News



3D printer custom builds tools for spinal surgery
June 06, 2017
What if you could 3D-print custom surgical tools to fit the needs of individual patients? That’s the idea behind David Cappelleri’s flexible micro-robotic tools, being developed for minimally invasive spinal surgery. Thanks to Stratasys 3D printers, Cappelleri can print super-small precise tools — simultaneously with multiple materials, both rigid and flexible.
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Boomcopter is a Drone That Can Open Doors
May 30, 2017

      Consumer drones can hover and take photos, but they can’t physically interact with their environment. The Boomcopter changes that. It’s a tri-rotor, with an extra arm and propeller that allows it to move laterally, while performing a task with its arm. It can open doors, flip switches, and attach sensors onto walls — all autonomously, using an array of sensors and cameras. In dangerous or inaccessible environments, the Boomcopter can perform tasks that would be too risky for humans.
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New Micro 3D Printer Installed @ MSRAL
May 16, 2017
The Microlight 3D printer was recently installed in MSRAL@Spira.  It uses two-photon polymerization to create 3D structures at the micro-scale.  Check out the company tweet showing off a test print during the system installation.  It’s the world’s smallest Boilermaker!
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Prof. Cappelleri promoted to Associate Professor of Mechanical Engineering!
April 21, 2017
Purdue University’s Board of Trustees on Friday approved faculty promotions.  Prof. Cappelleri was promoted with tenure to Associate Professor of Mechanical Engineering.  The promotions are effective with the 2017-18 academic year.
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Invited seminar @ the University of Washington
April 11, 2017
Prof. Cappelleri presented a ME Graduate Seminar at the Department of Mechanical Engineering at the University of Washington in Seattle, Washington.
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Prof. Cappelleri gives talk on Microbots @ TEDx Purdue U
March 25, 2017

    The microevolution is among us! Dr. Cappelleri, Assistant Professor in Mechanical Engineering at Purdue University, discusses exciting cutting edge technology that has ground breaking applications in healthcare including potential cancer treatment! His research in micro-robots, which can barely be seen on the American dime, may be the new frontier in medical practice.
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Purdue Hosts First Ever Intercollegiate Drone Races
January 19, 2017

  The Purdue Drone Club hosted the first ever intercollegiate indoor drone races in January 2017, with Ohio State and Illinois. Each race is an exhilarating 2 minutes, as the small quadcopters can fly at nearly 80 miles per hour. Pilots maneuver the drones while wearing goggles, receiving live wireless video from the drone’s point of view — so both pilots and spectators alike can feel like they are in the cockpit of the drone, dodging the obstacles of the course. The Purdue Drone Club is the largest collegiate drone club in the country. Students of any background and experience level are welcome to join and learn about this exciting field, and even try out drone racing for themselves!
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Several Purdue faculty involved in new manufacturing robotics hub
January 13, 2017
Researchers from three Purdue University colleges have joined governments, universities and nonprofit organizations in establishing a new independent robotics institute for the U.S. Department of Defense’s Manufacturing USA. The new Advanced Robotics Manufacturing (ARM) Institute Hub will conduct research and development, developing education and workforce training and providing access to shared capabilities through its regional collaborations. ARM focuses on key industrial sectors—aerospace, automotive, electronics, and textiles—defined by its partners.
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MSRAL participates in DOE Science of Safety Robotics Demo at Portsmouth Gaseous Diffusion Plant
September 20, 2016

 

DOE decided to conduct a robotic demonstrations at Portsmouth Gaseous Diffusion Plant in Piketon, Ohio, which is the site of our next major decommissioning effort. DOE had the full participation of United Steelworkers members, and the full support of Fluor-BWXT|Portsmouth, our decommissioning contractor. Two of DOE’s premier national labs – Savannah River and Sandia – provide technical leadership and coordination in addition to demonstrating some of their technologies. Two other world-class federal labs provided their technologies – NASA and JHU-APL, which is a university affiliated research center for the Department of Navy. Two non-profit organizations also, SwRI and OSRF demonstrated their technologies, and five universities provided their robotic technologies. Over a 4-day period, from August 22 through 25, they demonstrated 24 individual robotic technologies that were operated by about 30 USW/FBP workers. After the demos, 9 technologies were determined by the USW members to be near-ready for deployment with a few minor tweaks and a follow-up round of field demonstrations.  The Purdue and MSRAL demos start at the 4:50 minute mark in the above video.


