About Stephen Canfield:
Professor, Department of Mechanical Engineering, T.S. McCord Faculty Fellow in Innovation and Techno-Entrepreneurship, Tennessee Technological University
Dr. Stephen Canfield is a professor in the Department of Mechanical Engineering at Tennessee Technological University. He received his Ph.D. in mechanical engineering at Virginia Tech in the field of parallel architecture robotics. His research interests include robot kinematics and dynamics, topological optimization of compliant manipulators and in-space mechanisms. His current research is in robot modeling, control and development with a focus on climbing mobile robots for autonomous welding and NDE inspection in hazardous, unstructured environments. Dr. Canfield’s robots are being used by companies including TVA, General Dynamics, Northrop Grumman, Newport News and NASSCO. He has served as a NASA summer research faculty at the Marshall Space Flight Center, working on the modeling and control of electrodynamic tethers and tethered space structures. Dr. Canfield has been principal investigator on grants from NSF, NASA, the Navy and TVA with over $5M in external funding and has 50 refereed technical papers and several patents in the areas of robotics, dynamics and design. Dr. Canfield is the co-founder of Robotic Technologies of Tennessee, commercializing mobile, and has commercialized two mobile welding robots and is in the process of transitioning licensing to the Weld Tool Corporation. He participated in NSF’s I-Corps program (GT 2013 cohort) and the I-Corps-L program (DC 2014 cohort) as a student which led to a startup with industry partnership and investment to develop miniature climbing robots for inspecting hazardous waste containers. Dr. Canfield also has a strong interest in active student learning and undergraduate student research. He served as a collaborator in developing the Mechatronics and Intelligent Machine Laboratory at Tennessee Technological University, and in developing EIME, a program that merges early intervention and mechanical engineering to engage engineering students in designing toys and devices for children with special needs. The EIME program surpassed 1000 students and families served in 2013. He has served as advisor of student groups conducting micro gravity experiments as part of the NASA reduced gravity experiments program and currently advises the student chapter of ASME and the Autonomous Robotics Club at Tennessee Tech. Dr. Canfield’s recent teaching and research awards include the ASME District F student section Advisor Award, the Partners and Leadership Award (TN Dept. of Health), Harold Love Community Service Award (THEC), TBR Academic Excellence award, and the TN Department of Education Project of Excellence Award. He has also been named a National Academy of Engineering FOEE Fellow, TTU Presidential Faculty Fellow, and a Top 10 Scientist in Tennessee by Business Tennessee Magazine.
Projects
Mechanisms for In-Space Applications
Mobile Robots for Maunfacturing
Publications
Experimental investigation on attachment properties of dry adhesives used in climbing robots
Nkhumise, R. and S. L. Canfield, “Controllabity Ellipse to Evaluate Performance of Mobile Manipulators for Manufacturing Tasks,” ASME Journal of Mechanisms and Robotics, Vol. 9, Issue 6, 2017 doi 10.1115/1.4038007
Zuccaro, S. G., Canfield, S. L. and T. W. Hill, “Slip Prediction of Skid-Steer Mobile Robots in Manufacturing Environments,”, Proc. Of the 2017 ASME International Design Engineering Technical Conferences, Cleveland, Oh, IDETC2017-68312, Aug, 2017.
Canfield, S. L., Kumar, P and J. E. Qualls, “Modelling and design of tracked mobile climbing robots on non-planar surfaces,” Int. J. Mechanisms and Robotic Systems, Vol. 4, No. 1, 2017, doi 10.1504/IJMRS.2017.087348
Qualls, J., Canfield, S. L., and A. Shibakov, “Kinematic Control of a Mobile Robot Performing Manufacturing Tasks on Non-Planar Surfaces,” Journal of Automation, Mobile Robotics and Intelligent Systems, Vol. 10, No. 3, 2016.
Canfield, S., Qualls, J., Shibakov, A., and T. Hill, “Kinematics Analysis of skid-Steer Mobile Robot Operating on Non-Planar Surfaces,” Proc. Of the 2016 ASME International Design Engineering Technical Conferences, Charlotte, NC., IDETC2016-60303, Aug. 2016.
Canfield, S. L., Hill, T. and S. Zuccaro, “Modeling Power Requirements for Skid Steer Mobile Robots in Manufacturing Environments,” Proc. Of the 2016 ASME International Design Engineering Technical Conferences, Charlotte, NC., IDETC2016-60152, Aug. 2016.
