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Prof. Cappelleri receives John J. Gallen Memorial Award

posted Sep 10, 2013, 8:52 PM by Dave Cappelleri   [ updated Sep 10, 2013, 8:52 PM ]

David Cappelleri has received the John J. Gallen Memorial Award from the Villanova University Engineering Alumni Society.  See here for more information.

MSRAL moves to Purdue University!

posted Aug 19, 2013, 9:01 PM by Dave Cappelleri   [ updated Aug 19, 2013, 9:01 PM ]

Professor Cappelleri and the Multi-Scale Robotics & Automation Lab will be moving to Purdue University as of the Fall 2013 semester.  Stay tuned for an updated website and project information.  Prof. Cappelleri's new e-mail address is: dcappell@purdue.edu

NSF Funds Regionally Unique Motion Capture Robotics Lab at Stevens

posted Oct 3, 2012, 8:50 AM by Dave Cappelleri   [ updated Oct 3, 2012, 8:51 AM ]

Principle Investigator (PI) Dr. David Cappelleri, and co-PI’s Dr. Philippos Mordohai, Dr. Antonio Valdevit, Dr. Michael Zavlanos, and Dr. Mark Blackburn have received a grant from the National Science Foundation (NSF) for a large volume, real-time, high resolution motion capture system to aid in the development of technologies that will help find and rescue people during emergencies, explore dangerous and unpredictable areas for military or scientific purposes, map unknown terrain, conduct detailed 3-D surveillance, enhance athletic performance, and help people walk again.

Please click the following link for more information:
http://www.stevens.edu/news/content/nsf-funds-regionally-unique-motion-capture-robotics-lab-stevens

MSRAL presents 5 papers at ASME IDETC/CIE

posted Aug 20, 2012, 8:18 AM by Dave Cappelleri

Graduate students Wuming Jing, Yangbo Long, Zhenbo Fu, and Yin Chen along with Prof. Cappelleri attended the ASME 2012 International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference (CIE) from August 12-15, 2012 in Chicago, IL.  The lab presented 5 papers at the conference in all: 
  1. Y. Long, S. Lyttle, N. Pagano, D. Cappelleri, "Design and Quaternion-based Attitude Control of the Omnicopter MAV using Feedback Linearization"
  2. Y. Long, S. Lyttle, D. Cappelleri, "Linear Control Techniques Applied to the Omnicopter MAV in Fixed Vertical Ducted Fan Angle Configuration"
  3. W. Jing, N. Pagano, D. Cappelleri, "A Micro-scale Magnetic Tumbling Microrobot"
  4. Y. Chen, D. Cappelleri, "Exploration of Mobility Modes Arising from the Breakdown of a Basic Regular Tetrahedron"
  5. D. Cappelleri, Z. Fu, "Cooperative Micromanipulators for 3D Micromanipulation and Assembly"

MSRAL Competes in NIST Mobile Microrobotics Challenge at ICRA 2012

posted May 22, 2012, 2:27 PM by Dave Cappelleri

The Mobile Microrobotics team of the MSRAL competed in the final round of the NIST Mobile Microrobotics Challenge held at IEEE ICRA 2012 in St. Paul, Minnesota, USA from May 14 - 18.  The team was one of only 9 international teams to qualify for the final round of the challenge.  Team MSRAL successfully completed both of the challenge events: 1. Mobility Challenge and 2. Microassembly Event.

In the Mobility Challenge, a microrobot must navigate a prescribed course through a planar track in the fastest possible time. The Microassembly event requires a microrobot to assemble multiple micro-scale components in a narrow channel. This event will simulate manipulation challenges found in in vivo medical applications, such as operation inside a human blood vessel, and assembly-based nanomanufacturing.  Each competing team must furnish its own microrobots, which must operate wirelessly and fit within a 600-μm-diameter sphere.

The MSRAL team was able to navigate the course in Mobility challenge with the fifth best average time while it finished tied for third place in the Microassembly event.  For more information on the competition please visit the competition website here:
http://www.nist.gov/el/isd/mmc/

The Mobile Microrobot team consists of students:  Wuming Jing, Bona Bai, Sean Lyttle, Nick Pagano and Prof. Cappelleri

Dr. David Cappelleri Receives NSF CAREER Award

posted Mar 1, 2012, 5:33 AM by Dave Cappelleri   [ updated Mar 1, 2012, 5:34 AM ]

In recognition of the enormous potential of his pioneering research and sustained excellence in teaching, the National Science Foundation (NSF) has honored Dr. David Cappelleri, Assistant Professor of Mechanical Engineering at Stevens Institute of Technology, with the illustrious CAREER Award. As one of the most competitive programs the NSF conducts, the CAREER Award supports early career development of faculty in the sciences who are most likely to become leading researchers and teachers.  For more information on Dr. Cappelleri's CAREER Award, click the following link.

