Carnegie Mellon University


  Kenji Shimada

Computational Engineering &
Robotics Laboratory


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Graduate and Undergraduate Courses  Self-Paced Web Tutorial   Course Evaluation  Students  


Graduate and Undergraduate Courses


     At CMU Professor Shimada developed and taught two new graduate level courses related to the computational aspects of engineering, “24-786: Geometric Modeling” and “24-700: Computational Geometry.”  The core technologies in geometric modeling and computational geometry are the foundation of modern CAD and CAE software tools.  One goal of developing these two courses was to strengthen the department’s recent “computational need” thrust.  The department has recognized the importance of exposing our students to various computational tools and has been utilizing Pro/ENGINEER, ANSYS and other packages in core courses.  The early exposure to these tools has been an advantage and strength to our students, and it has been a driving force in attracting more freshmen to the Department of Mechanical Engineering, particularly more female students, who used to be deterred by the "nuts and bolts" perception of the field.  



     Professor Shimada has also reformed the content and the method of instruction of one the core undergraduate courses, "24-311: Numerical Methods."  The new formats introduced include:

Two types of computational assignments.  One of the goals that were set for this course was to teach two sets of computational skills: efficient use of commercially available software packages, and programming numerical methods using a common computer language.  The first set of skills was taught through five problem sets that required the use of Mathcad.  In these problems, understanding the limitations of each numerical method was emphasized.  The second set of skills was taught through six programming assignments in C++.

Use of VRML for visualizing results.  Most engineering students do not enjoy writing codes for numerical methods because all they see as results are numbers.  To overcome their reluctance, Professor Shimada successfully implemented the usage of Virtual Reality Modeling Language (VRML) to display visually the final results of the numerical calculations.  In this way the students could visualize: the convergence process of the Newton-Raphson method, forces in a three-dimensional truss structure, the process of two-dimensional optimization, a three-dimensional view of a quadratic regression surface, animation of the trajectory of a spring-mass pendulum, and other examples.  Using VRML increased the students' interest in writing codes and also helped them to reason if their numerical results were correct or not.  


Two-dimensional quadratic regression.  Students write a code for regression, and the resultant surface is visualized in 3D along with the input data points using VRML.


Numerical integration of ODE.  Students write a code for the  numerical integration of the equation of motion for a spring-mass pendulum.  The 3D trajectory of the mass is visualized and animated using VRML.


Self-Paced Web Tutorials



Professor Shimada and his graduate students, Chandan Aladahalli (co-advised with Professor Cagan) and Tian Zhou, have developed a self-paced web tutorial on FEM and ANSYS.  The tutorial is designed to teach students: (1) what Finite Element Method (FEM) is, (2) how to model engineering analysis problems using FEM, and (3) how to use a commercial FEM package, ANSYS.  This provides an easy and effective way for students to learn an essential computational skill not directly covered in the regular required courses, but useful in their future career.

     Another project with his undergraduate student, Amy Solana, is a self-paced web tutorial on Mathcad.


