Research

We design novel and useful mechatronic systems through the deterministic integration of mechanics, electromagnetics, controls, and electronics. Our research interests span a wide range of mechatronics topics, including but not limited to

• Electric motors and drives

• Control, instrumentation, and robotics

• Magnetic levitation systems

• Mobility electrification

• Biomedical devices

• Advanced manufacturing systems

Determinism

We embrace determinism as a guiding framework in our design & development process. The four pillars of determinism are outlined here (link):

• Predictability – Understanding of error sources from first principles

• Repeatability – Achieving consistent outcomes under identical conditions 

• Quantifiability – Stating the goals in terms of numbers and specifications

• Measurability – Being able to measure the performance in terms that relate to the quantified goals

Design for Control

In mechatronic system design, it is difficult to sequentially break down system-level specifications into module-level specifications (e.g., by following a tree structure), because the modules typically form feedback loops, leading to a chicken-and-egg problem. Therefore, a mechatronic system must be designed as a whole, with feedback control considered from the begenning. 

As designers, we should have a comprehensive understanding of the constituent modules and their interactions through the feedback loop. A well-thought-out combintation of sensors and actuators can significantly reduce the complexity of both mechanism and control algorithms. Also, we should give careful consideration to the physical interfaces between the modules. There may be hidden signals (e.g., interference from actuators to sensors), which are often overlooked but can cause various performance-limitting issues, such as saturation and instability. 

Coarse-to-fine Design

The coarse-to-fine approach streamlines the design of mechatronic systems. The figure below illustrates a typical design process of mechatronic systems on a plane defined by two axes. The vertical axis represents the level of object abtraction, and the horizontal axis denotes the level of idea abtraction. The design process typicaly progresses through this two dimensional domain from the top-left to the bottom-right in an iterative manner.

Level of Object Abtraction 

• System – A top-level object that needs to satisfy functional requirements for a specific application. 

• Module – A self-contained middle-level object that performs a task that is not necessarily specific to a given application (e.g., sensors, power amplifiers, etc.).

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

Level of Idea Abtraction 

• Strategy – The most abtract level of a design idea. It is typically conceived by exploring feasible combinations of physical principles that can meet the given functional requirements.

• Concept – A more refined design idea, typically represented through hand sketches and schematics that help visualize the idea. Once a specific concept is concieved, design parameters can be defined, allowing us to proceed with design details.

• Detail – The final step in the design process, where values are assigned to design parameters, materials are selected, and components are specified. Optimization is applied to the design parameters during this phase.