Chytra S. Pawashe - NanoRobotics Laboratory - Carnegie Mellon ...
Chytra S. Pawashe - NanoRobotics Laboratory - Carnegie Mellon ...
Chytra S. Pawashe - NanoRobotics Laboratory - Carnegie Mellon ...
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<strong>Chytra</strong> S. <strong>Pawashe</strong><br />
Department of Mechanical Engineering<br />
<strong>Carnegie</strong> <strong>Mellon</strong> University<br />
Pittsburgh, PA 15213 http://nanolab.me.cmu.edu/members/chytra<br />
Education<br />
Dec ‘10 Ph.D. in Mechanical Engineering -‐ <strong>Carnegie</strong> <strong>Mellon</strong> University, Pittsburgh, PA<br />
Thesis: “Untethered Mobile Magnetic Micro-‐Robots”<br />
Advisor: Professor Metin Sitti<br />
Committee: Professors James Hoburg, Ralph Hollis, Kenji Shimada, and Metin Sitti<br />
Highlights: Micro/Nano-‐Robotics, Electromagnetic Systems, Micro/Nanofabrication<br />
May ‘08 M.Sc. in Mechanical Engineering -‐ <strong>Carnegie</strong> <strong>Mellon</strong> University, Pittsburgh, PA<br />
Project: “Telenano -‐ TeleRobotic NanoManipulation”<br />
May ‘06 B.Sc. in Mechanical Engineering, minor in Robotics -‐ <strong>Carnegie</strong> <strong>Mellon</strong> University, Pittsburgh, PA<br />
University & College Honors<br />
Senior Honors Thesis: “Atomic Force Microscope-‐Based Robotic Micro/Nano-‐Manipulation”<br />
Interests<br />
Micro/Nano-‐Systems: Micro/Nano-‐Manipulation, MEMS, Nanofabrication, Biomedical Micro-‐Devices<br />
Robotics: Small-‐Scale Mechatronics, Autonomous Control, Mobile Robots, Modular Systems<br />
Academic Projects<br />
<strong>NanoRobotics</strong> <strong>Laboratory</strong>, <strong>Carnegie</strong> <strong>Mellon</strong> University, Pittsburgh, PA<br />
2007-‐<br />
Present<br />
2008-‐<br />
Present<br />
Mag-‐µBots: Magnetic Micro-‐Robots<br />
Dissertation work developing a sub-‐millimeter scale untethered magnetic micro-‐robot actuated by<br />
external electromagnetic fields, capable of planar motion on two-‐dimensional arbitrary surfaces.<br />
Examined and verified the dynamics underlying micro-‐robot motion. Incorporated electrostatic<br />
forces to enable the addressing and control of multiple magnetic micro-‐robots. Explored<br />
applications in micro-‐manipulation under fluids, using both contact and boundary-‐layer-‐based<br />
non-‐contact manipulation. Implemented algorithms to achieve autonomous control for positioning<br />
and manipulation tasks. Participated in the NIST Robocup Nanogram demonstrations in 2007,<br />
2008, and 2010.<br />
Mag-‐µMods: Magnetic Micro-‐Modules<br />
Dissertation work creating the world’s smallest reconfigurable modular robotic system, based on<br />
Magnetic Micro-‐Robots. Each module is less than 1 mm in all dimensions, comprised of an<br />
insulating shell with a magnetic core. Using external magnetic fields, modules can combine,<br />
disassemble, and reconfigure with other modules to create micro to milli-‐scale assemblies.<br />
C. <strong>Pawashe</strong> 1/4
2006-‐<br />
2007<br />
2006-‐<br />
2007<br />
2003-‐<br />
2006<br />
Telenano: TeleRobotic NanoManipulation<br />
Masters project developing a haptic and visual interface to an atomic force microscope for<br />
teleoperated nano-‐manipulation with real-‐time force and visual feedback to the user; effectively<br />
the user can feel and see the nano-‐scale world. Developed the software and hardware interface to<br />
operate the atomic force microscope, including scanning images, measuring forces, and controlling<br />
the haptic device. Implemented controllers to translate nano-‐scale forces to macro-‐scale forces.<br />
Developed a three-‐dimensional virtual reality environment to model the nano-‐scale surface with<br />
the end-‐effecter, augmenting the user-‐experience.<br />
Automated Characterization of Polymer-‐Based Adhesives<br />
Developed the control software and user interface for an automated force characterization system<br />
to measure the adhesive properties of polymers and fiber-‐based adhesives. Software enabled<br />
researchers to characterize novel fiber-‐based adhesives, supporting over two dozen publications,<br />
and continues to be an essential tool in a subsequent startup company.<br />
Atomic Force Microscope-‐Based Micro/Nano-‐Manipulation<br />
