Seminar: Constrained Motion Control and Optimization in Robotics and Additive Manufacturing
Lu Lu, The Polytechnic School, Fulton Schools of Engineering
Friday, March 20, 2015
11 a.m. – noon
Peralta Hall (PRLTA) 132, Polytechnic Campus
As the emerging applications in robotics and automation enter our everyday life in which unstructured environment is common, the corresponding motion control designs need to consider more domain-specific problems beyond general issues of stability and tracking accuracy in industrial systems. Satisfying different constraints that might be changing and unpredictable while optimizing specific performance indexes for the particular application become major challenges for the design of next generation of motion controllers. In my research, Lu investigates various motion control problems in emerging applications, and develop domain-specific control algorithms to optimize the performances of the systems subject to different constraints. In this talk, Lu will highlight my researches on constrained motion control theory and applications to three emerging areas, including: 1) human-centered assistive robotics; 2) The control of autonomous robotic vehicles, including unmanned aerial vehicles and ground vehicles; 3) additive manufacturing and 3D printing. Experimental results and videos will be shown to demonstrate how the constrained motion control and optimization can significantly improve the system performances.
Lu has been with the Center for Automation Technologies and Systems (CATS) at Rensselaer Polytechnic Institute (RPI), since September 2013 as a Postdoctoral Research Associate. Prior to joining RPI, he received M.S. and Ph.D. degrees from the School of Mechanical Engineering at Purdue University, in December 2010 and August 2013, respectively, and the B.Eng. degree in mechatronic engineering from Zhejiang University, Hangzhou, China, in June 2008. Lu’s research interests include control, robotics, additive manufacturing, sensor fusion and human–machine interaction. In particular, he focuses on using the tools of control and mechatronics to improve the system performances in various emerging applications such as human-centered assistive robotics, mobile robots and additive manufacturing process.