Virtual Prototyping
Virtual Prototyping
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Telementoring Platform
Simulation
Experiment
A laparoscopic surgical training system, the LapaRobot, is introduced. The system is composed of an expert station and a trainee station connected through the Internet. The system is designed to createa high-fidelity approximation of the intracorporeal workspace, incorporate commercially available surgical instruments, and provide a wealth of high-resolution data for quantitative analysis and feedback. The simulation shown on the left is for kinematic analysis and motor sizing.
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Related publications
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Prince, Stephen W., et al. "A robotic system for telementoring and training in laparoscopic surgery." The International Journal of Medical Robotics and Computer Assisted Surgery 16.2 (2020): e2040.
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Rotary Pendula
Simulation
Experiment
This nonlinear rotary pendula platform was for demonstrating advanced digital controllers at UCLA MAE department. It was verified in simulation environment and then realized on the benchtop. State observer based control was implemented to stabilize the up-down configuration shown via the only actuation underneath. The original contributors include Alexie Pogue, Yu-Hsiu Lee, and Xuan Lin.
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Satellite Attitude Control
Lumped Parameter Modeling
Alpha Angle Variation
Beta Angle Variation
Frequency Response Matrix
This single-wing satellite exhibit interesting dynamic coupling between the main body and the flexible appendage. Moreover, the angle variation of the satellite results in inertial change and thus a challenging control system. Shown on the right presents the 3-DOF open-loop
magnitude plot of the frequency response matrix, demonstrating the modeling consistency between the first principle and commercially available software for multi-body dynamics.
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