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Invited Seminar @ the University of Notre Dame
August 30, 2016
Prof. Cappelleri presented the Department of Aerospace and Mechanical Engineering Seminar at the University of Notre Dame in Notre Dame, IN.
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ASME IDETC Micro- and Nano Systems Conference Best Paper Award Winners!
August 23, 2016
Joseph Seymour and Prof. Cappelleri were awarded the Best Paper Award at the 10th International Conference on Micro- and Nano Systems at the 2016 ASME International Design Engineering Conferences for the paper: “Automated Sequence Planning with Sub-Assemblies”  
New Project to help bring widespread use of micro-robotics
August 03, 2016
Micro-robotic manipulators with the ability to move in increments far smaller than the width of a human hair might be enlisted for a range of applications in research, manufacturing, medicine and homeland security. However, a critical obstacle must first be solved: Researchers don’t yet fully understand how to best operate the micro-manipulator bots because of various forces unique to the micro- and nano-scale.
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Prof. Cappelleri interviewed on RTV6 ABC News about drone use for search and rescue
June 23, 2016
Prof. David Cappelleri was featured on RTV6 (WRTV – Indianapolis) last night as an expert in micro aerial vehicles (also called drones). Police used a drone to locate missing Lafayette teacher Krista Perdue.
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Micro-Robots Have a Soft Touch
June 08, 2016
The possibilities seem to be endless for microrobots (robots smaller than a millimeter), from medicine to manufacturing. But there are also plenty of challenges. Dave Cappelleri and his team at Purdue have already tackled one of these challenges — how do you get something to move that is too small for a motor or a battery? Now they are tackling another: how can a microrobot use just the right amount of force to manipulate an individual cell? The answer lies in tracking them visually.
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Controlling microbots
May 16, 2016
Until now it was only possible to control groups of microbots to move generally in unison, says David Cappelleri, assistant professor of mechanical engineering. “The reason we want independent movement of each robot is so they can do cooperative manipulation tasks,” he says. “Think of ants. They can independently move, yet all work together to perform tasks such as lifting and moving things. We want to be able to control them individually so we can have some robots here doing one thing, and some robots there doing something else at the same time.”
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Discovery Channel News: Mini Force Field Steers Swarms of Microbots
January 13, 2016
Good news for unemployed tiny robots this week: Researchers at Purdue University have come up with a way to both power and control super-miniaturized individual robots — each about the size of a dust mite — by using magnetic force fields.
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Microbots individually controlled using ‘mini force fields’
January 12, 2016
Researchers are using a technology likened to “mini force fields” to independently control individual microrobots operating within groups, an advance aimed at using the tiny machines in areas including manufacturing and medicine.
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Benjamin Johnson graduates with MSME degree!
December 20, 2015
Benjamin Johnson graduated with his MSME degree today for his thesis work:  “Design of a Surgical Manipulator System for Lumbar Discectomy Procedures”.  He will start the PhD program in Mechanical Engineering here at Purdue in the Spring.  Congrats Benji!  
Sagar Chowdhury receives Best Dissertation Award!
August 10, 2015
MSRAL Post-doc Dr. Sagar Chowdhury received the 2015 Best Dissertation Award from the ASME Computers and Information in Engineering Division!  He was presented the award at the 2015 ASME International Design Engineering Technical Conferences (IDETC) & Computers and Information in Engineering Conference held from August 2-5 in Boston, MA.  The dissertation was on “Planning For Automated Micromanipulation of Biological Cells”.  Congrats Sagar!!
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MSRAL @ ASME IDETC/CIE 2015
August 07, 2015
Prof. Cappelleri and Dr. Sagar Chowdhury traveled to Boston, MA from August 2-5, 2015 to attend the ASME International Design Engineering Technical Conferences (IDETC) & Computer and Information in Engineering Conference (CIE).  Prof. Cappelleri organized the Workshops and Tutorials at the event.  Dr. Chowdhury presented his paper titled “Path Planning and Control for Autonomous Navigation of Single and Multiple Magnetic Mobile Microrobots”.  The paper is co-authored by Dr. Wuming Jing, Peter Jaron, and Prof. Cappelleri.  Prof. Cappelleri also presented a poster as part of the ASME Additive Manufacturing + 3D Printing Conference & Expo (AM3D) that was co-located with ASME IDETC/CIE.  The poster was called “3D Printed Surgical Manipulator for Minimally Invasive Lumbar Discectomy Surgery” and presented the work of Benjamin Johnson and collaborator Dr. Brian Cole, MD.      
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Prof. Cappelleri talks about the Mobile Microrobotics Challenge on IEEE.tv
June 27, 2015
Robotics challenges added excitement and technological advancement to the 2015 International Conference on Robotics and Automation (ICRA), held May 26-30 in Seattle.  Prof. Cappelleri was the lead organizer for the Mobile Microrobotics Challenge event.  IEEE.tv interviewed him and the other Robotics challenge organizers in the video shown here:  https://ieeetv.ieee.org/ieeetv-specials/welcome-to-icra-2015-robot-challenges

