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Computer Mechanics Laboratory 26 th Annual Sponsors Meeting January 27 th , 2014 Annual Report and Proposals Sutardja Dai Hall and Etcheverry Hall University of California, Berkeley Table of Contents Technical Session Program

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Computer Mechanics Laboratory 26th Annual Sponsors’ Meeting January 27th, 2014 Annual Report and Proposals Sutardja Dai Hall and Etcheverry Hall University of California, Berkeley

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Technical Session Program ....................................................................3 Annual Report Overview ....................................................................................7 Industry Membership .................................................................9 Faculty Participants ..................................................................10 Research Facilities ...................................................................11 2013 Publication Review .........................................................12 2013 Graduates ........................................................................14 2014 Research Proposals Proposal Evaluation Forum (tear out and return) ....................15 Research Proposals ..................................................................17 Faculty..................................................................................................37 Students ................................................................................................47 Attendees ............................................................................................77

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Monday, January 27, 2014 7:30 – 8:00 Coffee and Rolls 8:00 – 8:15 Director David Bogy

 WELCOME AND 2013 ANNUAL REPORT

Session I Servos and Actuators

8:15 – 9:30 Professor Tomizuka

 Feedback shaping of the waterbed effect and transient improvement in feedforward control allocation Xu (Max) Chen  Frequency shaping for performance enhancement of sliding mode control for hard disk drives Minghui Zheng  Wide-band audio vibration suppression using pass band adaptation in disturbance observer Liting Sun  Preliminary study on enhanced decoupled control for dual-stage HDDs Shiying Zhou  2014 RESEARCH PROPOSALS

9:30 – 9:45 Break

Session II Servos and Actuators

9:45 – 11:00 Professor Horowitz

 Probabilistic Approach for Design of Robust Control with application on HDD Ehsan Keikha  Observer Design for Servo Writers with Non-uniform Sampling of PES Behrooz Shahzavari  H∞ Control Design for Systems with Periodic Irregular Sampling Using Optimal H2 Reference Controllers Omid Bagherieh  Adaptive Feedforward Repetitive Run-Out Following in Bit Patterned Recording (BPR) Behrooz Shahzavari  2014 RESEARCH PROPOSALS

Computer Mechanics Laboratory 26th Annual Sponsors’ Meeting January 27, 2014 University of California, Berkeley Preliminary Program

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Session III Head/Media Tribology

11:00 – 12:15 Professor Komvopoulos

 Deposition of Ultra-thin Amorphous Carbon Films by Filtered Cathodic Vacuum Arc for the Head-Disk Interface Jun Xie  Surface Treatment with a Few Atomic Carbon Layers to Improve the Tribological Properties of Magnetic Hard-Disk Media Ehsan Rismani  Nanomechanical and Nanotribological Properties of Ultra-thin Amorphous Carbon Films for Magnetic Recording Josef Matlak  Peridynamics Analysis of the Wear Process of Thin Films of Hard-Disk Drives Sayna Ebrahimi  2014 RESEARCH PROPOSALS

12:15– 1:15 Lunch catered to Banatao Auditorium (CITRIS Building)

Session IV Head/Media Tribology Testing and Numerical Simulation I

1:15 – 2:30 Professor Bogy

 Lubricant dewetting under the slider's air bearing surface Alejandro Rodriguez  Static and Dynamic Slider Air Bearing Behavior in Heat Assisted Magnetic Recording under Thermal Flying Height Control and Laser System Induced Protrusion

Dr. Joanna Dahl

 A study on performance of different lubricants in Heat Assisted Magnetic Recording Soroush Sarabi  New features added to GPU Quick code v5.1, introduction to GPU TFC code v2.0 Tholfaqar (Dolf) Mardan  2014 RESEARCH PROPOSALS

2:30 – 2:45 Break

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Session V Head/Media Tribology Testing and Numerical Simulation II

2:45 – 4:30 Professor Bogy

 Experimental and simulation investigations on TFC slider instability at disk proximity Yung-Kan Chen  Investigation of High-Speed Solid Contact Induced Demagnetization on Perpendicular Magnetic Recording Discs Yuliang Liu & Yuan Ma  Carbon Film and Lubricant Layer Damage under Free Space Laser and NFT Heating Shaomin Xiong & Haoyu Wu  A Two-stage Heating Scheme for Heat Assisted Magnetic Recording Shaomin Xiong  A Rotatory Scanning Plasmonic Nanolithography System for Bit Patterned Media Shaomin Xiong  Operational Shock Failure Mechanisms in Hard Disk Drives

Dr. Liping Li

 Continuous transition of heat transport across a closing vacuum gap from thermal radiation to thermal conduction

Dr. Bair Budaev

 2014 RESEARCH PROPOSALS

4:30 – 5:00 Open Forum Discussion and Industry Feedback (Banatao Auditorium) 5:00 – 6:30 Posters session and Buffet reception (Banatao Auditorium) 6:00 – 6:30 Advisory Council Meeting FANUC Room – 6th Floor, Etcheverry Hall 6:30 – 7:30 Lab Tours and Discussions

9, 5121, 5147, 5149 & 5151 Etcheverry Hall

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Overview

The Computer Mechanics Laboratory (CML) of the Department of Mechanical Engineering at the University of California, Berkeley, was formed in January 1989 after several years of close collaborative research between the department's faculty members and the computer industry. Professor David Bogy is the founder and Director of CML. CML funding of faculty participant research topics is decided by the Director with the advice of the Advisory

Council. The Advisory Council has both university and industry members.

Goals

The goals of CML are to conduct research in mechanical aspects of computer technology in close cooperation with - and funded primarily by - the computer industry. The primary

bjectives are: the education of graduate students in this field, research in topics of direct

relevance to the computer industry, and fast transfer of research results to the supporting companies.

Funding

Industrial member companies provide discretionary funds to support CML's administrative and technical staff, purchase equipment, and fund faculty-directed

research. CML also encourages and assists faculty participants in securing overhead-

bearing project contracts directly from industrial members.

Membership Fees

Membership requires an unrestricted annual grant to CML at the following levels: Member $50,000 Advisor Member $75,000 Participant Member $100,000 A company becomes a member by virtue of sending a check with a letter stating that the funds are an unrestricted grant to support the research of CML and by signing the appropriate agreement.

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Membership Benefits

The Member may send five representatives to CML's scheduled technical meetings and receive all CML Technical Reports. The Advisor Member receives the benefits of the Member, but may send ten representatives to the meetings, has a seat on the Advisory Council, may participate in

ne joint research project of interest to a CML faculty member, and may receive software

developed by CML. The Participant Member receives the benefits of the Advisor Member, but may send fifteen representatives to the meetings, and in addition may place a Visiting Industrial Fellow in residence at CML. The membership agreements are for a period of one year. The level of membership can be changed or terminated by either party on a yearly basis.

Publications

Technical reports are generated as soon as significant research results are obtained. They are published and distributed via the CML website to all members. Two series of reports are published. The Blue Series consists of research technical reports, which are manuscripts of the type submitted to journals. The Gold Series consists of Master's Theses and Doctoral Dissertations issued as soon as they are filed. A list of Blue and Gold Series reports is available on the CML website. Access to the CML website is restricted to CML members and their employees. To request access to the CML website please send an email to info@cml.me.berkeley.edu.

