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Suraj gowda ms thesis proposal

Suraj gowda ms thesis proposal Robot Laboratory, FANUC Corporation

Senior Research Engineer
Learning Robot Department
Robot Laboraroty
FANUC Corporation

Oshino-mura, Yamanashi Prefecture 401-0597, Japan

Email: wjchen AT berkeley.edu

Last updated on June 21, 2016

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I’m presently a senior research engineer within the Learning Robot Department of Robot Laboratory at FANUC Corporation. I had been a Ph.D student along with postdoctoral scholar within the Mechanical Systems Control Lab within the Department of Mechanical Engineering at UC Berkeley. I labored with Professor Masayoshi Tomizuka around the several studies including “A Hybrid Control Systems Method of Brain-Machine Interfaces for Exoskeleton Control” and “Intelligent Charge of Robot Manipulators for Performance Enhancement” .

I acquired my M.S. and Ph.D. levels in Mechanical Engineering from UC Berkeley in May 2009 and August 2012, correspondingly. Just before visiting UC Berkeley, I had been an undergraduate student in Zhejiang College majored in Mechatronic Engineering as well as hornored in Advanced Type of Engineering Education (ACEE), where I received my Bachelor degree in June 2007.

Education

  • August 2012 Ph.D. UC Berkeley
    • Department of Mechanical Engineering
    • Major: Control Minor: Optimization, Dynamics
    • Consultant: Professor Masayoshi Tomizuka
    • Dissertation: Intelligent Charge of Robots with Mismatched Dynamics and Mismatched Sensing
  • May 2009 M.S.. UC Berkeley
    • Department of Mechanical Engineering
    • Major: Control
    • Consultant: Professor Masayoshi Tomizuka
    • Thesis: Hybrid Adaptive Friction Compensation of Indirect Drive Trains Using Joint Sensor Fusion
  • June 2007 B.Eng. Zhejiang College, China
    • Mechanical Engineering & Automation (Mechatronic Engineering), 2002-2007
      (Rank: 1/55)
    • Advanced Recognition Type of Engineering Education (ACEE), 2003-2006
      (63 elites from over 6000)
    • Consultant: Professor Bin Yao, Professor Qingfeng Wang
    • Thesis: Coordinated Motion Charge of Biaxial Straight line-Motor-Driven Stage

    Suraj gowda ms thesis proposal 2011-May 2012

Encounters

  • 11/2013 – Present Senior Research Engineer
    Learning Robot Department, Robot Laboratory, FANUC Corporation
    • Technical lead for development and research of next-gen robot concept controller
    • Manage and lead the frontier automatic research collaboration with college
    • Technical guidance and support for current learning robot product
  • 08/2012 – 10/2013 Postdoctoral Scholar
    Department of Mechanical Engineering, UC Berkeley
  • 08/2008 – 08/2012 Graduate Student Investigator
    Department of Mechanical Engineering, UC Berkeley
  • 08/2010 – 12/2010 Graduate Student Instructor
    Department of Electrical Engineering and Information Technology, UC Berkeley
  • 08/2007 – 05/2008 Readers
    Department of Mechanical Engineering, UC Berkeley
  • 07/2006 – 08/2006 Senior Consultant Assistant
    Internship, Chuanyou Guanghan Honghua Co. Limited, China
  • 08/2004 – 06/2007 Undergraduate Research Assistant
    Institute of Mechatronic Control Engineering, Zhejiang College, China

Publications

Journal Publications (* denotes corresponding author)