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Outreach: MSRAL presents talk and performs robot demos for PREFACE students as part of the Purdue Minority Engineering Program
June 26, 2015
Prof. Cappelleri, Daniel McArthur, and Mark Schmidt participated in invited lecture and demo as part of the PREFACE Summer Engineering Workshop series of the Purdue Minority Engineering Program.  Prof. Cappelleri gave a talk entitled:  The Robotics Wave:  Advancements in Robotics, Past, Present, and Future.  Mark and Daniel demonstrated two TurtleBot2 mobile robot platforms for the students.  One robot followed the students around a pre-defined distance while the other robot was remote controlled using hand gestures using a special RGB-D camera.
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Prof. Cappelleri to Chair Workshops and Tutorials at ASME IDETC/CIE 2015
June 18, 2015
Prof. Cappelleri is the Workshop and Tutorial Chair for the ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2015) that will take place during August 2–5, 2015 in Boston, Massachusetts.  In 2015, IDETC/CIE 2015 will co-locate with the new 2015 ASME Additive Manufacturing + 3D Printing Conference (AM3D). Workshop/tutorial attendance is free to all registered AM3D/IDETC/CIE 2015 participants. As there is limited seating, attendees must pre-register. All workshops and tutorials will be held on Sunday, August 2, 2015, at the Hynes Convention Center.
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Prof. Cappelleri named Associated Editor for IEEE Robotics and Automation Letters
June 01, 2015
Prof. Cappelleri has been named an Associate Editor for the new IEEE Robotics and Automation Letters (RA-L).  The first issue is planned for January 2016. The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation. The primary goal of RA-L is to better serve the RAS membership and the robotics and automation community at large, which has strongly increased in number and productivity, by providing more capacity for high quality, fully reviewed journal papers. Additional goals of RA-L are to provide a publication process that is complementary to the existing evolutionary process from RAS conferences into journal papers and to improve the efficiency of the peer-review process.
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MSRAL participates in 2015 Mobile Microrobotics Challenge at IEEE ICRA
June 01, 2015
The MSRAL Mobile Microrobotics team qualified for and participated in the 2015 IEEE RAS Micro/Nano Robotics & Automaton (MNRA) Technical Committee Mobile Microrobotics Challenge held at IEEE ICRA 2105 from May 26-30, 2015. The 2015 Mobile Microrobotics Challenge is a series of events in which microrobots on the order of the diameter of a human hair face off in tests of autonomy, accuracy, and assembly. Teams can participate in up to three events:
  1. Autonomous Mobility & Accuracy Challenge: Microrobots must track a predefined micro-scale trajectory (rectangle, circle, triangle, etc.) multiple times. The team with the most accurate traversal of the all the trajectories is the winner.
  2. Microassembly Challenge: Microrobots must assemble multiple microscale components inside a narrow channel in a fixed amount of time. This task simulates anticipated applications of microassembly, including manipulation within a human blood vessel and the assembly of components in nanomanufacturing.
  3. MMC Showcase & Poster Session: Each team has an opportunity to showcase and demonstrate any advanced capabilities and/or functionality of their microrobot system. Each participating team will get one vote to determine the Best in Show winner.
The MSRAL microrobotics team consists of Peter Jaron, Sagar Chowdhury, Wuming Jing, and Archit Aggarwal.  Prof. Cappelleri advised the team and was also one of the organizers of the competition.  Peter Jaron and Sagar Chowdhury traveled to Seattle, Washington where the team participated in all three events and tied for 4th place in the Microassembly Challenge.  Great job!      
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Invited Talk @ ICRA Workshop on “Hyper Bio Assembler for 3D Cellular Innovation”
May 30, 2015
The main purpose of this workshop is to discuss a new and innovative methodology: Bio Assembler. This methodology is intended for creating 3D cellular systems such as functional tissue in vitro environments, in which active functional cells selected from a living organism are used to create the 3D cellular system. This new methodology will bring innovation to the next generation of tissue engineering and will become the world’s first creation of 3D cellular system in vitro environments. This innovation will be achieved by developing a methodology of hyper micro-nano measurement and control. The outcome of this innovation will bring great technological advancements to both engineering and life science field. Prof. Cappelleri spoke about the MSRAL work on “Micro Force Sensing Mobile Microrobots for Mechanotransduction and Automated Biomanipulation”.  
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MSRAL @ SPIE DSS Sensing Technology + Application Conference, Sensors for Next-Generation Robotics
April 22, 2015
Wuming Jing presented his paper “Micro-force Sensing Mobile Microrobots” at the 2015 SPIE Sensing Technology + Application Conference in the Sensors for Next-Generation Robotics track.
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Prof. Cappelleri attends the 2015 German-American Frontiers of Engineering Symposium
April 16, 2015