Conferences

An Annual Sponsor's Meeting is held at CML on the last Monday and Tuesday of

January. It includes presentations of research progress primarily by graduate students

and faculty participants, as well as a meeting of the Advisory Council. Additionally, laboratory tours and research posters are highlighted.

Correspondence

Mr. Tholfaqar A. Mardan

Computer Mechanics Laboratory Department of Mechanical Engineering University of California 5150 Etcheverry Hall #1740 Berkeley, CA 94720-1740 phone: 510-642-7642 fax: 510-643-9786 email: tmardan@cml.me.berkeley.edu www: http://cml.me.berkeley.edu

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Current Industry Membership

As of the 26th Annual Sponsors’ Meeting, the following companies comprise the membership of CML:

Advisor Members (4):

HGST, a Western Digital Company SAE Magnetics Seagate Technology Western Digital Corporation

Affiliate Members (1):

Hysitron Technologies

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Faculty Participants

The faculty participants of CML are primarily members of the Department of Mechanical Engineering, but others are welcome to join according to their expertise and potential contributions. David Bogy HDI Dynamics, H/M Contact and Wear 6139 Etcheverry Hall (510) 642-2570 dbogy@cml.me.berkeley.edu Roberto Horowitz Actuator Servo Control in Disk Drives 6147 Etcheverry Hall (510) 642-4675 horowitz@me.berkeley.edu Masayoshi Tomizuka Actuator Servo Control in Disk Drives 5100-B Etcheverry Hall (510) 642-0870 tomizuka@me.berkeley.edu Kyriakos Komvopoulos Surface Mechanics and Tribology Laboratory (SMTL) 5143 Etcheverry Hall (510) 642-2563 kyriakos@newton.me.berkeley.edu

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Research Facilities

Etcheverry Hall 5th Floor Other Facilities for CML Research (not open for lab tours)

2103 Etcheverry Servo Control Laboratory (Tomizuka)

5151 Simulation (Bogy) Servo Control (Horowitz/Tomizuka) 5149 Dynamics & Instrumentation (Bogy) 5150 Administration 5119 Tribology (Komvopoulos)

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Publication Review

2013 CML Technical Reports (Blue Series)

number title authors date

13-001

On the applications of the Fluctuation-Dissipation theorem to nanoscale radiative heat transfer

B. Budaev and D.

Bogy January 2013

13-002

Steady state ensembles of thermal radiation in a layered media with a constant heat flux

B. Budaev and D.

Bogy January 2013

13-003

New Repetitive Control with Improved Steady-state Performance and Accelerated Transient

X. Chen and M.

Tomizuka March 2013

13-004

Lubricant Flow and Evaporation Model for Heat Assisted Magnetic Recording Including Functional End-Group Effects and Thin Film Viscosity

J. Dahl and D.

Bogy April 2013

13-005

Structure

ultrathin amorphous carbon films deposited by filtered cathodic vacuum arc for magnetic recording

N. Wang and K.

Komvopoulos May 2013

13-006

Quick 5 user manual, A GPU version of CMLAir

T. Mardan and D.

Bogy June 2013

13-007

Simulation of Lubricant Recovery After Heat Assisted Magnetic Recording Writing

J. Dahl and D.

Bogy June 2013

13-008

Multi-rate Nonlinear Control for Enhancing the servo Performance of HDD Systems

M. Zheng, X.

Chen and M. Tomizuka July 2013

13-009

Operational Shock Failure Mechanisms in Hard Disk Drives

L. Li and D. Bogy

July 2013

13-010

Head Disk Interface Response during Operational Shock with Disk-Ramp Contact

L. Li and D. Bogy

July 2013

13-011

The radiative heat transport coefficient for vacuum gaps of any width

B. Budaev and D.

Bogy September 2013

13-012

A Two Stage Heating Scheme for Heat Assisted Magnetic Recording

S. Xiong, J. Kim,
Y. Wang, X.

Zhang and D. Bogy September 2013

13-013

Continuous Transition of Heat Transport across a Closing Vacuum Gap from Thermal Radiation to Thermal Conduction

B. Budaev and D.

Bogy October 2013

13-014

On the analysis of thermal radiation across nanoscale gaps

B. Budaev and D.

Bogy November 2013

13-015

Static and Dynamic Slider Air Bearing Behavior in Heat Assisted Magnetic Recording under Thermal Flying Height Control and Laser System Induced Protrusion

J. Dahl and D.

Bogy November 2013

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13-016

The effect of deposition energy on the growth and structure of ultrathin amorphous carbon films synthesized by energetic atoms examined by molecular dynamics simulations

N. Wang and K.

Komvopoulos December 2013

2013 CML Thesis and Dissertations (Gold Series)

number title authors date

G13-001

Numerical Investigation of the Effect of Operational Shock and Disk Surface Pattern on the Dynamics of Head Disk Interface in Hard Disk Drives (Ph.D. Thesis) Liping Li Summer 2013

G13-002

Heat Assisted Magnetic Recording Head-Disk Interface: Numerical Simulation

Air Bearing and Lubricant Mechanics (Ph.D. Thesis) Joanna B. Dahl Fall 2013

G13-003

Synthesis, Characterization, and Molecular Dynamics Analysis of Ultrathin Amorphous Carbon Films (Ph.D. Thesis) Na Wang Fall 2013

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Recent Graduates

The following students completed their degrees under CML Professors in 2013 and are now at the companies indicated: Bogy: Liping Li (LSTC) Joanna B. Dahl (Dept. of Chemical Eng., UC Berkeley) Horowitz: None Komvopoulos: Na Wang (HGST, Western Digital Company) Tomizuka:

None

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26th Annual Sponsors’ Meeting Industry Rating of Faculty Research Proposals Score 3 for high priority, 2 for medium priority, 1 for low priority, and 0 for no priority. Score Page Proposal Title Professor and Student(s)

19 Enhanced Decoupled Disturbance Observer for Dual-Stage HDDs Tomizuka, Zhou and Chen 20 Frequency Shaping for Performance Enhancement in Active Disturbance Rejection Control for Dual-stage Hard Disk Drives Tomizuka and Zheng 21 Servo Controller Design Based on the Probabilistic Robust Approach Horowitz, Keikha and Bagherieh 22 Multi-rate Observers and Robust Control of Self Servo Writers with Non-uniform PES Samples Horowitz, Shahsavari and Bagherieh 23 Adaptive High-frequency Run-out Tracking in Dual Stage Bit Patterned Recording Horowitz, Shahsavari and Zhang 24 Deposition of ultrathin amorphous carbon films by filtered cathodic vacuum arc for the head-disk interface Komvopoulos and Xie 25 Effects of C+ ion energy and dose on structure, tribomechanical properties, and corrosion resistance of ultrathin a-C overcoats Komvopoulos and Rasmani 26 Wear and corrosion resistance of ultrathin SiNx/a-C and CrNx/a-C films for ultra-high-density magnetic recording Komvopoulos and Rasmani 27 Morphology and tribological properties of single and bi-layer thin amorphous carbon films deposited by RF sputtering and filtered cathodic vacuum arc (FCVA) Komvopoulos and Matlak 28 An efficient analysis of the wear process of thin-film media using a novel Peridynamics method Komvopoulos, Steigmann and Ebrahimi 29 Lubricant dewetting at the head-disk interface in a hard disk drive Bogy and Rodriguez 30 A study on performance of different polymer lubricants under Heat Assisted Magnetic Recording condition Bogy and Sarabi 31 Experimental and simulations on thermal protrusion induced slider/media instability at contact proximity Bogy and Chen 32 Experimental Investigation of High-Speed Solid Contact Induced Demagnetization on Perpendicular Magnetic Recording Disks Bogy and Ma 33 Lubricant Study in the Heat Assisted Magnetic Recording (HAMR) Bogy and Wu 34 Head Disk Interface Study in the Heat Assisted Magnetic Recording (HAMR) Bogy and Xiong 35 NFT reliability and dual heating stage for HAMR Bogy and Xiong

