The resume of Dr. Klein follows:
Richard E. Klein, Ph.D.
Purdue University, Ph.D. in Mechanical Engineering, 1969
The Pennsylvania State University, M.S. in Mechanical Engineering, 1965
The Pennsylvania State University, B.S. in Mechanical Engineering, 1964
Richard's M.S. Thesis concerned adapted feedback control of processes, where the process is structured with additional augmenting feedback loops to optimize some operating parameter using a self-seeking process.
Ph.D. Dissertation -- "An Investigation of Distributed System Observability from a Continuum Physics Viewpoint," Purdue University, School of Mechanical Engineering, January 1969.
Richard's Ph.D. Dissertation, under the auspices of Dr. Raymond (Gene) Goodson at Purdue's Automatic Control Center, concerned the mathematical introduction of the concept of observability to systems described by partial differential equations. In essence, the question concerned the issue as to where to place measurement sensors in a spatially distributed process (think of a vibrating beam, for example). The trick is to assure that one has sufficient information so as to be able to reconstruct the internal state of the process. By "reconstruct," we mean that one can use computations and mathematics to paint a picture of what's going on internally within a process. In short, you can't "control" something unless you know by measurement what is going on (within the process). Moreover, you can't know what is going on unless you are certain that you've placed your sensors in the right places. Richard's thesis amounted to the statement and proof of several key theorems in mathematical physics of what are called ill-posed problems. An ill-posed problem in mathematical physics usually has two attributes -- the boundary conditions which one uses to start the computations are in the wrong places, and any computation concocted is bound to being sensitive dependent, meaning that small errors will lead to large fluctuations in the resulting reconstructions.
The essence of Richard's dissertation, defended on Friday, September 13, 1968 (think of superstition!) is that much of what later became recognized as chaos theory, and much dazzle coined by Dr. James York in 1971, was discovered by Richard earlier in his dissertation.
In lay terms Richard describes himself as a child of Sputnik. The launching of the world's first artificial satellite on October 4, 1957, caused Richard to become a "rocket scientist" as control involves how to control all sorts of complex processes. Vehicles such as rockets as well as bicycles become applicable to application of control system theoretic principles.
President & Founder, Rainbow Trainers, Inc. (1999-present)
President & Founder, Rainbow's End Cyclery, Inc. (2012-present)
Associate Professor of Mechanical Engineering, University of Illinois at Urbana-Champaign (1971-1998)
Assistant Professor of Mechanical Engineering, University of Illinois at Urbana-Champaign (1968-1971)
Consulting & Professional Activities
Caterpillar Tractor Company
National Can Corporation
Hughes Aircraft Company
Corning Glass Works
Universal Engineering Corporation
Bridgestone Cycle (USA), Inc.
Expert Witness, various law firms
Awards, Honors, Recognitions, & Citations
Featured on the CBS Evening (Television) News, August 2009.
Lose The Training Wheels was reported on by USA-Today, December 29, 2006, page A3.
Co-Recipient (with Drs. Karl Astrom and Anders Lennartsson) of the prestigious IEEE Control Systems Society best paper of the year published in IEEE Control Systems Magazine, year 2005, award bestowed December 2006 at the IEEE CDC Conference, San Diego CA, for the paper “Bicycle Dynamics and Control,” IEEE Control Systems Magazine, Institute of Electrical & Electronic Engineers (IEEE), August 2005.
Featured in Bicycling magazine, "Spin, People, Places, Vibes, and Things -- Father of Invention," December 2005, pp. 33-35.
Featured in People Magazine, "Ride of Their Lives," August 29, 2005, page 118.
Featured in Exceptional Parent Magazine, May 5, 2005, page 26.
Featured in the publication, "Inside Illinois," May 2005.
Featured in Midwest Living magazine, Nov/Dec 2004, page 14.
Featured in I-Contact Article, “Rollers and The Renaissance Man,” Illinois Alumni Magazine, Vol. 16, No. 5, Mar/Apr 2004, p. 10.
Credited in the literature with being the design inspiration on the active damping mechanism in the Triton Square office complex in Tokyo, Japan, erected 2001.
Emeritus Associate Professor, University of Illinois, 1998
Life Member, American Society of Mechanical Engineers
Life Member, Institute of Electrical and Electronics Engineers
Cited in Illinois Reviewed, Nov. 1989
Recipient of Best Paper of Session Award at 1988 American Controls Conference, Atlanta, GA
Who's Who in the Midwest
The World Directory of Mathematicians
Community Leaders of the World
Pi Tau Sigma honorary engineering society
Sigma Xi, honorary engineering society
Contributing Author, Committee #7, Tall Buildings Council
Two-Year Effective Teacher Award, Mechanical and Industrial Engineering Alumni Association, University of Illinois at U-C, 1985
Five-Year Effective Teacher Awards, Mechanical and Industrial Engineering Alumni Association, University of Illinois at U-C, 1985, 1993.