The 2015 German-American Frontiers of Engineering Symposium was held April 16-18 at the Steigenberger Hotel in Potsdam, Germany. About 60 outstanding engineers under the age of 45 met for an intensive 2-1/2 day symposium to discuss cutting-edge developments in four areas: Nano-to-Micro Robotics, Synthetic Membranes and their Applications, Particle Accelerators and their Applications, and Protecting User Privacy in the Age Big Data. The event facilitated international and cross-disciplinary research collaboration, promotes the transfer of new techniques and approaches across disparate engineering fields, and encourages the creation of a transatlantic network of world-class engineers.  The program was carried out in cooperation between the US National Academy of Engineering and the Alexander von Humboldt Foundation.  Prof. Cappelleri conducted an invited poster presentation on the MSRAL’s microrobotics research.


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Daniel McArthur awarded NSF Graduate Research Fellowship
April 01, 2015
Daniel McArthur was awarded the prestigious National Science Foundation (NSF) Graduate Research Fellowship.  The fellowship provides a very generous stipend and covers all graduate school tuition and fees.  Daniel’s research is in the area of the design and control of novel micro aerial vehicle platforms.  Congrats Daniel!
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Invited seminar @ Washington University, St. Louis
March 26, 2015
Prof. Cappelleri presented the Department of Mechanical Engineering & Materials Science Seminar at Washington University in St. Louis, MO.
Outreach: MSRAL visits Arsenal Technical High School in Indianapolis
February 26, 2015
Prof. Cappelleri and Mark Schmidt visited Arsenal Technical High School in Indianapolis, IN as part of the Purdue Science Bound Program.  Prof. Cappelleri gave a talk entitled:  “The Robotics Wave:  Advancements in Robotics – Past, Present, and Future”.  Mark demonstrated some of the MSRAL TurtleBot ground robots and advanced robotic sensors for the interested students.  The students had the opportunity to interact with the TurtleBots as they followed them around the classroom.
Prof. Cappelleri joins Steering Committee for the International Conference on Robotics, Manipulation, and Automation at Small Scales (MARSS)
February 17, 2015
MARSS, the annual International Conference on Robotics, Manipulation, and Automation at Small Scales, will be held for the first time from 18 to 22 July, 2016 in Paris, France. This new conference has the ambition to provide the major forum for cross-disciplinary R&D communities to discuss current activities and new results in all areas related to manipulation and automation at micro and nano scales, and in all kinds of small scale robots and their applications.  Please visit the conference webpage for more details.
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Microrobots armed with new force-sensing system to probe cells
October 14, 2014
Inexpensive microrobots capable of probing and manipulating individual cells and tissue for biological research and medical applications are closer to reality with the design of a system that senses the minute forces exerted by a robot’s tiny probe. More info…
New MSRAL website launched!
October 10, 2014
The MSRAL has launched a new website!  Please take some time to surf the new site and see all the interesting work being done at the Multi-Scale Robotics and Automation Lab at Purdue University.

