Our lab seeks to apply a system dynamics and control perspective to problems involving control and transduction of energy. This scope includes multi-physics modeling, control methodologies formulation, and model-based or model-guided design. The space of applications where this framework has been applied includes:
- nonlinear controllers and nonlinear observers for pneumatically actuated systems
- a combined thermodynamic / system dynamics approach to the design of free piston internal combustion and external heat source engines
- modeling and model-based design and control of monopropellant systems
- hydraulic energy storage
- small-scale boundary layer turbines
- energy-based approaches for single and multiple vehicle control and guidance.
Currently, our research leverages our expertise in fluidic and mechatronic systems for the design, modeling, and control of surgical and soft robots. Specifically, current research projects aim to:
- develop an MRI-compatible robot to cure epilepsy
- design and validate pumps and valves for soft robot actuation
- implement model-based control of soft robots