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teD iwasaki, Professor
teD iwasaki, Professor
His current research interests include biological mechanisms for autonomous feedback, dynamics and control of locomotion, coupled nonlinear oscillators, global pattern formation via local interactions, and robust/optimal control theories and their applications to engineering systems.
Mahshid Fardadi, Postdoctoral Researcher
Mahshid Fardadi, Postdoctoral Researcher
She is working on modeling and analysis of neuronal circuits for lower urinary tract, and examining the effects of electrical/magnetic spinal stimulation on recovery of feedback control functions after spinal cord injury.
Taylor Ludeke, Ph.D student
Taylor Ludeke, Ph.D student
She has developed a theory that explains mechanisms underlying undulatory locomotion - observed traveling waves can result from natural oscillation and resonance associated with the body-fluid interactions. She also solved the optimal eigenstructure assignment problem that gives a way to design feedback controllers to achieve a desired oscillation with the minimal cost.
Kewei Ren, Ph.D student
Kewei Ren, Ph.D student
He has figured out a way to design a network of oscillators to embed multiple limit cycles within the state space subject to a distributed network structure constraint. He plans to extend the result to the design of distributed feedback controllers for robotic locomotors to achieve multiple gaits and their transitions.
Yiqin Liu, Ph.D student
Yiqin Liu, Ph.D student
Yiqin received her B.E. degree from Fudan University in Electrical Engineering in 2016.
She has developed a simplified version of the integrated model for undulatory leech swimming, and shown that harmonic balance analysis provides reasonable estimates for the oscillation profile and stability. She is currently analyzing the leech CPG circuit to uncover the control mechanisms for distributed, adaptive coordination.
Jingjie Wu, MS student
Jingjie Wu, MS student
He has been studying the effect of stiffness/damping on the stability property (domain of attraction) of passive gaits for a simple walker model. He plans to expand his research into feedback control design for hybrid systems.
Shengkai Peng, MS student
Shengkai Peng, MS student
He has so far been busy with course works and TA duties. He plans to look at assistive control problem in the context of human-robot interactions.
Takeshi Matsumoto, Visiting MS student
Takeshi Matsumoto, Visiting MS student
He is a visiting MS student from Nagoya University, Japan.
His research is on the data-based control design. He considers the problem of vibration attenuation in a flexible membrane through feedback control by piezo-electric actuator/sensor. The objective is to develop a method for determining the control gains directly from the frequency response data so that vibration is attenuated with a stability guarantee.
Anthony Pham, Undergraduate student
Anthony Pham, Undergraduate student
He is conducting a basic study of neural interactions using reduced order Hodgkin-Huxley models. The simple interaction models will be useful for analysis and simulation of a general neuronal circuits with increased computational efficiency.
Past Members
Past Members
Post-doctoral Researchers
Xinmin Liu (5/2010-10/2013), UCLA
Yasuyuki Suzuki (10/2012-1/2013), UCLA
Zhiyong Chen (4/2005-8/2006), University of Virginia
Min Zheng (2/2008-8/2008), University of Virginia
Ph.D Students
Jinxin Zhao, "Bio-inspired Control of Robots to Assist Humans with Repetitive Movement Tasks," UCLA, December 2017
Andy Wu, "Pattern Formation via Eigenstructure Assignment," UCLA, June 2016
Saba Kohannim, "Optimal Oscillations and Chaos Generation in Biologically-Inspired Systems," UCLA, June 2016
Jun Chen, "Mechanisms underlying undulatory swimming: From neuromuscular activation to body-fluid interactions," University of Virginia, May 2011
Justin T. Blair, "Optimal locomotion of mechanical rectifier systems," University of Virginia, August 2011
Tom Bliss, "Central pattern generator control of a tensegrity based swimmer," University of Virginia, September 2011 (co-advised)
Yoshiaki Futakata, “Natural mode entrainment by CPG-based decentralized feedback controllers," University of Virginia, August 2009
Jianghong Tian, “Muscle function and neuromuscular transformation in leech swimming," University of Virginia, August 2008
Min Zheng, “Modeling of CPG-based control mechanisms for leech swimming," University of Virginia, August 2007
Dominick Montie, “Performance limitations and self-sensing magnetic bearings," University of Virginia, January 2003 (co-advised)
Tsuyoshi Kiyama, "Robust control synthesis for linear time invariant systems with sector type nonlinearities using circle criterion," Tokyo Institute of Technology, March 2001
M.S. Thesis Students
Chin Li, "Neural Control Design of Robust Resonance Entrainment and Experimental Validation with Elastic Flapper," UCLA, March 2014
Ron Forch, “Exploring new paradigms in locomotion: The development and analysis of a simplified manta ray wing model," University of Virginia, August 2007.
