All right. So I'm, I'm Jun. I'm talking about some trepidation topic that we have been working for about 10 years. So I create my introductory slide. I don't I'm not sure I have the shortest about Georgia Tech since 2008. So this is my 13th year. So I'll be working on Muslim control of mechatronics systems. I'm talking about teleportation in particular today. And we work on some new types of objectives. Electromagnetic pairs, electric, pneumatic, other actuation methodologies to have to be applied to many different robotic systems. And in ME, I teach system dynamic control and robotics. So dynamic suspect dynamics, kinematics. So is one kind of chart that the product that we've been working over years. So I'm interested in, I'm also control person in me. And I was also interested in some human aspects are human factors, human systems. So motor control is terminology in physiology, neuroscience. So I'm working some arbitrary motor control and motor, motor control. We develop different systems, robots, devices for surgical operations, rehabilitation, and then some remote operation of objects. So when we develop robots, so our robots tend to supposed to interact with human or part of human. So human-robot interaction is an important topic and how we can control those things or robust control. Trepidation of scenario is very interesting topic, talking about several topics, projects. Okay, so this is kinda taking a different axis. Application areas are in the three domains. So we're working on, so just ease our thank you. So you mentioned about agricultural applications, our visual systems. So that's applications. Agriculture, we worked with our semiconductor industry. Healthcare is actually growing. So we've been working on several collaborators on campus outside and the automotive and homeless Homeland Security. So I'm talking about today, There's this side. So how we develop robotic system that will be basically remotely operated for medical inquiry, medical but some manufacturing and security. So, alright, now, teleportation, teleportation is kind of all the topic. So we want to send, we develop robot to do something for us. So robot can be placed somewhere where we can, we cannot go for new nuclear plant, for example. So how we can control the robotic system remotely has been active topic, but which topic already? 2020 years ago when I was a graduate student. So it is still your topic. Yeah, well, some people might say, Oh, this is a topic. Actually, it's not ended yet. So there are still many interesting topics around. So, uh, for example, that this is an ID seed grant support that project couple of years ago. So we developed, we're still working on this. This is an MRI guided robotic surgical device. So we put a robot in MRI magnetic resonance imaging machine. And that robot will perform surgical operation, spine surgery for us. So this is one of the scenario that we want to use remote control robot operated from the safe place control. So this particular topic well, worked on the imaging or how we can navigate the robot using MR images. So beyond accelerated, beyond the resolution MRI. Well, so other topics, so I'm talking about the three topics. So safety, stability, and security. So this is one of the topics that we've been using robotic system to investigate neuro science. So the leaner team has been working on this area and she started this project with the NSF support sometime ago and we joined the project kind of second phase. So, and so they investigate the noodle. So balancing control in the human and tried to identify controllers inside us. So then to do this, the scientific methodology is to basically shake the human person or subject and then observe their response when that person is perturbed. So the mechanical perturbations, visual shaking that person while the person is standing or doing some dance. And then using the robotic device for haptic device, so which we are developing. So the issue is that does this robot doing the right job? So this is actually a big deal for citing study. So we need to provide right input, right perturbation to understand the human system. So if the robot is not doing its job. It's not doing the shaking the subject subject, right? Then you can't trust. No one can trust the results. That's a big deal. So is this robot doing the job? And in many cases, they are not because the loss of performance degradation, because the robot dynamics and they start sampling of the product perturbation systems. So, so here's some mathematical background. Then we want to perturb the system using London. We do pseudo-random input, which is very common in neuroscience study. So we asked our robot to realize the pseudorandom input mechanically. Then the, there are two problems. One is a 0, the whole sampling issue, and the robot dynamics realized by a robot dynamic robot controller. So because of those, originally wanted to give a random signal but ended up with completely different perturbation. So that's a, that's a huge problem. So how can we resolve this problem? And then the, because the our target is identify human motor system. So if, again, I will repeat. If the base is not good enough, we can trust the results that we proposed. Some metric to quantify the quality of perturbation are realized by robot. For a name is a little long. Band-limited spectrum, flatness major. So it's at the measure, quantify the quality of randomness created by the robot and determine. So our control implemented strategies to determine pretty filter and feedback control parameters to maximize this number by maximize this winds