Undergraduate thesis project developing an atomic force microscope probe-‐based micro-‐<br />
manipulation system. System is capable of manipulating 5-‐20 µm objects in two-‐dimensions.<br />
Implemented machine vision and planning algorithms to automate manipulation tasks. Used<br />
assemblies as templates for contact-‐based nano-‐printing.<br />
Yale University, New Haven, CT<br />
2000-‐<br />
2003<br />
Research Internship, supervisor: Prof. William Konigsberg<br />
Assisted research in the field of molecular biology and protein biochemistry of T4 DNA polymerase.<br />
Performed tasks including: PCR, restriction enzyme design and analysis, DNA and protein gel<br />
electrophoresis, cloning, protein purification, DNA purification.<br />
Teaching Experience<br />
<strong>Carnegie</strong> <strong>Mellon</strong> University, Pittsburgh, PA<br />
Fall ’07 &<br />
Fall ‘09<br />
Teaching Assistant: Numerical Methods Junior Level ~100 students<br />
Assisted students with course material, held biweekly office hours in computing clusters,<br />
managed undergraduate TAs and course assistants, managed homework and exams.<br />
Received “Best Teaching Assistant Award” (2008).<br />
Spring ‘06 Course Assistant: Introduction to Mechanical Engineering Freshman Level ~100 students<br />
Responsible for grading weekly assignments, assisted students in course materials.<br />
Fall ‘05 Undergraduate Teaching Assistant: Numerical Methods Junior Level ~100 students<br />
Responsible for holding biweekly office hours in computing clusters, assisted students with<br />
course topics.<br />
Yale University, New Haven, CT<br />
Summer‘03 Molecular Biophysics and Biochemistry Computing Training<br />
Trained a group of graduate students and post-‐doctorates in computer simulated molecular<br />
modeling methods for determining protein conformations from mutations, and methods for<br />
experimental analysis. Tools include: Insight II, MATLAB, Kaleidagraph, pyMol, RasMol.<br />
C. <strong>Pawashe</strong> 2/4
Awards and Honors<br />
• Presented and received the “Conference Best Paper Award”, IEEE/RSJ International Conference<br />
on Intelligent Robots and Systems, chosen out of over 900 papers 2009<br />
• Award of Merit, Media Fellowship, <strong>Carnegie</strong> <strong>Mellon</strong> Steinbrenner Institute 2008<br />
• Best Teaching Assistant Award (course: Numerical Methods) for Fall ‘07 2008<br />
• Second place, World Robocup Nanogram Demonstration 2007<br />
• ATK-‐Nick G. Valhakis Fellowship 2007<br />
• Dean’s Fellowship, <strong>Carnegie</strong> Institute of Technology 2006-‐2007<br />
• Kennametal Inc. Fellowship 2006-‐2007<br />
• Honorable Mention, National Science Foundation Graduate Research Fellowship 2006<br />
• Member, Pi Tau Sigma 2005-‐2006<br />
• Dean’s List 2004-‐2006<br />
Activities, Publicity & Affiliations<br />
• Institute of Electrical and Electronics Engineers (IEEE), student member.<br />
• “Mag-‐µBots: Magnetic Micro-‐Robots for Mobility, Manipulation, and Modularity,” NIST Microrobotics<br />
Challenge, IEEE Conference on Robotics and Automation, Anchorage, 2010.<br />
• “Precision Control of Micro Machines,” MIT Technology Review, May 2009.<br />
• “The Works: Robots,” History Channel, History.com, Sept. 2008.<br />
• “Fun with Robots!” KUOW Seattle, July 2008, 9:00 am.<br />
• “Magnetically Actuated Micro-‐Robots,” EngineeringTV,EngineeringTV.com, July 2008.<br />
• “Magnetically Actuated Micro-‐Robot by Stick-‐Slip Motion,” Robocup US Open, Pittsburgh, 2008.<br />
• “An Untethered Magnetically Actuated Micro-‐Robot,” Robocup Nanogram Demonstration, Atlanta, 2007.<br />
Graduate Coursework<br />
Microelectromechanical Systems Nonlinear Control Systems<br />
Micro/Nano-‐Systems Fabrication Sensing and Sensors<br />
Micro/Nano Robotics Numerical Methods<br />
Physics of Applied Magnetism Mechatronic Design<br />
Solid Mechanics Mobile Robot Programming <strong>Laboratory</strong><br />
Technical Skills<br />
Micro/Nano-‐<br />
Technologies<br />
Photolithography, Sputtering, Laser Micromachining, Atomic Force Microscopy, Scanning<br />
Tunneling Microscopy, Scanning Electron Microscopy, Focused Ion Beam Microscopy,<br />
Optical Microscopy, Vibrating Sample Magnetometry<br />
Macro-‐scale Machining, Laser Engraver, Circuit Design, PCB Layout, Data Acquisition<br />
