Prof. Georg Schitter,
Automation and Control Institute (ACIN)
TU Wien, Austria
Precision Engineering in Imaging Systems: Opto-mechatronics for Measurement, Manufacturing and Satellite-Communication
Mechatronic imaging systems are utilized in a wide range of applications such as scanning-laser measurement, additive manufacturing systems, as well as in scientific instrumentation. These applications often demand extreme specifications, challenging the mechatronic components in terms of precision, bandwidth, and actuation range. Achieving these demanding goals requires a proper system integration that fosters on the interplay between process design and control design.
In the first part of the presentation a novel fast steering mirror (FSM) is presented that is based on hybrid reluctance actuation, which enables laser scanning and pointing applications over a large range and high bandwidth. Consecutively this scanning mirror is integrated with a laser triangulation sensor and a magnetically levitated platform that are mounted on an industrial robot for enabling high-resolution 3D-metrology directly in a vibrating environment of a production line, while the objects under test are moving.
The second application addresses additive manufacturing at high resolution, large scale, and high throughput. A novel light engine achieves SLA 3D printing at a resolution of 25 micrometer at writing speeds on the order of 1000 m/s, where systematic errors of the projection optics and manufacturing tolerances have to be compensated in real-time by means of an FSM and iterative learning control.
A third application discusses satellite tracking with ground-based telescope systems. The mount of a robotic telescope is improved in its precision as well as tracking bandwidth by optimizing the mechatronic system of the motors and by a model-based control approach. The precise tracking of LEO-satellites is demonstrated. Establishing a laser-link for optical free-space communication simultaneously requires to reject vibrations and atmospheric disturbances at a high bandwidth, enabling optical communication in satellite networks as well as between a satellite and the optical ground-station.
Georg Schitter is Professor for Advanced Mechatronic Systems and head of the Automation and Control Institute (ACIN) at TU Wien, Austria. He received a M.Sc. in Electrical Engineering from Graz University of Technology, Austria, in 2000, and a M.Sc. and a Ph.D. from ETH Zurich, Switzerland, in 2004. He was a postdoctoral fellow at UCSB (Santa Barbara, CA, USA) and an Associate Professor at Delft University of Technology, the Netherlands. His primary research interests are on high-performance mechatronic systems and multidisciplinary system integration, particularly for precision engineering applications in the high-tech industry, scientific instrumentation, and mechatronic imaging systems such as atomic force microscopes, scanning laser metrology, LiDAR and augmented reality head-up displays, robot-based measurement systems, telescope systems, adaptive optics, additive manufacturing, and lithography systems for semiconductor industries. He was a recipient of several prestigious fellowships and awards, among them the 2013 Young Researcher Award of the IFAC TC Mechatronics, the best paper award from the Asian Journal of Control (2004-2005), IFAC Journal Mechatronics (2008-2011), and IEEE/ASME Transactions on Mechatronics (2018). He served as an Associate Editor for the IFAC Journals Mechatronics and Control Engineering Practice, the IEEE/ASME Transactions on Mechatronics, and for the IEEE CEB.
Prof. Jingang Yi
Department of Mechanical and Aerospace Engineering
Rutgers University, USA
Motion Control of Underactuated Balance Robots
Underactuated balance robots have more degrees of freedom than the number of control inputs and they perform the balancing and tracking tasks simultaneously, such as rotational inverted pendulums, bicycles and bipedal walkers, etc. The balancing task requires the robot to maintain its motion around unstable equilibrium points, while the tracking task requires following desired trajectories. In this talk, I first review the model-based control design of the underactuated balance robots. Balance equilibrium manifold is proposed to capture the external trajectory tracking and internal balance performance. I will then present a machine learning-based control for underactuated balance robots. Gaussian process is used to obtain the estimation of the systems dynamics and the learning process is obtained without need of prior physical knowledge nor successful balance demonstrations. Additional attractive property of the design includes the guaranteed stability and closed-loop performance. Experiments from a Furuta pendulum and a bikebot are used to demonstrate the performance of the learning-based control design. Finally, I will present a few mechatronic design and motion control applications of underactuated balance robots such as mobile manipulation with bikebot, autonomous bikebot with leg assistance, and autonomous vehicle ski-stunt maneuvers.