Course Evaluations




  Ph.D. Students
bulletVenkat Ayyadevara, “Automated Planning for Stacking Polyhedral Sheet Metal Parts,” Spring 2000. Present Position: Senior Program Manager at Microsoft Corporation
bulletKo-Hsiu Hou, “A Computational Method for Mesh-Based Free-Form Functional Surface Design,” Spring 2002, Present Position: Researcher, GE Corporate Research and Development, Niskayuna, NY.
bulletSoji Yamakawa, “Unstructured Three-Dimensional Mesh Generation with Controlled Anisotropy and Directionality,” Summer 2002, Present Position: Research Associate, Carnegie Mellon University, Pittsburgh, PA.
bulletMurat Gunay, “Three-Dimensional Bone Shape Reconstruction from X-Ray Images Using Hierarchical Free-Form Deformation and Sequential Quadratic Programming,” Spring 2003, Present Position: Assistant Professor, Pamukkale University, Turkey.
bulletChandan Alladahali, “Three-Dimensional Layout Design,” Fall 2004 (co-advised with Professor J. Cagan), Present Position: GE, India.
bulletRoshan Quadros, “A Computational Framework for Automating Generation of Finite Element Mesh Sizing Function,” Summer 2005, Present Position: Software Engineer, Algor, Pittsburgh, PA.
bulletMiguel Vieira, “Geometric Data Processing for 3D Laser Scanner,” Fall 2006, Present Position: Senior Researcher, Leica Geosystems, CA.
bulletDaigo Tanaka, “Optimal Layout of Cryoprobes for Cryosurgery,” (co-advised with Professor Y. Rabin, BME), Spring 2007, Present Position: Software Engineer at Research & Engineering, WesternGeco / Schlumberger.
bulletArbtip Dheeravongkit, “Mesh Pre-Adaptation for Large-Deformation Non-linear Finite Element Analysis,” Spring 2007, Present Position: Assistant Professor, King Mongkut's Institute of Technology.
bulletEmily Monahan, “Computer-Aided Navigation System for Arthroscopic Hip Surgery,” Fall 2007, Present Position: Assistant Professor, Bucknell University.
bulletMatthew Staten, “Sheet-Based Generation and Modification of Unstructured Conforming All-Hexahedral Finite Element Meshes,” Spring 2010, CEE, Present Position: Sandia National Labs.
bulletFrank Hammond, “Task-Specific Morphological Design Optimization of Kinematically Redundant Manipulators,” Spring 2010, Present Position: Post-Doc Researcher, Harvard University.
bulletErick Johnson, “Improving Analysis of Patient-Specific Aneurysms by Determining the Wall Thickness through Mesh Deformation,” Co-Advised with Prof. Y. Zhang, August 2010, Present Position: Researcher, Sandia National Labs.
bulletTsung-Hsien Wang, “Customizing Pattern-Based Panelization for NURBS Surface Reconstruction with Irregular Boundary Conditions,” Co-Advised with Ramesh Krishnamurti, Spring 2012.
bulletIacopo Gentilini, “Path Optimization for Kinematically Redundant Robotic System,” Summer 2012.
bulletVed Vyas, “Tensor-Guided High Aspect Ratio Mesh Generation,” Fall 2013 (Ph.D. expected).
bulletSooHo Park, “Minimizing Energy Consumption of Kinematically Redundant Robot,” Fall 2013 (Ph.D. expected).
bulletHsiang-Chun (Jean) Lu, “Sketch-Based Geometric Feature Decomposition,” Spring 2013 (Ph.D. expected).
bulletChun-Fan Goh, “Robotic Motion Control,” Co-Advised with Gerald Seet, Spring 2014 (Ph.D. expected)
bulletRob Keelan, “Computer-Assisted Cryosurgical Training,” Co-Advised with Yoed Rabin, Spring 2014 (Ph.D. expected)
bulletAnjali Sehrawat, “Computer-Assisted Cryosurgical Training,” Co-Advised with Yoed Rabin, Spring 2014 (Ph.D. expected)
bulletMabaran Rajaraman, “Sensor-based Robotic Motion Control,” Spring 2015 (Ph.D. expected)
bulletYing Ying Wu, “Path Optimization for Bone Distraction Ontogenesis,” Spring 2015 (Ph.D. expected)
bulletDiego Andrade, “Generative Pattern Generation for Industrial Design,” Spring 2016 (Ph.D. expected)
bulletMeghan Chandarana, “3D Gesture-based Robotic Motion Teaching,” Spring 2016 (Ph.D. expected)
bulletJin Wei, “Robotic Motion Teaching by Demonstration,” Spring 2017 (Ph.D. expected)

