Real-Time Pressure-based Feedback Control for Robotic Additive Manufacturing

• Acquired real-time pressure data using a load cell on the SCARA arm with an extruder
• Developed a real-time pressure-based PID control system to enhance the geometric fidelity of extruded filaments
• Developed an offline scanning process using a laser profiler and TCP/IP communication

Sensor Testing and Evaluation of Robot Vacuums

• Hardware-in-the-Loop (HIL) simulations for sensor validation of robot vacuums
• Sensor testing for accuracy evaluation

Design, Modeling, and Control of Robotic Systems for Prostate Biopsy and Brachytherapy

• Designed robotic active needles and a portable robotic system for operating these needles in prostate biopsy and brachytherapy
• Programmed a computational method to determine the optimal robotic active needle configuration for prostate high-dose-rate brachytherapy
• Developed mechanics-based and kinematic models, and a PID control system for robotic active needles with ultrasound tracking

Dynamic Modeling and Performance Analysis of a One-Wheeled Mobile Robot

• Developed dynamic models of a one-wheeled mobile robot
• Verified the accuracy of the models using multi-body dynamics simulation
• Conducted performance analysis by implementing a PID control system on the models