denaecantrell.github.io/index.html at main · denaecantrell/denaecantrell.github.io · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
<!DOCTYPE html>
<html>
<head>
  <meta charset="UTF-8">
  <title>Denae Cantrell</title>
  <link rel="stylesheet" href="style.css">
</head>
<body>

<h1>Denae Cantrell</h1>
<p>Robotics Engineer | PhD Student, UC Berkeley</p>

<p>
  <a href="mailto:denae.cantrell@berkeley.edu">Email</a> ·
  <a href="https://github.com/denaecantrell">GitHub</a> ·
</p>

<div class="section">
  <h2>Selected Projects</h2>
</div>

<div class="section">
  <h2>Electromagnetic Systems and Control</h2>
  <p><em>Masters research project</em></p>

  <p>
    This project explores how magnetic fields can be used to control the motion
    of magnetized particles for magnetic drug delivery, where therapeutic
    particles are directed toward sites of disease.
  </p>

  <h3>Problem</h3>
  <p>
    Magnetic fields cannot create stable equilibrium points in free space to
    trap magnetized particles. Magnetized spherical particles, which are commonly
    used as therapeutic carriers, align with the applied field and move toward
    its source, making precise positioning infeasible. In contrast, anisotropic
    magnetic nanorods exhibit transient rotational dynamics that can be used to push
    the particles away from the source.
  </p>

  <h3>Model and Control Strategy</h3>
  <p>
    I developed a physics-based dynamic model describing the rotational and
    translational motion of magnetic nanorods under external magnetic fields.
    The model captures transient rotational dynamics caused by particle
    anisotropy and demonstrates how magnetic targeting can be achieved in the
    absence of a stable equilibrium point.
  </p>
  <p>
    A uniform magnetic field aligned the nanorods along a fixed direction, after
    which a second pulse applied in the opposite direction pushed the particles
    away from the field source. Repeating this actuation periodically in four
    directions produced net average motion toward a target point.
  </p>
  <p>
    This control strategy builds on prior experimental work, with the pulse sequence
    modified to use sinusoidal fields to better reflect realistic experimental
    constraints.
  </p>

  <h3>Simulation</h3>
  <p>
    The system dynamics were simulated in MATLAB to study transient behavior
    and stability over a single actuation period. The simulations were also
    used to study the average behavior of the particle, confirming that the
    control sequence produces an average net displacement toward the target.
    These results guided parameter selection and experimental testing.
  </p>

  <h3>Experimental Validation</h3>
  <p>
    The model and control approach were validated through laboratory experiments
    using LabVIEW and the Arduino IDE. The observed transient dynamics matched those
    predicted by the model.
  </p>

  <p>
    This work is currently under review for the American Control Conference (ACC).
  </p>

  <p>
    <b>Tools / domains:</b> Electromagnetics, dynamic modeling, control systems,
    MATLAB simulation, LabVIEW, Arduino, experimental validation, 3D printing
  </p>

  <img src="assets/IMG_7872.PNG" class="crop rotate270" alt="Experimental magnetic nanorod testbed">
</div>

<div class="section">
  <h2>Quadruped Autonomy and Navigation (Unitree Go2)</h2>
  <p><em>Team robotics project</em></p>

  <p>
    This project focused on deploying an autonomous navigation and exploration
    stack on the Unitree Go2 quadruped for search-and-rescue-style tasks in
    indoor environments. The system integrated perception, mapping, and
    planning to enable reliable autonomous operation on hardware.
  </p>

  <p>
    My contributions included developing frontier-based exploration logic,
    setting up Ethernet networking for reliable on-robot connectivity, and
    launching and managing onboard processes during experimental trials.
  </p>

  <p>
    A detailed project description, including system architecture, videos,
    and experimental results, is available on the team project website:
    <a href="https://at1047.github.io/go2_search_and_rescue/" target="_blank">
      Go2 Search and Rescue Project
    </a>
  </p>

  <p>
    <b>Tools / domains:</b> ROS 2, Nav2 costmaps and occupancy grids,
    frontier-based exploration, system integration and debugging,
    real-time deployment on quadruped hardware (Unitree Go2)
  </p>

  <img src="assets/IMG_7870.PNG" class="project-image" alt="Unitree Go2 mapping maze environment">
</div>

<div class="section">
  <h2>Real-Time Power System Simulation (OPAL-RT)</h2>
  <p><em>Laboratory training and infrastructure support</em></p>

  <p>
    I worked with an OPAL-RT real-time simulator set up in the lab, running
    power system models in real time and supporting their use in experiments by
    other researchers.
  </p>

  <p>
    To improve usability within the lab, I wrote documentation for future
    researchers, covering model deployment for working with the simulator.
  </p>

  <p>
    <b>Tools / domains:</b> OPAL-RT, Simulink, real-time simulation,
    hardware-in-the-loop workflows, power systems
  </p>
</div>

<div class="section">
  <h2>Distributed Lighting Control (Personal Project)</h2>
  <p><em>Independent hardware/software project</em></p>

  <p>
    As a personal project, I implemented a standalone lighting control system using a
    Raspberry Pi 4 running Falcon Player (FPP), integrating WOW Lights singing
    trees and Light-O-Rama-controlled trees and arches. The system was isolated
    onto dedicated hardware and configured through FPP’s access-point GUI for
    reliable, standalone operation.
  </p>

  <p>
    The project required debugging timing, networking, and configuration issues
    to ensure consistent operation during extended real-world use.
  </p>

  <p>
    <b>Tools / domains:</b> Raspberry Pi, Falcon Player (FPP), embedded Linux,
    networking, system configuration, Light-O-Rama, WOW Lights
  </p>

  <video class="project-image" controls autoplay loop muted playsinline>
    <source src="assets/Light_Show.mp4" type="video/mp4">
    Your browser does not support the video tag.
  </video>
</div>

<div class="section">
  <h2>Industry Experience</h2>
</div>

<div class="section">
  <h2>Semiconductor Device Fabrication and Process Engineering</h2>
  <p><em>Electrical Engineering Intern, KBR / Air Force Research Laboratory (AFRL)</em></p>

  <p>
    I worked in a semiconductor cleanroom environment fabricating and testing
    MOSFET devices using lithographic and microfabrication processes.
  </p>

  <p>
    My responsibilities included spin-coating, photolithography, wet etching,
    and annealing, along with device characterization using a scanning electron
    microscope (SEM) and four-point probe measurements.
  </p>

  <p>
    I also conducted process optimization experiments, studying the effect of
    materials and annealing temperature on contact resistance and breakdown
    behavior, and helped train other lab members on precision alignment
    techniques for a Heidelberg laser writer.
  </p>

  <p>
    <b>Tools / domains:</b> semiconductor fabrication, photolithography,
    cleanroom processes, MOSFET characterization, SEM imaging,
    four-point probe testing, process optimization
  </p>
</div>

<div class="section">
  <h2>Automotive Electronics</h2>
  <p><em>Manufacturing Engineering Intern, Hella Electronics Corporation</em></p>

  <p>
    I worked as a manufacturing engineering intern supporting production lines
    for rain-light sensors and fuel-pump control modules in an automotive
    electronics facility.
  </p>

  <p>
    My work included conducting run-at-rate studies for new equipment,
    analyzing production throughput, and preparing daily and monthly reports
    on manufacturing performance.
  </p>

  <p>
    I also led asset verification across multiple production lines and
    supported continuous-improvement efforts for factory-floor operations.
  </p>

  <p>
    <b>Tools / domains:</b> manufacturing systems, production analytics,
    industrial electronics, factory operations, process improvement
  </p>
</div>

</body>
</html>