Master’s Students

bulletJia-Huei Liao, “Quadrilateral Meshing via Close Packing of Square Cells,” Spring 1998 (MS-P).
bulletMegan Hazen, “Local Feature Recognition in Three-Dimensional Data Using Invariant Hashing,” Spring 1999 (MS-P). Present Position: University of Washington.
bulletNaveen Viswanath, “Adaptive Anisotropic Quadrilateral Mesh Generation Applied to Surface Approximation,” Spring 2000 (MS-P). Present Position: Seagate Technology.
bulletKarthick Chilaka, “Surface Topology and Geometry Reconstruction of Wireframe CAD Models,” Spring 2000 (MS-P). Present Position: Spatial Corporation.
bulletBen Cheng, “Geometric Feature Recognition via Discrete Curvature Estimation,” Spring 2000 (MS).
bulletTian Zhou, “An Angle-Based Approach to Two-Dimensional Mesh Smoothing,” Spring 2001 (MS-P). Present Position: Engineer, Siemens Westinghouse Power Corporation.
bulletChandan Alladahali, “Using Geometric Sensitivity Analysis to Infer Timing Schedule of Move Sets for a Pattern Search Based 3D Layout Algorithm,” Spring 2001 (MS-P, co-advised with Professor J. Cagan).
bulletHo-Kook Lee, “Solution-Adaptive Finite Element Analysis of Sheet-Metal Forming,” Fall 2001 (MS). Present Position: POSCO
bulletJonathan Evans, “Shape and Topology Optimization for Hybrid Structural Parts,” Spring 2002 (MS) (a part-time student from Bayer AG)
bulletMiguel Vieira, “Geometric Data Processing for 3D Laser Scanner,” Spring 2003 (MS-P).
bulletLeslie Gennari, “Pen-Based User Interface for Electrical Circuit Design,” Spring 2004 (MS-P).
bulletArbtip Dheeravongkit, “Meshing with Pre-Distortion for Large Deformation Finite Element Analysis,” Spring 2004 (MS-P).
bulletNissan Shoykhet, “Computational Modeling of Abdominal Aortic Aneurysm,” Spring 2005 (MS-P)
bulletEmily Monahan, “Computer-Assisted Arthroscopy for Hip Surgery,” Spring 2005 (MS-P).
bulletRobert Oberreuter, “Computer and Robot Assisted Orthopedic Surgery,” Spring 2006.
bulletMichael Ballinger, “Prostate Shape Reconstruction from CT Images,” (co-advidsed with Professor Y. Rabin), Spring 2007 (MS-P)
bulletRavichandra Varma Buddharaju, “Finite Element Mesh Independency Study,” Spring 2007.
bulletMax von der Heydt, “Image-guided Biopsy System,” Spring 2007 (MS-P)
bulletAndrew W. Heutchy, “Dynamics Simulation of FSEA Car,” Spring 2007 (MS-C).
bulletMark Roberts, “Image-guided Biopsy System,” Spring 2008 (MS-P).
bulletSooHo Park, “7DOF Hyper Redundant Robotic Manipulator,” Spring 2008 (MS-P).
bulletMichael DeSpenza, “Teaching System for Hyper-Redundant Robotic Manipulator,” Spring 2008 (MS-P).
bulletJacqueline Libby, Spring 2008 (MS-C).
bulletAbhinav Singhal, Fall 2008 (MS-C).
bulletNamjung Kim, “Image-Based Human Body Modeling,” Spring 2009 (MS-P)
bulletHsiang-Chun (Jean) Lu, “Sketch CAD,” Spring 2009 (MS-P)
bulletAlan Teets, “Physically Based Beautification of Free-Hand Strokes,” Co-Advised with Burak Kara, Spring 2009 (MS-C)
bulletPearce Stanek-Johnson, “Robot-Assisted Motor Skill Learning,” Spring 2010 (MS-P)
bulletJung H. Park, “Ergonomic Laryngoscopic Intubation with Headup Display, Wireless Camera and Fiberoptics with Resistance to Fouling,” Spring 2010 (MS-P)
bulletVinay Krishna Tharigopula, “Intubation Device with Laser Digitizing Capability,” Spring 2010 (MS-C)
bulletPrashin Sharma, “Shortest Path Generation for Kinematically Redundant Robots,” Spring 2010 (MS-C)
bulletArnontpas Ruangsri, “Mesh Independence Study for Non-Linear Structural FEM Analyses,” Spring 2010 (MS-C)
bulletSiddharth Vijayaraghavan, “Mesh Independence Study for Non-linear FEM Analyses,” Fall 2009 (MS-C)