Programming C/C++/Objective-‐C, PIC-‐C, Java, Linux/Mac/Windows GUI, RTAI Linux, OpenGL<br />
Software MATLAB/Simulink, COMSOL, ANSYS, Solidworks, LaTeX, Photoshop, Illustrator<br />
Biochemistry PCR, DNA/Protein Purification and Analysis, Cloning, Bacterial Culturing, Molecular<br />
modeling<br />
C. <strong>Pawashe</strong> 3/4
Publications<br />
Journal Articles<br />
1. S. Floyd, E. Diller, C. <strong>Pawashe</strong>, and M. Sitti, “Control Methodologies for a Heterogeneous Group of<br />
Magnetic Micro-‐Robots,” International Journal of Robotics Research, 2011 (in press).<br />
2. C. <strong>Pawashe</strong>, S. Floyd, M. Sitti, “Multi Environment Experiments and Simulation for the Control of an<br />
Untethered Magnetic Micro-‐Robot,” International Journal of Robotics Research, Vol. 28, No. 8, pp. 1077-‐<br />
1094, 2009 (invited).<br />
3. S. Floyd, C. <strong>Pawashe</strong>, and M. Sitti, “Two-‐Dimensional Contact and Non-‐Contact Micro-‐Manipulation in<br />
Liquid using an Untethered Mobile Magnetic Micro-‐Robot,” IEEE Transactions on Robotics, Vol. 25, No. 6,<br />
pp. 1332-‐1342, 2009.<br />
4. C. <strong>Pawashe</strong>, S. Floyd, and M. Sitti, “Multiple Magnetic Microrobot Control using Electrostatic Anchoring,”<br />
Applied Physics Letters, Vol. 94, No. 164108, 2009.<br />
5. Tafazzoli, C.-‐M. Cheng, C. <strong>Pawashe</strong>, E. K. Sabo, L. Trofin, M. Sitti, and P. R. LeDuc, “Subfeature patterning<br />
of organic and inorganic materials using robotic assembly,” Journal of Materials Research, Vol. 22, No. 6,<br />
pp. 1601-‐1608, 2007.<br />
6. C. <strong>Pawashe</strong> and M. Sitti, “Two-‐Dimensional Vision-‐Based Autonomous Microparticle Manipulation using<br />
a Nanoprobe,” Journal of Micromechatronics, Vol. 3 No. 3-‐4, pp. 285-‐306, 2006.<br />
Conference Articles<br />
1. E. Diller, S. Floyd, C. <strong>Pawashe</strong>, and M. Sitti, “Control of Multiple Heterogeneous Magnetic Micro-‐Robots<br />
on Non-‐Specialized Surfaces,” IEEE Conference on Robotics and Automation, 2011 (to appear).<br />
2. C. <strong>Pawashe</strong>, E. Diller, S. Floyd, and M. Sitti, “Assembly and Disassembly Methods for Magnetic Micro-‐<br />
Robots towards 2-‐D Reconfigurable Micro-‐Systems,” IEEE Conference on Robotics and Automation, 2011<br />
(to appear).<br />
3. C. <strong>Pawashe</strong>, S. Floyd, and M. Sitti, “Assembly and Disassembly of Magnetic Mobile Micro-‐Robots towards<br />
2-‐D Reconfigurable Micro-‐Systems,” International Symposium on Robotics Research, Lucerne,<br />
Switzerland, 2009 (invited).<br />
4. C. <strong>Pawashe</strong>, S. Floyd, and M. Sitti, “Magnetic Mobile Micro-‐Robots,” Journées Nationales de la<br />
Recherche en Robotique, Neuvy sur Barangeon, France, 2009.<br />
5. S. Floyd, C. <strong>Pawashe</strong>, and M. Sitti, ”Microparticle Manipulation using Multiple Untethered Magnetic<br />
Microrobots on an Electrostatic Surface,” IEEE/RSJ Conference on Intelligent Robots and Systems, St.<br />
Louis, MO, USA, 2009 (best paper award winner).<br />
6. C. <strong>Pawashe</strong>, S. Floyd, and M. Sitti, “Dynamic Modeling of Stick Slip Motion in an Untethered Magnetic<br />
Micro-‐Robot,” Robotics: Science and Systems, Zürich, Switzerland, 2008.<br />
7. S. Floyd, C. <strong>Pawashe</strong>, and M. Sitti, “An Untethered Magnetically Actuated Micro-‐Robot Capable of<br />
Motion on Arbitrary Surfaces,” IEEE Conference on Robotics and Automation, pp. 419-‐424, Pasadena,<br />
USA, 2008.<br />
8. C. D. Onal, C. <strong>Pawashe</strong>, and M. Sitti, “A Scaled Bilateral Control System for Experimental 1-‐D<br />
Teleoperated Nanomanipulation Applications,” IEEE/RSJ Conference on Intelligent Robots and System,<br />
pp. 483-‐488, 2007.<br />
9. A. Tafazzoli, C. <strong>Pawashe</strong>, and M. Sitti, “Force-‐Controlled Microcontact Printing using Microassembled<br />
Particle Templates”, IEEE Conference on Robotics and Automation, 263-‐268, 2006.<br />
10. A. Tafazzoli, C. <strong>Pawashe</strong>, and M. Sitti, “Atomic Force Microscope based Two-‐Dimensional Assembly of<br />
Micro/Nanoparticles”, IEEE Symposium on Assembly and Task Planning, 230-‐235, Montreal, 2005.<br />
C. <strong>Pawashe</strong> 4/4
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