Gloria J. Wiens received the B.S. and M.S. degrees in Mechanical Engineering from Kansas State University in 1980 and 1982, respectively. She received her Ph.D. degree in Mechanical Engineering from The University of Michigan in 1986. She joined the Department of Mechanical and Industrial Engineering, State University of New York, Binghamton, as a faculty member in 1986. From 1987 to 1994, Dr. Wiens was a faculty member in Mechanical Engineering at Auburn University where she conducted theoretical and experimental investigations in system dynamics and controls, flexible multibody systems and robotics with applications to systems automation and manufacturing. In Fall 1994, she joined the University of Florida as an Associate professor in Mechanical Engineering. She continues to conduct research in the areas of dynamics, controls and automation of mechanisms and manufacturing systems, and MEMS. Her current research projects are on automated finishing and hexapod machine tools with funding from the National Science Foundation, Sandia National Laboratories and National Institute of Standards and Technology. Dr. Wiens was past chair of the ASME Manufacturing Engineering Division's Executive Committee. She has authored over 30 technical articles.  Professor Wien’s research efforts have culminated in the development of the System, Automation, and Manufacturing Mechanisms Laboratory.  In the System, Automation, and Manufacturing Mechanisms (SAMM) Laboratory, research efforts are directed toward investigations of "compliant" operations of stationary (non- mobile) and mobile robotic systems, tightly coordinated multiple robotic systems, parallel kinematic machines (PKMs), micro-manipulators, MEMS devices and their applications in automating manufacturing processes. Current SAMM Laboratory research activities are addressing issues in the area of dynamics and controls of parallel kinematic machine tools and advanced force controlled robotic deburring. In the PKM area, research was first initiated to determine which error sources generate significant errors in a PKM (Stewart platform type) machine tool's dynamic response. Methods for evaluating the dynamic performance of PKM machine tools through modeling and system identification are currently being established. The proposed methods incorporate a coordinated approach of experimental test, analysis and reconciliation. The main thrust of the PKM research effort is to provide a method for generating validated, comprehensive dynamic models of PKM machine tools as well as to provide analysis tools. In addition, certain parameter effects on the system dynamics are being determined, forming a basis for design recommendations and further enhancements of PKM machine tool controllers. As a result of this research, PKM machine tool builders and end users will be able to make more in-depth comparisons and evaluation of competing designs. One of the SAMM Laboratory’s newest research endeavor is in the application of PKMs at the MicroElectroMechanicalSystem (MEMS) level (devices of micron dimensions). The objective of the MEMS research is to blend the silicon based micromachining technologies with the microfabrication technologies to build functional computer numerically controlled (CNC) micromachines. The new innovative devices will contribute greatly to the micro- manufacturing technology, MEMS design and control, and will create new technology for optical and biological applications. Another new research endeavor is the recent establishment of collaborative research with the Massachusetts Institute of Technology’s Field and Space Robotics Laboratory. This research is funded by the Japanese NASDA and entails construction of (very) large space structures, detailed physics-based modeling, design, control, and planning of space robotics systems. The above research projects are being conducted in collaboration with researchers in The Manufacturing Technologies Center at Sandia National Laboratories (SNL). The National Science Foundation, SNL and Hexel Corporation are providing funds and/or technical support. The synergistic relationship between the University of Florida's SAMM Laboratory and SNL has provided graduate students the opportunity to further validate their research results on full- scale industrial PKM machine tools. The SNL collaboration is being extended to include the MEMS research for realization of physical prototypes of the new devices.

Figure (25) A Survey of Experimental Mechanical Systems in the SAMM Laboratory