Co-inventor of “A Steering System for Articulated Vehicles,” U.S. Patent No. 3,795,285, assigned to Caterpillar Tractor Company, Peoria IL, March 1974.
Bicycle Related Publications and Presentations
Klein, R., "Build it Wrong, But Build It -- A Bicycle Trek," Presented at the 2010 Bicycle and Motorcycle Symposium, Delft, The Netherlands, October 20-22, 2010.
Burt, T., D. Poretta, and R. Klein, “Use of adapted bicycles on the learning of conventional cycling by children with mental retardation", Education and Training in Developmental Disabilities, September 2007.
Burt, T. and R. Klein, "Lose The training Wheels," presented at the 2006 Illinois Adapted Physical Education Conference, St. Charles IL, Nov 17, 2006.
Klein, R., S. Harrington, E. McHugh, S. Tarr, H. Aufdermaur, and B. Davey, "Changing Lives in Less Than a Week: Lose The Training Wheels and Ride," presented at the 35th Annual Adapted Physical Education Conference, Los Angeles CA, Nov 9-11, 2006.
Chance, C. and R. Klein, "Lose the training wheels: using adapted bicycles to allow children to ride conventional bikes," Fourth Annual Tri-State Conference on Recreation Inclusion, July 6 & 7, 2006, Pearl River Resort, Choctaw MS.
Klein, R. E., E. McHugh, S. L. Harrington, T. Davis, and L. J. Lieberman, “Adapted Bicycles for Teaching Riding Skills,” Teaching Exceptional Children, Vol. 37, No. 6, (July 2005), pp. 50-56
Astrom, K. J., R. E. Klein, and A. Lennartsson, “Bicycle Dynamics and Control,” IEEE Control Systems Magazine, Institute of Electrical & Electronic Engineers (IEEE), August 2005, recipient of Best Paper of the Year by IEEE Control Systems Magazine.
Klein, R. E., “Lose the Training Wheels – An Adapted Bicycling Program,” Presentation to 13th Annual Visiting Professor Program, Children’s Memorial Medical Center, Motion Analysis Center, Chicago IL, November 19, 2004.
Klein, R., E. McHugh, “Becoming ‘Normal’: Application of Dynamic Systems Theory to Riding a Bicycle,” Presentation at National Consortium for Physical Education and Recreation for Individuals with Disabilities, Arlington VA, July 13-15, 2002.
Klein, R., L. J. Lieberman, P. DiRocco, and E. McHugh, “Adapted Bicycles: Adapted Bikes Deliver New Independence,” Exceptional Parent Magazine, October 2002, pp. 64-66.
DiRocco, P., R. Klein, E. McHugh, L. Lieberman, and T. Burt, “Adapted Bicycling Instruction: Experiences, Benefits, Challenges, and Prospects – A Panel Discussion,” NAFAPA Symposium, Oregon State University, Corvallis, September 26-28, 2002.
DiRocco, P., R. Klein, “Adapted Bicycling and Dynamical Systems,” International Adapted Physical Education Symposium, Vienna, July 2001.
Klein, R., L. J. Lieberman, “An Innovative Adapted Bicycling Instructional Methodology – Theory and Results,” Presentation to NYS AHPERD, Callicoon NY, November 2002.
DiRocco, P., R. Klein, The UW-L Bike Camp: A Bicycling Camp for Exceptional Children, California Adapted Physical Education and Dance Conference, Fresno CA, October 2000.
Klein, R., P. DiRocco, B. Oberweiser, M. Mallett, R. Heath, “Adapted Bicycling Taught Using a Camp Format,” California Adapted Physical Education Symposium, San Diego CA, October 1999.
Klein, R., “As Easy As Riding a Bike,” Presentation to NAFAPA, Minneapolis, Sept. 1998.
Klein, R., “How Children Learn to Ride,” The Rivendell Reader, Issue 3, Volume 1, (September/October) 1995, p. 15. (Published by Rivendell Bicycle Works, 1547 Palos Verdes #402, Walnut Creek CA 94596)
Klein, R. E., "The University of Illinois Bicycle Project," Proceedings of Advances in Control Education, International Federation of Automatic Control, Boston MA, June 1991.
Klein, R. E., "Teaching Linear Systems Theory Using Cramer's Rule," IEEE Transactions on Education, 33:3, 258-267, 1990.
Klein, R. E., "Simulation of Bicycle Dynamics: An Opportunity in Dynamic Systems Education," Proceedings of the Simulation in Engineering Education, 1990 Western Multiconference, San Diego CA, Jan. 17-19, 1990.
Klein, R. E., "Simulated Dynamics of Bicycles with Various Forms of Experimental Verification," Proceedings of the Summer Computer Simulation Conference, University of Texas at Austin, 805-810, July 26-29, 1989.