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Proposals for 2014 Research

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Enhanced Decoupled Disturbance Observer for Dual-Stage HDDs

Professor: Masayoshi Tomizuka Researcher: Shiying Zhou and Xu Chen Status: New Project Objectives and Description Dual-stage actuation has been the hardware solution to break the bottleneck of single-actuator control limitations in HDD systems. In order to keep the HDD industry continue prospering among different competing storage platforms, it remains a necessity to research on enhanced control design for dual-stage HDDs to meet the increasing demand for capacity and reliability. Disturbance Observer (DOB) has been a popular robust control tool for servo enhancement in single-input single-

utput systems for robust control and disturbance rejection. The algorithm in [2] has recently extended the standard

DOB to provide high-performance repetitive disturbance rejection in the presence of strong non-repetitive disturbances. Considering the advantages of dual-stage HDDs and DOB, this project aims at extending the enhanced DOB in [2] to dual-stage HDDs for improved repetitive-disturbance rejection at high frequencies without large undesired amplification of the non-repetitive disturbance signals. Emphasis will be placed on designing the DOB on the PZT loop to investigate the capability of disturbance rejection. Among these, several problems are to be addressed: (1) design of high performance controllers for VCM and PZT loops to yield the highest achievable bandwidth; (2) design

f a decoupled DOB on dual-stage configuration with model inversion and new Q-filter design; (3) evaluation of

robustness for the designed controller. The design will not be limited to the DOB on the PZT loop but will also be extended to the VCM loop afterwards to see the influence and make the comparison. Preliminary study has been performed. This project is expected to provide the following benefits to future products in HDDs: (1) flexible disturbance compensation in a wide range of frequencies, especially at high frequencies; (2) enhanced servo loop shape for audio-vibration disturbance rejection by utilizing the most suitable actuator for disturbance with different spectral characteristics. Techniques  Decoupled master-slave control for dual-stage HDD provides intuitive controller design [1]  Enhanced narrow-band disturbance observer and general decouple disturbance observer design in [2] and [3] provide the baseline platforms for the design in PZT loop DOB  Youla-Kucera parameterization for the controller design in VCM and PZT loop for desired loop shape [4]  Accelerated transient with small amount of overshoot can also be easily achieved by the plug-in DOB [2] Progress to Date  Preliminary literature review on dual-stage HDD, decoupled master-slave control and decoupled DOB design on dual-stage HDDs has been conducted;  A simulation benchmark on dual-stage HDD control is under development;  Preliminary simulation has been performed to evaluate the DOB design in the PZT loop. Reference

[1]. L. Guo, D. Martin, D. Brunnett, "Dual-stage actuator servo control for high density disk drives," in Proceedings of 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.132,137 [2]. X. Chen and M. Tomizuka, "An enhanced repetitive control algorithm using the structure of disturbance observer," in Proceedings of 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul. 11-14 2012, pp. 490-495. [3]. X. Chen and M. Tomizuka, Decoupled disturbance observers for dual-input-single-output systems with application to vibration rejection in dual-stage hard disk drives. in Proceedings of 2012 ASME Dynamic Systems and Control Conference, and 2012 Motion and Vibration Conference, Ft. Lauderdale, FL, Oct. 17-19 2013, pp. 1544–1554. [4]. X. Chen and M. Tomizuka, “Add-on loop shaping via Youla Parameterization for precision motion control,” in Proceedings of American Society for Precision Engineering 2013 Spring Topical Meeting and the MIT Laboratory for Manufacturing and Productivity Annual Summit, Cambridge, MA, Apr. 21-23, 2013, pp. 80-83.

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Frequency Shaping for Performance Enhancement in Active Disturbance Rejection Control for Dual-stage Hard Disk Drives

Professor: Masayoshi Tomizuka Student: Minghui Zheng Status: New Project Motivation Large external disturbance, such as audio-vibrations and sudden shock, exits in hard disk drive (HDD). They excite high-frequency resonances and seriously affect the servo performance during both the track- seeking and the track-following processes. Such external disturbance, along with the un-modeled high- frequency dynamics, are collectively called unknown dynamics. It is of fundamental importance to propose robust control algorithms that can attenuate the influence of such unknown dynamics in HDDs, with less dependence on the disturbance properties. Objectives This project aims to deal with a large class of unknown dynamics in dual-stage HDDs. Frequency-shaped active disturbance rejection control (ADRC) will be proposed to break the limitations of traditional linear control and standard ADRC. More specifically, we aim to identify and efficiently distribute the unknown dynamics (especially high-frequency dynamics) between the voice coil motor (VCM) loop and piezoelectric (PZT) loop, and compensate them actively by frequency-shaped nonlinear controllers. This performs during both the track-seeking and track-following processes, while saturations in the PZT loop will be taken into consideration. Additionally, the ‘best’ servo performance with saturations will be theoretically obtained as the benchmark. Techniques Active disturbance rejection control usually includes four parts: transient profile generator, tracking differentiator, extended state observer, and nonlinear feedback control algorithms.

Design an extended state observer (ESO) to identify a large class of unknown dynamics, including high-

frequency vibrations. Unknown dynamics will be considered and identified as a state of the extended system.

Design an ESO-based nonlinear feedback control algorithm, such as sliding mode control, to unify track-

seeking and track-following into one control scheme, and to actively compensate the identified dynamics.

Involve frequency shaping for the performance enhancement in the controller design. Specially, suitable

filters will be designed for inclusion in the nonlinear control algorithm to distribute the unknown dynamics compensation between VCM loop and PZT loop based on their frequency properties.

Additionally, a transient profile will be generated for fast and smooth track-seeking. The generator will

be designed based on the closed-form solution of discrete time-optimal control. Progress to Date

A frequency-shaped sliding mode control algorithm has been developed for hard disk drives and enhanced

performance has been validated: in the presence of large external vibrations with peaks, both the overall 3𝛕 value of PES and the amplitude around the peak frequencies have been reduced [1].

Standard ADRC has been applied to single-stage hard disk drives and enhanced servo performance has

been validated: in the cases of track-seeking or large external low-frequency vibrations, ADRC has improved both the transient performance and steady-state performance.

[1] Minghui Zheng, Xu Chen, Masayoshi Tomizuka, “Discrete-time Frequency-shaped Sliding Mode Control for Audio-Vibration Rejection in Hard Disk Drives,” submitted for IFAC 2014

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Servo Controller Design Based on the Probabilistic Robust Approach

Professor : Roberto Horowitz Student : Ehsan Keikha (postdoc) and Omid Bagherieh Status : New Project

Introduction:

Robust control designed for track-following servo systems controller is well studied in literature. However all the proposed methods are based on classical deterministic optimization of “worst-case design”. This optimization problem is computationally complex and will lead to a conservative control

design. We propose a novel approach based on statistical learning, which is called probabilistic

randomized design. In the proposed method, randomize algorithms and convex optimization are respectively employed to handle uncertainty and design parameters computation.

