WILLIAM C. MESSNER
`
`
`
`Institution and Location
`
`University of California, Berkeley
`Berkeley, CA
`
`University of California, Berkeley
`Berkeley, CA
`
`Massachusetts Institute of Technology
`Cambridge, MA
`
`
`
`EDUCATION
`
`Degree
`
`Ph.D.
`
`Year
`
`1992
`
`PROFESSOR
`
`Field of Study
`
`mechanical engineering
`
`
`M.S.
`
`1989
`
`mechanical engineering
`
`B.S.
`
`1985
`
`mathematics
`
`RESEARCH AND PROFESSIONAL EXPERIENCE
`
`
`Department of Mechanical Engineering, Tufts University
`Professor
`September 2017 - present
`September 2012 - August 2017
`John R. Beaver Professor
`September 2012 - August 2015
`Chair
`• Department of Electrical and Computer Engineering (secondary appointment).
`• Managed department facilitate department operations, advocated for the department at the
`college and university level, developed consensus for important, generate denthusiasm for the
`department and its programs, among faculty, students, staff, and alumni, provide vision for
`department direction and future growth.
`• Specialize in automatic controls with emphasis on data storage systems, robotics, and
`microfluidics for biological experimentation at the cellular and tissue level.
`• Teach graduate and undergraduate controls classes.
`• Advise graduate students.
`
`
`
`Department of Mechanical Engineering, Carnegie Mellon University
`Assistant Professor
`January 1993 - June 1998
`Associate Professor
`July 1998- June 2001
`Full Professor
`July 2001 - August 2012
`Adjunct Professor
`October 2012 - Present
`• Department of Electrical and Computer Engineering and the Robotics Institute by courtesy.
`• Leader of controls effort for the Data Storage Systems Center.
`• Robotics work includes highly distributed control coordination control; flight control for
`helicopter unmanned aerial vehicles; path planning, shock isolation, and control for the Red
`Team, the Carnegie Mellon entry in the DARPA Grand Challenge,
`• Leader, Augmented Harvest for Comprehensive Automation for Specialty Crops project.
`• Co-developer of Control Tutorials for MATLAB® and other innovative education software.
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`Lutron Electronics Co. EX1004
`U.S. Patent No. 10,294,717
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`October 2005-February 2007
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`United States Air Force Scientific Advisory Board
`Arlington, VA
`Special Government Employee
`April 2013-September 2016
`Review USAF research programs. Advise Secretary of the Air Force on technology issues.
`
`Harvard Medical School (HMS) and Brigham and Women’s Hospital (BWH)
`Boston, MA
`Visiting Professor of Medicine (HMS) and
`Visiting Senior Scientist (BWH)
`Studying the mechanics of actin networks cross-linked by filamins. Investigating the effect of
`hinge regions on rheological property by producing mutant filamins without hinge regions using
`recombinant DNA techniques.
`
`Neuro-Muscular Research Center, Boston University
`Boston, MA
`June 1990 - August 1990
`Research Consultant
`Conducted force plate experiments of humans in quiet standing. Analyzed resulting stabilogram
`data. Modeled human postural control system.
`
`BBN Laboratories
`Newport, RI
`September 1985 - January 1987
`Staff Engineer
`Developed software for automatic evaluation of torpedo test firings using BBN proprietary
`software. Participated in the development of a torpedo test simulator using BBN Butterfly
`parallel processor.
`
`M.I.T. Biomechanics Laboratory
`Cambridge, MA
`January 1984 - June 1985
`Undergraduate Researcher
`Designed and built machine for dynamic calibration of kinematic data acquisition system.
`Studied the integration of this system with accelerometry. Examined the effect of various digital
`FIR and IIR filters and numerical differentiators.
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`Consulting
`
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`Greenberg Traurig
`Palo Alto, CA
`May 2017-Present
`Consultant
`Expert witness for defendant in patent infringement lawsuit iRobot v. Joint Respondents before
`the United Stated States International Trade Commission. The Joint Respondents were
`Shenzhen Zhiyi Technology Co., Ltd., Black & Decker Corporation, Black & Decker (U.S.)
`Inc., Shenzhen Silver Star Intelligent Technology Co., Ltd., BISSELL Homecare, Inc.,
`Matsutek Enterprises Co., Ltd., bObsweep, Inc., bObsweep USA, Hoover Inc., and Royal
`Appliance Manufacturing Co. d/b/a TTI Floor Care North America, Inc. Testified in deposition
`and trial.
