Research

We design novel and useful mechatronic systems through the deterministic integration of mechanics, electromagnetics, control, and electronics. 

Our research focuses on the design, analysis, and integration of high-performance mechatronics systems, leveraging expertise in motors, control, and system-level engineering. We aim to develop next-generation mechatronic solutions for robotics, energy conversion, future mobility, and advanced manufacturing. Core research areas include:

• Motors and actuators

• Control and estimation

• Mechatronics and robotics

• Magnetic levitation 

• Electric mobility

• Advanced manufacturing systems

Motors and Actuators

This research area focuses on the design, modeling, and analysis of electric motors and actuators for high-performance motion systems. It includes interior permanent magnet (IPM) motors, magnetically levitated actuators, and novel electromagnetic drive concepts such as swashcoil and axial-flux motors. Emphasis is placed on achieving high torque density, low ripple, and compact form factors, with applications in robotics, drones, and precision machinery. 

Our work combines advanced multiphysics analysis with creative topology design. We develop computationally efficient modeling tools that integrate electromagnetics, thermal behavior, structural stress, and vibration, using heterogeneous formulations that include finite elements, circuit elements, and analytical continuum domains. On the design side, we explore new machine architectures, including bearingless and high-speed motors, multi-phase and multi-DOF machines, reduced-PM designs, and actuators with enhanced thermal management and manufacturability.

Control and Estimation

This research area focuses on the development of control algorithms and estimation techniques for high-performance, real-time operation of dynamic systems. The work spans feedback and feedforward control, observer design, and model-based estimation, with emphasis on sensorless operation, inverse-model-based feedforward, and control–plant co-design. Applications include electric drives, magnetically levitated systems, robotic actuators, and precision motion stages.

With expertise in both control theory and implementation, we design control systems across all levels of mechatronic architectures—from low-level power electronics to high-level motion coordination. A key challenge in this process is that system components form feedback loops, making it difficult to decompose specifications hierarchically. As a result, control must be considered from the outset, and systems must be co-designed with feedback in mind. Our research also addresses real-time embedded deployment and numerical robustness, enabling advanced control and estimation algorithms to operate reliably in demanding, resource-constrained environments.

Mechatronic Systems

This research area focuses on the design, integration, and experimental validation of high-performance mechatronic systems that combine actuation, sensing, control, and embedded electronics. We develop complete physical platforms—such as robotic hands, magnetic levitation stages, precision motion systems, and electric mobility—that embody tight coupling between hardware and control.

A central theme of our work is system-level co-design, where mechanical structure, control algorithms, sensing, and electronics are developed in parallel rather than sequentially. This is essential in feedback-rich architectures, where tightly coupled subsystems interact in nontrivial ways, and functional performance emerges from the interplay of components.

The figure below illustrates a typical design process for mechatronic systems, situated on a plane defined by two axes: the level of object abstraction (vertical) and the level of idea abstraction (horizontal). The design process typically progresses in a coarse-to-fine manner through this space.

Level of Object Abtraction 

• System: A top-level entity that must satisfy functional requirements for a specific application.

• Module: A self-contained mid-level unit that performs a general-purpose task (e.g., sensors, amplifiers).

• Component: A bottom-level object that comprises modules (e.g., circuit elements, mechanical elements). 

Level of Idea Abtraction 

• Strategy:  The highest-level design idea, formed by identifying feasible combinations of physical principles that can meet functional goals.

• Concept: A more refined design approach, often visualized through hand sketches or schematics. At this stage, design parameters begin to take shape.

• Detail: The final design stage, where parameters are assigned values, materials are selected, and components are specified. Optimization techniques are often applied during this phase.