Hill, S. and S. L. Canfield, “An Assessment of Fused Deposition Modeling for the Manufacturing of Flexural Pivots in an Anthropomorphic Robotic Hand Design,” Proc. Of the 2016 ASME International Design Engineering Technical Conference, Charlotte, NC., Aug. 2016 IDETC2016-60253.
Canfield, S. L., Hill, T. and S. Zuccaro, “Creating a Concept Inventory Set of a Kinematics and Dynamics Machinery Course to Support Lectures in a Flipped Classroom Environment,” Proc. Of the 2016 ASME International Design Engineering Technical Conference, Charlotte, NC., Aug. 2016 IDETC2016-60367.
Beard, J. Canfield, S and S. Glovsky, “Suspension for an endless track climbing machine,” US Patent No. 8413747, May 2012.
Beard, J. Canfield S. L. and D. A. Bryant, “Climbing Vehicle with suspension mechanism,” US patent no. 9,428,231, Aug. 2016.
Canfield, S. L., Beard. J. and S. Glovsky, “Development of Remote Operated Vehicle Prototype for Dry Stainless Steel Storage Canister for Used Nuclear Fuel,” Proceedings of the ANS D&RS (Decommissioning and Robotic Systems) 2016, Pittsburg, PA, Aug 2016.
Canfield, S. L. and S. Zuccaro, “Evaluation of a Mobile Welding Platform for Remotely Operated Repairs,” Proceedings of the ANS D&RS (Decommissioning and Robotic Systems) 2016, Pittsburg, PA, Aug 2016.
Kumar, P., Canfield, S. L., and J. Qualls, “Modeling of Climbing Robots for non-Planar Surfaces,” Proceedings of the ANS D&RS (Decommissioning and Robotic Systems) 2016, Pittsburg, PA, Aug 2016.
Canfield, S.L. and S. Zuccaro, “Digital homework for Kinematics and Dynamics of Machinery”, Int. Jrl for Mech. Eng. Educ., Vol. 44, 2: pp. 165-182, 2016.
Qualls, J., Hill, T., Shibakov, A., and S.L. Canfield, “Kinematic analysis of a Mobile Robot Performing Manufacturing Tasks on Non-planar Surfaces,” Proc. of the 2015 ASME International Design Engineering Technical Conferences, Boston MA, Aug. 2015, DETC2015-47637.
Parker, J. M., Canfield, S. L., Ghafoor, S. K., and K. M Lum, “Using Hardware-Based Programming Experiences to Enhance Student Learning in a Junior-Level Systems Modeling Course,” ASEE Computers in Education Journal, Volume XXV, No 4, 2015.
Canfield, S. L., Hill, S. Hill, T., and S. Zuccaro, “Creating a Digital Homework Set for a Kinematics and Dynamics of Machinery Course,” Proc. of the 2015 ASME International Design Engineering Technical Conferences, Boston MA, Aug. 2015, DETC2015-47558.
Canfield, S. L., Qualls, J. and A. Shibakov, “Kinematic and Dynamic Evaluation of Mobile Robots Performing Welding Tasks,” Proc. of the 2014 ASME International Design Engineering Technical Conferences, Buffalo NY, Aug. 2014, DETC2014-35109.
Canfield, S. L., and S. Ghafoor, “A Matlab-Based Toolkit to program Microcontrollers for use in Teaching Mechanisms and Robotics,” Proc. of the 2014 ASME International Design Engineering Technical Conferences, Buffalo NY, Aug. 2014, DETC2014-35355.
Parker, J., Canfield, S. L. and S. Ghafoor, “Using Hardware-based Programming Experiences to Enhance Student Learning in a Junior-level Systems Modeling Course,” Proceedings of the 2014 ASEE Annual Conference, Indianapolis, IN, June 15-18, 2014.
Canfield, S. L., Langley, D. L. and A. Shibakov, “Developing Metrics for Comparison of Mobile Robots performing Welding Tasks, “ Proc. of the 2013 ASME International Design Engineering Technical Conferences, Portland OR, Aug. 4-7, 2013, DETC2013-13672.
Stacy, J., Langley, D. and S. L. Canfield, “Process Qualification for a Mobile Robotic Welding System Through Manipulability,” Proc. of the 2012 ASME International Design Engineering Technical Conferences, Chicago IL, Aug. 12-15, 2012, DETC2012-71382.
Stacy, J and S. L. Canfield, “Theoretical and Empirical Validation of a Mobile Robotic Welding Platform,” the Welding Journal, Vol. 91, No. 12, December, 2012, pp. 338 -345.