`
`Baker Botts
`New York, NY
`March 2016-Present
`Consultant
`Expert witness for plaintiff Fujifilm in patent infringement lawsuits between Fujifilm
`Corporation and Sony Corporation before the United Stated States International Trade
`Commission and before the Patent Trial and Appeal Board (IPR2016-01181, IPR2016-01183,
`and IPR2017-00618). Testified in deposition and trial
`
`Fish and Richardson
`Washington, DC
`January 2016-September 2016
`Consultant
`Expert witness for defendant Nautilus Hyosung in patent infringement lawsuit Diebold v.
`Nautilus before the United Stated States International Trade Commission.
`
`Ionic Materials
`Woburn, MA
`September 2015-present
`Consultant
`Connect client to potential sources of funding government and industry and to potential private
`investors.
`
`Banie and Ishimoto
`Washington, DC
`November 2015-January 2016
`Consultant
`Expert witness for defendant Alexx, Inc. in patent infringement lawsuit Luxe Link LLC v.
`Alexx, Inc, in the United Stated States District Court, Central District of California, Western
`Division. Testified in deposition
`
`Orrick Herrington and Sutcliffe
`Washington, DC
`January 2015-April 2015
`Consultant
`Expert witness for defendant Oracle Corporation in patent infringement lawsuit Advanced
`Research Corporation v. Oracle Corporation, in the United Stated States International Trade
`Commission. Continuation of work with Wilmer-Hale. Testified in deposition.
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`Wilmer-Hale
`Palo Alto, CA
`Consultant
`November 2014-January 2015
`Expert witness for defendant Oracle Corporation in patent infringement lawsuit Advanced
`Research Corporation v. Oracle Corporation, in the United Stated States International Trade
`Commission. Testified in deposition.
`
`Schnelker, Rassi, and McConnell
`Grand Rapids, MI
`Consultant
`October 2014-June 2016
`Expert witness for plaintiff Open Systems Technologies in breach of contract lawsuit Open
`Systems Technologies v. TransGuard Insurance Company of America, Champagne Logistics
`and University Moving and Storage Company in United States District Court Western District
`of Michigan. Testified in deposition and at trial.
`
`Latham and Watkins
`San Francisco, CA
`November 2011-December 2013
`Consultant
`Expert witness for defendant Western Digital Corporation in patent infringement lawsuit Guzik
`Technical Enterprises v. Western Digital Corporation, in the United Stated States District
`Court for the Northern District of California. Testified in deposition.
`
`Zuber and Taillieu
`Los Angeles, CA
`October 2009-May 2010
`Consultant
`Expert witness for plaintiff in personal injury lawsuit in personal injury lawsuit Grewal v. Cal
`Trans, Mercedes-Benz USA, and Carwell, LLC dba Mercedes Benz of South Bay.. involving
`electronic stabilization system. Testified in deposition and at trial.
`
`WilmerHale
`Boston, MA
`June-December 2009
`Consultant
`Expert witness for defendant in patent infringement lawsuit Xyratex, Inc. v. Teradyne, Inc.
`involving testing machines for disk drives. Testified in deposition.
`
`Fennemore Craig
`Phoenix, AZ
`July 2007
`Consultant
`Expert witness for defendant in patent infringement lawsuit Braun Corp. v. Vantage Mobility
`International involving control of a wheelchair ramp for a modified minivan.
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`WilmerHale
`Boston, MA
`February 2007-June 2007
`Consultant
`Expert witness for defendant in patent infringement lawsuit Braun Corp. v. Honda Corp.
`involving control of a wheelchair ramp for a modified minivan.
`
`Hennigan, Bennett, and Dorman
`Los Angeles, CA
`April 2005-April 2006
`Consultant
`Expert witness for defendant in patent infringement lawsuit Universal City Development
`Partners, Ltd. v. Ride and Show Engineering, Inc. in the United States District Court for the
`Middle District of Florida, Orlando Division. The technology at issue involved a control system
`for an amusement park ride. Testified in deposition
`
`Fish and Richardson
`Washington, DC
`September 2004-April 2006
`Consultant
`Expert witness for plaintiff in patent infringement lawsuit Seagate Technology LLC v. Cornice,
`Inc. in the United States District Court for the District of Delaware. The technologies at issue
`were servo patterns and position error signal generation for hard disk drives. Testified in
`deposition
`
`McDermott, Will, and Emery
`Palo Alto, CA
`April 2002-2012
`Consultant
`Expert witness for defendant Seagate in patent infringement lawsuit Convolve, Inc. and the
`Massachusetts Institute of Technology v. Compaq Computer Corp and Seagate Technology,
`LLC in the United Stated States District Court for the Southern District of New York.
`Continuation of work with Orrick. Testified in deposition (2).
