The Automation, Robotics and Mechatronics (ARM) Lab is a research laboratory in the Department of Mechanical & Aerospace Engineering of the School of Engineering & Applied Sciences in The State University of New York (SUNY) at Buffalo.   


The research activities in this lab focus on the complete lifecycle  treatment (design, modeling, analysis, control, implementation and  verification) of a new generation of smart, embedded mechanical and mechatronic systems. The recent explosion of communications capabilities, coupled with ongoing advances in computing effectiveness and revolutions in miniaturization of processors/ sensors/ actuators, has accelerated the pace of implementing truly

 distributed smart  embedded systems with a variety of emergent applications in plant-automation systems, consumer electronics, automobile and defense applications. We focus both on theoretical formulation and experimental validation in the realization of such novel mechanical and mechatronic systems with the goal of realizing tangible enhancements in functionality, performance and cost-effectiveness.


Specific initiatives underway include multi-robot collaboration, mediated human-computer interfaces, haptic user-interface design and distributed real-time simulation and control of systems. The laboratory is equipped with various high speed computers for analysis, graphical animations and display to support our virtual prototyping efforts and a variety of sensors, actuators, computing platforms and tools for distributed embedded implementation and hardware-in-the-loop testing.


Graduate and undergraduate students interested in this work may contact Dr. Krovi after looking through the various research efforts on this web-portal. See  the Contact Page for more details.


New: visit ARMLAB YouTube Channel -


  Current Active Research Work

Cooperative Payload Transport by Robot Collectives

Cooperation has been the key to success of most human endeavor and the similar incorporation of cooperation in robotic systems is critical to realize the next generation of systems and applications. Interest in cooperating systems arises when the tasks may be inherently too complex for a single system to accomplish; or when building and using several simple systems can be more flexible, fault-tolerant or cheaper than using a single large system. ...

Immerse Virtual Environment for Individualized Progressive Telerehalibitation

Virtual Reality (VR) environments, which exploit the sensory-immersion of the user to facilitate development of interactive and intuitive human-computer interfaces have applications in diverse fields. In our work, we propose the development and evaluation of a virtual driving simulator with haptic feedback (providing the sense of touch, as well as kinesthetic information) to aid in rehabilitation of lost motor coordination skills in (stroke) patients. ...

The Vertebrate Analyzer: A Simulator to Analyze Form, Function, and Behavior of Extant and Extinct Vertebrates

with NYSCEDII, AC2ME, CRESE and Gross Anatomy Lab

Currently, we can model form and emulate behavior of extant and extinct vertebrates, but the potential to create and analyze these models to investigate relationships among form, function, and behavior is less developed. ...


Previous Work

Design of Articulated and Spring-Assist Leg-Wheel Systems

Our long-term goal is one of designing land-based vehicles to provide enhanced uneventerrain locomotion capabilities. In this research, we examine and evaluate candidate articulated legwheel subsystem designs for use in such vehicle systems. Our long-term goal is one of designing land-based vehicles to provide enhanced uneventerrain locomotion capabilities. In this research, we examine and evaluate candidate articulated legwheel subsystem designs for use in such vehicle systems. ...

The Smart Car Project - A Case Study of Computer-Mediated Interfaces

In this work, we investigate the development, implementation and testing of an inexpensive scaled-prototype "Smart Car" test bed. The test bed consists of retrofitting a commercially available Radio-Control (RC) truck with a PC/104 based computer, various embedded sensor- and actuator-subsystems together with multiple modes of communication (Radio Frequency (RF) and IEEE 802.11b wireless Ethernet).  The overall goal of our work is the creation of an inexpensive test-bed capable of operating in real time equipped ...

Wireless Data-Acquisition System for In-Flight Acceleration Measurement of a Football

The increasing availability of small-scale, fast-response instrumentation has contributed both to improved equipment and better training methods in several sports, such as golf. In contrast, the game of football has not seen comparable advances, in part because the flight of a football entails a complex interaction between gyroscopic and aerodynamic loads. ...

Automation- and Simulation-Based Computer Aided Design and Virtual Prototyping of Various Planar and Spatial Parallel Manipulators

Moog 6 DOF Electric Motion Platform (currently installed in the NYSCEDII) is a (spatial) motion base coupled with an immersive visualization capability, provides an immediate benefit to transportation industries (aircraft, automotive, construction equipment, etc.) involved in product design and training, as well as the location-based entertainment industry. ...

Shape Synthesis of a Compliant Mechanism Using Optimization in FEMLAB

Traditionally, designers of mechanisms and mechanical systems for motion and force transmission assume rigid links to component members and fixed location for the joints. Elastic deformation is traditionally viewed as a hindrance to the overall performance. However, when the rigidity assumption is relaxed and deformation of objects is utilized favorably for motion and force transmission, there is a possibility of turning this designer's problem into a solution;  ...


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Last Updated: October 01, 2007