Dr. Ian Gravagne

Education

• PhD, Electrical Engineering, Clemson University (August 2002)
• MS, Electrical Engineering, Clemson University (May 1999)
• BS, Electrical Engineering, Rice University (May 1997)

Academic Specialization: Robotics, Nonlinear Dynamics and Control, Solar Energy

Dr. Gravagne grew up in the Sandia mountains near Albuquerque, NM. In the sunny southwest, he developed interests in hiking/backpacking, music, mathematics, Ham Radio, and solar energy before attending Rice University (Houston, TX). After receiving his B.S.E.E. from Rice and working short stints for Schlumberger and Texas Instruments in Sugarland, TX, he moved to Clemson, SC, for graduate work at Clemson University with Dr. Ian Walker. He there earned his M.S. and Ph.D. degrees in the general areas of robotics and automation. He arrived at Baylor University in 2002.

Dr. Gravagne's research interests are varied – energy system modeling (with a special interest in solar energy), distributed control systems, swarm intelligence – but tied together through the common theme of mathematical modeling of dynamical systems. In particular, Dr. Gravagne founded the Baylor Time Scales research group with Dr. John Davis (Dept. of Mathematics) in 2002. The group studies the mathematics, and applications of, an emerging frontier of research known as "dynamic equations on time scales" and is widely recognized for its innovative contributions to the field of DETS.

Music remains an important part of Dr. Gravange's life. He plays the piano and the viola, using both in church services as an offertory soloist, congregational accompanist and choir accompanist. He has played the viola with the Baylor Symphony Orchestra and the Waco Symphony Orchestra and studies viola with Dr. Kathy Steely (School of Music). He and his wife Ann have three children. 

FULL CV

Teaching

• EGR 4390 - Engineering Design II ("Senior Design") 
• ELC/ME 4377 - Solar Energy
• EGR/ME 4330 - Introduction to Robotics
• EGR/ME 5302 - Engineering Analysis
• EGR/ME 5332 - Nonlinear Analysis and Control

Graduate Research Opportunities

• Dynamic Equations on Time Scales: A relatively new branch of mathematics, DETS is finding application to engineering problems and is also a relevant area of study in itself. Research is focused on developing the theoretical foundations of DETS (e.g. integral transforms, theorems for system controllability, Lyapunov tools) that will make it useful for modeling and designing dynamical systems on non-uniform time domains, such as those found in distributed control networks and other so-called “cyber-physical systems.” In essence, DETS is a tool that can help engineers to model complex systems on the temporal and spatial domains that are natural for them, rather than trying to cast engineering problems to fit existing mathematical frameworks. 
• Power and Energy: Work here consists of several thrusts. 
  • Power plant control: Investigating techniques, such as the use of multi-agent systems, to better control coal-fired power plants in the presence of uncertainty from stochastic generators on the grid, including solar and wind power.
  • Solar energy: Investigating methods to increase the accuracy of metering thermal solar systems. Currently, energy input metering requires the computation of a temperature difference that is often fairly small. By measuring input and output temperatures on separate channels and then subtracting, measurement/sensor error can swamp the thermal power calculation. Research in this area is also focused on the design of more efficient Maximum Power Point Tracking algorithms and switching power electronics.
  • Energy Literacy: Work investigating ways to increase the technical and social comprehension of energy and sustainability through new and existing curricula and public service projects. Three focus areas are public education (e.g. design and construction of energy-related exhibits in Baylor University’s Mayborn museum), university interdisciplinary education (e.g. the two-year Engaged Learning Group [ELG] sponsored by Baylor) and community outreach (e.g. working with local HVAC contractors to offer renewable energy products to clients).
• Next Generation Exercise Machines: Sponsored by Curves International, this research was focused on improving the kinematics, electromechanical design and manufacturability of hydraulic resistance exercise equipment.
• Swarm Intelligence: Research into mathematical theories to describe how large numbers of agents executing simple rules can accomplish complex tasks. Work here uses dynamical system theory to show that aggregate behavior of simple swarms can be predicted from the given rules, even if individual agents’ behaviors are unpredictable.