MSRAL welcomes new post-doctoral researcher Dr. Sagar Chowdhury
September 24, 2014
MSRAL welcomes new post-doctoral researcher Dr. Sagar Chowdhury.
Poster presentation in Micro-Nano Robotic Swarms for Biomedical Applications Workshop
September 24, 2014
MSRAL @ IEEE/RSJ IROS 2014: Poster presentation in Micro-Nano Robotic Swarms for Biomedical Applications Workshop; Technical paper: “Incorporating In-situ Force Sensing Capabilities in a Magnetic Microrobot”; Invited talk in Towards Horizon 2020: Trends and Challenges in Micro/Nanorobotics workshop. More info…
MSRAL welcomes new graduate students Peter Jaron, Daniel McArthur, and Joseph Seymour
August 24, 2014
MSRAL welcomes new graduate students Peter Jaron, Daniel McArthur, and Joseph Seymour.
Prof. Cappelleri co-organizes the Workshop/Tutorial track at the 2014 ASME International Design Engineering Technical Conferences
August 14, 2014
MSRAL presents a paper (“A Novel Micro Aerial Vehicle Design: The Evolution of the Omnicopter MAV”) and technical brief (“Automated Microassembly with Caging Micromanipulation”) at the conference. More info…
Prof. Cappelleri co-organizes the 2014 Mobile Microrobotics Challenge at IEEE ICRA 2014
June 24, 2014
Prof. Cappelleri co-organizes the 2014 Mobile Microrobotics Challenge at IEEE ICRA 2014.
MSRAL publishes journal paper
April 24, 2014
W. Jing, D. Cappelleri, “A Magnetic Microrobot with In-situ Force Sensing Capabilities”, Special Issue: The Frontiers of Micro and Nanorobotic Systems, Robotics , Vol. 3, Issue 2, pp. 106-119, 2014.
Yangbo Long defends his Ph.D. dissertation entitled “Design, Modeling, and Control of an Overactuated Micro Aerial Vehicle”
April 14, 2014
Yangbo Long defends his Ph.D. dissertation entitled “Design, Modeling, and Control of an Overactuated Micro Aerial Vehicle”.
MSRAL Vicon motion capture system installed in the Perception Based Engineering Lab at the Herrick Labs
March 24, 2014
MSRAL Vicon motion capture system installed in the Perception Based Engineering Lab at the Herrick Labs.
MSRAL publishes journal paper
February 24, 2014
Y. Long, D. Cappelleri, “Global Trajectory Tracking Control Design and Control Allocation for the Omnicopter MAV”, Advanced Robotics, Vol. 28, Issue 4, pp. 145-155, February 2014.
New MS student Benjamin Johnson joins MSRAL
January 24, 2014
New MS student Benjamin Johnson joins MSRAL.
Andreas Gelardos defends his MS thesis on “MAV Platform Design, Analysis, and Control”
December 10, 2013
Andreas Gelardos defends his MS thesis on “MAV Platform Design, Analysis, and Control”.
MSRAL presents a paper at IEEE/RSJ IROS 2013
November 12, 2013
“Complete Dynamic Modeling, Control and Optimization for an Over-Actuated MAV”; Prof. Cappelleri co-organizers workshop on Caging and Its Applications in Grasping/Multiagent Cooperation. More info…
Prof. Cappelleri receives John J. Gallen Memorial Award
September 10, 2013
David Cappelleri has received the John J. Gallen Memorial Award from the Villanova University Engineering Alumni Society. More info…
Prof. Cappelleri joins School of Mechanical Engineering at Purdue University
August 04, 2013
MSRAL moves to Purdue, Dr. Wuming Jing joins Purdue as post-doctoral researcher. More info…
Prof. Cappelleri is the Program Chair for the 37th Mechanisms and Robotics Conference
August 03, 2013
Prof. Cappelleri is the Program Chair for the 37th Mechanisms and Robotics Conference at the 2013 ASME International Design Engineering Technical Conferences. More info…
MSRAL receives NSF grant for Collaborative Research: Mobile Microrobot Platform for Advanced Manufacturing Applications
August 02, 2013
MSRAL receives NSF grant on controlling teams of mobile microrobots for advanced manufacturing applications. More info…
Wuming Jing defends his Ph.D. dissertation entitled “Towards Functional Magnetic Microbotics”
July 13, 2013
Wuming Jing defends his Ph.D. dissertation entitled “Towards Functional Magnetic Microbotics”.
Co-Principal Investigator David Cappelleri receives NSF grant for Collaborative Research: Controlling Teams of Autonomous Mobile Beamformers
March 24, 2013
NSF grant on controlling teams of autonomous mobile beamformers. More info…
NSF Funds Regionally Unique Motion Capture Robotics Lab at Stevens
October 03, 2012
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. More info…
MSRAL presents 5 papers at ASME IDETC/CIE
August 20, 2012
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:
  • Y. Long, S. Lyttle, N. Pagano, D. Cappelleri, “Design and Quaternion-based Attitude Control of the Omnicopter MAV using Feedback Linearization”
  • Y. Long, S. Lyttle, D. Cappelleri, “Linear Control Techniques Applied to the Omnicopter MAV in Fixed Vertical Ducted Fan Angle Configuration”
  • W. Jing, N. Pagano, D. Cappelleri, “A Micro-scale Magnetic Tumbling Microrobot” Y. Chen, D. Cappelleri, “Exploration of Mobility Modes Arising from the Breakdown of a Basic Regular Tetrahedron”
  • D. Cappelleri, Z. Fu, “Cooperative Micromanipulators for 3D Micromanipulation and Assembly”