Klein, R. E., "Using Bicycles to Teach System Dynamics," Institute of Electrical and Electronics Engineers, Control Systems Magazine, 9:3, 4-8, 1989.
Klein, R. E., "Novel Systems and Dynamics Teaching Techniques Using Bicycles," Proceedings of the 1988 American Control Conference, Atlanta GA, 1157-1160, June 15-17, 1988.
Large Audience Bicycle Presentations
Featured on CNN-TV, Science News Update, November 1988.
“Mechanical Engineer Goes ‘Backward’ to Learn About Bikes,” Los Angeles Times, Metro Science/Medicine Section, September 26, 1988, p. 3.
Bicycle dynamics workshops at GEAR ’89 (Saratoga Springs NY), GEAR '92 (Canton NY), and GEAR '93 (Geneseo NY).
Exhibits and Workshop on bicycles at the 1993 ASEE Centennial Meeting, Urbana IL, June 1993.
Bicycle/Science presentations at "Tour de Tech," Virginia Polytechnic Institute and State University, Blacksburg VA, 1994, 1995, 1996.
Dr. Klein has been featured in television news broadcasts and features in numerous city affiliates, including Chicago, Evansville IN, Sacramento CA, San Francisco, Albany NY, Richmond VA, Champaign IL, Decatur IL, Chico CA, Rohnert Park CA, State College PA, Wilmington DE, Utica NY, Washington DC, Providence RI, and in addition has been carried in dozens of newsprint stories nationwide.
Other Publications and Presentations
Klein, R. E., "Observability: Its Role in Control and Estimation Theory," Proceedings of the 7th Annual Allerton Conference on Circuit and System Theory, Allerton House, University of Illinois at Urbana-Champaign, 23-31, Oct. 8-10, 1969.
Goodson, R. E. and R. E. Klein, "A Definition and Some Results for Distributed System Observability," Institute of Electrical and Electronics Engineers Transactions on Automatic Control, AC-15:2, 165-174, April 1970.
Klein, R. E., "Remarks on Observability and Its Application to Non- Linear and Distributed Parameter Systems," American Society of Mechanical Engineers, Winter Annual Meeting, Paper 70-WA-AUT-l0, 1970.
Klein, R. E., "A Derivative Extremal Adaptive Controller with Applications to Rotating Power Systems," Proceedings of the Institute of Electrical and Electronics Engineers, 1970 Symposium on Adaptive Processes, VIII-2, Austin TX, Dec. 1970.
Klein, R. E., M. Vidyasagar, and R. E. Goodson, "Comments on a Definition and Some Results for Distributed System Observability," Institute of Electrical and Electronics Engineers Transactions on Automatic Control, AC-16:1, 106, Feb. 1971.
Klein, R. E. and R. D. Scholl, "Design and Simulation of a Steering System for an Articulated Earth Moving Vehicle," Midwestern Simulation Council Symposium, Caterpillar Tractor Co., Peoria IL, May 3, 1971.
Klein, R. E., "Non Well Posed Problems in the Sense of Hadamard and their Relationship to Distributed Parameter State Reconstructor Problems," Proceedings of International Federation of Automatic Controls, Symposium on the Control of Distributed Parameter Systems, Banff, Alberta, Canada, Paper No. 7-2, 21-23 June 21-23, 1971.
Klein, R. E., "Discussion on a Design Procedure for a Class of Distributed Parameter Control Systems," Transactions of American Society of Mechanical Engineers, Series G, 93:2, 92-93, June 1971.
Klein, R. E. and R. O. Hughes, "The Distributed Parameter Control of Torsional Bending in Seagoing Ships," Preprint Volume of the 1971 JACC, St. Louis MO, 867-875, Aug. 1971.
Cannon, J. R. and R. E. Klein, "Optimal Selection of Measurement Locations for Approximate Determination of Temperature Distributions," American Society of Mechanical Engineers Transactions, Journal of Dynamic Systems, Measurement, and Control, 193-199, Sept. 1971.
Klein, R. E., V. P. Crome, W. R. Heitschmidt, and C. M. Zinn, "The Greenhouse Effect, Ice Ages, and Atmospheric Carbon Dioxide Revisited via Simulation and Nonlinear Feedback System Theory," Proceedings of the Summer Simulation Conference, San Diego, CA, 904-909, June 1972.
Klein, R. E., "A Technique for Parameter Identification in a Class of Hyperbolic Distributed Processes," Proceedings of the 10th Annual Allerton Conference on Circuit and System Theory, Allerton House, University of Illinois, Oct. 1972.
Klein, R. E., C. Cusano, and J. J. Stukel, "Investigation of a Method to Stabilize Wind Induced Oscillations in Large Structures," American Society of Mechanical Engineers 1972 Winter Annual Meeting, Automatic Control Division, Paper No. 72-WA/AUT-11, 1972.