Canfield, S. L., Ghafoor, S., and M. A. Abdelrahman, “Enhancing the Programming Experience for First-Year Engineering Students through Hands-on Integrated Computer Experiences,” Journal of Stem Education, Vol 13, No 4, July-Sept. 2012, pp. 43-54.
Kumar, P., Hill, T. W., Bryant, D.A. and S. L. Canfield, “Modeling and Design of a Linkage-Based Suspension for Tracked-Type Climbing Mobile Robotic Systems,” Proc. of the 2011 ASME International Design Engineering Technical Conferences, Washington, DC, Aug. 29-31, 2011, DETC2011-48555
Ghafoor, S., Canfield, S. L., Kelley, M., and T. Hill, “Assessment of Student Attitudes and Its Impact in a Hands-On Programming Model for the Introductory Programming Course,” Proceedings of the 2011 ASEE Middle Atlantic Conference, Philadelphia, PA, October 29-31, 2011.
Canfield, S. L, Shibakov, A., and J. Richardson, “Design Space Analysis of Distributed Compliance in Segmented Beam Templates of Compliant Mechanisms,” submitted to the ASME Journal of Mechanical Design, 2011.
Canfield, S. L., Peddieson, J, and G. Garbe, 2010 “Similarity Rules for Scaling Solar Sail Systems,” Journal of Spacecraft and Rockets, Vol. 48, No. 1, pp. 218.
O’toole, A and S. L. Canfield, “Developing a Kinematic Estimation Model for a Climbing Mobile Robotic Welding System,” Proc. of the 2010 ASME International Design Engineering Technical Conferences, Montreal Quebec, Canada, Aug. 15-18, 2010, DETC2010-28878.
Canfield, S. L, and L. Smith, “Providing Real-World Mechanism Design Experience through the Early Intevention and Mechanical Engineering (EIME) Project,” Proc. of the 2010 ASME International Design Engineering Technical Conferences, Montreal Quebec, Canada, Aug. 15-18, 2010, DETC2010-29019.
Canfield, S. L, Shibakov, A., and J. Richardson, “Design Space Analysis of Distributed Compliance in Segmented Beam Templates of Compliant Mechanisms,” Proc. of the 2009 ASME International Design Engineering Technical Conferences, San Diego, CA, Aug. 30 – Sept 1, 2009, DETC2009-87246.
Canfield, S. L., and M. A. Abdelrahman, 2009, “Enhancing the Programming Experience for Engineering Students through Hands-On Integrated Computer Experiences,” Proceedings of 2009 ASEE Southeastern Section Annual Conference, Marietta, GA, Apr. 5-7.
Canfield, S. L., and K. W. Hunter, 2009, “Early Intervention and Mechanical Engineering: Balancing Stakeholder Expectations in an Engineering Education Environment,” Proc. of the 2009 ASEE Southeast Section Conference, Atlanta, GA, Apr. 5-7, 2009.
Canfield, S. L., Chlarson, D. L., Shibakov, A., Richardson, J. D., and A. Saxena, 2008, “A Study of Conditions that Affect the Distribution of Compliance in Compliant Mechanisms,” Proc. of the 2008 ASME International Design Engineering Technical Conferences, Brooklyn, NY, Aug. 3-6, 2008, DETC2008-49939.
