February 3, 2020
Mechatronics and Control: From Precision Machining to Robotic Surgery
I will present recent research in mechatronics and controls that enable precision machining and robotic surgery. Multivariable high-order system identification, robust control, and adaptive high-performance control and its real-time implementation are presented for an active magnetic bearing spindle for creating precise cutting tip trajectories in high-speed machining. Similar control methods are also applied to novel actuators and robotic mechanisms for image guided robotic interventions. An OCT guided intraocular robotic interventional and surgical system (IRISS) will be presented and demonstrated for automated cataract removal. Also, a MR safe actuator and co-robot architecture will be presented and demonstrated for MRI guided needle tracking of breathing induced moving targets.
Dr. Tsu-Chin Tsao, Director of the UCLA Mechatronics Control Research Lab and Advanced Mechatronics and Control Industrial Consortium, is Professor at the Mechanical and Aerospace Engineering Department, Henry Samuelli School of Engineering and Applied Science, University of California Los Angeles. Dr. Tsao received M.S. and Ph.D. in mechanical engineering from University of California Berkeley, and B.S. in Engineering from National Taiwan University. He is a Fellow of American Society of Mechanical Engineers. Dr. Tsao’s current research interests include control systems, mechatronics, and robotics. Recognitions of his research work include ASME Journal of Dynamic Systems, Measurement, and Control Best Paper Award, American Automatic Control Council Hugo S. Shuck Best Paper Award, International Symposium on Flexible Automation Best Paper Award, International Federation of Automatic Control (IFAC) Mechatronic Systems Award, and ASME Henry M. Paynter Outstanding Investigator Award.