Metz, L. D. and R. E. Klein, "Towards a General Theory of Climate Behavior Based on the Viewpoint of Systems Theory," Proceedings of the 1972 Institute of Electrical and Electronics Engineers Conference on Decision and Control, New Orleans LA, Dec. 1972.
Metz, L. D. and R. E. Klein, Man and the Technological Society, Prentice-Hall, Englewood Cliffs NJ, April 1973.
Cannon, J. R. and R. E. Klein, "On the Observability and Stability of a Temperature Distribution in a Composite Heat Conductor," Society for Industrial and Applied Mathematics, Journal on Applied Mathematics, Vol. 24, Issue #4, June 1973.
Klein, R. E., "Identification of Multivalued Parameters in a Class of Noisy Nonlinear Dynamic Processes," Proceedings of 3rd International Federation of Automatic Controls, Symposium on Identification and System Parameter Estimation, The Hague, The Netherlands, 1973.
Sehitoglu, H. and R. E. Klein, "An Identification Technique for Multivalued and Memory Nonlinearities in Dynamic Processes," Simulation, Sept. 1975.
Klein, R. E., "Remarks on the Case Method of Teaching," Proceedings of The Control and Decision Conference, Clearwater FL, Dec. 1976.
Klein, R. E., "The Analysis of Total Energy and Labor for Industrial Plants," Proceedings of the International Conference on Energy Use Management, Tuscon AZ, I, 75-79, Oct. 1977.
Klein, R. E., "Methods for Vibrational Energy Dissipation," Proceedings of the 3rd US National Conference on Wind Engineering Research, Gainesville FL, Feb. 27-March 1, 1978.
Klein, R. E. and H. Salhi, "Optimal Vibration Control in Structures," Proceedings of the 3rd US National Conference on Wind Engineering Research, Gainesville FL, Feb. 27-March 1, 1978.
Klein, R. E. and R. D. Scholl, "Stability Analysis of an Articulated Vehicle Steering System," Society of Automotive Engineers, EMIC, Peoria, IL, Paper 710527, April 1971; also presented at The Mobile Hydraulics Design Symposium, Milwaukee School of Engineering, Aug. 1978.
Klein, R. E. and H. Sehitoglu, "Some Results on the Identification of Parameters in Distributed Processes described by the One- Dimensional Wave Equation," Proceedings of the 1978 JACC, Instrument Society of America, III, 133-143, Oct. 1978.
Sehitoglu, H. and R. E. Klein, "A Finite Element and Gradient Method for Identification of Parameters in a Class of Distributed Parameter Systems," American Society of Mechanical Engineers, WAM, No. 78-WA/DSC-29, Dec. 1978.
Klein, R. E. and H. Sehitoglu, "An Application of Equation Error Identification Techniques to the Problem of Vehicular Drag Parameter Determination," Proceedings of the 29th Vehicular Technical Conference, Institute of Electrical and Electronics Engineers, Chicago IL, March 1979.
Klein, R. E., "The Potential for Application of Closed-Loop Control Concepts in Structures," Proceedings of the American Society of Civil Engineers, Spring Convention, Session EM-3, Boston MA, April 1979.
Klein, R. E. and H. Salhi, "The Time-Optimal Control of Wind Induced Structural Vibrations using Active Appendages," Proceedings of the International IUTAM Symposium on Structural Control, Ontario, Canada, June 4-7, 1979, North-Holland Pub. Co., Amsterdam, 415-429, 1980.
Klein, R. E. and M. D. Healey, "Semi-Active Control of Wind Induced Oscillations in Structures," presented at the Second International Symposium on Structural Control, University of Waterloo, Ontario, Canada, July 15-17, 1985; reprinted in Structural Control, H. H. E. Leipholz, Editor, Martinus Nijhoff Publishers, Boston MA, 354-369, 1987.
Klein, R. E. and C. J. Miller, "Matrix Polynomial Triangularization for Efficient Simulation of LTI Systems," Proceedings of the European Multiconference, Nuremberg, June 10-13, 1990.
Klein, R. E., "The Bicycle Product Approach—A Vehicle to Relevancy and Motivation," Proceedings of the IEEE/ASEE Frontiers in Education Conference, W. Lafayette IN, 47-52, Sept. 21-24, 1991.
Gurley, K., A. Kareem, L. A. Bergman, E. A. Johnson, and R. E. Klein, "Coupling Tall Buildings for Control of Response to Wind," Proc. ICOSSAR '93, Innsbruck, Austria, Aug. 9-13, 1993.
Klein, R., “Afterthoughts of a Found(er)ing Structural Controls Theorist,” Symposium on Smart Structures and Control, San Diego CA, March 1998.