These real-time algorithms will correct for tool deflections caused by cutting forces and reduce surface defects and tool damage caused by regenerative chatter. This actuator will deliver a precise train of impulsive forces to a rotating machine tool. This research focuses on the development of advanced nonlinear control strategies for semi-active vehicle suspension systems. These semi-active dampers exhibit nonlinear and uncertain dynamics, thus sliding mode control is a viable control strategy. Telerobotic MIS systems use miniature grippers to provide the full mobility range of a human hand at a fraction of the size, thus eliminating the need for large incisions and resulting in shorter recovery times and reduced complications.
Current work focuses on enhancing the performance of existing gripper actuation subsystems.
A practical introduction to electromechanical systems, with emphasis on modeling, analysis, design, and control techniques. Course topics include fundamentals of electrical and magnetic fields, electromechanical energy conversion, generalized machine theory, dynamics of electrical and mechanical systems, and design considerations. A study of linear feedback control systems using transfer functions. Transient and steady state responses. Stability and dynamic analyses using time response and frequency response techniques.