`
`Faegre and Benson
`Minneapolis, MN
`April 2001-January 2002
`Consultant
`Expert witness for Hutchinson Technology in patent infringement lawsuits Hutchinson
`Technology, Inc v. Magnecomp Group et al. and Magnecomp Group v. Hutchinson Technology,
`Inc. in the United States District Court District of Minnesota.
`
`Hale and Dorr
`Boston, MA
`March-September 2001
`Consultant
`Expert witness for plaintiff in patent infringement lawsuit Iomega Corp. v. Castlewood Systems,
`Inc. involving the design door of a removable hard disk drive. (Deposition.)
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`Orrick, Herrington, and Sutcliffe
`Menlo Park, CA
`September 2000-April 2002
`Consultant
`Expert witness for defendant Seagate Technology in patent infringement and trade secret
`lawsuit Convolve, Inc. and Massachusetts Institute of Technology v. Compaq Computer Corp
`and Seagate Technology, LLC in the United Stated States District Court for the Southern
`District of New York. The technologies at issue involve control algorithms for disk drives.
`(Same case as McDermott Will and Emery above.)
`
`Webb, Ziesenheim, Logsdon, Orkin, and Hanson, P.C.
`Pittsburgh, PA
`January 2000-May 2001
`Consultant
`Expert witness for plaintiff in patent infringement lawsuit Sunrise Medical HHG Inc. v. AirSep
`Corp. involving control for medical oxygen delivery system.
`
`Western Digital Corporation
`Rochester, MN
`Irvine, CA
`Consultant
`Taught course on multi-input control for disk drives
`
`Morgan, Lewis, and Bockius
`Washington, DC
`Consultant
`Provided advice on a patent infringement case.
`
`Applied Concepts
`Warrendale, Pennsylvania
`Consultant
`Provided mechanical designs for advanced gripping tool development.
`
`Samsung Advanced Institute of Technology
`Suwon, Korea
`June 1996
`Consultant
`Presented research on disk drive servos. Advised engineers on future research directions.
`
`Chemical Engineering Laboratory, Institute of Physical and Chemical Research (RIKEN)
`Wakoshi, Saitama, Japan
`June 1992 - August 1992
`Visiting Researcher
`Developed program for determining the turn trajectory of a mobile robot with steering from a
`reference path of connected straight-line segments.
`
`May and September 1997
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`May 1997
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`July 1996
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`HONORS
`
`Tufts ASME Student Chapter Faculty Appreciation Award, 2016
`Bridge to Engineering Success at Tufts (BEST) Faculty Appreciation Award, 2015
`John R. Beaver Professor of Mechanical Engineering, Tufts University, 2012
`CMU Mechanical Engineering Senior Class Professor of the Year 2000, 2003, 2005, 2008, 2011
`Benjamin Richard Teare Award Teaching of the Carnegie Mellon College of Engineering, 2009
`Ruth L. Kirschstein National Research Service Award Fellowship of National Heart, Lung and
`Blood Institute, 2006.
`Amesbury High School Hall of Honor, 2004
`Senior Member IEEE, 2004
`Fellow of the American Association for the Advancement of Science, 2003
`Fellow of the American Society of Mechanical Engineers, 2003
`Education Award of the Dynamic Systems and Controls Division of the American Society of
`Mechanical Engineers, 2003
`Best Paper Finalist, IEEE International Conference on Robotics and Automation, 2003
`Theodore Ahrens Development Chair in Mechanical Engineering, 2000
`National Academy of Engineering, Frontiers of Engineering participant, 1999
`EDUCOM Medal for improving the undergraduate educational experience through the use of
`information technology, 1997
`Best Paper Finalist, IEEE International Conference on Robotics and Automation, 1997
`George Tallman Ladd Award for Excellence in Research, 1996
`National Science Foundation Summer Institute in Japan, 1992
`IBM Fellowship, 1991-1992
`University of California Regents Fellowship, 1987-1988
`Wunsch Foundation Award for Excellence in Undergraduate Research, 1985
`Finalist in MIT 2.70 Introduction to Design Contest, 1983
`
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`PROFESSIONAL ASSOCIATIONS AND OFFICES
`
`
`Tau Beta Pi
`Sigma Xi
`Phi Beta Kappa
`American Association for the Advancement of Science
`Institute of Electrical and Electronic Engineers
`American Society of Mechanical Engineers
`American Society of Engineering Educators
`Founder of Mechanical Engineering Graduate Student Council, U.C. Berkeley
`Secretary, MIT Class of 1985 (1990-2000)
`Captain, MIT Swim Team 1984-85
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`INVITED SEMINARS
`
`
`1. “Mouse Knee Joint-In-Motion Culture System for Osteoarthritis Research--Design,
`Capabilities, and Experimental Result,” Carnegie Mellon University, Pittsburgh, PA, 27
`October 2017.
