PHILIP LONG

Professional Experience

Research on advanced manufacturing, industry 4.0.

• Lecturer in Robotics & Automation
• Research lab in Human robot collaboration & Adaptive Robotics

---

Research on advanced manufacturing, industry 4.0.

• Technical lead of the robotic team
• Integrating robotics into flexible assemble lines
• Augmenting robot capabilities using big data

---

Research on humanoid robots, collaborative robots and service robots.

• Evaluating humanoid robots capabilities (Valkyrie) in constrained environments
• Robot task sequencing using risk metrics
• Contact rich motion planning
• Supervision of masters & PhD students

---

Research on humanoid robots for nuclear decommissioning tasks

• Kinematic modeling of humanoid robots (Valkyrie) in constrained environments
• Contact rich motion planning
• Share/blended control of humanoid robots

---

Research and development of robotic systems for translational applications

• Technical lead of the collaborative robot division of the robotic team
• Development of control strategies that allow human robot collaboration in an industrial environment
• Design and implementation of sensor based control architectures on universal robot's UR10
• Implementation of vision based controllers to improve robotic task accuracy and flexibility
• Modeling and controllers of cable driven parallel robots
• Benchmarking of state of the art sensors

---

Mechanism Analysis using Screw Theory

---

Mechanical analysis of automated systems used to test hard disc drives in large volumes under desired thermal and dynamic conditions.

• Thermal, vibration and shock testing of existing and new products
• R&D work, introducing new products, ideas into existing processes
• Software support for large data management, experimental control
• Finite Element methods for stress and modal analysis
• Quality control and end of line test installation (Malaysia)
• Responding to Customer and Supplier requests (Malaysia, Korea)

---

Mechanical/Biomedical internship

• Manufacture of catheters in R&D environment
• Testing of angioplasty balloons and stents

---

Teaching & Advising Experience

ME 3460 - Robot Dynamics and Control

Covers fundamental components and mechanisms of robotic systems and their multidisciplinary nature. Introduces the robot’s kinematics, dynamics, and control. Presents a quick overview of forward and inverse kinematics, robot dynamics, as well as path planning and control techniques. Topics also include dynamic modeling and analysis of mechanically, electrically, and magnetically driven hydraulic and pneumatic drives; kinematics and motion analysis of linkages; as well as sensing technologies (e.g., position, linear and angular displacements, velocity and acceleration, force and torque sensors) used in robotic systems. Presents kinematics and control of automatic machinery and manufacturing processes, automatic assembly, and inspection robotic systems as representative examples.

---

• Robot Modeling
• Robot Dynamics and Control
• Visual Servoing

---

Education

Contributions to the modeling and control of cooperative manipulators

This thesis focuses on the modeling and control of cooperative robots manipulating rigid and flexible objects. Theoretical contributions include kinematic and dynamic analysis of robot behavior, new modeling strategies for multi-arm systems and new force/vision controllers that cope with unexpected object deformation. Studies on flexible object manipulation lead to a new dynamic formulation for parallel robots with flexible platforms. The proposed modeling formulations are validated using advanced simulation tools. The control schemes are validated experimentally in the industrial environment using a meat cutting robotic cell.