Objectives:

 Develop a discrete time multi-objective robust controller using a probabilistic robust approach to handle different parametric and dynamic uncertainties in the disk drive.  Improve controller performance by allowing a small constraint function violation probability (in the

rder of 10-6 ). Significant performance improvement gained by applying this method has been shown

in previous works.  Maximize the controller stability margins while keeping the position error signal (PES) as small as possible via randomization, in order to achieve high areal densities and low-readout error rates.  Implement and test the designed controllers on real HDDs, in order to investigate and evaluate the benefits of the proposed control methodologies

Techniques:

 A probabilistic randomized algorithm will be used to design controllers that achieve a smaller PES and control effort over all modeled uncertainty, and will be compared to classic deterministic robust control approaches.  The propose design approach is based on convex optimization in design parameter space and randomization in the uncertainty space.  Both dynamic and real parametric uncertainties, which are typical model uncertainties, can be taken into account in the formulation.  Parametric uncertainty is not embedded into the model using linear fractional transformations, as is done in the classical deterministic robust paradigm. Thus, decreasing the number of uncertain parameters that is in the controller design process. Moreover, due to the randomization of the parameter space, computational complexity is not dependent on the number of uncertain parameters.  An iterative algorithm based on ellipsoid iteration will be employed in order to find the probabilistic robust feasible solution. This method guarantees that an optimal controller design (in probabilistic sense) is attain in an infinite number of synthesis iterations. Progress:  Dr. Keikha has successfully designed SISO track-following controllers with this approach, using

nly uniform distributions in the parameter uncertainty sets.

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Multi-rate Observers and Robust Control of Self Servo Writers with Non-uniform PES Samples

Professor : Roberto Horowitz Student : Behrooz Shahsavari and Omid Bagherieh Status : New Project

Introduction:

Self servo writing technology has been under increase development in recent years, since it requires less external processing equipment during the manufacturing process. During self servo writing, the PES is obtained by intercepting imperfectly placed patterns on the disk. This causes a large variation in the PES sampling rate. Acceleration, deceleration, and seek directional changes during self servo writing increase sampling rate variations, which can significantly reduce the servo system’s trajectory tracking performance, if these variations are not accounted for in the controller design.

Objectives:

 Develop observer design methodologies under non-uniform sampling of PES, in order to estimate/predict the system states (e.g. position, velocity and acceleration) at any desired moment.  Test two different multi-rate control schemes:

The update rate of the control system is synchronized with the irregular samples of the PES.
The update rate of the control system is uniform and not synchronized with the irregular samples of the
PES. In this scheme the control update rate can be higher than the fastest PES sample rate.

 Develop a controller architecture that can be used for both seek, and track-following.  Perform rigorous “Probabilistic” and “Deterministic” robust control analysis and designs.  Develop a methodology to determine the limits of achievable performance to:

Evaluate the observer and controller design performances.
Investigate how the performance degrades as the number of servo sectors per revolution decreases.

Techniques:

 Because the PES sampling time is irregular, the overall discrete time dynamics of the servo system will be time

varying. Moreover, the discrete time servo system can be modeled as a parametric function of the time-varying

sampling time. Gain scheduling methods have been proven to be suitable for these types of systems and we will apply gain scheduling design methodologies for both observer and feedback controller design.  We will first consider a separation principle approach, were the observer is designed first. Subsequently, the

verall multi-rate controller is designed as a state feedback that uses the state estimates from the observer

(uniform or non-uniform). We will also consider the design of the overall output feedback system using gain scheduling robust control design techniques.  The limit of observation performance, in terms of expected squared estimation error, will be determined by using a time-varying Kalman filter, which is known as the optimal linear estimator for a linear system contaminated by white noises. This requires accurate noise modeling based on the power spectrum of real PES.  The limit of control performance, in terms of expected squared tracking error, can be determined by using a finite horizon optimal linear quadratic tracker.

Progress:

 Observer design: the sequence of random sample times has been modeled by a discrete time Markov chain and the filter gains for a linear observer are determined by a stochastic analysis, such that the expected squared estimation error is minimized.  Control design: a novel discretization method has been developed to capture the dynamics of an irregularly sampled system that is actuated by a uniform control action. Comprehensive analysis and simulations for multirate track-following control of such a system have been developed.

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Adaptive High-frequency Run-out Tracking in Dual Stage Bit Patterned Recording

Professor : Roberto Horowitz Student : Behrooz Shahsavari and Fu Zhang Status : Continuing Project

Introduction:

In conventional media, data is written on concentric circular tracks. In bit patterned media (BPM), data will be written on tracks with predetermined shapes due to the lithography and nano-imprinting processes, resulting in repeatable runout (RRO), which must be tracked by the servo system. As a result, the track-following servo system in BPM must track the RRO, instead of cancelling it, as in conventional hard drives. Since the RRO spectrum in BPM spreads to very high frequencies, where the VCM gain is small, the use of secondary actuator will be

necessary. Identifying the RRO profile, which is not only unknown but also varies from ID to OD tracks, and

compensating for the plant dynamics variations, are two of the most important challenges in control design for such a system.

Objectives:

 Develop an adaptive control design for dual stage servo systems that tracks the low and high frequency RRO by actuating the VCM and secondary actuator respectively.  Add a secondary adaptive path to the control architecture, to identify the plant dynamics variations, and improve controller performance by correcting the plant nominal model in real time.  Perform statistical learning on tracks with different radial locations to determine how the RRO profile is varying along the radial direction.  Due to storage limitation, the number of feedforward control sequences that can be stored is significantly smaller than the number of tracks. Self-organizing methodologies will be tested, which will partition the disk into variable concentric regions; each region will be assigned a feedforward control sequence as an initial condition, in order to maximize the overall track-following performance.  Evaluate the design by implementing the algorithms on a real HDD.

Techniques:

 The RRO spectrum only contain integer multiples of fundamental (spindle) frequency. The low frequency harmonics are those that the available power to the VCM is sufficient for tracking them and the VCM uncertainty is small in that region. The remaining is called high frequency harmonics.  A modified FX-LMS adaptive filter will be designed to actuate the VCM for tracking the low frequency RRO

harmonics. The input to this filter will be the tracking error and low frequency sinusoidal sequences.

 Another modified FX-LMS adaptive filter will be used to add feedforward control to the secondary actuator

input. The input to this filter is the tracking error and high frequency sinusoidal sequences.

 An extra adaptive path will be added to identify and compensate the dynamics mismatch of the nominal model embedded in the high frequency MFX-LMS filter.

Progress:

 A modified version of FX-LMS adaptive filter has been developed for RRO tracking in single stage hard drives. This adaptive controller is able to track the RRO in all frequencies if there is sufficient power to drive the VCM.  A scheduling method has been integrated in the adaptation algorithm such that the adaptation of different frequency ranges is sequentially scheduled in time to keep the adaptation transient error small.  A drive provided by HGST, a Western Digital company, was set up to collect PES and implement servo

systems. Precise modeling was done for both the voice coil motor (VCM) dynamics and the RRO profile in that
drive. Seagate has provided real BPM RRO sequences for simulation studies.

