Statement of Purpose

Frederick Curtis Layton

My name is Frederick Layton, and I am a senior in Electrical and Computer Engineering.
My original motivation for applying to Carnegie Mellon University was my interest in robotics. I
chose the Electrical and Computer Engineering program as it would provide a fundamental base
of engineering skills and techniques that could be applied to more focused areas, such as
robotics. Through laboratory courses in engineering as well as research at the Robotics Institute,
I have been able to reinforce and apply the principles taught in the ECE curriculum. My primary
focus has been on embedded systems and circuits, which both relate directly to the development
of robotic control systems. Through the introductory courses in robotic manipulation and general
robotics, I have also gotten an overview of the main areas in the discipline of robotics.
Through the Masters of Science program, I hope to improve upon my knowledge of
robotics in order to make sound decisions regarding the choice of sensors, algorithms and
actuators. If I end up working on a specific part of a robot, I want to be able to understand and
fully contribute to the entire system, and be able to assist those who are in leadership roles to
make sound decisions. My ultimate goal is to be able to lead a team of engineers in building a
complete robotic system. Receiving further experience in robotics, in addition to experience that
I already have with electrical and computer engineering, will give me a distinct advantage in
leading the kind of multidisciplinary group that is required to design and build such a system
from the ground up. I would hope to come out of this program as a strong candidate for an
engineering position at a small robotics company.
In the summer of 2010, I worked as an intern at Automatika Inc. (now Qinetiq-NA) on
the Dragon Runner project. As opposed to other internships, where a student might work on
optimizing or documenting an existing system, I was given a new research project. The company
was investigating the use of brushless motors with reconfigurable windings in order to improve
low end torque as well as top speed. The motors were custom made, and there was no direct, offthe-shelf solution for control. Throughout the summer, I designed a test setup and built a
controller to drive the motors, and was then able to assess the system I developed using a
dynamometer. At the end of the project, I produced a report summarizing my findings and made
recommendations for future development.
In addition to my work at Automatika, I have worked for almost three years in the
Biorobotics laboratory in the Robotics Institute, under Professor Howie Choset. I have primarily
focused on designing and constructing hardware to support the ModSnake project. From every
angle, designing a two inch diameter, three foot long, flexible robot has been a very difficult
challenge for all of the members of the ModSnake project. The mechanical and electrical design
minimizes space, maximizes power, and is robust and energy efficient. Because of its inherent
complexities, the ModSnake project has proven to be a rewarding platform to help develop.
Most of the research that I have undertaken for the ModSnake project, has involved
fitting square shaped objects into round holes (both literally and figuratively). The main project

that I have worked on has involved building a video module for the front of the snake, along with
a transmission system for the image that is generated. On a robot without tight space
requirements, this would have been as easy as buying a webcam and plugging it in. However,
taking the space requirements into account, the whole module had to be engineered from the
ground up. The video module that I built incorporated an analog video camera, along with
control circuitry for LED lighting and inertial measurement sensors. All of the electronics had to
fit into the diameter of the snake, along with a camera that had to be centered and face forward. I
also designed and hand machined the housing, which integrates onto the front of the snake.
Currently, I am implementing a differential video system to improve video quality and increase
the video transmission distance.
In the summer of 2009, I contributed to a ModSnake feasibility study for the Electric
Power Research Institute. The study consisted of an initial visit to a power plant, where our team
was able to drive the snake around in spaces that would potentially need inspection. We then
took that experience and formulated a laboratory test plan to assess which situations were
currently feasible with the snake mechanism, and which would need further development. After
conducting tests using a mockup in our lab, I helped write a formal report that presented the
snake mechanism and the data. This study has also lead to another project involving overhead
transmission lines. It also opened my eyes to the immediate need for robotic inspection systems
in industrial environments.
If I were accepted into this program, I would like to continue my research at the
Biorobotics laboratory. Because I have been involved with the project for most of my
undergraduate career, I would not have to waste time with developing or learning a new research
platform. Up until this point, the research that I have conducted has involved the physical
construction of the mechanism, and has not involved the control software. However, through
helping with this design, along with countless hours of driving the snake, I have built a strong
understanding of the capabilities and limitations of the system as a whole. My future research
goals move away from the physical design and focus on the control of the mechanism.
The ModSnake mechanism is very much like a Swiss Army knife. It is a tool that can be
used in many different situations to achieve a variety of different tasks. In my research, I would
like to focus on one specific task, and that is the close inspection of welds and areas of potential
degradation in piping. The current system does not allow for precise or intuitive control over the
viewpoint of the camera. Although research is currently underway that will allow the mechanism
to traverse different configurations of pipes, there is not an intuitive method for performing an
inspection once the snake has located a problem area. I would also like to investigate the use of
an ultrasonic (or other) sensor for pipe wall thickness measurement, as well as develop a control
algorithm to perform a uniform inspection of a section of piping. This research would involve
sensor aware gait development as well as some hardware development. It would help solidify the
ModSnake as a viable tool that could be readily applied to an industrial setting. I hope that my
work would potentially lead to further funding and interest by industries such as electric power
generation, oil refinement, and water infrastructure.