Dynamics and Control Laboratory

The Dynamics and Control Laboratory serves introductory, intermediate, and advanced courses in dynamics, vibrations, and controls. Laboratory exercises for EK 302 Engineering Mechanics II and AM 441 Mechanical Vibrations in mechanical oscillatory systems have been developed to provide experimental verification of theoretical concepts introduced in lectures. Laboratory exercises for AM 403 Atmospherics Flight Mechanics and AM 404 Dynamics and Control of Mechanical Systems will allow the testing of analysis and design techniques for the feedback control of aeronautical and mechanical systems.

Two computer-controlled cart and pendulum systems are currently operational. For dynamics and vibrations classes, they can be used individually to demonstrate principles of dynamics. Feedback control can be used to study the effects of varying the apparent mechanical properties of the systems. Dynamic coupling of the individual systems can also be achieved through computer control. Experiments developed for the Aerospace and Mechanical Engineering control classes (AM 403 and AM 404) will focus on applying design and analysis tools. Stability and performance specifications will be emphasized.

In addition, the lab contains a controllable airfoil to be used in AM 403 Atmospheric Flight Mechanics to study aircraft stability and control. A second system consists of a flexible two-floor structure similar to a building. Accelerometers and motor-driven carts are included on each floor. This system can be used in EK 302, AM 441, AM 403, and AM 404 to explore the concepts of flexible systems, modal analysis, MIMO (multi-input multi-output) control and vibration dammping. Approximately 500 square feet of space is specifically dedicated to this instructional laboratory.

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The Intelligent Mechatronics Laboratory

The Intelligent Mechatronics Laboratory is a 1,000 square foot facility located in the Aerospace and Mechanical Engineering Building at 110 Cummington Street. It is home to the students and research efforts of Professors Hua Wang, Pierre Dupont, and John Baillieul. The mission of the laboratory is to develop new control and information technologies to support advanced applications in robotics surgery, coordinated control of autonomous robot vehicles, control of complex mechanical systems (e.g. fluids and arrays of micro-actuators). Current projects, included in the following list, are described in detail in the laboratory's web pages, which may be accessed from http://iml.bu.edu:

• Medical robotics (optimal port placement for minimally invasive surgery, image guided surgery)
  
• Communicating mobile robotics
  
• Contact sensing (modeling by manipulation)
  
• Structural dynamics (mechanical realization, MEMS filter)
  
• Control of fluids
  
• Friction analysis (friction modeling)
  
• Networked control systems
  
• Sensor networks
  
• Tactile display (multichannel vibrotactile display)
  
• Control of mechanical systems

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