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Deposition of ultrathin amorphous carbon films by filtered cathodic vacuum arc for the head-disk interface

Professor: K. Komvopoulos Student: Jun Xie Status: Continuing project

Objectives

Control the quality of diamond-like carbon (DLC) film overcoats by varying the duty cycle of

the substrate bias during FCVA deposition.

Identify the optimum duty cycle to produce ultrathin, smooth and durable DLC overcoats for

the HDI.

Techniques

Filtered cathodic vacuum arc (FCVA) deposition of DLC films for different duty cycles and
ptimum substrate bias FCVA conditions.
Cross-section HRTEM and EELS studies of the thickness and structure of synthesized DLC

films.(A proposal has been submitted and accepted by NCEM at LBNL.)

AFM studies of the film surface texture and roughness and measurement of film internal stress

by the curvature method.

T-DYN simulations, Raman, and XPS studies of the synthesized films.

Specific Questions/Issues

How can we achieve minimal film thickness without reducing the high sp3 fraction in view of

the existence of an intermixing layer and a surface layer which are both low in sp3 fraction?

How can we perform a through-thickness study of the structure and composition of such

ultrathin, multilayered DLC films in order to distinguish small-energy differences in sp2 and sp3 hybridizations?

Progress to date

DLC films have been synthesized by the FCVA technique for a duty cycle in the range of 50%

to 95% under fixed (optimum) substrate bias.

T-DYN simulations have been performed to obtain insight into the effect of duty cycle on the

depth profile distribution of carbon, followed by cross-sectional TEM studies.

Topographical properties were studied by AFM and internal film stress measurements were
btained with the curvature method and Raman spectroscopy.

Additional Studies/Benefits

Analysis of cross-sectional EELS spectra of FCVA-deposited DLC films for different duty

cycles to identify means of further reducing the film thickness while maintaining a high sp3 fraction.

Comparison of sp2and sp3 hybridizations of DLC films obtained from cross-sectional EELS

analysis with the overall film composition obtained by XPS.

Investigation of the duty cycle effect on the thermal stability of FCVA-deposited DLC films.

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Effects of C+ ion energy and dose on structure, tribomechanical properties, and corrosion resistance of ultrathin a-C overcoats

Professor: K. Komvopoulos Postdoc: Ehsan Rismaniyazdi Status: Ongoing Objectives  Study the effect of C+ ion energy on the growth of ultrathin (<2 nm) a-C films deposited by FCVA.  Investigate the effect of C+ ion energy on the tribomechanical properties, corrosion resistance, and magnetic performance of hard-disk media.  Examine the possibility of surface modification of media with more than one ion energy to minimize the overcoat thickness, while enhancing the wear and corrosion resistance. Techniques  Deposition of ultrathin overcoats or surface modification of media via the bombardment with energetic C+ ions using the FCVA method for C+ ion energy of 20–300 eV.  AR-XPS and micro-Raman to analyze the chemical composition and structure of modified surfaces or

vercoats, including interfaces with the media/substrate to understand the mechanism of ultrathin film

growth under different deposition energies.  High-resolution TEM and EELS to study the structure of the overcoats and modified surfaces.  Evaluate the effect of C+ ion bombardment for different ion energy and dose on the magnetic properties of the media using MOKE analysis.  Corrosion, wear, and friction experiments with surface-modified media performed with an electrochemical corrosion tester, a surface force apparatus, and a ball-on-flat wear tester. Specific questions  What are the effects of the ion energy and ion dose on the growth and structure evolution of ultrathin a-C films?  What is the mechanism responsible for the formation of a magnetic dead-layer due to the bombardment of media by highly energetic C+ ions?  What deposition parameters yield maximum corrosion resistance or best tribomechanical properties?  Is the maximum corrosion resistance obtained for the same ion energy as the best tribomechanical properties? Progress to date  A proposal for chemical characterization of the proposed ultrathin films was submitted and accepted by the Molecular Foundry at LBNL. Additional benefits  Study the thermal stability of the ultrathin a-C films deposited at different ion energies (or combination of different energies).  Optimize the C+ ion energy and dose to obtain the thinnest possible overcoat by FCVA with maximum wear and corrosion resistance and minimum alteration of the media magnetic properties.

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Wear and corrosion resistance of ultrathin SiNx/a-C and CrNx/a-C films for ultra-high-density magnetic recording

Professor: K. Komvopoulos Postdoc: Ehsan Rismaniyazdi Status: Ongoing Objectives  Modify the outermost layer of magnetic media through the formation of an intermixing layer (thinner than 2 nm) consisting of corrosion resistant compounds, such as SiNx or CrNx (buffer layer), and wear- resistant FCVA-deposited a-C.  Understand the reason for the improved performance of such treated media observed in earlier works by undertaking an in-depth analysis of the underlying mechanism(s).  Vary the deposition parameters to obtain a composition of the intermixing layer resulting in minimum coating thickness, while maintaining good wear and corrosion resistance.  Study the chemical interaction between impinging C+ ions and buffer layer.  Investigate the effect of the intermixing layer composition and energy of C+ ions on the thermal stability (under HAMR conditions), corrosion, and wear resistance of the ultrathin overcoats. Techniques  Deposition of SiNx or CrNx buffer layers by reactive sputtering using different N2 flow rates, followed by a-C film deposition or bombardment of the buffer layer with C+ ions of 20-300 eV using FCVA.  Chemical composition, structural analysis, and elemental depth profiles of these films and their interfaces with the media/substrate by AR-XPS.  High-resolution TEM and EELS analysis to study the structure of the substrate/buffer-layer/overcoat.  Laser irradiation of surface-modified media and study of the effect of laser heating on the chemical structure of the protective overcoat by micro-Raman spectroscopy.  Corrosion, wear, and friction experiments with surface-modified media performed with an electrochemical corrosion tester and a ball-on-flat wear tester. Specific questions  What is the mechanism responsible for the improved wear and corrosion resistance of bilayer (i.e., SiNx/a-C and CrNx/a-C) overcoats?  What are the effects of the buffer SiNx or CrNx layer composition and C+ ion energy on the tribomechanical properties of the bilayer overcoats?  What is the heating effect on the chemical structure and stability of the bilayer overcoats? Progress to date  A proposal for chemical characterization of the proposed ultrathin films was submitted and accepted by the Molecular Foundry at LBNL. Additional benefits  An atomically mixed overcoat consisting of Si, N, and C atoms whose surface is sealed with a few atomic layers of FCVA-deposited C atoms may enhance the thermal stability under HAMR conditions.  Application of a thin buffer layer may decrease/minimize the adverse effects of C+ ion embedment on the magnetic properties of the media without compromising the tribological properties of the overcoat.

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Morphology and tribological properties of single and bi-layer thin amorphous carbon films deposited by RF sputtering and filtered cathodic vacuum arc (FCVA)

Professor: K. Komvopoulos Student: Jozef Matlak Status: Continuing Project

Objectives

Evaluate the tribological properties of amorphous carbon (a-C) overcoats synthesized under

different process conditions (e.g., duty cycle, substrate bias, power, and gas flow rate) of radio frequency (RF) sputtering and filtered cathodic vacuum arc (FCVA).

Synthesize by the FCVA method bi-layer a-C overcoats consisting of a ~1-nm-thick top layer
f high sp2 content and a 2-3-nm-thick under layer of high sp3 content.
Investigate the dominant friction and wear mechanisms of RF sputtered and FCVA-deposited

single/bi-layer a-C overcoats.