`
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`2. “Bring on the Driverless Car,” Northeastern University, Boston, MA, 18 October 2016, and
`Osher Lifelong Learning Institute, Medford, MA, 19 September 2016.
`
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`3. Renssalear Polytechnic Institute—Leaders in Engineering, Troy, NY, 4 September 2013.
`
`4. “The Celebrated Developing Frog of Allegheny County,” Tufts University, Medford, MA
`March 2012, Oregon State University, 24 March 2014, Pennsylvania State University, State
`College, PA, 22 April 2014,
`
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`5. “Loop Shaping in the 21st Century,” Advanced Storage Technology Consortium, Santa Clara,
`CA, 19 Oct 2011.
`
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`6. “Survey of Servo Research at DSSC: Actuation, Sensing, and Controller Design,” Advanced
`Storage Technology Consortium, Santa Clara, CA, 31 Jan 2011.
`
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`7. “Loop-shaping Controller Design with the RBode Plot.” Presented at Western Digital
`Corporation 16 August 2010, at the University of California at Berkeley Department of
`Mechanical Engineering, 17 August 2010, and UC San Diego 19 November 2010.
`
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`8. “Microfluidics for Investigation of Spatiotemporal Dynamics in Biological Systems.”
`Presented at the University of Michigan Department of Mechanical Engineering, 22 January
`2010 and at Harvard University School of Engineering and Applied Science, 2 April 2010.
`
`
`9. “CMOS MEMS electrothermal rotary actuator for disk drives: performance and thermal
`analysis.” Presented at the Workshop on Dynamics and Control of Micro and Nano-scale
`System, IBM Zurich, 10 December 2009.
`
`
`10. “Simultaneous PES Generation, Timing Recovery, and Multi-track Read on Patterned Media:
`Concept and Performance.” Presented at The Magnetic Recording Conference, Tuscaloosa,
`AL, 5-7 Oct 2009.
`
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`11. “Instrumentation for Biological Research.” Presented at the Frontiers Session at the Dynamic
`Systems and Control Conference, 12 October 2009.
`
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`12. “Classical Control Revisited.” Presented at the Massachusetts Institute of Technology
`Department of Mechanical Engineering, 7 November 2008.
`
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`13. “Classical Control Revisited.” Presented at Western Digital Corporation, San Jose, CA, 25
`Jun 2008; Samsung Corporation, Suwon, Korea, 8 Jul 2008; Hitachi Central Research
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`Laboratories, Fujisawa, Japan, 9 Jul 2008; Fujitsu Laboratories, Ltd, Atsugi, Japan, 10 Jul
`2008.
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`14. “Classical Control Revisited: Variations on a Theme,” Plenary presentation, Advanced
`Motion Control Conference, Trento, Italy, 28 March 2008.
`
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`15. “A Taste of Controls,” Department of Mechanical and Aerospace Engineering, State
`University of New York at Buffalo, Buffalo, NY, 8 Feb 2008.
`
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`16. “CMOS MEMS Electrothermal Actuator for Skew Compensation,” International Storage
`Technology Symposium, Kalamata, Greece, 21 June 2007.
`
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`17. “Rheology Background for Biologists,” Harvard University, Cambridge, MA, 5 June 2007.
`
`18. “Disk Drives: History, Technology, and Trends,” Eminent Speaker Series, Charles L. Brown
`Department of Electrical and Computer Engineering, University of Virginia, Charlottesville,
`VA 23 March 2007.
`
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`19. “PES Driven Equalization,” The Magnetic Recording Conference, Carnegie Mellon
`University, Pittsburgh, PA, 7-9 August 2006 with Jian-gang Zhu, Vijayakumar Bhagavatula,
`Jin Xie, and Mark Lin.
`
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`20. “The Advanced Distributed Manipulation System,” University of Colorado, Boulder, 27
`February 2006.
`
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`21. “Robotic Desert Racing with the Red Team,” University of Trento, Italy, 28 June 2005.
`
`22. “How Did We Get Here? A Brief History of Nanotechnology,” SAE Inner Values
`Symposium—Nanotechnology for the Automotive Industry, Carnegie Mellon University, 11-
`12 May 2004.
`
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`23. “PES Driven Equalization and Other Provocative Ideas,” Lake Arrowhead Interactive
`Workshop on Data Storage, UCLA Lake Arrowhead Conference Center, Lake Arrowhead,
`CA, 7-10 December 2003.
