Current Projects
- Engineering-Medicine: Develop Camera-Projector System to Project Osteotomy Lines in Resection Surgery to Remove Osteosarcoma; Collaboration with Orthopedics
- Raman Spectroscopy for Cancer Detection: Use Raman Spectroscopy for the Detection of Tumor Tissues and Machine Learning in Establishing Clinical Relevance (IRB Approval); Collaboration with Orthopedics, Pathology, and Radiation Oncology
- Robotics and Control: New Enhanced Impedance Control for Redundant Robots by Regulating Zero-Potential-Energy (ZP) Motion Due to Redundancy — A Natural Physical Motion Due to the Minimum Energy Principle.
The two videos below demonstrate the handshake operation with the Franka-Emika Panda, a 7-degree-of-freedom redundant robot. In the first video, baseline impedance control without ZP motion regulation is used, resulting in an unstable handshake. In the second video, the enhanced impedance control is applied, successfully regulating ZP motion and achieving a stable handshake.
Previous Projects
- Wafer manufacturing; wafer production of silicon and semiconductor wafersIntelligent fault detection and diagnosis (FDD) and prognosis of mechanical-pneumatic systems
- Nano-indentation and materials properties in manufacturing processing
- MEMS design and fabrication; established the first MEMS lab on campus of Stony Brook
- Smart Anthropomorphic Contact Surface Technology (SACST) and applications using MEMS
- Modeling and control of wiresaw manufacturing technology
- Manufacturing process and modeling of Free Abrasive Manufacturing (FAM)
- Stiffness control and the conservative congruence transformation (CCT)
- Modeling contact mechanics of soft contacts with experimental validation
- Computing and controlling compliance of a robots and dextrous manipulation
- Modeling and analysis of human grasping behaviors using robotics theory
- Real-time computer-based control systems & computer-based data acquisitions
- Artificial Neural Network (ANN) application and control
- Taguchi methods in robust technology development & quality engineering
- Computer-integrated-manufacturing (CIM) and manufacturing automation