A collaboration between Maclab and Radiological Sciences, the MR

Robot is a hydrostatically actuated robotic system for real-time

MRI-guided interventions. Real-time image visualization and guidance are

 crucial for minimally invasive cancer interventions (e.g., prostate and

 abdomen). While the MRI provides excellent tissue contrast,

multi-planar imaging, and non-ionizing energy, the closed bore limits

physical access to the patient. For this reason, a MRI-compatabile

robotic device is developed

In this project, we introduce a flying vehicle that overcomes the

inherent maneuverability limitations of traditional multirotors. Full

directional authority is enabled on each individual thrust vector by

introducing two additional degrees of freedom (twist and tilt) to each

rotor. The resulting system possesses omnidirectional thrust-vectoring

capabilities, fully decouples the position and attitude dynamics, and

minimizes wasted thrust over its entire configuration space.

Waste heat recovery in automotive vehicles is a method to extract

energy as work that would otherwise be wasted through engine exhaust.

The goal of this research is to model the Rankine power cycle in

heavy-duty diesel powertrain and develop advanced control algorithms for

 optimal power generation and improved vehicle engine efficiency.

Linear motors have been widely used in lithography, which are usually

 realized with optomechanical devices called a wafer scanner. Linear

motors can provide both large travel range and precise motion. Nonlinear

 back lash and contact friction effects are also avoided with direct

drive linear motors supported by air bearings or electromagnetic

levitation.

This is a hybrid concept other than electric hybrid for vehicle fuel

economy. Enabled by camless valvetrain, the engine is configured to run

as a compressor during vehicle braking, thus vehicle kinetic energy is

used to produce compressed air.

This research involves the design and control of a Dual Stage Fast

Tool Servo (FTS) for precision machining of complex non-circular shapes.

 A piezoelectric actuator of 20 microns motion is integrated with an

existing electromagnetic linear actuator.

HIFU utilizes intersecting beams of ultrasound waves to create a high

 intensity focal point. When the focus is located in soft tissue, the

acoustic energy is absorbed and converted into heat. Beyond a certain

threshold, this heat causes thermal coagulation of the tissue resulting

in localized cell death. The key advantage of HIFU is that it is

noninvasive. It does not require skin puncture and healthy tissue in the

 ultrasound near Þeld is left undamaged by the treatment.

The MBC500 is a tabletop rotor system supported by electro-magnets

rather than traditional journal bearings. Fitted with a turbine, the

rotor can be spun up to high speeds to investigate various control

stategies regarding the stabilization of a spinning rotor. Due to the

actuator-sensor configuration, the MBC500 is also a good Multi-Input

Multi-Output (MIMO) testbed for controls research.

Mouse tail injection studies the image-guided catheter injection

control of the automated vascular injection, particularly for PET scans.

 The goal of this research is to develop a robust and efficient vein

location estimation algorithm, and drive the catheter needle to perform

chemical injection.

Smart Grids are system that contains at least one distributed energy

resource (DER) and local loads. Every unit within the system exchanges

information with each other so that smart grid can adapt to load changes

 and other influences. The challenges to the control of smart grid are:

a) the control of each DER has to guarantee the output AC power is

compatible with the grid. b) during transitions between grid-tied and

off-grid mode.