Canfield, S. L., D. Chlarson, J. Richardson, A. Saxena and A. Shibakov, “Multi-Objective Optimization of Compliant Mechanisms Including Failure Theories,” Proc. of the 2007 ASME International Design Engineering Technical Conferences, Las Vegas, NV, Sept. 4-7, 2007, DETC2007-35618
Wigal, C. M., Littleton, M. and S. L. Canfield, “Using Students to Design Improved Assistive Technology,” 2007 EPICS Conference, San Diego, CA, May, 2007
Canfield, S. L., K. Sorensen and D. Chlarson. “A Comparison of Three Passive Capture Mechanisms For Tether Momentum Exchange,” Proc. of the 2007 ASME International Design Engineering Technical Conferences, Las Vegas, NV, Sept. 4-7, 2007, DETC2007-35625
Canfield, S. L., and J. Beard,”A Model for Optimization and Control of Spatial Compliant Manipulators,” International Journal of Robotics and Automation, Vol. 21, n 1, pp. 10-18, 2006
Canfield, S. L., and P.V. Hull, “Optimal Synthesis of Compliant Mechanisms using Subdivision and Commercial FEA,” ASME Journal of Mechanical Design, Vol. 128, Issue 2, pp. 337-348, 2006
Canfield, S. L., J.W. Beard and J. Peddieson, “Solar Sail Propulsion, Similarity Scaling Rules,” Chapter 5 in Recent Advances in Gossamer Spacecraft, Christopher H. Jenkins editor, Progress in Astronautics and Aeronautics Series, AIAA, Vol. 212, 2006
Canfield, S. L., M. Norris, S. Knight, and K. Sorensen, “A Passive Capture Mechanism for Rendezvous Between a Space Tether and Payload: Conceptual Design and Dynamic Modeling,” The 2006 ASME Design Engineering Technical Conferences, Philadelphia, PA, September 10-13, 2006, DETC2-99594
Canfield, S. L., D.L. Chlarson, A. Shibakov, and P.V. Hull, “Towards Uniformly Distributed Compliance in Compliant Mechanisms: A Multi-Objective Approach, ” The 2006 ASME Design Engineering Technical Conferences, Philadelphia, PA, September 10-13, 2006, DETC2006-99601
Canfield, S. L., J. Peddieson, K.M. Kalyan, and S.K. Agrawal, “Dynamic Model Verification Process for a Rotating Elastic In-Space Tether,” The 2006 ASME Design Engineering Technical Conferences, Philadelphia, PA, September 10-13, 2006, DETC2006-99746
Canfield, S. L., A. Shibakov and P.V. Hull, “Multivariate Parameter Sets for Optimization of Compliant Mechanisms,” Proc. of the 2005 ASME Design Engineering Technical Conferences, Long Beach, CA, Sept. 24-28, 2005, DETC2005-85379
Canfield, S. L. and Beard, J. W., “Robotic Inspection in Power Plants,” ISA 51st Annual Instrumentation Symposium, Knoxville, TN, 2005.
Hull, P.V. and S. L. Canfield, “Modeling and Control of Shape Memory Alloys Using Cylindrical Concentrators,” Mechatronics, Vol. 14, pp. 757-775, 2004
“Torsional Stiffness of Several Variable Rectangular Cross-Section Flexure Hinges for Macro-Scale and MEMS Applications,” with N. Lobontiu and E. Garcia, Smart Materials and Structures, Vol. 13, issue 1, pp. 12-19, 2004
“Similarity Modeling of Solar Sails Propulsion System,” with J. Peddieson, A. Ewing, and G. Garbe, Solar Sail Technology and Applications Conferences, Greenbelt, MD, Sept. 28-29, 2004
“Optimal Synthesis of Compliant Mechanisms Using Subdivision and Commercial FEA,” with Hull, P.V., Proc. of the 2004 ASME Design Engineering Technical Conferences, Salt Lake City, UT, Sept. 28-Oct. 2, DETC2004/MECH-57497, 2004
“Improved Development Cycle of a Spatial Compliant Manipulator,” with Hull, P.V. and J.W. Beard, Proc. of the 2003 ASME Design Engineering Technical Conferences, Chicago, IL, Sept. 2-6, DETC2003/MECH-48805, 2003
“Development of a Spatial Compliant Manipulator,” with J. Beard, N. Lobontiu, E. O’Malley, M. Samuelson and J. Paine, International Journal of Robotics and Automation, Vol. 17, Issue 1, pp. 63-72, 2002
“Genetic Programming Techniques for Designing Compliant Mechanisms,” with R. Parsons, International Journal of Structural and Multidisciplinary Optimization, Vol. 24, Issue 1, pp. 78-86, 2002
“Optimization and Control of a Spatial Compliant Manipulator,” J. Beard, M. Stefanick, D. Bennett, N. Lobontiu, and J. Paine, Proc. of the 2002 ASME Design Engineering Technical Conferences, Montreal, Canada, DETC2002/MECH-34201, 2002
“Development of Parallel Architecture Spatial Compliant Manipulators,” with J.W. Beard, R.D. Parsons, N. Lobontiu, M. Paine, and J. Paine, ASME 2001 Design Engineering Technical Conference, Pennsylvania, September 9-12, 2001