  1. Junkai Lu *. Kevin Haninger, Wenjie Chen. Masayoshi Tomizuka, Suraj Gowda, and Jose M. Carmena, “Style of a Passive Upper Limb Exoskeleton for Macaque Apes,” ASME Journal of Dynamic Systems, Measurement, and Control. 2016, recognized
  2. Pedro Reynoso-Mora *. Wenjie Chen. and Masayoshi Tomizuka, “A Convex Relaxation for that Time-optimal Trajectory Planning of Automatic Manipulators along Predetermined Geometric Pathways,” Optimal Control Applications and techniques. 2016 [DOI] [PDF]
  3. Wenjie Chen *. Kyoungchul Kong, and Masayoshi Tomizuka, “Dual-Stage Adaptive Friction Compensation for Precise Load Side Position Tracking of Indirect Drive Mechanisms,” Control Systems Technology, IEEE Transactions on. vol. 23, no. 1, pp. 164-175, Janurary 2015 [DOI] [PDF]
  4. Wenjie Chen *. and Masayoshi Tomizuka, “Dual-Stage Iterative Learning Control for MIMO Mismatched System with Application to Robots with Joint Elasticity,” Control Systems Technology, IEEE Transactions on. vol. 22, no. 4, pp. 1350-1361, This summer 2014 [DOI] [PDF]
  5. Wenjie Chen *. and Masayoshi Tomizuka, “Direct Joint Space Condition Estimation in Robots with Multiple Elastic Joints,” Mechatronics, IEEE/ASME Transactions on. vol. 19, no. 2, pp. 697-706, April 2014 [DOI] [PDF]
  6. Wenjie Chen *. and Masayoshi Tomizuka, “Comparative Study Condition Estimation in Elastic Joints,” Asian Journal of Control. vol. 16, no. 3, pp. 818-829, May 2014 [DOI] [PDF]
  7. Jonathan Asensio, Wenjie Chen *. and Masayoshi Tomizuka, “Feedforward Input Generation According to Neural Network Conjecture in Multi-Joint Robots,” Journal of Dynamic Systems, Measurement, and Control. 136 (3), 031002, May 2014 [DOI] [PDF]

Suraj gowda ms thesis proposal Torque Measurement for Robotic

Refereed Confernce Proceedings (* denotes corresponding author)