`
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`24. “Modeling and Control for Robotic Helicopters,” University of Illinois Urbana Champaign, 4
`February 2003.
`
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`25. “Servo Patterns and Patterned Media for Servo” and “An Introduction for Tracking Control
`for Tape Drives,” 2001 Information Storage Technology Symposium, Kalamata, Greece, 2-7
`September 2001.
`
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`26. “Patterned Media for Servo,” Patterned Media Workshop, University of Alabama,
`Tuscaloosa, AL, 15 November 2000.”
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`27. “Robust Controller Design for Tape Transport Servo,” Information Storage and Processing
`Systems Conference, Santa Clara, CA, 21 June 2000.
`
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`28. “Disk Drive Technology and Two-Stage Actuator Control,” University of Michigan, Ann
`Arbor, MI, 11 February 2000; Massachusetts Institute of Technology, Cambridge, MA, 21
`April 2000; Cornell University, Ithaca, NY, 4 May 2000.
`
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`29. “Control Schemes for Pivot Bearing Nonlinearities and Microactuator Control”, Information
`Processing and Storage Symposium, Santa Clara, CA, 28 June 1999.
`
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`30. “Servo: Challenges and Opportunities on the Path to 100 Gbits/in2”, IDEMA High TPI
`Symposium, Minneapolis, MN, 2 June 1999.
`
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`31. “The Modular Distributed Manipulator System”, Department of Mechanical Engineering,
`University of Illinois, Urbana-Champaign, 21 April 1999; Ohio State University, 19
`November 1999; Clemson University, 3 December 1999.
`
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`32. “Piezoelectric Microactuator and Control”, Interactive Workshop on Data Storage, Lake
`Arrowhead CA, 7 December 1998.
`
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`33. “Controller Design for Dual-Input/Single-Output Systems”, Western Digital Corporation, 20
`November 1998.
`
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`34. “Servo: Progress and Challenges on the Path to 100 Gbits/in2,” Information Storage
`Technology Symposium, Kalamata, Greece, 7 September 1998.
`
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`35. “Parcel Manipulation and Dynamics: The Virtual Vehicle,” Department of Mechanical
`Engineering, University of California, Berkeley, 23 January 1998.
`
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`36. “Controls Tutorials for MATLAB,” Department of Mechanical Engineering, University of
`California, Berkeley, 23 January 1998.
`
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`37. “Tape Tracking Research at DSSC,” Quantum Corporation, Shrewsbury, MA, 6 November
`1997.
`
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`38. “Time Optimal Feedforward Algorithms for Disk Drives,” Quantum Corporation,
`Shrewsbury, MA, 6 November 1997.
`
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`39. “The Virtual Vehicle,” Department of Mechanical Engineering, University of California, San
`Diego, 14 August 1997.
`
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`40. “Controls Research at the Carnegie Mellon Data Storage Systems Center,” University of
`California, San Diego, 20 May 1997.
`
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`41. “Bias in Disk Drive Rotary Actuators: Characterization, Prediction, and Compensation,”
`Samsung Advanced Institute of Technology, Suwon, Korea, 17 June 1996.
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`42. “Control System Challenges to Achieving 10-100 Gbits/in2,” Information Storage
`Technology Symposium, Kalamata, Greece, September 1995 and University of Pittsburgh, 15
`October 1996.
`
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`43. “Learning Control Using Integral Transforms,” University of Michigan, 24 March 1995.
`
`44. “Recent Research and Open Issues in Control for Disk Drives,” Magnetic Technology
`Center, National University of Singapore, December 1994.
`
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`45. “Friction in Disk Drive Rotary Actuator Ball Bearings,” Seagate Technologies, Scotts
`Valley, CA, 6 January 1995; IBM, San Jose, CA, 21 December, 1994; HP-Labs, Palo Alto,
`CA, 20 December.
`
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`46. “Comparison of Repetitive Control Algorithms”, Precision Engineering Program, University
`of North Carolina at Charlotte, March 1993.
`
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`PANELS
`
`
`1. “Automation and the future of work.” Tufts University, 20 April 2017.
`
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`MEDIA APPEARANCES
`
`
`
`
`1. “Professor William Messner on electric car techology” CCTV America, interview with
`Phillip Yin. 1 Dec 2015. https://www.youtube.com/watch?v=fn2nYDqEt-4
`
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`2. “Professor William Messner on the market for self-driving cars,” CCTV America. 20 Oct
`2016. https://www.youtube.com/watch?v=9IhbiaVVH_4
`
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`3. “William Messner on self driving car safety,” CCTV America, interview with Karina Huber.