MSRAL Competes in NIST Mobile Microrobotics Challenge at ICRA 2012
May 22, 2012
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. The Mobile Microrobot team consists of students: Wuming Jing, Bona Bai, Sean Lyttle, Nick Pagano and Prof. Cappelleri. More info…
Dr. David Cappelleri Receives NSF CAREER Award
March 01, 2012
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. More info…
Professor Cappelleri Selected for National Academy of Engineering Symposium
November 07, 2011
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. More info…
MSRAL paper published in July 2011 edition of IEEE Transactions on Automation Science and Engineering (T-ASE)
July 17, 2011
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. More info…
MSRAL presents two papers at IEEE ICRA 2011
May 18, 2011
MSRAL presented two research papers at the IEEE International Conference on Robotics and Automation (ICRA) in Shanghai, China, May 9-13, 2011. Wuming Jing presented a paper entitled: “A Magnetic Thin Film Microrobot with Two Operating Modes”, while Prof. Cappelleri presented the paper: “Caging Micromanipulation for Automated Microassembly”. More info…
MSRAL Competes in NIST Mobile Microrobotics Challenge at IEEE ICRA 2011 in Shanghai, China
May 18, 2011
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. 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. More info…
Prof. Cappelleri selected for National Academy of Engineering Symposium
December 28, 2010
Prof. Cappelleri was selected to participate in the National Academy of Engineering’s (NAE) Frontiers of Engineering Education (FOEE) Symposium, held this year in Irvine, California on December 13-16, 2010. More info…
Prof. Cappelleri named 2010 Harvey N. Davis Distinguished Teaching Assistant Professor
December 28, 2010
Named after the third president of Stevens, the Harvey N. David Distinguished Teaching Assistant Professor award recognizes an assistant professor at Stevens for excellence as an educator. Prof. David J. Cappelleri, Mechanical Engineering Department, was the recipient this year at the 2010 Convocation.