Robert F. Stengel
Robert Stengel is a Professor of Mechanical and Aerospace Engineering and Director of the Program in Robotics and Intelligent Systems. His current research focuses on robust control, robotics, and intelligent systems. Dr. Stengel will teach From the Earth to the Moon (FRS 112) and Optimal Control and Estimation (MAE 546) in the Spring 2015 term.
Prior to joining the Princeton faculty in 1977, Dr. Stengel was with
The Analytic Sciences Corporation, Charles Stark Draper Laboratory, the US Air Force, and NASA. At the Draper Laboratory (1968-73), he was principal designer of the
Apollo Project Lunar Module manual control logic used for all moon landings, and he contributed to Space Shuttle guidance and control system design. There, he also initiated a project to develop a Bedside Biomedical Computer for the analysis of cardiovascular data. His work at TASC (1973-77) included optimal-control modeling of the human pilot and resulting interactions with aircraft dynamics, fuel-optimal flight paths for jet transports, digital control of high-performance aircraft and helicopters, submarine dynamics and control, and statistical assessment of the effects of electric powerplant waste water on biologically indigenous populations. While serving as an Air Force lieutenant (1960-63), he was a Range Safety Officer at NASA's Wallops Flight Facility.
During 2005, Professor Stengel was on sabbatical leave as a Member of the Institute for Advanced Study. He was affiliated with the Simons Center for Systems Biology in the School of Natural Sciences. While on sabbatical leave in 1998, Professor Stengel was a Visiting Professor/Scholar at Duke University, Massachusetts Institute of Technology, University of Cambridge, Delft University of Technology, Imperial College of Science, Medicine, and Technology, University of California at San Diego, and Stanford University. From 1994 to 1997, he served as the Engineering School's Associate Dean for Academic Affairs. During that time, he initiated new programs of graduate study and undergraduate computer education, and he developed an innovative approach to teaching engineering freshman seminars. As Director of Princeton's Flight Research Laboratory from 1977 to 1983, Stengel, his students, and staff conducted pioneering experimental research on digital flight control systems, flight computer networking via fiber-optics, aircraft flying qualities, and aerodynamic system identification. This research used Princeton's two fly-by-wire, variable-stability aircraft and a specially instrumented sailplane.
Dr. Stengel received the S.B. degree in Aeronautics and Astronautics from M.I.T (1960) and M.S.E., M.A., and Ph.D. degrees in Aerospace and Mechanical Sciences from Princeton University (1965, 1966, 1968). He is a Life Fellow of the Institute of Electrical and Electronics Engineers and a Life Fellow of the American Institute of Aeronautics and Astronautics. He has received the AIAA G. Edward Pendray Aerospace Literature Award (2012), the John R. Ragazzini Education Award of the American Automatic Control Council (2002) and the AIAA Mechanics and Control of Flight Award (2000). Together with R. John Hansman, MIT, and Robert Lilley, Ohio University, he is the recipient of the FAA's 1997 Excellence in Aviation Award.
Selected Publications and Presentations
- OPTIMAL CONTROL AND ESTIMATION, Dover Publications, New York, 1994. (originally published as STOCHASTIC OPTIMAL CONTROL; Theory and Application, J. Wiley & Sons, New York, 1986.)
- FLIGHT DYNAMICS, Princeton University Press, Princeton, NJ, 2004.
- Robotics and Intelligent Systems: A Virtual Reference Book, http://www.princeton.edu/~stengel/RISVirText.html, 2013.
- Introduction to Aircraft Flight Dynamics: A Virtual Reference Book, http://www.princeton.edu/~stengel/AFDVirTex.html, 2013.
- Optimal Control of Innate Immune Response (pdf), Optimal Control Applications & Methods, Vol. 23, Mar-Apr 2002, pp. 91-104 (with R. Ghigliazza, N. Kulkarni, and O. Laplace).
- Robust Control of Nonlinear Systems with Parametric Uncertainty (pdf), Automatica, Vol. 38, Sept 2002, pp. 1591-1599 (with Q. Wang).
- Optimal Enhancement of Immune Response (pdf), Bioinformatics, Vol. 18, No. 9, Sept 2002, pp. 1227-1235 (with R. Ghigliazza and N. Kulkarni).
- On-Line Adaptive Critic Flight Control (pdf), J. Guidance, Control, and Dynamics, Vol. 27, No. 5, Sep-Oct 2004, pp. 777-786 (with S. Ferrari).
- Stochastic Optimal Enhancement of Immune Response (pdf), Mathematical Biosciences, Vol. 191, Oct 2004, pp. 123-142 (with R. Ghigliazza).