Professor Cappelleri Selected for National Academy of Engineering Symposium

posted Nov 7, 2011, 6:18 AM by Dave Cappelleri

Professor David J. Cappelleri has recently been selected for the National Academy of Engineering's (NAE) 2011 Frontiers of Engineering Education (FOEE) Symposium, held this year in Irvine, California on November 13-16.

Dr. Cappelleri is one of 65 young engineering educators participating in this NAE initiative to encourage cutting edge engineering curricula in the United States and cultivate future leaders in the field. Coming from dozens of leading private and public institutions of higher learning, FOEE 2011 attendees will share their ideas and explore innovative methods that enhance the engineering teaching and learning environment. Participants were nominated by fellow engineers or deans and chosen from a highly selective pool of applicants.

Read more here.

MSRAL @ IEEE IROS

posted Oct 9, 2011, 12:48 PM by Dave Cappelleri

Prof. Sylvain Martel (École Polytechnique de Montréal) and Prof. Cappelleri co-organized a special 2011 IEEE IROS 50 Years of Robotics Symposium on Microrobotics called:  Microrobotics: Main Achievements and Vision for the Future.  It encompassed three plenary talks and corresponding special sessions.  Prof. Cappelleri presented an invited paper on recent MSRAL work on Caging Grasps for Micromanipulation & Microassembly.

Prof. Cappelleri also gave an invited talk at the 2011 IEEE IROS workshop: 20 years of Microrobotics: progress, challenges, and future directionsThe talk was entitled: Manipulation and assembly at small scales: Investigations on the Peg-In-the-Hole Task and Micro-scale Caging.

MSRAL paper published in July 2011 edition of IEEE Transactions on Automation Science and Engineering (T-ASE)

posted Jul 17, 2011, 7:18 AM by Dave Cappelleri   [ updated Jul 17, 2011, 7:25 AM ]

Our paper entitled  "Automated Assembly for Mesoscale Parts" has been published in the July 2011 edition of the IEEE Transactions on Automation Science and Engineering (T-ASE).  The abstract is listed below.  The full version of the paper can be downloaded on the MSRAL Publications page.

Abstract:
This paper describes a test-bed for planar micro and mesoscale manipulation tasks and a framework for planning based on quasi-static models of mechanical systems with intermittent frictional contacts. We show how planar peg-in-the-hole assembly tasks can be designed using randomized motion planning techniques with Mason’s models for quasi-static manipulation. Simulation and experimental results are presented in support of our methodology. We develop this further into a systematic approach to incorporating uncertainty into planning manipulation tasks with frictional contacts. We again consider the canonical problem of assembling a peg into a hole at the mesoscale using probes with minimal actuation but with visual feedback from an optical microscope. We consider three sources of uncertainty. First, because of errors in sensing position and orientation of the parts to be assembled, we must consider uncertainty in the sensed configuration of the system. Second, there is uncertainty because of errors in actuation. Third, there are geometric and physical parameters characterizing the environment that are unknown. We discuss the synthesis of robust planning primitives using a single degree-of-freedom probe and the automated generation of plans for mesoscale manipulation. We show simulation and experimental results of our work.


MSRAL Competes in NIST Mobile Microrobotics Challenge at IEEE ICRA 2011 in Shanghai, China

posted May 18, 2011, 7:21 AM by Dave Cappelleri

The Mobile Microrobotics team of the MSRAL competed in the final round of the NIST Mobile Microrobotics Challenge held at IEEE ICRA 2011 in Shanghai, China from May 9 - 13.  The team was one of only seven international teams to qualify for the competition.  The team successfully completed both of the challenge events: 1. Mobility Challenge and 2. Microassembly Event.

In the Mobility Challenge, a microrobot must navigate a prescribed course through a planar track in the fastest possible time. The Microassembly event requires a microrobot to assemble multiple micro-scale components in a narrow channel. This event will simulate manipulation challenges found in in vivo medical applications, such as operation inside a human blood vessel, and assembly-based nanomanufacturing.  Each competing team must furnish its own microrobots, which must operate wirelessly and fit within a 600-μm-diameter sphere.

The MSRAL team was able to navigate the course in Mobility challenge with the fourth best average time while it finished just one micro-scale assembled component short of first place in the Microassembly event.  For more information on the competition please visit the competition website here:
http://www.nist.gov/pml/semiconductor/mmc/

The Mobile Microrobot team consists of students:  Sean Lyttle, Wuming Jing, Shi Bai, Zhenbo Fu, Xi Chen, Guitao Zhang, Jennifer Field and advisors: Prof. Yong Shi and Prof. Dave Cappelleri

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