`27 Sep 2016. https://www.youtube.com/watch?v=OcS2l9vUE-Q
`
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`4. “William Messner on the future of Tesla cars,” CCTV America, interview with Karina
`Huber. 20 Oct 2016. https://www.youtube.com/watch?v=03V3UPwzsrU
`
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`5. “Driverless are going to be safer, but…,” RT America, interview with Ashlee Banks. 6 Nov
`2017. https://youtu.be/r6DoqAsLK4U
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`6. “AI arms race fuels fears of killer robots,” RT America, interview with Anya Parampil. 20
`Nov 2017. https://youtu.be/vBV0TVKKTrI
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`COMMENTARY
`
`
`1. “Can Self-Driving Cars Handle Boston’s Infamously Congested and Confusing Streets?” Slate, 21
`June 2018. https://slate.com/technology/2018/06/can-self-driving-cars-handle-bostons-confusing-
`streets.html
`
`2. “Snowbanks a big obstacle for self-driving cars.” Boston Herald, 21 Mar 2018.
`http://www.bostonherald.com/business/business_markets/2018/04/snowbanks_a_big_obstacl
`e_for_self_driving_cars
`
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`3. “A bumpy but necessary ride could be ahead.” Boston Herald, 20 Mar 2018.
`http://www.bostonherald.com/news/columnists/jessica_heslam/2018/03/heslam_a_bumpy_b
`ut_necessary_ride_could_be_ahead
`
`4. W. Messner “After fatality, autonomous car development may speed up.” The Conversation,
`7 Aug 2016. https://theconversation.com/after-fatality-autonomous-car-development-may-
`speed-up-63488
`Reprinted in Future Tense
`http://www.slate.com/blogs/future_tense/2016/08/08/driver_s_death_may_accelerate_self_dr
`iving_car_technology.html
`
`5. W. Messner “It’s pedal to the medal for driverless cars.” The Conversation, 29 Jan 2017.
`https://theconversation.com/its-pedal-to-the-metal-for-driverless-cars-71936
`
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`
`
`PATENTS
`
`
`1. “Two Dimensional Electro-optic Beam Scanner” with T. E. Schlesinger and D. Stancil. US
`Patent 6,480,323 issued on 12 November 2002.
`
`2. “Frequency Modulation Pattern for Position Error Signal Generation for Disk Drives” with
`Xiangdong Lin and Jian-Gang Zhu. US Patent 6,754,016 issued 22 June 2004.
`
`3. “Simultaneous Bit Pattern Determination and Head Positional Information Detection on
`Patterned Media” with Vijayakumar Bhagavatula, James Bain, Hiroyuki Suzuki, Sheida
`Nabavi, U.S. Patent 7,948,708 issued 24 May 2011.
`
`4. “Micromachined Electrothermal Rotary Actuator” with J.A. Bain and G.K. Fedder. US Patent
`8,243,397 issued 14 August 2012.
`
`5. “Systems and Methods for Magnetic Head Translation” with J.A. Bain US Patent 8,289,659
`issued 16 Oct 2012.
`
`6. “3D chemical pattern control in 2D fluidics devices” with Y.-T. Kim and P.R. LeDuc
`US Patent 8,695,618 B2 issued 15 April 2014.
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`7. “Fluid pressure regulator and related methods and systems” with Y.-T. Kim, B. Kuczenski,
`and P. LeDuc. US Patent 9,170,267 B2 issued 27 Oct 2015.
`
`8. “Fluid pressure regulation systems and software” with Y.-T. Kim, B. Kuczenski, and P.
`LeDuc. US Patent 9,625,918 issued 18 April 2017.
`
`EDUCATIONAL CONTRIBUTIONS
`
`1. “Control Tutorials for MATLAB™and Simulink™” with Professor Dawn Tilbury, University of
`Michigan, and Rick Hill at University of Detroit, Mercy http://control.me.cmu.edu/CTMS
`These are multi-media, highly interconnected, “learn-by-doing” tutorials for learning to
`analyze and design control systems using the popular MATLAB™ software package. (This site
`is the top ranked result of search on “control tutorial” in Google or Bing.)
`
`2. “Modeling Tutorials for MATLAB™ and Simulink™” with Ian Tseng and Dawn Tilbury. Web-
`based tutorials for modeling dynamic systems with MATLAB™ and Simulink™.
`
`3. “Loop Shaping in the 21st Century” with Takenori Atsumi, a workshop held at the American
`Controls Conference in San Francisco, CA 29 Jun – 1 Jul 2011.
