Design Engineer Mechanical Engineering

ANKUR R BAHETI Ph: 716-***-****

**** ******** **** *** *** 13A Portage MI 49024 Email: **************@*****.***

Research Interests

Robotics: Haptic Feedback Devices, Robot-Assisted Surgery, Medical Device design

Simulation: Surgical Simulations, FEM-based Modeling and Simulation, Medical Simulations

Education

• University at Buffalo, State University of New York September 2008

Masters of Science Mechanical Engineering

GPA 3.593/4.0

• Visveswariah Technological University, India June 2006

Bachelor of Science Mechanical Engineering

Technical Skills

• Programming Skills: C, C++, C#, Matlab, Simulink

• Graphics/Haptics Libraries: OpenGL, Open Haptics, GLUT

• Operating Systems: Unix, Linux, Windows, (SUSE Linux, Ubuntu, Debian etc)

• Hardware Exposure: Phantom Haptic Devices, Novint Falcon Device, Saitek Haptic JoyStick, daVinci® Surgical System, Xbox 360, ARM9 Embedded Systems.

• Debugging Tools: gdb, Microsoft Visual Studio Debugger

• Integrated Development Environment: Microsoft Visual Studio, Kdevelop, Eclipse

• CAD/CAM Tools: AutoCAD, Pro/E, SolidWorks, Pro/M, Ansys, CADEM, Arena, CNC Programming

• Other Skills: DSpace Board Programming, Sensoray Board Programming, 3D Studio Max, Xbox Programming

Work Experience

Sr Design Engineer, R&D (July 2011 –Current)

Stryker Instruments, Kalamazoo MI

• Advanced Robotics:

o Analyzed workspaces for a 6 DOF system generated by connecting two open link mechanisms via a coupler to form a closed loop system.

o Obtained the principal axes for the velocity and forces acting to design the joint torques for actuation on each of the open link mechanisms.

o Working on workspace characterization by using Riemannian metrics to obtain the principal axes and joint torques for actuation.

• OR Waste Management Products:

o Worked on developing technical system requirements for OR waste management products including various guidelines from governing institutions.

o Designed the canister sub-assembly for waste fluid collection from surgeries.

o Working on developing the risk management file to determine the adverse effects in events of failure of the various sub-assemblies.

Design Engineer I (August 2008 – June 2011)

SiTEL, MedStar Health, Washington DC

• Bronchoscopy Simulator: This is a simulator to help train residents/pulmonologists/anesthesiologists to perform emergency fiber optic intubation and bronchoscopy procedures.

o Designed and developed a force feedback device using non-contact method to provide the haptic feedback.

o The device features different types of force feedback obtained by the user. When the user grazes against any section of the airway a frictional force feedback is obtained. Also, when further insertion is not possible the user experiences a force feedback wherein it is impossible to insert the endoscope further.

o Built the interface for the software simulation to work with the custom hardware developed.

o Developing an interface to make the force feedback device work with a console running an OS.

o Using a TS-7800 Linux ARM single board computer with PC104 peripherals to control the different hardware elements like the sensors, motors and force feedback assembly.

o Designing and developing a generic interface (API for the TS-7800) that can be implemented on any custom hardware to be developed in future.

• Implemented 3D Maze navigation System with Haptic Feedback on collision with obstacles using the Novint Falcon Device.

• Implemented a simulator to recreate existing drawing patterns using the Novint Falcon haptic device.

o The simulator guides the user to follow the exact path which will result in the recreation of a prior drawing pattern.

Research Assistantship (January 2007 – August 2008)

Virtual Reality Lab, Department of Mechanical and Aerospace Engineering, University at Buffalo

• Developed a Virtual Reality trainer, the RoSS, for the daVinci® Surgical Simulator Master used to perform minimally invasive surgery using C/C++, OpenGL and Open Haptics API on MS Visual Studio.

o Developed two modules for training, namely: Psychomotor skills set and Cognitive skills set.

o The movement of the virtual tools is based on the inverse kinematic mapping of the slave of the daVinci® Surgical System.

o Incorporated Haptic Feedback for the psychomotor skills set.

o The Cognitive skills set used feed from prior surgical videos and the trainee would have to identify the error and rectify the same.

Built two different modules namely: 1) Anatomy and 2) Bleeding Identification.

Project Intern (March 2006 – June 2006)

Gas Turbine Research Establishment, Bangalore, India

Ministry of Defense, Government of India

• Developed an Injection tooling for an elbow connector used in the gear box assembly of Light Combat Aircraft (LCA) using Rapid prototyping, using the Fused Deposition Modeling (FDM) Technique.

Project Intern (February 2005 – February 2005)

Pragati Automation Pvt Ltd., Bangalore, India

• Involved in writing part programs for machining tool turrets for CNC Machines.

