Congress On The Theory Of Machines And Mechanisms, Oulu, Finland, June 20-24, 1999

[PDF] Kapoor, C.; Cetin, M.; Pryor, M.; Cocca, C.; Harden, T.; Tesar, D., "A software architecture for multi-criteria decision making for advanced robotics," Proceedings Of The 1998 IEEE International Symposium On Intelligent Control (ISIC), 1998 IEEE International Symposium On Intelligent Control (ISIC), Gaithersburg, MD, published by IEEE, pp 525 - 530, September, 1998

[PDF] Pryor, M.; Kapoor, C.; Hooper, R.; Tesar, D, "A reusable software architecture for manual controller integration," Proceedings Of The 1997 IEEE International Conference On Robotics And Automation, 1997 IEEE International Conference On Robotics And Automation, Alb, NM, April 1997

Additional Publications and Invited Presentations

Amit Kulkarni, Chetan Kapoor, Mitch Pryor, Robert Kinoshita, and David Bruemmer, "Software Framework for Mobile Manipulation," ANS 2nd International Joint Topical Meeting on Emergency Preparedness & Response and Robotic & Remote Systems, Albuquerque, NM, published by American Nuclear Society, March 2008. (Accepted)

Mitch Pryor, Ganesh Krishnamoorthy, Delbert Tesar, Proceeding Of The 2007 ANS Annual Meeting, 2007 ANS Annual Meeting, Washington DC, published by American Nuclear Society, November 2007.

Mitch Pryor, Current Concepts in Spine Regeneration, "The Future of Robotics Applications in Rehabilitation," Invited Lecture, Austin, TX, November 2006.

Mitch Pryor, Delbert Tesar, "Indoor GPS Sensors Applied to Actuator Metrology and Manufacturing Cell Calibration," NSF DMII Grantees Conference, St. Louis, MO, Proceedings Of 2006 NSF DMII Grantees Conference, published by National Science Foundation, July 2006.

Mitch Pryor, Modular robotics for NNSA Applications, University Research Program in Robotics Presentation in conjunction with "NNSA Futures Technologies Conference II," October 11, 2006

Mitch Pryor, Seong-Ho Kang, Delbert Tesar, "Indoor GPS Sensors Applied to Actuator Metrology and Manufacturing Cell Calibration," 2005 NSF DMII Grantees Conference, Scottsdale, AZ, Proceedings Of 2005 NSF DMII Grantees Conference, published by NSF, January, 2005

Ethan Swint, et. al. , Mitch Pryor, and Delbert Tesar, "Integrated Tele-operation and Automation for Remote Operations," 2004 ANS Annual Meeting, Pittsburgh, PA, Proceeding Of The 2004 ANS Annual Meeting, published by ANS, June, 2004

Mitch Pryor, Seong-Ho Kang, Delbert Tesar, "Metrology Methodologies for High Precision Applications," Proceeding Of The 2005 ANS Annual Meeting, 2005 ANS Annual Meeting, San Diego, CA, published by American Nuclear Society, June 2005

Daniel J. Cox, Murat Cetin, Mitch Pryor, and Delbert Tesar, "Requirements for Modular Dual-Arm Robot Architecture for use in Deactivation and Decommissioning Tasks ," Proceeding Of The 1999 ANS Annual Meeting, 1999 ANS Annual Meeting, published by ANS, June 1999

Theses

[PDF] "Task-Based Resource Allocation for Improving the Reusability of Redundant Manipulators," University of Texas at Austin, Ph.D. Dissertation, May, 2002.

"Complex Task Completion with Redundant Serial Manipulators," University of Texas at Austin, Master's Thesis, December, 1999.

Teaching Philosophy

NOTE: My teaching philosophy (and its implementation) are addressed in my Teaching Statement (pdf) in more detail. Below is a brief summary.

In 10+ years of teaching, my philosophy has evolved from a list of lofty ideals - and implementation guesswork - to a set of pragmatic principles that have led to success in the classroom:

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