Professor Jingang Yi received the B.S. degree in electrical engineering from Zhejiang University in 1993, the M.Eng. degree in precision instruments from Tsinghua University in 1996, and the M.A. degree in mathematics and the Ph.D. degree in mechanical engineering from the University of California, Berkeley, in 2001 and 2002, respectively. He is currently a Full Professor in mechanical engineering and Peter D. Cherasia Faculty Scholar at Rutgers University. His research interests include physical human-robot interactions, autonomous robotic and vehicle systems, mechatronics, dynamic systems and control, automation science and engineering. Prof. Yi is a Fellow of ASME and a Senior Member of IEEE. He has received several awards, including the 2018 Japan Society for the Promotion of Science (JSPS) Invitational Fellowship for Research, 2017 Rutgers Chancellor’s Scholars, 2014 ASCE Charles Pankow Award for Innovation, the 2013 Rutgers Board of Trustees Research Fellowship for Scholarly Excellence, and the 2010 NSF CAREER Award. He has coauthored several best papers in IEEE Transactions on Automation Science and Engineering and at IEEE/ASME AIM, ASME DSCC, and IEEE ICRA, etc. He currently serves as a Senior Editor for IEEE Transactions on Automation Science and Engineering and Editor-in-Chief of Conference Editorial Board for IEEE International Conference on Automation Science and Engineering (CASE). He also served as Associate Editor of IFAC journals Control Engineering Practice, Mechatronics, IEEE/ASME Transactions on Mechatronics, IEEE Transactions on Automation Science and Engineering, IEEE Robotics and Automation Letters, and ASME Journal of Dynamic Systems, Measurement and Control and a Senior Editor of IEEE Robotics and Automation Letters
Prof. Toshio Fukuda
Program Director (PD), The Moonshot Research and Development Program in Japan
Professor Emeritus at Nagoya University, Japan
AI Robots and Moon Shot Program for the Social Mega-trend problems
We have been working on the large project on AI and Robot in the Moonshot program since 2020. Focusing on the coevolution and self organization capabilities, based on the Society 5.0 concept, it is a new and challenging program aiming at the AI robotic system in 2050, which will contribute on solving some of Mega-trend problem in our society. I will introduce some of the projects in this program for realization of the Society 5.0 by back-casting technologies from the 2050 to the current ones. Then I will show the progress and current status of several projects of the Program since there are new projects on Science of Awareness and infrastructure construction on the moon by AI and robotic technology.
Toshio Fukuda is Professor Emeritus of Nagoya University and University Professor Waseda University. He is mainly engaging in the research fields of intelligent robotic system, micro and nano robotics, bio-robotic system and industry applications in robotics and automation. He was the President of IEEE Robotics and Automation Society (1998-1999), and IEEE President (2020). He was Editor-in-Chief of IEEE/ASME Trans. Mechatronics (2000-2002). He was chairs of many conferences, such as the Founding General Chair of IEEE International Conference on Intelligent Robots and Systems (IROS, 1988), International Symposium on Micro/Nano Mechatronics and human Science(MHS, 1989), IEEE Conference on Advanced robots and Social Impact(2005), System Integration International(2008), IEEE Conference on Cyborg and Bionic Systems (CBS, 2017), IEEE Conference on Intelligence and Safety of Robots (ISR, 2018). He has received many awards such as IEEE Robotics and Automation Pioneer Award (2004), IEEE Robotics and Automation Technical Field Award (2010), Medal of Honor on Purple Ribbon (2015), The Order of the Sacred Treasure, Gold Rays with Neck Ribbon (2022). IEEE Fellow (1995), SICE Fellow (1995), JSME Fellow (2002), RSJ Fellow (2004), VRSJ Fellow (2011), member of the Japan Academy of Engineering (2013).
Prof. Kamal Youcef-Toumi
Department of Mechanical Engineering,
Massachusetts Institute of Technology (MIT), USA
High-Speed Nanoscale Imaging
Microscopy instruments are important research tools for imaging and characterizing nanoscale phenomena. Among such tools is the atomic force microscope (AFM) which measures various quantities from the probe-sample interaction. With high-speed imaging, dynamic processes can be visualized to improve fundamental understanding of microscopic interactions. Scientists can use videos, in addition to images, to observe and compare experimental data with theoretical predictions, and verify models without speculating about intermediate dynamics.
The presentation will start with a brief overview of the ongoing robotics, automation, and intelligent systems projects within our laboratory. It will then cover developments enabling advanced visualization capabilities. These include (i) increasing throughput for higher temporal resolution imaging, (ii) enabling imaging in harsh opaque liquids, and (iii) developing hardware and algorithms for improved performance with vision-based automation, and software for AFM big data processing.
Example applications include visualizing chemical reactions and biological responses in their native environments. AFM images and videos at 20 frames per second are obtained in various environments. Such developments have broader impacts in the fields of precision instrumentation, nanofabrication, and nano-scale process video-rate visualization.
Kamal Youcef-Toumi is a Professor of Mechanical Engineering at the Massachusetts Institute of Technology (MIT). He is Co-Director of the Center for Complex Systems at King Abdulaziz City for Science and Technology (KACST) Saudi Arabia and MIT, Director of the Ibn Khaldun Fellowship Program for Saudi Arabian Women, and Director of the MIT Mechatronics Research Laboratory. He earned his M.S. and Sc.D. degrees from MIT. Youcef-Toumi’s research has focused primarily on modeling, design, control theory and learning techniques with fast adaptation, and systems intelligence. The applications include robotics, automation, intelligent systems with artificial intelligence, metrology, and nanoscale video imaging. He made significant contributions to MIT’s international research and education collaborations, including Qatar, Russia, Saudi Arabia, Singapore, and the United Arab Emirates. Youcef-Toumi is the recipient of the National Science Foundation Presidential Young Investigator Award from President Ronald Reagan. He served on many professional committees and as a consultant for several multinationals. He is an IEEE Senior and Life member, an ASME Fellow, and a Fellow of the International Association of Advanced Materials. He served as Editor of several symposia/conference proceedings. He authored over 350 publications and holds about 50 registered/pending patents. Professor Youcef-Toumi has been an invited lecturer at over 260 seminars at companies, research centers, and universities worldwide.