  1. Chung-Yen Lin *. Wenjie Chen. and Masayoshi Tomizuka, “Learning Control for Task Specific Industrial Robots,” the 55th IEEE Conference on Decision and Control (CDC). Vegas, USA, December 12-14, 2016, posted
  2. Te Tang *. Changliu Liu, Wenjie Chen. and Masayoshi Tomizuka, “Automatic Manipulation of Deformable Objects by Tangent Space Mapping and Non-Rigid Registration,” the 2016 IEEE/RSJ Worldwide Conference on Intelligent Robots and Systems (IROS). Deajeon, Korea, October 9-14, 2016, posted
  3. Yu Zhao *. Wenjie Chen. Te Tang, and Masayoshi Tomizuka, “Zero Time Delay Input Shaping for Smooth Settling of commercial Robots,” the twelfth Conference on Automation Science and Engineering (Situation, ISAM 2016). Fort Worth, Texas, USA, August 21-24, 2016, recognized
  4. Te Tang *. Hsien-Chung Lin, Yu Zhao, Wenjie Chen. and Masayoshi Tomizuka, “Autonomous Alignment of Peg and Hole by Pressure/Torque Measurement for Automatic Set up,” the twelfth Conference on Automation Science and Engineering (Situation, ISAM 2016). Fort Worth, Texas, USA, August 21-24, 2016, recognized
  5. Te Tang *. Hsien-Chung Lin, Yu Zhao, Yongxiang Fan, Wenjie Chen. and Masayoshi Tomizuka, “Educate Industrial Robots Peg-Hole-Insertion by Human Demonstration,” the 2016 IEEE/ASME Worldwide Conference on Advanced Intelligent Mechatronics (AIM). Banff, Alberta, Canada, This summer 12-15, 2016, recognized [PDF]
  6. Yongxiang Fan *. Hsien-Chung Lin, Yu Zhao, Chung-Yen Lin, Te Tang, Masayoshi Tomizuka, and Wenjie Chen. “Object Position and Orientation Tracking for Manipulators Thinking about Unnegligible Sensor Physics,” the 2016 Worldwide Symposium on Flexible Automation (ISFA). Cleveland, USA, August 1-3, 2016, recognized [PDF]
  7. Chung-Yen Lin *. Yu Zhao, Masayoshi Tomizuka, and Wenjie Chen. “Path-Restricted Trajectory Planning Robot Service Existence Optimization,” the 2016 American Control Conference (ACC). Boston, MA, USA, This summer 6-8, 2016, recognized [PDF]
  8. Hsien-Chung Lin *. Te Tang, Yongxiang Fan, Yu Zhao, Masayoshi Tomizuka, and Wenjie Chen. “Robot Gaining knowledge from Human Demonstration with Remote Lead through Teaching,” the 2016 European Control Conference (ECC). Aalborg, Denmark, June 29-This summer 1, 2016, recognized [PDF]
  9. Hsien-Chung Lin *. Te Tang, Masayoshi Tomizuka, and Wenjie Chen. “Remote Lead Through Teaching by Human Demonstration Device,” in Proceedings from the eighth ASME Dynamic Systems and Control Conference (DSCC). Columbus, Ohio, USA, October 28-30, 2015 [PDF]
  10. Junkai Lu *. Kevin Haninger, Wenjie Chen. and Masayoshi Tomizuka, “Design and Torque-Mode Charge of a Cable-Driven Rotary Series Elastic Actuator for Subject-Robot Interaction,” in Proceedings from the IEEE/ASME Worldwide Conference on Advanced Intelligent Mechatronics (AIM). Busan, Korea, pp. 158-164, This summer 7-11, 2015 (Best student paper finalist) [PDF]
  11. Junkai Lu *. Wenjie Chen. Kevin Haninger, and Masayoshi Tomizuka, “A Passive Upper Limb Exoskeleton for Macaques inside a Body mass index Study – Kinematic Design, Analysis, and Calibration,” in Proceedings from the seventh ASME Dynamic Systems and Control Conference (DSCC). Dallas, Texas, USA, October 22-24, 2014 [PDF]
  12. Kevin Haninger *. Junkai Lu, Wenjie Chen. and Masayoshi Tomizuka, “Kinematic Design and Analysis for any Macaque Upper-Limb Exoskeleton with Shoulder Blades Alignment,” in Proceedings from the 2014 IEEE/RSJ Worldwide Conference on Intelligent Robots and Systems (IROS). Chicago, Illinois, USA, September 14-18, 2014 [PDF]
  13. Yizhou Wang *. Wenjie Chen. Masayoshi Tomizuka, and Badr N. Alsuwaidan, “Model Predictive Sliding Mode Control – for Constraint Satisfaction and Sturdiness,” in Proceedings from the sixth Annual ASME Dynamic Systems and Control Conference (DSCC). Palo Alto, CA, October 21-23, 2013 [PDF]
  14. Chung-Yen Lin *. Wenjie Chen. and Masayoshi Tomizuka, “Automatic Sensor Frame Identification in Industrial Robots with Joint Elasticity,” in Proceedings from the sixth Annual ASME Dynamic Systems and Control Conference (DSCC). Palo Alto, CA, October 21-23, 2013 [PDF]
  15. Pedro Reynoso-Mora *. Wenjie Chen. and Masayoshi Tomizuka, “Around the Time-optimal Trajectory Planning and Charge of Automatic Manipulators Along Predefined Pathways,” in Proceedings from the 2013 American Control Conference (ACC). Washington, Electricity, Next Month-19, 2013 [PDF]
  16. Chi-Shen Tsai *. Wenjie Chen. Daekyu Yun, and Masayoshi Tomizuka, “Iterative Learning Control for Vibration Decrease in Industrial Robots with Link Versatility,” in Proceedings from the 2013 American Control Conference (ACC). Washington, Electricity, Next Month-19, 2013 [PDF]
  17. Junkai Lu *. Wenjie Chen. and Masayoshi Tomizuka, “Kinematic Design and Analysis of the 6-DOF Upper Limb Exoskeleton Model for any Brain-Machine Interface Study,” in Proceedings from the sixth IFAC Symposium on Mechatronic Systems (Mechatronics ’13). Hangzhou, China, pp. 293-300, April 10-12, 2013 (Best student paper finalist) [PDF]
  18. Yizhou Wang *. Wenjie Chen. and Masayoshi Tomizuka, “Extended Kalman Filtering for Robot Joint Position Estimation Using MEMS Inertial Sensors,” in Proceedings from the sixth IFAC Symposium on Mechatronic Systems (Mechatronics ’13). Hangzhou, China, pp. 406-413, April 10-12, 2013 [PDF]
  19. Wenjie Chen *. and Masayoshi Tomizuka, “Iterative Learning Control with Sensor Fusion for Robots with Mismatched Dynamics and Mismatched Sensing,” in Proceedings from the 2012 ASME Dynamic Systems and Control Conference (DSCC). Fort Lauderdale, Florida, USA, pp. 1480-1488, October 17-19, 2012 (Best paper in session award) [PDF]
  20. Jonathan Asensio, Wenjie Chen *. and Masayoshi Tomizuka, “Robot Learning Control According to Neural Network Conjecture,” in Proceedings from the 2012 ASME Dynamic Systems and Control Conference (DSCC). Fort Lauderdale, Florida, USA, pp. 1489-1497, October 17-19, 2012 [PDF]
  21. Wenjie Chen *. and Masayoshi Tomizuka, “Load Side Condition Estimation in Robot with Joint Elasticity,” in Proceedings from the 2012 IEEE/ASME Worldwide Conference on Advanced Intelligent Mechatronics (AIM). Kaohsiung, Taiwan, pp. 598-603, This summer 11-14, 2012 [PDF]
  22. Wenjie Chen *. and Masayoshi Tomizuka, “A 2-Stage Model Based Iterative Learning Control Plan for any Type of MIMO Mismatched Straight line Systems,” in Proceedings from the 2012 ASME Worldwide Symposium on Flexible Automation (ISFA). St. Louis, Missouri, USA, paper No. ISFA2012-7199, June 18-20, 2012 [PDF]
  23. Cong Wang *. Wenjie Chen. and Masayoshi Tomizuka, “Robot Finish-effector Sensing with Position Sensitive Detector and Inertial Sensors,” in Proceedings from the 2012 IEEE Worldwide Conference on Robotics and Automation (ICRA). Saint Paul, Minnesota, USA, pp. 5252-5257, May 14-18, 2012 [PDF]
  24. Wenjie Chen *. and Masayoshi Tomizuka, “Estimation of Load Side Position in Indirect Drive Robots by Sensor Fusion and Kalman Filtering,” in Proceedings from the 2010 American Control Conference (ACC). Baltimore, Maryland, USA, pp. 6852-6857, June 30-This summer 2, 2010 [PDF]
  25. Wenjie Chen *. Kyoungchul Kong, and Masayoshi Tomizuka, “Hybrid Adaptive Friction Compensation of Indirect Drive Trains,” in Proceedings from the 2009 ASME Dynamic Systems and Control Conference (DSCC). Hollywood, California, USA, pp. 313-320,October 12-14, 2009 [PDF]

