Edward Morgan

A Ph.D. student in Mechanical Engineering with a minor in Computer Science at Louisiana State University, working at the iCoreLab under the guidance of Dr. Corina Barbalata. My research focuses on the dynamics, control, and autonomy of underwater robotic systems, aiming to develop adaptable solutions for complex marine environments. I hold a B.Sc. in Mechanical Engineering from Kwame Nkrumah University of Science and Technology and have professional experience as a Software Engineer at Standard Bank.

Proficient in C++, Python, MATLAB, ROS, and deep learning, I have published in journals and presented at international conferences. Beyond my research, I mentor aspiring engineers and actively engage in STEM outreach programs to inspire the next generation of innovators.

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Research

My research interests mainly include multibody kinematics & dynamic modeling, optimal control, state estimation, system identification, trajectory planning and optimisation, with a touch of reinforcement learning.

An obstacle avoidance path planning algorithm (AmaxGPMP) is developed for underwater robots in dynamic environments, optimizing smooth paths by embedding state correlations into a kernel. This strategy reduces computational effort while maintaining accurate state correlations, enhancing efficiency for high-dimensional systems.

Developed a model-based visual control strategy for robotic manipulators using fiducial-based target identification and the Udwadia-Kalaba formulation. This approach ensures stable target tracking despite trajectory discontinuities and dynamic uncertainties, demonstrated effectively in simulations and on a real robot with a 4-DOF manipulator.

Proposes a two-step method combining least squares and MCMC for dynamic parameter estimation of underwater manipulators. Using experimental data from a 4-DOF manipulator, the approach accurately estimates inertia, center of mass, drag, and friction coefficients, enhancing control and simulation fidelity.

Provides a comprehensive survey on autonomous underwater manipulation, reviewing dynamic modeling, control, motion planning, and perception methods. Emphasizes the need for a systemic approach to achieve full autonomy in underwater manipulation.

Website design credits to John Barron.