Techniques

RF sputtering and FCVA deposition for different ranges of duty cycle, substrate bias,

deposition time, and gas flow rate.

AFM studies of film surface topography and roughness.
Nanomechanical and nanotribological studies of the synthesized single and bi-layer a-C
vercoats using a surface force apparatus.

Specific Questions/Issues

What are the differences in the structure and composition of ultrathin a-C overcoats deposited

by RF sputtering and FCVA?

Is there a correlation of the sp2 and sp3 contents with nanomechanical/tribological properties of

single and bi-layer a-C overcoats?

For a given duty cycle and bias voltage, does the maximum sp2 and sp3 contents correlate with

the best friction and wear properties, respectively, of single and bi-layer a-C overcoats?

Progress to date

A study of the friction properties of single a-C overcoats synthesized by RF sputtering and

FCVA deposition techniques has been completed (presented at this meeting).

Additional Studies/Benefits

Analysis of the combined effects of sp2-toplayer and sp3-underlayer on the nanomechanical

and nanotribological properties of bi-layer a-C overcoats.

Study of the thermal stability of single and bi-layer a-C overcoats under heat-assisted magnetic

recording conditions.

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An efficient analysis of the wear process of thin-film media using a novel Peridynamics method

Professors: Kyriakos Komvopoulos and David Steigmann Student: Sayna Ebrahimi Status: New project

Objectives

 Simulate asperity contact to study the effect of local surface interference at the head-disk interface (HDI) on the resulting deformation and atomic-scale wear using Peridynamics, a continuum version of Molecular Dynamics (MD).  Simulate the wear process of thin-film media at the HDI.  Develop a criterion of atomic-scale material removal including statistical parameters, such as average asperity size, interference distance, and media nanomechanical properties.

Methodology

 Define a discontinuous particle-mass distribution of non-local interactions between particles separated by a finite distance (bonds) with a certain family of particles, i.e., no mesh or elements.  Solve a system of integral equations which is devoid of mathematical intricacies associated with surface discontinuities (singularity points).  Wear analysis will be modeled by simulating bonds breakage at the particle level.

Specific Issues

 Asperity-scale wear analysis in terms of the interference distance at the HDI and media nanomechanical properties having as ultimate objective the development of an atomic-scale criterion of material removal at the HDI.

Progress to Date

 A preliminary Peridynamics study of the effect of asperity radius and sliding velocity on atomic- scale wear.  Simulations of elastic deformation of asperities at the HDI for small interference distances using Peridynamics.

Additional Studies/Benefits

 History-dependence effects captured by Peridynamics would lead to the development of an accurate high-cycle fatigue analysis of the HDI.  Large-scale Peridynamics simulations of asperity interactions/atomic-scale wear at the HDI not possible with FEM (mesh refinement constraints) and MD simulations (size and boundary condition constraints).

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Lubricant dewetting at the head‐disk interface in a hard disk drive

Professor: David B. Bogy Student: Alejandro R. Mendez Status: Continuing project Motivation: To achieve subnanometer clearances required in future HDDs, perturbations in the lubricant film need to be kept to less than a few angstroms. Consequently, it is critical to make accurate predictions of the lubricant response at the head‐disk interface in

rder to engineer reliable HDDs. The accuracy of these predictions relies heavily on a

proper implementation of the lubricant’s disjoining pressure. The lubricants used in current HDDs have reactive functional groups that bond the lubricant to the disk

vercoat. At a critical thickness, they form multilayers or dewetting structures. To

date, most studies of lubricant flow in disk drives have considered only van der Waals forces in their analysis due to the simplicity of its mathematical expression. But this provides only a crude estimate of the lubricant behavior. Goals:  Compute the lubricant flow on the disk surface and on the slider’s ABS surface using a comprehensive disjoining pressure expression that takes into account not only van der Waals forces, as in previous studies, but also those forces arising from structural and electrostatic interactions.  Simulate the formation of dewetting and multilayer structures using an adequate numerical solver for the lubricant evolution equation.  Consider the effects of air shear stress, air bearing pressure, surface tension, and specially the effect of a disjoining pressure that matches closely the behavior of lubricants employed in current HDD.  Obtain the lubricant accumulation profile for two states of the HDD: operation (flow) and rest (reflow).  Determine the conditions under which the lubricant film becomes unstable and the critical film thickness for which instabilities begin to develop at the head‐ disk interface. Techniques:  Solve the governing two‐dimensional equation of motion for the lubricant flow using an implicit finite difference numerical scheme.  Extend the domain of the ABS and apply suitable boundary conditions to find the accumulation characteristics of lubricant on the slider’s “deposit end”.  Compare numerical simulations with experiments available on the subject. Progress to date:  Implemented a two dimensional implicit finite difference solver for the lubricant evolution equation which is based on classical lubrication theory.



Simulated the lubricant flow and re‐flow on the slider surface using a comprehensive disjoining pressure that approximates that of a ZTMD lubricant.



Simulated the formation of droplets (dewetting) and multilayer structures.

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A study on performance of different polymer lubricants under Heat Assisted Magnetic Recording condition

Professor: David B. Bogy Student: Mohammad Soroush Ghahri Sarabi Status: New Project Objective: Many experimental studies on non-HAMR systems demonstrate the fact that measurable lubricant deformation in both non-HAMR and HAMR hard drive systems can compromise the mechanical stability

f the HDI through slider flying modulations or lubricant loss, leading to poor read/write efficiency. This

convinces us to perform a comprehensive deformation study on widely-used PFPEs including but not limited to Z-dol, Z-tetraol, and ZTMD. In addition, PFPEs are known by their viscoelastic behavior while current HAMR lubricant models implemented to simulate the behavior of PFPEs only consider the linear viscous model. The objective of this project is not only to improve the former linear models used to treat the polymer lubricants, but also to study more types of PFPEs and compare the performance of several PFPEs under HAMR condition. Techniques:  Develop an accurate constitutive model for viscoelastic behavior of PFPEs and modify the shear stress term in the Newtonian governing equation according to chosen constitutive model.  Perform a comparison between former linear-viscous model, new viscoelastic model, and experimental outcomes for lubricant deformations found in literature.  Analysis “under HAMR” and “recovery” behavior of different types of polymer lubricants and draw a conclusion on performance of each Specific Questions:  How can the structure and arrangement of polar end-group in a PFPE molecular structure alter the continuum parameters such as viscosity and disjoining pressure in a thin film material? Consequently, how can those parameters affect the whole dynamic behavior of the lubricant?  How important could be the effect of viscoelasticity modification?  How sensitive is our analysis with respect to viscoelastic parameters? Progress To Date:  Using Newtonian fluid model including the effect of polar and dispersive components of disjoining pressure as well as effect of thin-film viscosity, numerical simulations are done for both HAMR and recovery conditions.  Comparison is performed between deformation behavior of Z-dol 2000 and Z-tetraol 2200

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Experimental and simulations on thermal protrusion induced slider/media instability at contact proximity