`
`4. “Loop Shaping in the 21st Century” with Takenori Atsumi, a workshop held at the American
`Controls Conference in Boston, MA 6-8 Jul 2016.
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`SELECTED GRANTS AND CONTRACTS
`
`
`Principal Investigator
`
` “Robot Assistance with Activities of Daily Living for Persons with C4-C7 Spinal Cord Injury,”
`Craig H. Neilsen Foundation, $74,121. 31 Oct 2017-30 Oct 2018.
`
`“Collaborative Research: Long Term Spatiotemporal Control to Investigate Dynamics in
`Xenopus Laevis Embryonic Development," National Science Foundation, $505,146, 1 Sep
`2011 - 31 Aug 2014.
`
`“Nonlinear Control and Modeling of Smart Valves,” Office of Naval Research, $176,000, 1 Jan
`2010 – 31 May 2012 (subcontract to Villanova).
`
`
`“Nonlinear Control and Modeling of Smart Valves,” Office of Naval Research, $187,500, 1 Jan
`2008-31 Dec 2009 (subcontract to Villanova).
`
`“Research on Actively Controlled Tape Guides,” Information Storage Industry Consortium,
`$65,000, March 2008-February 2009.
`
`“CMOS MEMS Electrothermal Rotary Actuator for HDD Track Following and Skew
`Correction,” Seagate Technology Research Center, $50,000, 18 April 2007-17 April 2008.
`
`“Position Error Signal Generation for Patterned Media,” Fujitsu Limited, $50,000, December
`2006-30 November 2007.
`
` “Microfluidic System for Spatiotemporal Investigations of Cellular Mechanics,” National
`Science Foundation, $249,877, 1 Sep 2006-31 Aug 2010.
`
`“Mechanics Actin Networks Cross-Linked by Filamins” National Research Service Award of the
`National Heart, Lung, and Blood Institute, $45,277, 1 Mar 2006-28 Feb 2007.
`
`“Bearing Hysteresis Modeling and Compensation,” Information Storage Industry Consortium,
`$30,000, 1 Jan 2004—31 Dec 2005.
`
`“Hysteresis in Actuator Pivot Bearings,” Information Storage Industry Consortium, $30,000, 1
`Jan 2004—31 Dec 2004.
`
`“Control for Active Tape Steering” Subcontract to Imation/NIST Advanced Technology
`Program: Multi-Terabyte Tape Sytems, $400,000, 1 November 2002—31 October 2006.
`
` “Integrated Modeling, Control, and Guidance for Full Envelope Flight of Robotic Helicopters”
`National Science Foundation, $522,000, 1 September 2002—31 August 2006.
`
`“Human Robot Collaboration at the Miniature Scale”, National Aeronautics and Space
`Administration, $214,000, 1 March 2002—30 November 2002.
`
`
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`14
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`“New Servo Patterns for Patterned Media,” Information Storage Industry Consortium, $45,000, 1
`November 2002—31 October 2003.
`
`“Servo Patterns for Patterned Media,” National Storage Industry Consortium, $60,000, 1
`February 2002—31 August 2002.
`
`“Servo Patterns for Patterned Media,” National Storage Industry Consortium, $30,000, 1
`February 2001—31 January 2002.
`
`
`“Advanced Digital Control for High Capacity Disk Drives,” National Science Foundation,
`National Science Foundation, $300,569, 1 August 2000—31July 2004.
`
`“Patterned Media for Disk Drives,” National Storage Industry Consortium, $60,000, 15 January
`1999—14 January 2000.
`
`“Modular Distributed Manipulator System”, National Science Foundation, $296,000, 1
`September 1998 - August 2002
`
`“Web-Assisted Experimentation: Enhancing Controls Education,” National Science Foundation,
`$162, 217, 1 August 1998 - 31 July 2000.
`
`“NSIC Head/Media Specification Testing,” Data Storage Systems Center/National Storage
`Industry Consortium, $26,500, May - October 1997.
`
`“Instrumented Suspension and Dual Stage Actuator Development,” Data Storage Systems Center
`Sponsoring Affiliate: Hutchinson Technology Incorporated, $275,000, April 1997 - March
`2000.
`
`
`“Servo Control System Development for a High Speed Variable Data Rate Multi-media Tape
`Recorder,” 3M/National Institute of Standards Advanced Technology Program Award
`(subcontract), $441,501, October 1995-September 2000.
`
`
`“Laser Doppler Vibrometer and Dynamic Signal Analyzer for Bearing Dynamics Research,”
`National Science Foundation Research Engineering Equipment Grant, $55,073, May 1995-
`April 1996.