- Model-based Adaptive Critic Designs (pdf), in Learning and Approximate Dynamic Programming, J. Si, A. Barto, W. Powell, and D. Wunsch, ed., J. Wiley & Sons, New York, 2004 (with S. Ferrari).
- Smooth Function Approximation Using Neural Networks (pdf), IEEE Trans. Neural Networks, Vol. 16, No. 1, Jan 2005, pp. 24-38 (with S. Ferrari).
- Robust Nonlinear Flight Control of a High-Performance Aircraft (pdf), IEEE Trans. Control Systems Technology, Vol. 13, No. 1, Jan 2005, pp. 15-26 (with Q. Wang).
- Probabilistic Control of Nonlinear Uncertain Dynamic Systems (pdf), in Probabilistic and Randomized Methods for Design under Uncertainty, G. Calafiore and F. Dabbene, ed., Springer, New York, 2006, pp. 381-414 (with Q. Wang).
- Relationship of Gene Expression and Chromosomal Abnormalities in Colorectal Cancer (pdf), Cancer Research, Vol. 66, No. 4, 2006, pp. 2129-2137 (with D. Tsafrir, M. Bacalod, Z. Selvanayagam, I. Tsafrir, J. Shia, Z. Zeng, H. Liu, C. Krier, F. Barany, W. Gerald, P. Paty, E. Domany, and D. Notterman).
- The Signatures of Autozygosity Among Patients with Colorectal Cancer, Cancer Research, Vol. 68, No. 8, Apr 15, 2008, pp. 2610-2621 (with M. Bacolod, G. Schemmann, S. Wang, R. Shattock, S. Giardina, Z. Zeng, J. Shia, N. Gerry, J. Hoh, T. Kirchoff, B. Gold, M. Christman, K. Offit, W. Gerald, D. Notterman, J. Ott, P. Paty, and F. Barany).
- Mutation and Control of the Human Immunodeficiency Virus, Mathematical Biosciences, Vol. 213, No. 2, June 2008, pp. 93-102.
- Dynamics of a Cytokine Storm, PLOS ONE, Vol. 7, No. 10, e45027, Oct 2012, pp. 1-15 (with H. Yiu and A. Graham).
- Book Review: Morphing Aerospace Vehicles and Structures, J. Valasek, ed., Journal of Guidance, Dynamics, and Control, Vol. 36, No. 5, Sep-Oct 2013, pp. 1562-1563.
Recent Conference Papers
- Integration of UAV in Flight and Ground Operations, AIAA-2013-4575, AIAA Infotech@Aerospace 2013 Conference, Boston, MA, Aug 2013 (with A. Dixit, J. Falusi, S. Kim, and G. Savit).
- Flight Testing a UAV in Simulated Controlled Airspace, AIAA-2013-4701, AIAA Guidance, Navigation, and Control Conference, Boston, MA, Aug 2013 (with A. Dixit, J. Falusi, S. Kim, and G. Savit).
- Development of an iPhone-controlled UAV, AIAA-2013-5007, AIAA Guidance, Navigation, and Control Conference, Boston, MA, Aug 2013 (with A. Dixit, J. Falusi, S. Kim, and G. Savit).
- Autonomous Control of Uninhabited Combat Air Vehicles in Heavily Trafficked Military Airspace, 14th AIAA Aviation Technology, Integration, and Operations Conference, AIAA Aviation and Aeronautics Forum and Exposition 2014, Atlanta, GA, June 2014 (with K. Smith).
- A General Method for Kinematic Retargeting: Adapting Poses Between Humans and Robots, IMECE2014-37700, ASME International Mechanical Engineering Congress & Exposition, Toronto, Canada, Nov 2014 (with T. Tosun and R. Mead).
- Stochastic Robustness of Control Systems (pdf), Princeton University, 2009.
- Battling the Cancer Insurgency (pdf), Princeton University, 2010.
- Dynamics of a Cytokine Storm (pdf), Princeton University, 2012, and Duke University, 2013.
- Prospects for Flight to Mars (pdf), "Are the Martians Coming? Are Earthlings Going?" Celebration of the 75th Anniversary of the Orson Welles "War of the Worlds" Radio Broadcast, Princeton University, 2013.
- From the Earth to the Moon (pdf), Alumni Day Lecture, Princeton University, 2014.
- People in Control (pdf), IEEE Control Systems Magazine, Vol. 29, No. 3, June 2009, pp. 24-27.
- Robo Shop, Princeton Alumni Weekly, Vol. 112, No. 4, November 11, 2011, pp. 30-32.
- AIAA Member Spotlight, AIAA Momentum Member eNewsletter, January 2012.
- Telephone: (609) 258-5103
- Fax: (609) 258-6109
- E-mail: stengel at princeton.edu
D-202 Engineering Quadrangle
Princeton, NJ 08544