Technical Reports

  1. Michael Chan, Cong Wang, Chung-Yen Lin, Wenjie Chen. and Masayoshi Tomizuka, “UCB-FANUC Project Activity Report, June 2012-May 2013,” College of California at Berkeley. June 2013
  2. Wenjie Chen. Pedro Reynoso-Mora, Michael Chan, Cong Wang, Chung-Yen Lin, and Masayoshi Tomizuka, “UCB-FANUC Project Activity Report, June 2011-May 2012,” College of California at Berkeley. June 2012
  3. Daekyu Yun, Chi-Shen Tsai, Wenjie Chen. and Masayoshi Tomizuka, “Growth and development of Design/Analysis and Evaluation Technologies for Vibration Decrease in LCD Substrate Transfer Robot,” Technical Are accountable to Hyundai Heavy Industries Co. Limited.. College of California at Berkeley, Feb 2012
  4. Wenjie Chen. Pedro Reynoso-Mora, Michael Chan, Cong Wang, and Masayoshi Tomizuka, “UCB-FANUC Project Activity Report, June 2010-May 2011,” College of California at Berkeley. June 2011
  5. Wenjie Chen. Pedro Reynoso-Mora, Michael Chan, Cheng-Huei Han, and Masayoshi Tomizuka, “UCB-FANUC Project Activity Report, June 2009-May 2010,” College of California at Berkeley. June 2010
  6. Cheng-Huei Han, Wenjie Chen. Pedro Reynoso-Mora, Michael Chan, and Masayoshi Tomizuka, “UCB-FANUC Project Activity Report, June 2008-May 2009,” College of California at Berkeley. June 2009
  7. Cheng-Huei Han, Chun-Chih Wang, Wenjie Chen. and Masayoshi Tomizuka, “UCB-FANUC Project Activity Report, June 2007-May 2008,” College of California at Berkeley. June 2008

Teaching & Mentoring

  • Mentoring. UC Berkeley, 2009-Present
    Supervise research of undergrad and graduated pupils in addition to visiting students (from The country, Netherland, China, etc.)
  • Teaching Assistant (Graudate Student Instructor), UC Berkeley
    Deliver review lectures, discussions, and labs, hold work hours, grade lab reports and exams
    • Feedback Control Systems (EE128/ME134). Fall 2010
  • Grader (Readers), UC Berkeley
    Grade problem sets and exams
    • Dynamic Systems and Feedback (ME132). Fall 2007, Spring 2008
    • Summary of Computer-programming for Scientists and Engineers (E7). Fall 2007

Honors & Awards (Selected)