`
`
`“Friction Compensation in Disk Drive Rotary Actuator Ball Bearings,” National Science
`Foundation Research Initiation Award, $64,997, September 1994-August 1997.
`
`“Controls for Magnetic Tape, Magnetic Disk, and Optical Disk Drives,” Carnegie Mellon Data
`Storage Systems Center, an NSF Engineering Research Center
`
`
`$150,307, October 1999-September 2000.
`
`$144,056, October 1998-September 1999.
`
`
`$179,478, October 1997-September 1998.
`
`$157,373, October 1996-September 1997.
`
`
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`15
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`

`
`
`$141,755, October 1995-September 1996.
`
`
`
`
`Co-Principal Investigator
`“Measuring and Applying Cognitive Load,” United States Army Natick Soldier Research,
`Development and Engineering Center and Tufts Center for Applied Brain and Cognitive
`Sciences, $70,000, September 2015 - September 2016.
`
`
`“Comprehensive Automation for Specialty Crops,” US Department of Agriculture, $5,900,000, 1
`Oct 2008-30 Sep 2012 (investigator share $422,400).
`
`
`“Controls Education Using MATLABTM: Tutorials Using the World Wide Web,” National Science
`Foundation, $88,430, March 1996 - February 1998.
`
`
`
`Faculty Associate
`“ITR: Synthetic Reality: Physically Rendering Dynamic 3D Objects from Programmable
`Matter,” NSF, $1,405,514, 1 September 2004 – 31 August 2009.
`
`“Magnetic Tape Ultra-High Density Recording,” DSSC/ARPA/NSIC, $120,000, April 1993-
`March 1995.
`
`
`“Advanced Tracking for Magnetic Disk Drives,” DSSC/ARPA/NSIC, $118,000, April 1993-
`March 1995.
`
`
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`16
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`

`

`
`
`PUBLICATIONS
`
`Books/Chapters in Books
`1. W. Messner, editor, Autonomous Vehicles: Technologies that Matter, SAE International,
`2014.
`
`2. J. Luntz, W. Messner, and H. Choset, “Discreteness Issues in Actuator Arrays”, Distributed
`Manipulation, p. 103-26, K. Böhringer and H. Choset, editors, Kluwer Academic Publishers,
`2000.
`
`3. J. Luntz, W. Messner, H. Choset, “Velocity Field Design for the Modular Distributed
`Manipulator System,” in Robotics: The Algorithmic Perspective, p. 35-48, P. Agarwal, L.
`Kavraki, and M. Mason, eds., A.K Peters, Natick, MA 1998.
`
`4. W. Messner and D. Tilbury, “Controls Tutorials for MATLAB™ and Simulink™: A Web-based
`Approach,” Addision-Wesley-Longman, 1998. Soft cover book with CD-ROM. This is a
`commercialization of the tutorials available for free on the World Wide Web. See education
`contributions.
`
`Journal Publications
`1. W. Crooks, S. Rozen-Levy, B. Trimmer, C. Rogers, W. Messner, “Passive gripper inspired
`by Manduca sexta and the Fin Ray® Effect,” International Journal of Advanced Robotic
`Systems, DOI: 10.1177/1729881417721155, 14(4), 26 Jul 2017.
`
`2. W. Crooks, G. Vukasin, M. O'Sullivan, W. Messner, C. Rogers, “Fin ray effect inspired soft
`robotic gripper: from the RoboSoft Grand Challenge toward optimization,” Frontiers in
`Robotics and AI, 3 (2016): 70.
`
`3. M. Hazar, Y. Kim, J. Song, P. LeDuc, L. Davidson, and W. Messner, “3D bio-etching of a
`complex composite-like embryonic tissue, Lab on a Chip, 2015, 15, 3293 - 3299, DOI:
`10.1039/C5LC00530B, 3 Jul 2015.
`
`
`4. L. González, W. Ruder, A. Mitchell, W. Messner, P. LeDuc, “Sudden motility reversal
`indicates sensing of magnetic field gradients in Magnetospirillum magneticum AMB-1
`strain.” The ISME journal, (published) 9(6), 1 Jun 2015, 1399-1409.
`
`5. Y. Kim, M. Hazar, D. Vijayraghavan, J. Song, T. Jackson, S. Joshi, W. Messner, L.
`Davidson, and P. LeDuc, “Mechanochemical actuators of embryonic epithelial contractility,”
`Proceedings of the National Academy of Sciences, published ahead of print
`doi/10.1073/pnas.1405209111, 22 Sep 2014.
`
`6. W. Messner, J. Paik, R. Shepherd, S. Kim, B. Trimmer, “Energy for Biomimetic Robots:
`Challenges an