Professor: David B. Bogy Student: Yung-Kan Chen Status: Continuing Project Objective: As sliders are expected to continue fly lower to meet the areal density on the storage road map, the low- flying stability becomes important. Instabilities could occur when sliders are bought below the physical spacing of 1-2nm, and are detrimental to head-disk interface reliability in turns of slider/disk DLC wear, slider vibrations and lubricant modulation. Close inspection on slider dynamics from contact proximity to light contact is essential to the understanding of the head-disk contact mechanism. Slider dynamics are to be studied using the multiple-location LDV measurements at TFC overdrives within 5 mW, and FEM- based structural simulations will be used to correlate the possible excitations leading to the experimentally

bserved dynamics. DLC wear on sliders will be characterized by AFM/SEM and touchdown power

variations, whereas the film property on disks will be investigated by nano-indentations. The objective is to elucidate the head-disk contact scenario, and further provide insights to improve reliability. Technique:  Utilize high speed synchronized data acquisition system up to 10MHz to perform sophisticated thermal protrusion –controlled experimental scheme.  Digital laser Doppler vibrometer capable of resolving subnanometer vibrations.  Optical surface analyzer capable of in-situ monitoring lubricant modulations in sub-angstrom resolutions.  Use CML Air/PIP and ANSYS to estimate contact behaviors and compare with experimental results.  Characterize DLC films on sliders/disk by AFM scans and Hysitron’s transducer indentations. Specific Questions:  How carbon wear developed on sliders at disk proximity?  How to improve slider-disk contact detection?  How thin-film lubricants behave at high shear rates? Progress To Date:  Explored location-sensitive slider dynamics measurements and characterized the slider-disk contact features.  Simulated HGA dynamics of proximity-flying conditions.

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Experimental Investigation of High-Speed Solid Contact Induced Demagnetization on Perpendicular Magnetic Recording Disks

Professor: David B. Bogy Student: Yuan Ma Status: New Project Objective With projected further reduced spacing between slider and disk, high speed solid contact is becoming a an issue of much concern because it can lead to demagnetization and data loss. While the mechanisms of heat induced and stress field induced demagnetization are studied separately in much depth, there are few investigations in the heat-stress coupled demagnetization. Study of high speed solid contact could help understand heat-stress coupled demagnetization and avoid permanent demagnetization in future HDD

designs. Our objective is to experimentally study the coupled demagnetization by controlling the stress in

the contact area and the heat generated during contact separately. The contribution percentage of heat induced and stress induced demagnetization will be determined quantitatively. Techniques  Adjustable constant loading is achieved by a leverage mechanism to control the stress field in the DLC layer and magnetic layer during contact.  Control the heat generated during contact by adjusting the rotation speed of the disk.  Use AFM and MFM to obtain the surface profile and magnetic degradation of the disk after solid contact.  Determine the percentage of heat induced demagnetization through remagnetization, as heat induced demagnetizations are expected to be completely recoverable while stress induced demagnetizations are mostly unrecoverable. Specific Questions  How to prepare data encoded disks for the experimental study?  How to evaluate the demagnetization degree on data encoded disks?  How to measure the magnetic properties of the experimental disks?  How to determine the temperature of the probe tip and contact area under different rotation speeds?  How to exclude the recoverable part of stress induced demagnetization? Progress to Date  A controllable loading stage is completed on a Vena tester.  The appropriate load for the probe to reach magnetic layer during contact is found.  Contact experiments on DC magnetized disks have been performed.

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Lubricant Study in the Heat Assisted Magnetic Recording (HAMR)

Advisor: Professor David B. Bogy Student: Haoyu Wu Status: New Project Goals:  Study the lubricant depletion under laser heating, in different time scale from several nano seconds to micro seconds.  Study the lubricant depletion under laser heating, in different laser spot size scale from several nanometers to micrometers.  Study the lubricant property of HAMR disk. Techniques:  Use the existing HAMR testing bed and OSA to determine the relationship of laser exposing power and lubricant depletion.  Compare the difference of lubricant depletion between normal disk and HAMR disk under same laser exposing condition.

Specific Questions:

 The reflectivity measurement by the OSA phase image can be effected by the lubricant thickness and the roughness of the overcoats and magnetic layer.  Homemade slider does not have a very good performance on disk.  HAMR disk is needed for lubricant comparison.

Progress to date:

 HAMR test bed has been built with 780nm laser on the OSA stage.  Free space laser heating condition is currently being performed.  Literature review is currently in progress

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Head Disk Interface Study in the Heat Assisted Magnetic Recording (HAMR)

Advisor: Professor David B. Bogy Student: Shaomin Xiong Status: Continuing Project Goals:  Magnetic degradation under laser heating with NFT.  Study the lubricant micro evolution at nano scale.  Study the media carbon overcoat's graphitization at nano-scale under laser heating with NFT.  Reliability study of the near field transducer in the HAMR Techniques:  Use the new HAMR testing bed, OSA,MFM mode of SPM to determine the level

f laser exposure required to permit the magnetization.

 OSA histogram can be used to decouple the lubricant and DLC change.  Use the phase imaging or force modulation imaging of SPM to image the mobile and bonded lubricant surface according to Bhushan's work  Nano fabrication of the near field transducer in the home made slider.

Specific Questions:

 Phase imaging or force modulation imaging maps differences in surface stiffness

r elasticity. It is still questionable for the ultra thin lubricant imaging though

some papers claimed they could.

Progress to date:

 A new HAMR test bed has been built with 780nm laser on an optical table. User interface and control has been developed by Labview.  A focusing servomechanism has been developed to have uniform exposure along the circumferential direction using Labview FPGA.  A FPGA based arbitrary laser modulation module has been developed and added to the HAMR test bed.  SPM has been modified to allow MFM, phase imaging and CAFM mode  Free space laser heating and NFT heating has been performed and compared for DLC and lubricant film separately.



A optical-thermal-mechanical model for the laser heating in the slider and disk has been built.

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NFT reliability and dual heating stage for HAMR

Advisor: Professor David B. Bogy Student: Shaomin Xiong Status: New Project Goals:  Study the failure mechanism of the NFT in HAMR systems.  Experimentally verify the dual heating stage scheme for HAMR. Techniques:  Nano-fabrication of the NFTs on the gold film with glass substrate to emulate the HAMR head.  HAMR test bed to expose the NFT with various conditions in the stationary tests without flying slider  NFT samples can be heated in the AFM chamber by a millimeter size heater and the surface change or the deformation can be studied

Specific Questions:  Balance between the SNR, writability and thermal stability.  Balance between media design (thermal properties) and NFT power input. Progress to date:

 A new HAMR test bed has been built with 780nm laser on an optical table. User interface and control has been developed by Labview..



A optical-thermal-mechanical model for the laser heating in the slider and disk has been built.