bulletMadhur Kaushik, “Finite Element Analyses of the Effectiveness of a Shipping Package,” Spring 2010 (MS-C)
bulletRobert Keelan, “Measuring the Impact Force in a Shipping Package Drop Test,” Spring 2010 (MS-C)
bulletAjay Hari, “Mapping the Physical Property of a Ruptured Abdominal Aortic Aneurysm to FEM Analysis Results,” Spring 2010 (MSCDM)
bulletJong Eun Kim, “Survey of Robotic Motion Simulators,” Spring 2010 (MSCDM)
bulletYounduk Nam, “Optimal Path Generation for a Car Navigation System,” Spring 2010 (MSCDM)
bulletSaikumar Yeratapally, “Mesh Independency Study for Crash Analysis,” Fall 2010 (MS-C)
bulletMathew A. Chettupuzha, “Computational Simulation of Cerebral Aneurysm,” Spring 2011 (MS-C).
bulletCheongking Ng, “Optimal Path Generation for a Product Quality Inspection,” Fall 2010 (MS-C)
bulletMabaran Rajaraman, “Image-based 3D Shape Reconstruction of Human Foot,” Spring 2011 (MS-P)
bulletKarthik Srinivasan, “3D Volume Decomposition for Hex Meshing,” Spring 2011 (MS-P)
bulletZachary Barker, “Robot Motion Teaching via Model-based Gesture Recognition,” Spring 2011 (MS-P)
bulletFangkai Zhu, “Mesh Independence Study for Large Structural FEM Analyses,” Fall 2010 (MS-C)
bulletChen Zhang, “Motion Control of a Four-Legged Robot,” Spring 2011 (MS-C)
bulletSwati Sarraf, “Robot Motion Control,” Spring 2012 (MS-C)
bulletYiting Guo, “Physically based Surface Modeling,” Spring 2012 (MS-C)
bulletTian Wang, “Shape and Topology Optimization of Shipping Package,” Spring 2012 (MS-C)
bulletMari Gallegos, “Image-Based Custom Shoe Fitting,” Fall 2012 (MS-C)
bulletMohammed Alqahta, “Optimal Nesting of Sheet Metal Parts,” Fall 2012 (MSCDM)
bulletSteven Christensen, “Novel Design of Trachea Measurement Device”, Spring 2012 (MSCDM)
bulletHarsh Ghesani, “Shape Optimization with CFD,” Spring 2012 (MSCDM)
bulletRiddhit Mitra “Novel Design of Trachea Measurement Device,” Spring 2012 (MSCDM)
bulletJing Xu, “Trachea-Size Measurement using Computer Vision,” Fall 2012 (MS-P)
bulletAdarsh Kathiresan, “TBA”, Spring 2013 (MSCDM)
bulletKaustubh Deshpande, “Open Source CFD and its Application,” Spring 2013 (MSCDM expected)
bulletChristian Segura-Rivera, TBA, Spring 2013 (MSCDM expected)
bulletThimal De Alwis, TBA, Spring 2013 (MSCDM expected)
bulletKrisda Tapracharoen, TBA, Spring 2013 (MSCDM expected)
bulletSandeep Yarabarla, TBA, Spring 2013 (MSCDM expected)
bulletPrekumar Natarajan, TBA, Spring 2013 (MSCDM expected)
bulletShiva Ramalingam, TBA, Spring 2013 (MSCDM expected)
bulletQi Wang, TBA, Spring 2013 (MS-P expected)
bulletAndrew Klein, “Machine Learning-based Adaptive Control of Wheeled Robot Motion,” Spring 2014 (MS-P expected)
Fan Wang, TBA, Spring 2014 (MS-P expected)
bulletJorge Vasques, “Travelling Salesman Problem with Neighborhood and its Application to Unmanned Aerial Vehicle Path Planning,” Spring 2014 (MS-P expected)
bulletAnusha Rangrajan, “Machine Learning-based Signal Processing for Continuous Sleeping Disorder Monitoring,” Spring 2014 (BME MS-P expected)
bulletSuyue Han, “Geometric Processing for FSI Simulation of Cerebral Aneurysms,” Co-Advised with J. Zhang, Spring 2014 (MS-P expected)
bulletTsung-Chun Hsu, TBA, Spring 2014 (MS-P expected)
bulletVijay Raman, TBA, Spring 2014 (MS-P expected)
bulletAgniv Banerjee, “Computational Modeling and Simulation for Head Injury Analyses,” Spring 2014 (MS-P expected)
bulletDifan Hong, “Generative Generation of Geometric Features,” Spring 2014 (MS-P expected)
bulletHaichao Xu, “TBA,” Spring 2014 (MS-P expected)

