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Multi-scale Robotics: from Manufacturing to Biological Cell Manipulation
Date:2017/9/17     Browse:252

Speaker:   Prof. Xuping Zhang

Time:         Sep 17, 9:00am-10:00am

Location:  Room 1A-200  , SIST Building

Abstract:

This talk overviews his research efforts on robotics from macro-scale manipulation to micro-scale manipulation with applications from manufacturing, rehabilitation, and to biological cell manipulation. The first topic is Dynamic Design and Active Vibration Control of Lightweight Parallel Manipulators. This topic focuses on dynamic modeling of a lightweight parallel manipulator with the consideration of coupling effect between rigid body motion and elastic deformation, experimental modal test, active vibration control using smart structure, vibration controller design in modal space, and vibration real-time control experiments. The research aims to provide valuable insight to the design and control of lightweight parallel manipulators which is an alternative high-speed pick-and-place positioning mechanism to serial architecture manipulators in electronic manufacturing. The second topic is Microrobotics of Biological Cell Manipulation. This topic presents the development of microrobotic ICSI (intracytoplasmic sperm injection). The focus is on the challenges and solutions to robotic tracking and immobilization of a single fast-moving cell (i.e. sperm) under a low-contrast environment, fast immobilizing cells (i.e. oocytes) into a regular pattern for easier injection, aspiration and positioning of a cell with picoliter volume accuracy, and robust controller design for moving cell in a micropipette. The efforts are devoted to automating ICSI which is a clinical procedure performed manually in fertility clinics by highly trained embryologists under an optical microscope, and requires pick-up of a single sperm and inserting it into an oocyte (i.e., an egg cell). This talk will also briefly present his other research interests.

Bio:

Dr. Xuping Zhang is currently working with Aarhus University as an associate professor and the director of Robotics and Control Lab. His efforts at Aarhus University focus on establishing the education and research program in robotics, and building up the close collaborations with industries. Dr. Zhang received his Ph.D. in Mechanical Engineering from the University of Toronto in 2009 while studying at the Laboratory for Nonlinear Control. He worked with the Advanced Micro and Nanosystems at the University of Toronto as postdoctoral research associate from 2009 to 2011. He also Worked on dynamics of aircraft as an engineer with Pratt & Whitney Canada from 2011-2012. Dr. Zhang had been teaching and doing research in Mechanisms, Robotics, and Mechanical Design with Beijing University of Technology from 1999 to 2005. His research and teaching interests include Robotics with application to manufacturing and biological cell manipulation, Dynamics and Control of Multibody System with Flexible Components, Mechatronics, Mechanical Design, Mechanism and Machine Theory, Vibration Control with Smart Structures, Sensing and Sensor Technology, Robotics, Control Theory etc. Dr. Zhang is the author of over 70 papers and has 1 filed patent. His work in robotic ICSI won the Best Automation Paper Award at the IEEE International Conference on Robotics and Automation 2011

                                                                                                              SIST-Seminar 17040