Photo of Tesar, Delbert

Delbert Tesar

Professor

Carol Cockrell Curran Chair in Engineering

Email: tesar@mail.utexas.edu
Phone: (512) 471-3039
Office: MER 1.206

Dr. Tesar holds a chaired professorship in mechanical engineering at UT Austin, is the director of the robotics research group, has taught for 60 years (producing 68 Ph.D. and 168 M.Sc. graduates who have created five companies), worked in robotics for 50 years and concentrating on intelligent actuators for 40 years (with ~30 patents), and sat on three high-level U.S. science boards (Air Force, NASA, Army).

The intelligent actuator work (HDW/SFW), now exceeds best practice by 4 orders of magnitude, is the basis for Tesar's law for actuators (as is Moore's law for chips) with applications to all electro-mechanical systems which respond to command (automobiles, land transport, robots, orthotics, aircraft, battlefield systems, manufacturing cells, etc.). The actuator would be produced in minimum sets highly certified, made available in a supply chain, to assemble/repair/refresh the above systems on demand, dramatically reducing life-cycle cost.

Dr. Tesar's teaching in mechanical engineering began in 1957. In 1975, work began on intelligent actuators for robotics as standardized driving modules (as the chip is for computers). That tech base has grown by 8 orders of magnitude in the decades of 1995-2015. The concentration is for actuator intelligence (response to human command) and for design in a minimum set for a given domain to permit in-depth certification and to maximize performance to cost ratios. System intelligence is achieved by developing multiple decision criteria (for the chosen domain) with clear physical meaning enabling decision updates of 5 to 10 msec., even for quite complex systems. This work is now documented in 30 major program plans (2800 pages) for open architecture systems.

Recent emphasis has been on open architecture vehicles with concentration on a multi-speed hub drive wheel to remove all passive mechanical drives, improve traction by 3x, reduce drive losses by 2x, reduce vehicle cost by 2x and substantially improve safety for on/off-road operation. Research funding now exceeds $35,000,000, with increasing emphasis on industrial priorities. Participation has occurred on three major national science boards (the Air Force Science Advisory Board, the Space Station Review Panel, and the Army Science Board) and several panels for JPL, NIST, ManTech, and DOE. It has been possible to make invited presentations throughout the technical world (Europe, Russia, Japan, Korea, China, etc.) and enjoy continued interface to many outstanding groups.

MAJOR POSITION PAPERS (1978-2016)

  1. Mission Oriented Research for Light Machinery, Science, pp. 880-887, Sept 8, 1978.
  2. Mechanical Technology, Part 1, The Tragic Needs, Lead article, Mechanical Engineering, Vol. 102, No. 2, February, 1980.
  3. Mechanical Technology, Part 2, A Proposed National Program, Lead article, Mechanical Engineering, Vol. 102, No. 3, March, 1980.    
  4. Thirty-year Forecast: The Concept of a Fifth Generation of Robotics – The Super Robot, ASME Transactions of Manufacturing Review, Vol. 2, No. 1, pp. 16-25, Mar., 1989.
  5. A Generalized Modular Architecture for Robot Structures, with M.S. Butler, ASME Transactions on Manufacturing Review, Vol. 2, No. 2, pp. 91-118, June, 1989.
  6. Human Scale Intelligent Mechanical Systems, Plenary paper, 11th World Congress in Mechanism and Machine Science (IFToMM), April 1- 4, 2004, Tianjin, China.   
  7. The Next Wave of Technology, Taylor and Francis, Group  UK, DOI: 10.1080/10798587.2015. 1118202, Two-page summary Mechanical Engineering, Sept. 2015, No. 09, Vol. 137, Dynamic Systems and Control, pp1-2.
  8. Open Architecture Vehicles of the Future, Mechanism and Machine Theory, Vol. 89, pp. 107-127, July, 2015.
  9. Meeting Human Needs By Leveraging the Next Wave of Technology, Transactions of the SDPS, Journal of Integrated Design and Process Science, Vol. 19, No. 2, 2015, pp. 5-24.

MOST RECENT PUBLICATIONS

  1. P. Ashok, G. Krishnamoorthy, D. Tesar, “Guidelines for Managing Sensors in Cyber Physical Systems with Multiple Sensors”, Journal of Sensors, Vol. 2011. (2011-2012).
  2. P. Ashok, G. Krishnamoorthy, D. Tesar, “Efficient Management of Information in Multi-Sensored Cyber Physical Systems”, Journal of Sensors, Vol. 2011, (2011).
  3. P. Ashok, D. Tesar, “The Need for a Performance Map Based Decision Theory”, IEEE Systems Journal, (2011-2012).
  4. G. Krishnamoorthy, D. Tesar, “Sensor Fault Tolerance for Intelligent Electro-Mechanical Actuators”, IEEE Systems Journal, (2011-2012).
  5. D. Tesar, A. Kulkarni, “The Analytical Formulations for Vehicle Motion Planning”, MM Science Journal, (2011-2012)
  6. D. Tesar, “Overview of the Long-Term Objectives of Actuators”, Journal of Actuators, (2011-2012).
  7. D. Rabindran and D. Tesar, “Parametric Design of Parallel Force/Velocity Actuators: Force Distribution Analysis”, ASME Journal of Mechanisms and Robotics, Vol. 2 (2010), February, page 011101301.
  8. M. Tisius, M. Pryor, C. Kapoor, D. Tesar, “Parametric Design and Power Flow Analysis of Parallel Force”, ASME Journal of Mechanisms and Robotics, (2009),      JMR-08-1001.
  9. Rabindran, D. and Tesar, D., “Parametric Design and Power Flow Analysis of Parallel Force”,  ASME Journal of Mechanisms and Robotics, JMR-08-1001, (2009).
  10. Lee, Hoon, Pradeepkumar Ashok, and Delbert Tesar. "Visual Performance Maps for Human Choice in Hybrid Electric Vehicle’s In-Wheel Motors: Part I—Purchase Criteria." ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015.
  11. Lee, Hoon, Pradeepkumar Ashok, and Delbert Tesar. "Visual Performance Maps for Human       Choice in Hybrid Electric Vehicle’s In-Wheel Motors: Part II—Operation, Maintenance, and Refreshment Criteria." ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015.
  12. Krishnamoorthy, Ganesh, Pradeepkumar Ashok, and Delbert Tesar. "Simultaneous Sensor and Process Fault Detection and Isolation in Multiple-Input–Multiple-Output        Systems."  IEEE Systems Journal 9.2 (2015): 335-349. 
  13. Tesar, D, “Open Architecture High Value Added Robot Manufacturing Cells”, Springer, Handbook of Robotics, Chapter 10, 2016,  In Press.
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