The research at HuB-Robotics is in the general area of robotics, mechatronics, and control. This is a highly interdisciplinary research area that integrates knowledge and methodology from multiple disciplines, including machine design, dynamics, electronics, and computer programming. The principal investigator, Dr. Shen, have been focusing on creating a portfolio of courses that covers the continuum of building robots, controlling robots, and applying robots to real-life applications.
1) Building robots (and other smart /automated physical systems).
The creation of robots (and other smart/automated physical systems) requires the development of robot hardware (essentially a sophisticated machine), as well as the integration of electronics and computer software to automate the operation of the machine, i.e., make the machine “smart”. Dr. Shen has taught two courses related to the creation of robots, including a machine design course and a mechatronics course .
2) Controlling robots (dynamic analysis, modeling, and control).
The control of robots and other dynamic systems goes beyond pure control theory. Effective control relies heavily on the analysis of the system dynamics and the subsequent modeling of the system behavior. Dr. Shen has taught four courses that cover the related steps in the procedure, including a graduate-level advanced dynamics course, two undergraduate-level course on system modeling and control , and a graduate-level nonlinear control course.
3) Applying robots to real-life applications.
Robots have been extensively used in a wide variety of applications. Traditional applications of robots are largely limited to manufacturing industry, in which robots are used to replace humans in repetitive and laborious tasks. In recent years the concept of co-robot (collaborative robot) starts to gain more attention, and the focus is shifted to robots working with humans (instead of replacing humans). This trend is still relatively new, with new technologies and application areas under rapid development. Dr. Shen has developed a new robotics course, which is primarily about the traditional aspects of robotic application. Additionally, there is a plan to develop a new course on biomedical robotics, leveraging the related research in this emerging area.
1) Building robots (and other smart /automated physical systems).
The creation of robots (and other smart/automated physical systems) requires the development of robot hardware (essentially a sophisticated machine), as well as the integration of electronics and computer software to automate the operation of the machine, i.e., make the machine “smart”. Dr. Shen has taught two courses related to the creation of robots, including a machine design course and a mechatronics course .
- ME 450: Dynamic Machine Components. This course covers the selection and application of machine elements in dynamic systems. Specific components covered include transmission elements (gears and pulleys), mechanisms (linkages and cams), shafting, bearing systems, and prime movers. It also covers the theoretical aspects in the machine design, including the mechanism/linkage synthesis, mobility analysis, kinematic and dynamic analyses, critical speeds, and balancing of rotational systems.
- ME 456/556: Introduction to Mechatronics. Theory, design, construction, programming, and testing of mechatronic systems. This course covers the system-level introduction of the mechatronics concept and practice, as well as the important building blocks in mechatronics systems, including analog/digital electronics, power electronics, sensors, actuators, and microcontroller.
2) Controlling robots (dynamic analysis, modeling, and control).
The control of robots and other dynamic systems goes beyond pure control theory. Effective control relies heavily on the analysis of the system dynamics and the subsequent modeling of the system behavior. Dr. Shen has taught four courses that cover the related steps in the procedure, including a graduate-level advanced dynamics course, two undergraduate-level course on system modeling and control , and a graduate-level nonlinear control course.
- ME 562: Intermediate Dynamics. This course deals with the study of mechanical systems undergoing change of state described by the motions of their part under the influence of surrounding factors. The primary objective of this course is to equip students with analytical tools needed to conduct accurate and realistic dynamic analysis, and it is recommended for students pursuing an interest in system dynamics, mechanics, robotics, controls, and other relevant areas of mechanical and aerospace systems. The fundamental concepts of Newtonian mechanics and Hamilton’s principle from the viewpoint of variational approach will be taught in this class. Students will also learn the analytical applications of Euler’s and Lagrange’s equations of motion to model rigid body system dynamical properties.
- ME 475/575: Control Systems Analysis. This course covers the classical and modern feedback control theories and methods. Specific topics include block diagrams, state variables, stability, root locus, and frequency analysis. An introduction on the modern control techniques is also included in this course.
- ME 372: Dynamic Systems. An introduction to the modeling, analysis, and control of dynamic systems. The course takes the student from initial modeling through analysis of the system response and finally into the control of the system. Specific systems include mechanical devices, electrical circuits, and electromechanical systems.
- ME 674: Nonlinear Control Systems. This course covers the analysis and control of nonlinear dynamic systems. Specific topics include the general introduction to nonlinear systems and nonlinear dynamic behaviors, phase plane analysis, mathematic definition of stability, Lyapunov direct and indirect methods, stability of non-autonomous systems, and nonlinear control system design with feedback linearization and sliding-mode control.
3) Applying robots to real-life applications.
Robots have been extensively used in a wide variety of applications. Traditional applications of robots are largely limited to manufacturing industry, in which robots are used to replace humans in repetitive and laborious tasks. In recent years the concept of co-robot (collaborative robot) starts to gain more attention, and the focus is shifted to robots working with humans (instead of replacing humans). This trend is still relatively new, with new technologies and application areas under rapid development. Dr. Shen has developed a new robotics course, which is primarily about the traditional aspects of robotic application. Additionally, there is a plan to develop a new course on biomedical robotics, leveraging the related research in this emerging area.
- ME 591: Introduction to Robotics. This course covers the traditional aspects of robotics, including the 2D kinematic analysis of wheeled robots; 3D kinematic analysis of multi-degree-of-freedom robotic arms; inverse kinematics and motion planning; and dynamic modeling, analysis, and control of these robotic systems. 3D visualization of the robot simulation, as well as the programming and operation of wheeled robots and robotic arms, will be incorporated to enhance the student learning and enable the students to gain better understanding of the real-life applications of these robotic systems.
- Biomedical Robotics (in planning). This course will cover the robotic systems that serve various biomedical purposes, as well as the fundamental theories and methods that support the development of such biomedical robotic systems. Specific systems to be covered include robotic upper-limb and lower-limb prostheses, rehabilitation robotic systems, robotic exoskeletons and orthoses, and surgical robots. The theoretical topics include physical human-robot interaction, haptic interface, human motion capture and analysis, simulation of musculoskeletal systems, etc. Literature studies and a special-topic project will be incorporated to provide students with the general knowledge of the biomedical robotics area as well as the in-depth understanding of a self-selected topic of interest.