Curriculum Vitae

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• Education
• Experience
• Selected Projects
• Teaching Experience
• Skills
• Honors and Awards
• Publications and Conference Presentations
• Professional Affiliations
• Activities and Interests

Education

Georgia Institute of Technology, Atlanta, GA
Ph.D. Student in Mechanical Engineering, Spring 2012 - Present
Thesis: Constrained Model Predictive Control for Compliant Position Tracking of Pneumatic Systems
GPA: 4.0/4.0

Georgia Institute of Technology, Atlanta, GA
Master of Science in Mechanical Engineering, Fall 2009 - Fall 2011
Thesis: Development of a Multi-Platform Simulation for a Pneumatically Actuated Quadruped Robot

Tufts University, Medford, MA
Bachelor of Science in Mechanical Engineering, summa cum laude, May 2009
GPA: 3.86/4.00

Experience

Georgia Institute of Technology, Atlanta, GA
Graduate Research Assistant, August 2009 - Present

• Research control for pneumatic systems and user interfaces.
• Developing a model predictive controller to achieve safe, compliant, and accurate position control of pneumatic systems for applications with human/environment interaction.
• Created numerical actuator model in Simulink and coupled with C++/openGL simulation of four-legged robot dynamics and environment interaction.
• Implemented user interface to robot hardware using 3-DoF Phantom joysticks with haptic feedback.
• Designed & constructed pneumatically powered test platform & robot components.
• Presented results to R&D leaders from fluid power companies such as Caterpillar, Eaton, & HUSCO.
• Managed three undergraduate students and one high school student.
• Collaborated with researchers at multiple universities within the CCEFP, an NSF ERC.

Deutsche Bahn Systemtechnik, Munich, Germany
HVAC & Aerodynamics RISE Pro Intern, May - August 2009

• Contributed towards a model to reduce power consumption in train HVAC systems by assessing impact of driving speed on thermal conductivity values.
• Debugged & improved a VBA program to analyze the impact of strong side winds on high-speed trains.
• Constructed test cases to span a maximal range of desired model performance and validated finished model against experimental results.

Tufts University, Medford, MA
Undergraduate Research Assistant (Senior Thesis Research) September 2008 - May 2009

• Studied the application of elastomer molds to jellyfish-inspired underwater propulsion methods.
• Fabricated & tested designs that coupled mold geometries with material properties.
• Modeled system using an analytical radial spring representation and a finite element model.
• Produced design capable of 50% diameter reduction under reasonable radial loading.

Virginia Polytechnic Institute, Blacksburg, VA
NSF REU Research Student, June - August 2008

• Modeled earth's atmosphere for the study of global pollution behavior using Weighted Essentially Non-Oscillatory (WENO) schemes to solve the Shallow Water Equations in FORTRAN.
• Collaborated with a fellow REU student at Technische Universitaet Darmstadt to solve the equations on a cubed sphere.

Fraunhofer Institute for Material Flow and Logistics, Dortmund, Germany
RISE Research Intern, May - August 2007

• Studied the effects of rollers on the vibrations of a warehouse racking structure.
• Analyzed and designed various devices including usage of FEM simulations.
• Translated and proofread technical documents (German - English).

Bucknell University, Lewisburg, PA
Information Services & Technology Field Support, May - August 2006

• Served as liaison to faculty and staff, identifying and addressing technical issues.
• Recognized for "Going the Extra Mile" with GEM Award.

Teaching Experience

Georgia Institute of Technology, Atlanta, GA
Graduate Teaching Assistant, August 2014 - Present

• Supervise, grade, and help teach laboratory sections of approximately 20 students for ME 2110, an introductory engineering design course.
• Mentored student design teams & assisted with engineering requirement development, LabVIEW, myRIO, and mechatronics design.
• Contributed to coding curriculum development by assisting with manual and reference writing, modifying exercises, and creating commented LabVIEW modules.
• Received consistently high ratings in student course reviews, including top marks in course management, concept familiarity, approachability, and overall effectiveness.

Teaching Practicum with Dr. Wayne Whiteman, Spring 2013

• Taught four lectures in ME 2202: Rigid Body Dynamics.
• Assisted students with homework and coursework concepts during a weekly office hour.

Selected Projects

For a more detailed list of projects and descriptions, see the Projects page or follow the corresponding links below.

Model Predictive Control for pneumatic actuators, January 2012 to Present

The use of model predictive control is investigated as a means to achieve compliant (optimal impedance) position control of pneumatic systems. Additionally, a cascaded MPC structure is used for friction compensation.