best. Why it's completely random, which is great, which is not really like the arrivals of treaty speaking. But we tried to tune the parameters as much as Rica so that we can get very close to one band limited specter of Laplace measure and that we implemented. And then it's four, it's a little complicated. But so by tuning, so lead is the best one so far. So we tune many parameters and they found a set of parameters so that we can increase, improve the quality of a random perturbation to identify the human motor system. So we did, some, are still working on some human system investigation right now. So, but this is very important big deal that for us to use robotic system as a tool for scientific research. Okay? All right, And next topic. Now, that same scenario. So we had, we worked on some S Air Force project some time ago. And to use the robot as a robotic of phosphorus ponder for a nuclear disaster. Consider scenario. So we send a robot with a collaboration with a Korean company, Korean University. And they had a platform. Basically excavator extends sensor equate. So this is a nice robot. There's a nice robot. So we want to control this robot from a safe place. So can we control this robot? Nice, stable re, write. The issue is that the Excavata is not great mechanism, so lots of frictions. And then it's Excavata is based on mobile manipulator mounted on a base. It's shakes a lot, right? So that's a problem. So can we control this robot with flexibility nicely? So because of tropism scenario, we don't. So if you take any emotional control as any dynamic control costs, probably you've heard that, okay. You model everything major, everything, implement everything into your controller and tried to compensate perfectly. That's not a great story. We don't want to do that. So this is not a rigid manipulator, little manipulative, great, right? That the text rebel textbook level dynamics, easier to control. We know a lot about how to control body manipulators nicely. Real reality is not. But can we ignore ignore or flexibilities and treat the flexible robot as rigid robot. And implement very, very, very simple controller without using any model. That's a great story than the implemented so easy. So then we found we were working on that difference between the rigid body robot and then I'm Richard robot. And we found a magic number which is robustness metric. So which applies to any, any rigid body layer, linearized or linear international dynamic system for any system. And we found this number. So this is the number that the robot is considered to be virtually rigid. So if this number robustness metric lower than this, It's harder to control. And then you can find, you can find, see this numbers point 3, 8, 26. By installing robust, a robust control toolboxes MATLAB and give. Any dynamical system or a nozzle system, you get this number. And my student actually found recently that this is actually the analytical result of this. So I think this number numerically for about 50 years and he actually found analytical solution. And this is part of his dissertation. So he spent a flip satellite a lot. They solved Riccati equations by hand. And they got this data gives a beautiful work for he just graduated, so did a very good job. So then the story here is that so when we saw the system, real system flexible, Can, we did want to ignore, write, and implement this digit body systems controller. So the Excavata type of system is redundant, which means we can choose a poster. Okay, so which of the posture? So that we neglect the dynamics around the chosen posture so that the HVAC system on the one diverse for two minutes ago. Alright? Okay, and the last one, the last one is that the same scenario? Now, the remote control scenario. We now at a new topic, we have to be careful about cyber attack to multi-modal systems. So you may remember that the cyber attack to the pipeline, that's not exactly the same story, but cyber attack is a big deal. So this is a new award started can days ago, but we're excited. So this is to implement control in ciphertext, not plain text, so that no one can attack it or change it. So the story is that instead of implementing controller in plain text, easier to attack for some people. So we implement controlling ciphertexts and by using homomorphic, which allow us to compute everything in ciphertext remotely, right? That's much, much thicker. So, and then by carefully choosing that our mathematical expression, expression tree to implement non-linear control, linear control and non-linear controller. Carefully choosing the order so that the computation want to diverse or lose precision when we implement everything in ciphertext. And this is that we haven't done anything yet because the project has just started. So this is a possible implementation when we apply this encrypted control idea to remote feedback. Cooperation with 22 systems. Okay, well, alright, so and I have what I mean, okay, great. Alright, So these products, and then let me show one more slide, some kind of an advertisement of upcoming symposium. So this is our last robotic Ottoman city sponsored symposium, international symposium on system integrals, SII. And so I volunteered to serve as a general chair. So this symposium will be coming to Georgia Tech. I chose RGT, Our Global Learning Center with very close other venue solved. That symposium review held January 720, 23, 23 a year and four months to go. So if you are interested in the symposium, please consider submitting papers and alpha, i leach out some of you to help me to organize this event. Thank you very much.