Patents

1) Baheti A, Hafey R, Gomez J, and Pai S, "System and method for virtual surgical training", February 2010 (Provisional Patent Application Number 61/337,180)

2) Baheti A, Kumar A, Seshadri S, Srimathveeravalli G, Kesavadas T and Guru K, “Skills Trainer for Robotic Surgery”, June 2008 (Provisional)

Journal Publications

1) Baheti A, Hafey R, Pai S, Gomez J, Millo Y. and Desai. J. P, "Real-Time Fiber-Optic Simulator with Force Feedback", IEEE/ASME Transactions on Mechatronics, Volume 17, Issue 1, Feb 2012 pages 98-106.

2) Seixas-Mikelus S A, Adal A, Kesavadas T, Baheti A, Srimathveeravalli G, Hussain A, Chandrashekhar R, Wilding G E, and Guru K A, “Can Image based Virtual Reality Help Teach Surgical Anatomy?”The Journal of Endourology, Volume 24, Number 4, April 2010.

3) Baheti A, Guru K, Kesavadas T, Kumar A, Srimathveeravalli G, and Butt Z “In-Vivo Videos Enhance Cognitive Skills for daVinci® Surgical System”, The Journal of Urology 181:4 Supplement, 2009

4) Kumar A, Kesavadas T, Srimathveeravalli G, Karimpuzha S, Baheti A, Chandrasekhar R, Wilding G, Butt Z and Guru K “Efficacy of Robotic Surgery Simulator (RoSS) for the daVinci® Surgical System”, The Journal of Urology 181:4 Supplement, 2009

5) Kumar A, Seshadri S, Baheti A, Srimathveeravalli G, Butt Z, Kuvshinoff B, Mohler J, Kesavadas T and Guru K “Virtual Reality Surgical Trainer for Robotic Urological Procedures” The Journal of Urology 179:4:Supplement 1, 2008

Conference Publications

1) Baheti A, Millo Y and Desai J P, “Fiber-optic Intubation Simulator with Force Feedback “, In proceedings of the IEEE VR Haptics Symposium, March 2010.

2) Baheti A, Desai J P, Pai S, Gomez J, Hafey R, Paiz R, Leonard P, Battista A and Millo Y, “Fiber-optic Intubation Simulator with Haptic Feedback” presented at the SSIH meeting Phoenix, AZ Jan 2010

3) Baheti A, Kumar A, Srimathveeravalli G, Kesavadas T and Guru K “RoSS: Virtual Reality Robotic Surgical Simulator for the DaVinci Surgical Simulator System”, In Proc. of IEEE VR Haptics Symposium, 2008

Presentations

• Presented the research titled “Fiber-optic Intubation Simulator with Force Feedback” at The Haptics Symposium (IEEE VR) 2010.

• Presented the demo titled “Fiber-optic Intubation Simulator with Force Feedback” at The Haptics Symposium (IEEE VR) 2010.

• Presented Poster titled “RoSS: Virtual Reality Robotic Surgical Simulator for the daVinci Surgical System”, at Celebration of Academic Excellence hosted by University at Buffalo Research and Scholarship Projects (School of Engineering and Applied Sciences)

Service

• Reviewer – IEEE Transactions on Biomedical Engineering

• Reviewer – ASME Journal of Medical Devices

• Treasurer, MAE – Graduate Student Association, (SUNY Buffalo)

• Roswell Day at Albany State Senate, demonstration on behalf of Roswell Park Cancer Institute to New York State congressmen, January 2008

Major Projects

• Developed a tool the reconstruction of organs from the segmented data using C++ and OpenGL in Visual Studio.

o Segmented organs of interest from images obtained from “The Visible Human” data set.

o Reconstructed the organs from the slices of the segmented data using vertex arrays.

• Developed a Pareto-Multi Objective Genetic Algorithm and Exterior Penalty Function Approach for multi objective optimization problems using Matlab:

o To solve optimization problems for up to three variables.

• Developed a tool to determine the workspace characterization of a 3 link robot and obtaining the manipulability ellipsoids using Matlab:

o The input is the rest configuration of the manipulator and the link lengths.

• Developed a tool to determine the influence of product mix variation in cellular manufacturing using Matlab.

o The tool optimizes work in process time and mean flow time across a cellular manufacturing.

o The simulation was done using the simulation software Arena .

• Designed a controller to control the steer angle of bicycles using Matlab:

o A PID controller was used to control the angle of inclination which would ensure that the bicycle is always maintained at a critical angle to prevent a crash.

• Designed, analyzed and optimized a car that would fit a given chassis dimensions:

o The design constraints were to chassis dimensions and maximize the weight that can act on the system.

o The design was done using Pro/E and the analysis was done using Pro/M.

• Determined the stress concentration factors for a thin plate with semi circular edges cut out under dynamic loading.

o The system was a structurally loaded member and the static and dynamic response analysis was done using ANSYS.

• Developed a four bar mechanism that would minimize the error while passing through a fixed path:

o The constraints on the system were to minimize the error while passing through a fixed path while minimizing the link lengths of the mechanism.

Contact this candidate