Publications

• J. Davis, I. Gravagne, R.J. Marks, “Convergence of Unilateral Laplace Transforms on Time Scales,” Circuits, Systems and Signal Processing, vol. 29, 2010, p. 971-997.
• J. Davis, I. Gravagne, R.J. Marks, “Bilateral Laplace Transforms of Time Scales: Convergence, Convolution, and the Characterization of Stationary Stochastic Time Series,” Circuits, Systems and Signal Processing, vol. 29, 2010, pp. 1141-1165.
• Gravagne, J.M. Davis, J. DaCunha, “A Unified Approach to High-Gain Adaptive Controllers,” Journal of Abstract and Applied Analysis, vol. 2009, article ID 198353.
• B. Jackson, J. Davis, I. Gravagne, R.J. Marks, “Controllability, Observability, Realizability, and Stability of Dynamic Linear Systems,” Electronic Journal of Differential Equations (EJDE), vol. 2009, no. 37, pp. 1-32.
• R.J. Marks, I. Gravagne, J. Davis, “A Generalized Fourier Transform and Convolution on Time Scales,” J. Mathematical Analysis and Applications, vol. 340, no. 2, April 2008, pp. 901-919.
• J. Davis, I. Gravagne, B.J. Jackson, R.J. Marks, A.A. Ramos, “The Laplace Transform on Time Scales, Revisited,” J. Mathematical Analysis and Applications, vol. 322, 2007, pp. 1291-1307.
• I. Gravagne, R.J. Marks, “Emergent Behaviors of Protector, Refugee and Aggressor Swarms,” IEEE Trans. Systems Man and Cybernatics (B), vol. 37, no. 2, April 2007, pp. 471-477.
• I. Gravagne, I.D Walker and C.D. Rahn, “Large-Deflection Dynamics and Control for Planar Continuum Robots,” IEEE/ASME Trans. Mechatronics, vol. 8, no. 2, June 2003, pp. 299-307.
• R.J. Marks, I. Gravagne, J. Davis, J. DaCunha, “Nonregressivity in Switched Linear Circuits and Mechanical Systems,” Mathematical and Computer Modeling, vol. 43, 2006, pp. 1383-1392. 
• I. Gravagne and I.D. Walker, “Manipulability, Force, and Compliance Analysis for Planar Continuum Manipulators,” IEEE Trans. Robotics and Automation, vol. 18, no. 3, June 2002, pp. 263-273.
• I. Gravagne and I.D. Walker, “On the Structure of Minimum Effort Solutions with Application to Kinematic Redundancy Resolution,” IEEE Trans. Robotics and Automation, vol. 16, no. 6, December 2000, pp. 855-863.

Recently Funded Research and Grants

• National Science Foundation, ECCS-801440, “Multi-Agent Systems Based Intelligent Distributed Control System for Power Plants,” $330,000, Dr. Kwang Lee (PI), Dr. Ian Gravagne, Dr. Robert Marks, June 2008 – June 2011
• National Science Foundation, DUE-736742, “Engaged Learning Groups: Building Community While Learning About Energy,” $145,477, Dr. Ian Gravagne (PI), Dr. Kenneth Van Treuren, June 2008 – June 2011
• National Science Foundation, CMMI-726996, “μ-Dynamics on Time Scales: Adaptive Time Domains for Dynamical Systems,” $143,952, Dr. Ian Gravagne (PI), Dr. John Davis, Dr. Robert Marks, Sept 2007 – Sept 2010
• Baylor/Waco Foundation and BP Energy, “An Alternative Energy Laboratory Exhibit in the Mayborn Museum,” $31,300, Dr. Ian Gravagne (PI), Dr. Ellie Caston and Dr. Ken Van Treuren, Dec 2006 – Dec 2007
• National Science Foundation, REU supplement, $11,000, Dr. Ian Gravagne (PI), Dr. John Davis, Dr. Robert Marks, summer 2005, 2006
• National Science Foundation, CNS-410685, “Real-Time Distributed Control Networks: Dynamic Bandwidth Allocation via Adaptive Sampling,” $300,000, Dr. Ian Gravagne (PI), Dr. John Davis, Dr. Robert Marks, Sept 2004 – Sept 2008
• Curves International, “Development of Next Generation Exercise Equipment,” $893,469, Dr. Walter Bradley (PI), Dr. Brian Garner, Dr. Ian Gravagne, Aug 2004 – Dec 2006
• South Carolina NASA Space Grant Consortium Fellowship $20,000/year, 2001, 2002
• South Carolina NASA Space Grant Consortium Scholarship $3,000/year, 1998, 1999, 2000