Robert Lynch, “Modeling the leech swim system: sensory feedback and stability analysis," University of Virginia, August 2007
Bo Liu, “CPG-based feedback control of prototype mechanical rectifier," University of Virginia, May 2005
Hirokazu Yamauchi, "Structure/control integration based on finite frequency positive-realness," Tokyo Institute of Technology, 2001
Masakazu. Fukaya, "Nonholonomic position and attitude control of an underwater vehicle," Tokyo Institute of Technology, 2001
Yoshiaki Futakata, "Branch and bound algorithm for BMI eigenvalue problem on parallel system," Tokyo Institute of Technology, 2001
Masashi Saito, "Control method of a hyper redundant snake robot," Tokyo Institute of Technology, 2000
Kazufumi Ichimaru, "Stability analysis of linear systems with saturation," Tokyo Institute of Technology, 2000
Hirokazu Sugiyama, "Synthesis of data-based control systems," Tokyo Institute of Technology, 2000
Goh Shibata, "Robust control system analysis with parameter-dependent Lyapunov function," Tokyo Institute of Technology, 1999
Hiroki Sugimoto, "Control synthesis via IQCs," Tokyo Institute of Technology, 1999
Kazunori Yamashiro, "Robust control synthesis with adaptive structure," Tokyo Institute of Technology, 1998
Taro Mori, "Frobenius norm minimization by gradient flow," Tokyo Institute of Technology, 1997 (co-advised)
B.S. Thesis Students
Casey Halvordson (9/2008-5/2009), University of Virginia, "The perfect dolphin kick"
Patrick Ho (9/2007-5/2008), University of Virginia, "Control of an aquatic wing structure using central pattern generators"
Sean Yein (9/2006-5/2007), University of Virginia, "Resonance entrainment of muscle-driven pendulum by reciprocal inhibition oscillator"
Devin Mai (9/2006-5/2007), University of Virginia, "Resonance control of pendulum systems with recurrent cyclic inhibition oscillator"
Jarett Michaelson (5/2005-4/2006), University of Virginia, "Analysis and simulation of a central pattern generator coupled with a prototype mechanical rectifier"
Nathan Hanfman (9/2003-4/2004), University of Virginia, "Serpentine locomotion with central pattern generator"
Ayo Olorunsola (9/2003-4/2004), University of Virginia, "Analysis of self-excitation attainment in central pattern generators"
John Sklarz (9/2003-4/2004), University of Virginia, "Robotic realization of undulatory locomotion"
Daniel Kamerling (9/2002-4/2003), University of Virginia, "Analysis of RCI oscillators for leech swimming locomotion"
Hirokazu Sugiyama, (4/1997-3/1998), Tokyo Institute of Technology, "Exact computation of the structured singular value"
Hiroyuki Tanaka, (4/1997-3/1998), Tokyo Institute of Technology, "On the robust H2 performance analysis"
Kazufumi Ichimaru (4/1997-3/1998), Tokyo Institute of Technology, "State feedback control for systems with nonlinear components"
Hirokazu Yamauchi, (4/1998-3/1999), Tokyo Institute of Technology, "Locomotion analysis of hyper redundant systems"
Masakazu. Fukaya, (4/1998-3/1999), Tokyo Institute of Technology, "Locomotion control of a hyper redundant system: Input transformation approach"
Yoshiaki Futakata, (4/1997-3/1999), Tokyo Institute of Technology, "Designing controllers for systems with input saturation"
Rie Nakashima, (4/1999-3/2000), Tokyo Institute of Technology, "Analysis of a hyper redundant snake robot: Relationship between driving force and undulation angle"
Fumihiro Shimizu, (4/1999-3/2000), Tokyo Institute of Technology, "Integrated design of control/structure systems"
Teruyoshi Sadahiro, (4/1999-3/2000), Tokyo Institute of Technology, "Stability analysis of linear systems with time delay"
Non-thesis Students and Visitors
Cyril Nader, MS, UCLA, 2018
Pamela Fusek, MS, UCLA, 2015
Aki Saito, BS, UCLA, 2014
Bryan Lee, BS, UCLA, 2014
Chin Li, BS, UCLA, 2012
Min Wen, visiting CSST undergraduate student from Zhejang University, 2012
Michael Chu, MS, UCLA, 2013
Brady Bolton, MS, UCLA, 2011
Tatsuya Ibuki, visiting Ph.D student from Tokyo Institute of Technology, 2011
Saba Kohannim, BS, UCLA 2011
Shulin Jiang, BS, UCLA, 2011
Yuko Saito, BS, UCLA, 2011
Jeremy Wolf , MS, University of Virginia, 2002
Toshiyasu Yonemura, visiting MS student from Tokyo Institute of Technology, 2002
Sven Hedlund, visiting Ph.D student from Lund Institute of Technology, 1998
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