  • 2015 Best Student Paper Finalist.
    2015 IEEE/ASME Worldwide Conference on Advanced Intelligent Mechatronics (AIM)
  • 2013 Best Student Paper Finalist. the sixth IFAC Symposium on Mechatronic Systems
  • 2012 Best Paper in Session Award. ASME Dynamic Systems and Control Conference
  • 04/2011 Third place. Big Ideas @ Berkeley (It for Society), “The PikaPen”
  • 01/2011 Block Grant Award. College of California at Berkeley
  • 2007-2008 Chiang Chen Overseas Graduate Fellowship
    (10 awardees every year from China)
  • 06/2007 Excellent College Graduate of Zhejiang Province, 2007
  • 06/2007 Excellent Graduate of Zhejiang College, 2007
  • 06/2007 Excellent Undergraduate Thesis (Design) of Zhejiang College, 2007
  • 11/2006 Weichai Power Top Class Fellowship
  • 11/2005 FERROTEC Fellowship
  • 11/2005 Fellowship of Tarim Oil Co. China
  • 2003-2007 First Prize Scholarship of fine Undergraduate, Zhejiang College
    (Best ThreePercent, 3 occasions)
  • 06/2002 Zhuang Caifang Scholarship, Fujian Province, China
    (Top .1% in Fujian senior high school graduates)

Academic Services

Institute of Electrical and Electronics Engineers (IEEE), Member
American Society of Mechanical Engineers (ASME), Member

Proposal Review Panel
Exterior Reviewer from the Research Grants Council, Hong Kong (2013, 2014, 2016)

Editorial Board
Editorial Board Person in the Worldwide Journal of Advanced Automatic Systems (IJARS)

Conference Committee

  • Program Committee, 2016 ASME Worldwide Symposium on Flexible Automation (ISFA)
  • Affiliate Editor, 2016 American Control Conference (ACC)
  • Affiliate Editor, 2015 ASME Dynamic Systems and Control Conference (DSCC)
  • Affiliate Editor, 2015 American Control Conference (ACC)
  • Subject & Session Organizer, 2014 ASME Dynamic Systems and Control Conference (DSCC)
  • Program Committee, 2013 IEEE Worldwide Conference on Information and Automation (ICIA)
  • Program Committee, 2013 IEEE Worldwide Conference on Robotics and Biomimetics (ROBIO)

Journal Referee

  • IEEE Transactions on Robotics (T-RO)
  • IEEE Transactions on Industrial Electronics (TIE)
  • IEEE Transactions on Mechatronics (TMECH)
  • IEEE Transactions on Control Systems Technology (TCST)
  • IEEE Transactions on Automation Science and Engineering (T-ASE)
  • ASME Journal of Dynamic Systems, Measurement, and Control (JDSMC)
  • Robotics and Computer Integrated Manufacturing (Elsevier-RCIM)
  • Robotics and Autonomous Systems (RAS)
  • Worldwide Journal of Advanced Automatic Systems (IJARS)
  • Advanced Robotics (RSJ-AR)
  • Asian Journal of Control (AJC)
  • Control and Cybernetics
  • Sensors (MDPI Journal)
  • Journal of Zhejiang College Science C (Computers & Electronics) (ZUSC)

Conference Referee

  • American Control Conference (ACC)
  • IEEE Conference on Decision and Control (CDC)
  • IEEE/RSJ Worldwide Conference on Intelligent Robots and Systems (IROS)
  • IEEE Worldwide Conference on Robotics and Automation (ICRA)
  • IEEE/ASME Worldwide Conference on Advanced Intelligent Mechatronics (AIM)
  • ASME Dynamic Systems and Control Conference (DSCC)
  • ASME Worldwide Symposium on Flexible Automation (ISFA)
  • IFAC Symposium on Robot Control (SYROCO)
  • IEEE Worldwide Conference on Information and Automation (ICIA)
  • IEEE Worldwide Conference on Robotics and Biomimetics (ROBIO)

Skills

  • Software Applications: MATLAB, LabVIEW, C, LaTeX, HTML, Microsoft Office
  • Languages: Native in Chinese Fluent in British Elementary in Japanese
  • Related Courses (UC Berkeley):
    • Dynamics & Control: Dynamic Systems & Feedback, Advanced Control Systems I & II, Charge of Nonlinear Dynamic Systems, Advanced Robotics, Hybrid System, Real-Time Applying Small and Micro Computers, Multivariable Control System Design, Oscillations in Straight line Systems, Oscillations in Nonlinear Systems, Intermediate Dynamics
    • Math & Optimization: Summary of Analysis, Mathematical Methods in Engineering, Mathematical Means of Optimization, Summary of Convex Optimization, Mathematical Programming II – Nonlinear Programming

2009-2016, Wenjie Chen

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