“Thermal Analysis of an Orbiting Cryogenic Fuel Depot,” with P.V. Hull, C. Carrington, and J. Fikes, Thermal Fluids and Analysis Workshop, September 10-14, 2001
“Investigation of the Parameters Governing Linkage-Based Rocking Chairs,” with J.W. Beard and R. R. Soper, DETC’00, The ASME 2000 Design Engineering Technical Conferences, Baltimore Maryland, Sept 10-13, 2000, DETC2000/MECH-14196
“Approximate Periods of Cam-Based and Linkage-Based Rocking Chairs,” with R.R. Soper and T.R. Johnston, Proceedings of the 8th Conference on Nonlinear Vibrations, Stability, and Dynamics of Structures, Blacksburg, VA, July 23-27, 2000
“Velocity Analysis of Parallel Manipulators by Truss Transformations,” with R.R. Soper and C.F. Reinholtz, Mechanism and Machine Theory, Vol. 34, pp. 345-357, 1999
“Development of a Self-Reconfigurable Chassis for a Tower Climbing Robot,” with J. W. Beard, Sixth Applied Mechanisms and Robotics Conference, Cincinnati, OH, December 12-15, 1999
“Optimal Synthesis of a Robomech, Procedure and Application,” with G. Kolanupaka and A. Smaili, DETC’99, the 1999 ASME Design Engineering Technical Conferences, Las Vegas, Nevada, September 1999
“Contention Avoidance in Over-Constrained, Highly-Redundant Parallel Manipulators,” with R.R. Soper, and C.F. Reinholtz, DETC’99, the 1999 ASME Design Engineering Technical Conferences, Las Vegas, Nevada, September 1999
“Reconfigurable Robot for Tower Climbing and Manipulation,” with J. Beard, American Nuclear Society, 8th Topical Meeting on Robotics and Remote Systems, Pittsburgh, PA, April 25-29, 1999
“Synthesis of Multi-Degree-of-Freedom Force Synthesis Mechanisms,” with C.F. Reinholtz and R.R. Soper, ASME Journal of Mechanical Design, 1998
“The Mathematics of Manipulator Statics: Minimum Principles, Duality, and Underlying Linear Symmetry,” with R.R. Soper, C.F. Reinholtz and D. Gao, Proceedings of the Fifth National Applied Mechanisms & Robotics Conference, Cincinnati, Ohio, October 12-15, 1997
“Maximum Number of Precision Positions in Nonclassical Linkage Synthesis,” with R.R. Soper and C.F. Reinholtz, Proceedings of the Fifth National Applied Mechanisms & Robotics Conference, Cincinnati, Ohio, October 12-15, 1997
“Design of User-Weight-Based Exercise Machines,” with D.J. Coombs, R.R. Soper and C.F. Reinholtz, Proceedings of the Fifth National Applied Mechanisms & Robotics Conference, Cincinnati, Ohio, October 12-15, 1997
“Uniformity as the Guide to Evaluation of Dexterous Manipulator Workspaces,” with R.R. Soper and C.F. Reinholtz, 1997 ASME Design Automation Conference, Sacramento, CA, September 15-20, 1997 DETC97/DAC-3969
“New Matrix-Theory-Based Definitions for Manipulator Dexterity,” with R.R. Soper, C.F. Reinholtz, and D. Mook, 1997 ASME Design Automation Conference, Sacramento, CA, September 15-20, 1997, DETC97/DAC-4410
“Dynamic Force Analysis of the Carpal Wrist,” with R.R. Soper and C.F. Reinholtz, 1997 ASME Design Automation Conference, Sacramento, CA, September 15-20, 1997, DETC97/DAC-3970
“Development of the Carpal Robotic Wrist,” with C.F. Reinholtz, Fifth International Symposium on Experimental Robotics, Barcelona Catalonia, June 15-18, 1997, pp. 360-371
Patents
US Patent Application Publication, “Mobile Climbing Endless Track Robotic System to Perform Remote Welds on Ferrous Materials,” Pub. No. US 2012/0116583 A1, with J. Beard, S. Glovsky.
US Patent Application Publication, “Mobile Climbing Endless Track Robotic System to Perform Remote Inspections of Structures,” Pub. No. US 2012/0116583 A1, with J. Beard, S. Glovsky.
US Patent Application Publication, “Suspension for an endless track climbing machine,” Pub. No. US 2012/0111649 A1, with J. Beard, S. Glovsky.
US Patent 8413747, “Suspension for an endless track climbing machine,” with J. Beard
US Patent 9428231, “Climbing Vehicle with suspension mechanism,” with J. Beard and D. A. Bryant.
US Patent 8567536B1 “Tracked climbing machine with compliant suspension apparatus,” with J. Beard, S. Glovsky
US Patent 5,699,695, “Spatial, Parallel-Architecture Robotic Carpal Wrist”
PCT International Patent Application, on parallel-architecture robotic end-effectors, filed May 1997.
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