International Funding

• SACS/QEP/ELG initiative, “Energy and Society: The Costs and Benefits of an Energy-Dependent Civilization,” $52,816, Dr. Ian Gravagne (PI), Dr. Ken Van Treuren, Dr. Larry Lehr, Aug 2007 – May 2009 
• Baylor University Research Council, “Study of the Engineering Applications of Time-Scales,” $6,000, Dr. John Davis and Dr. Ian Gravagne, summer 2003

Conference Presentations

• J.M. Davis, I. Gravagne, R.J. Marks, A. Ramos, “Algebraic and Dynamic Lyapunov Equations on Time Scales,” Proc. 42nd South Eastern Symposium on System Theory, Tyler, TX, March 2010, paper T2A.2.
• J.M. Davis, I. Gravagne, J.R. Marks, J. Miller, A. Ramos, “Stability of Switched Linear Systems on Non-Uniform Time Domains,” Proc. 42nd South Eastern Symposium on System Theory, Tyler, TX, March 2010, paper M2B.5.
• J.M. Davis, I. Gravagne, R.J. Marks, “Time Scale Discrete Fourier Transforms,” Proc. 42nd South Eastern Symposium on System Theory, Tyler, TX, March 2010, paper T2B.1.
• J.M. Davis, I. Gravagne, B. Jackson, R.J. Marks, “State Feedback Stabilization of Linear Time-Varying Systems on Time Scales,” Proc. 42nd South Eastern Symposium on System Theory, Tyler, TX, March 2010, paper M1A.1.
• K. Van Treuren, I. Gravagne, “An Engaged Learning Group for Energy Literacy at Baylor University,” 2010 ASEE Gulf-Southwest Annual Conference, Lake Charles, LA.
• K. Van Treuren, I. Gravagne, “Developing an Energy Literacy Curriculum for Incoming Freshman at Baylor University: Lessons Learned,” 2010 ASEE Annual Conference & Exposition, Louisville, KY.
• J. Gregg, J. Shane Merchant, K. Van Treuren, I. Gravagne, “Experimental Analysis of a Counter-Rotating Wind Turbine,” Paper IMECE 2009-11355, Proceedings of the ASME 2009 International Mechanical Engineering Congress & Exposition, Lake Buena Vista, Florida, November 13-19, 2009. [3rd place paper student paper award.]
• *I. Gravagne, J. Davis, “Mu-Dynamics on Time Scales: Adaptive Time Domains for Dynamical Systems,” NSF CMMI Engineering Research and Innovation Conference, Honolulu, HI, June 22-25, 2009.
• J. Gregg, J. S. Merchant, K. Van Treuren, I. Gravagne, “Analysis of a Counter Rotating Wind Turbine,” 2009 ASME Early Career Technical Conference, University of Texas, Arlington, April 17-18, 2009. 
• T. Cemo, K. Bolton, K. Van Treuren, I. Gravagne, “Design and Validation of a Solar Domestic Hot Water Heating Simulator,” 2009 ASME Early Career Technical Conference, University of Texas, Arlington, April 17-18, 2009. 
• I. Gravagne, “Engineering Mathematics for Graduate Students: To Teach or Not To Teach?” 2009 ASEE Gulf-Southwest Conference, Waco, TX, March 2009, paper FB2-1.
• J. S. Merchant, J. Gregg, K. Van Treuren, I. Gravagne, “Wind Tunnel Analysis of a Counter-rotating Turbine,” ASEE Annual Gulf Southwest Conference, Baylor University, Waco, TX, March 18-20, 2009, paper TB3-1. [1st place paper award, undergraduate students]
• K. Bolton, T. Cemo, I. Gravagne, K. Van Treuren, “Design of a Solar Thermal Collector Simulator,” 2009 ASEE Gulf-Southwest Conference, Waco, TX, March 2009, paper TB4-1. [2nd place paper award, graduate students]
• C. Matcek, J. Miller, I. Gravagne, “Design of a Phantom Load Controller for Entertainment Centers,” 2009 ASEE Gulf-Southwest Conference, Waco, TX, March 2009, paper TC4-4. [1st place paper award, graduate students]
• J. Miller, I. Gravagne, “Stability of Simultaneously Triangularizable Switched Linear Systems on Time Scales,” ASEE Gulf-Southwest Conference, Waco, TX, March 2009, paper TB4-3.
• K. Van Treuren, I. Gravagne, “Energy Awareness Efforts at Baylor University,” Proc. ASEE Annual Conference & Exposition, Pittsburgh, PA, June 2008, paper AC 2008-1474.