Compact Rescue Robot, August 2009 to December 2011

Collaborated with other researchers on a four-legged pneumatically actuated rescue robot that was initially developed as a testbed for the Center for Compact and Efficient Fluid Power, an NSF Engineering Research Center. Designed and created hardware and software components. Modeled the pneumatic actuator in Simulink and integrated the model into a simulation of the robot interacting with the environment. The results were presented in several papers and contributed to my master's thesis.

Biomimetic Jellyfish-inspired Flexible Jet Actuator Design, Undergraduate senior thesis, September 2008 to May 2009

Investigated the use of elastomer molds to create flexible systems that actuated in a manner similar to jellyfish motion, with the ultimate goal of developing new methods for underwater propulsion.

Wire Assembly for Accelerated Wound Healing, Undergraduate senior design project, August 2009 to December 2011

Project for team of doctors at Brigham and Women's Hospital in Boston, MA. Designed & constructed a tool for applying tension to head wounds for improved wound healing.

Skills

Software
MATLAB/Simulink, xPC target, LabVIEW, Solidworks, AutoCAD, Inventor, Microsoft Office, C++, C, FORTRAN, Python, Assembly, html/css, UDP, CANBus, Visual Basic, LaTeX.

Hardware
Pneumatics, hydraulics, LabVIEW DAQ & myRIO, PC104, Arduino and general microcontrollers (industrial and hobby), 3D printing, general machine shop usage (lathe, mill, etc.), laser cutting.

Languages
Fluent in English, German & Swiss German, proficient in French.

Music
13 years trumpet.

Honors and Awards

NDSEG Fellowship, 2011 - 2014
NSF GRFP Honorable Mention, 2010
DAAD RISE Pro Scholarship, Summer 2009
O'Leary Design Award, May 2009
NSF REU Fellow, Summer 2008
Pellegrini Scholarship (merit-based), 2006/07, 2007/08, 2008/09
Tau Beta Pi, member since Fall 2007
DAAD RISE Scholarship, Summer 2007

Publications & Conference Presentations

Daepp, HG and WJ Book. To appear in 2014. "Model Predictive Control for compliant pneumatic systems". In ASME 2014 Dynamic Systems and Control Conference, October 22-24, San Antonio (TX), USA (2014).

Daepp, HG and WJ Book, "Value of a high fidelity actuator model for dynamic simulation of a pneumatic rescue robot". Proceedings of the 19th International Federation of Automatic Control (IFAC) World Congress, August 24-29, Cape Town, South Africa (2014).

Daepp, HG and WJ Book, "Predictive friction compensation for control of pneumatic actuators". Proceedings of the 8th Fluid Power Net International (FPNI) PhD Symposium, June 11-13 2014, Lappeenranta, Finland (2014).

Mizumoto, H, H Daepp, WJ Book and F Matsuno, "Teleoperation system using past image records for legged robot". IEEE/RSJ International Symposium on Safety, Security, and Rescue Robotics (SSRR), Kyoto, Japan, November 1 - 5, 2011.

Chipalkatty, R, H Daepp, M Egerstedt and W Book, "Human-in-the-Loop: MPC for shared control of a quadruped rescue robot". IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco (CA), USA, September 25 - 30, 2011.

Daepp, HG and WJ Book, "Modeling and simulation of a pneumatically-actuated rescue robot". Proceedings of the 52nd National Conference on Fluid Power, Las Vegas (NV), USA, March 23 - 25, 2011.

Daepp, HG, WJ Book, TY Kim and PP Radecki, "An interactive simulation for a fluid-powered legged search and rescue robot". Proceedings of 2010 International Symposium on Flexible Automation, Tokyo, Japan, July 12-14, (2010).

Daepp, HG and WJ Book, "A user interface with multisensory feedback for a fluid powered rescue robot". Proceedings of 6th FPNI PhD Symposium, June 15-19 2010, West Lafayette (IN), USA (2010).

Daepp, HG, Robinson JM, Alexe M, Sun H, Sandu A, Schaefer M. (November 2008). Creating a two-dimensional model of the earth's atmosphere using shallow water equations. Presentation at the 19th Annual Argonne Symposium for Undergraduates in Science, Engineering, and Mathematics, Argonne, Illinois.

Professional Affiliations

IEEE, ASME, Tau Beta Pi

Activities & Interests

Tufts Symphony Orchestra, Brass Quintet, intramural Soccer
Travel, Web design, building things