Overseas Summer Graduate Students

bulletJun Mitani (Visiting MS Student, the University of Tokyo, Japan, summer 1998).
bulletShingo Takeuchi (Visiting MS Student, the University of Tokyo, Japan, summer 1999).
bulletAtsushi Izumi (Visiting MS Student, the University of Tokyo, Japan, summer 2000).
bulletYasuhiro Tamaki (Visiting MS Student, the University of Tokyo, Japan, summer 2002).
bulletBarbara Motyl (Visiting Ph.D. Student, the University of Udine, Italy, spring 2006).
bulletStefano Guerra (Visiting Ph.D. Student, the University of Modena and Reggio Emilia, Italy, fall 2010).
bulletNicola Jacquot (Visiting MS Student, France, spring – summer 2011)
bulletTakashi Maeno (Visiting MS Student, Hokkaido University, Japan, spring 2011).
bulletHiroki Maehama (Visiting MS Student, Hokkaido University, Japan, spring 2013).

Undergraduate Students

bulletMegan Hazen, “Geometric Feature Search Engine for Internet,” Spring 1997.
bulletJonathan Pompa, “Graphical User Interface for Surface Design,” Spring 1998.
bulletMatthew Carlson, “Two-Dimensional Curve Smoothing,” Spring 1999.
bulletSusan Swithenbank, “Three-Dimensional Bubble Mesh for FEM,” Spring 2000.
bulletBedirhan Cinar, “Two-Dimensional Curve Smoothing,” Spring 2000.
bullet#* Stehanie Pollice, “Shape Reconstruction from a Limited Number of Images,” Spring 2001.
bullet#* Miguel Vieira, “Three-Dimensional Curve Smoothing,” Spring 2001.
bullet#* Arbtip Dheeravongkit, “Angle-Based FEM Mesh Smoothing,” Spring 2002.
bulletFayette Shaw, “Tagbots,” SURG, Spring 2002.
bulletDaniel Vogel, “Tagbots,” SURG, Spring 2002.
bulletChris Hynes, “Surface Re-Parameterization for Finite Element Mesh Generation,” Spring 2002.
bullet#* Renata Melamud, “Design Automation and Optimization of Hybrid Structures,” Spring 2003.
bullet* Nissan Shoykhet, “Non-Invasive Risk Assessment of Rupture in Abdominal Aortic Aneurysm Using FEM Analysis,” Summer 2003.
bullet#* John Reifenberg, “Truss Structure Optimization,” Spring 2003.
bullet#* Robert Oberreuter, “Optimization of Bone Distraction Path for a 2DOF Fixator,” Spring 2004.
bullet#* Matt Rosa, “Minimum-Degree-of-Freedom Bone Distractor,” Spring 2004.
bullet* Serge LiHoiFoo-Gregory, “Rapid Prototyping Machine for Automobile Interior Design,” Spring 2004.
bullet#* Shintaro Kamishima, “Three-Dimensional Shape Generation from Cross-Sectional Images,” Spring 2004.
bulletMichael North, “CFD for Automotive External Flow Analysis,” Spring 2005.
bulletShandor Dektor, “CFD for Automotive External Flow Analysis,” Spring 2005.
bulletBrent Selby, “Pseudo Flow Simulation of Plastic Injection Molding,” Spring 2005.
bulletMichael Ballinger, “Image Processing for Cryosurgery,” co-advised with Professor Y. Rabin, Spring 2005.
bulletMichael Steffa and Mike Ballinger, “Brain Imaging,” SURF Grant, Summer 2004.
bulletCharlie Shaw, “One-Layer Tetrahedral Mesh Generation for Plastic Injection Molding FEM,” Spring 2005.
bulletChristopher D’Eramo, “Sketch-Based Automotive Styling CAD,” Fall 2005.
bullet#* Michael Norman, “Automotive Trunk Packing,” Spring 2006.
bulletErick Johnson, “FEM Mesh Generation,” Spring 2006.
bulletGalen Mullins, “Finite Element Mesh Independence Study,” Spring 2007.
bulletSusan Frankiewicz, “CFD Meshing,” Spring 2007.
bulletAlan Teets, “Physically Based Generation of Curves and Surfaces,” Spring 2007.
bullet#* Robert Holop, “3D Layout Optimization,” Spring 2007.
bulletIkjun Cho, “Accurate Merging of Laser-Digitized Polygonal Surface Patches,” Fall 2006.
bullet#* Billy Burkey, “CFD Analysis of a Racing Car,” Spring 2007.
bullet#*Andrew Chang, “FEM Analysis of Spinal Implants,” Spring 2007.
bullet#Stephen Richard Kuhn, “Bridge Inspection Robot,” Spring 2008.
bulletTristan Trutna, “Wheel-Leg Transformer,” Spring 2008.
bullet#* Sarun Soongsawang, “3D Laser Metrology of Large Flexible Parts,” Spring 2008.
bullet#Sarah Marmalefsky, “Sketch-Based Industrial Design,” Spring 2008.
bulletKoji Ito, “FEM Mesh Independence Study,” Spring 2008.
bullet#Adam E. Seibert, “3D CFD Meshing,” Spring 2008.

#: CIT Research Honor Project
*: Mechanical Engineering Department Research Honor Project

School of Computer Science, independent study advisee
bulletBrian Schuster, “Rigid Body Dynamics for Computer Graphics,” Spring 1999.


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