• I. Gravagne, K. Van Treuren, “On the Use of TRNSYS in a Solar Energy Technical Elective,” Proc. ASEE Gulf Southwest Conference, Albuquerque, NM, March 2008, session 17, paper 4.
• I. Gravagne, K. Van Treuren, “Developing an Energy Literacy Curriculum at Baylor University,” Proc. ASEE Gulf Southwest Conference, Albuquerque, NM, March 2008, session 2, paper 1.
• K. Van Treuren, I. Gravagne, “Raising Community Energy Awareness: Building an Energy Display at the Mayborn Museum,” Proc. ASEE Gulf Southwest Conference, Albuquerque, NM, March 2008, session 16, paper 1.
• I. Gravagne, J. Davis, R.J. Marks, “How Deterministic Must a Real-Time Controller Be?” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Alberta, Canada, August 2005, pp. 3856-3861.
• B. Levins, I. Gravagne, “A Magnetically Controllable Valve to Vary the Resistance of Hydraulic Dampers for Exercise Machines,” Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, Monterey, CA, July 2005, pp. 492-497.
• I. Gravagne, J. Davis, J. Dacunha, R.J. Marks, “Bandwidth Reductions for Controller Area Networks Using Adaptive Sampling,” Proc. IEEE Int. Conf. Robotics and Automation, New Orleans, LA, April 2004, pp. 5250-5255.
• I. Gravagne, R. Woodfin, C. Schmidt, “Now that I have a robot, what do I tell it to do?” Proc. 6th Int. Symposium on Technology and the Mine Problem, Monterey, CA, May 2004.
• I. Gravagne, “Asymptotic Regulation of a One-Section Continuum Manipulator,” Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Las Vegas, NV, Oct. 2003, pp. 2779-2784.
• I. Gravagne, C.D. Rahn and I.D. Walker, “Uniform Control of Continuum Robot Manipulators,” Proc. IEEE Int. Conference on Robotics and Automation, Washington DC, May 2002, pp. 1519-1524.
• I. Gravagne, R. Woodfin, “Mine-Sniffing Robotics Snakes and Eels: Fantasy or Reality,” Prof. 5th Int. Symposium on Technology and the Mine Problem, Monterey, CA, April 2002.
• I. Gravagne and I.D. Walker, “Manipulability and Force Ellipsoids for Continuum Robot Manipulators,” Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Maui, Hawaii, October 2001, pp. 304-311.
• I. Gravagne, C.D. Rahn, and I.D. Walker, “Good Vibrations: A Vibration Damping Setpoint Controller for Continuum Robots,” Proc. IEEE Int. Conf. Robotics and Automation, Seoul, S. Korea, May 2001, pp. 3877-3883.
• I. Gravagne and I.D. Walker, “Kinematic Transformations for Remotely-Actuated Planar Continuum Robots,” Proc. of the IEEE Int. Conf. Robotics and Automation, San Francisco, CA, April 2000, pp. 19-26.
• I. Gravagne and I.D. Walker, “On the Kinematics of Remotely-Actuated Continuum Robots,” Proc. IEEE Int. Conf. Robotics and Automation, San Francisco, CA, April 2000, pp. 2544-2550.
• I. Gravagne and I.D. Walker, “Kinematics for Constrained Continuum Robots Using Wavelet Decomposition,” Robotics 2000, Proc. 4th Int. Conf. and Exposition/Demonstration on Robotics for Challenging Situations and Environments, Feb. 2000, pp. 292-298.
• I. Gravagne and I.D. Walker, “Avoiding Discontinuities while Using the Minimum Infinity Norm to Resolve Kinematic Redundancy,” Proc. IEEE/ASME Int. Conference Advanced Intelligent Mechatronics, Sep 1999, pp. 398-403.
• A.M. Ramos, I.A. Gravagne, and I.D. Walker, “Goldfinger: A Non-anthropomorphic, Dextrous Robot Hand,” Proc. Int. Conf. Robotics and Automation, Detroit, MI, May 1999, pp. 913-919.
• I. Gravagne and I.D. Walker, “Properties of Minimum Infinity-Norm Optimization Applied to Kinematically Redundant Robots,” Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Victoria, B.C., Canada, October 1998, pp. 152-160.