 Numerical simulation has verified the dual heating stage scheme  Dual heating stage NFT structure has been design and optimized by FDTD computation for current HAMR stage

Reference:

 Shaomin Xiong, Jeongmin Kim, Yuan Wang, Xiang Zhang, David Bogy, "A two-stage heating scheme for heat assisted magnetic recording", Journal of Applied Physics, 115, 17B702

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Faculty

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CURRICULUM VITA Name: David B. Bogy William S. Floyd, Jr., Distinguished Professor

f the Graduate School

Director, Computer Mechanics Laboratory Department of Mechanical Engineering University of California, Berkeley, CA 94720 Address: 8531 Buckingham Dr. El Cerrito, CA 94530 Date of Birth: June 4, 1936 Education: 1954-59 B.S. Rice University (ME and Geology) 1959-61 M.S. Rice University (ME) 1963-66 Ph.D. Brown University (Applied Math) Professional Appointments: 1966-1967 Postdoctoral Research Fellow, Division of Applied Sciences, California Institute of Technology 1967-1970 Assistant Professor, Department of Mechanical Engineering, University of California, Berkeley 1970-1975 Associate Professor, Department of Mechanical Engineering, University of California, Berkeley 1975-present Professor, Department of Mechanical Engineering University of California, Berkeley 1989-present Director, Computer Mechanics Laboratory, Department of Mechanical Engineering, University of California, Berkeley 1991-1999 Department Chairman, Department of Mechanical Engineering, University of California, Berkeley 1993-present William S. Floyd, Jr. Distinguished Professor in Engineering 1971-present Engineering consultant to several U.S. and foreign corporations. Expert witness consultant to several law firms Research Interests Bogy's research interests are in solid and fluid mechanics, tribology, and dynamics, especially as regards their application to mechanical aspects in computer technology. He has authored or co-authored about 350 archive journal

publications. Many of these papers have been concerned with mechanics of particular configurations associated with

computer magnetic recording disk drives. His current research in this area is in four areas: design and simulation codes for air bearing sliders, development and use of measurement systems for HDI research, development and use of measurement systems for mechanical properties and wear durability of ultra thin film overcoats for sliders and disks, and wear studies in

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ambient and UHV environments. He also works in wave propagation, scattering and diffraction, most recently using random walk methods. He also works in nano-scale radiation heat transfer Bogy is the founder and director of the Computer Mechanics Laboratory in the ME Department. This is a center dedicated to research in computer storage devices, primarily magnetic rigid disk drives. It is funded primarily by the computer industry, but also enjoys specific project funding by the state and national government agencies. It currently has 5 faculty participants, about 15 graduate students, several undergraduates, postdocs, and visiting scholars. There are 5 industrial member companies of CML. Bogy has supervised to completion 60 Ph.D. degree dissertations. About one third of these degree recipients are professors in major research universities and most of the remaining ones are engineers in the computer disk drive industry. Bogy is a member of the National Academy of Engineering and was elected Chair of the Mechanical Engineering Section in 1997. He has also served as Chair of the Executive Committees of the American Society of Mechanical Engineers' Division of Applied Mechanics and its Division of Tribology. He was the recipient of the ASME Tribology Division Mayo D. Hersey Award in 1999. He is a Fellow of the American Academy of Mechanics, the American Society

f Mechanical Engineers, and the Institute of Electrical and Electronics Engineers. He received the IEEE Reynolds B.

Johnson Data Storage Technology Award in 2010, He also received the Berkeley Citation and the Berkeley Faculty Service Award in 2010. Selected Recent Publications

318. (with H. Kubotera) “Lubricant Migration Simulations on the Flying Head Slider air-Bearing Surface in a

Hard disk Drive”, IEEE Trans. Magn., Vol. 43, No. 9, 3710-3715, September 2007. 319 (with H. Kubotera)”Effect of various physical factors on thin lubricant film migration on the flying head slider at the head-disk interface of hard disk drives ,JOURNAL OF APPLIED PHYSICS 102 (5): Art. No. 054309 SEP 1 2007

323. (with R. Ambekar et al.) “Critical clearance and lubricant instability at the head-disk interface of a disk

drive”, Applied Physics Letters, Vol. 92, 3, Jan. 2008.

324. (with X. Shen) ASME J. Tribology, “Contact Force and Frictional Heating due to `Large` Particles in the

Head Disk Interface”, Vol. 130, 011015-1, January 2008.

326. (with N. Liu) “Forces on a rotating particle in a shear flow of a highly rarefied gas” Physics of Fluids 20,

107102, 1-5, Oct. 2008

327. (with B. Budaev) “Diffraction by a non-convex wedge”, SIAM J. Appl. Math. Volume 69, Issue 2, pp.

398-418 Nov. 2008 (electronic)

335. (with R. Ambekar and C.S. Bhatia) “Lubricant Depletion and Disk-to-Head Transfer at the Head-Disk

Interface”, ASME J. Tribology 131, 031901 July (2009)

337. (with N. Liu) “Temperature effect on a HDD slider’s flying performance at steady state”, Tribology Letters,
Vol. 35, 2, 105-112, Aug. 2009.
339. (with N. Li, L. Zheng, Y. Ming) “Experimental Study of Head-Disk Interface Flyability and Durability at

Sub-1-nm Clearance“ IEEE Trans. Magn, Vol. 45, 3624-3627, October, 2009341. 341 (with D. Chen) “Numerical Investigation of Bouncing Vibrations of an Air Bearing Slider in Near or Partial Contact” Journal of Tribology, Vol. 132, Jan. 2010

342. (with N. Liu and J. Zheng) “Thermal flying height control sliders in hard disk drives filled with air-helium

gas mixtures”, Appl. Phys. Let, Vol. 95, 213505, Nov. 2009, [doi:10.1063/1.3268468]

343. (with N. Lui) “Particle Contamination on a Thermal Flying-Height Control Slider”, Tribology Letters, Vol.

37 93-97, Jan. 2010.

347. (with S. Vangipuram Canchi) “Slider Dynamics in the Lubricant-Contact Regime”, IEEE Trans. Magn., Vol.

46 764-769, March 2010.

348. (with J. Zheng) “Investigation of Flying Height Stability of Thermal Fly-Height Control Sliders in Lubricant
r Solid Contact with Roughness” Tribology Letters, Vol. 38, 283-289, May, 2010.
352. (with B. Budaev) “On Interface Thermal Resistance”. Physics Letters A, Vol. 374, 4774-4778, Oct. 2010

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Roberto Horowitz Roberto Horowitz is a Professor in the Department of Mechanical Engineering at UC Berkeley and holds the James Fife Endowed Chair in the College of Engineering. He received a B.S. degree with highest honors in 1978 and a Ph.D. degree in 1983 in mechanical engineering from the University of California at Berkeley and became a faculty member of the Mechanical Engineering Department in 1982. Dr. Horowitz teaches and conducts research in the areas of adaptive, learning, nonlinear and optimal control, with applications to Micro-Electromechanical Systems (MEMS), computer disk file systems, robotics, mechatronics and Intelligent Vehicle and Highway Systems (IVHS). He is currently the director of the Partners for Advanced Transportation Technology (PATH) research center at U.C. Berkeley. Dr. Horowitz is a member

f IEEE and ASME and the recipient of the 2010 ASME Dynamic Systems and Control Division

(DSCD) Henry M. Paynter Outstanding Investigator Award.

Dr. Horowitz’s recent research in the Magnetic Hard Disk Drive and MEMS areas include the

design, fabrication of MEMS microactuators and PZT actuated and instrumented suspensions for dual-stage servo systems, the formulation of track-following, track-seeking and vibration compensation control systems for dual-stage servos and self servo-writing systems. Related Publications

B. Shahsavari, R. Conway, E. Keikha, F. Zhang, and R. Horowitz, “Robust Track- Following

Controller Design for Hard Disk Drives with Irregular Sampling,” IEEE Transactions on Magnetics 49, no. 6 . (2013) Sarah Felix and Roberto Horowitz. “Integration of Thin Film Strain Sensors Into Hard Drives for Active Feedback Vibration Suppression.” IEEE Sensors Journal, Vol. 13, No. 5, May 2013. Jianbin Nie; Conway, R.; Horowitz, R., "Optimal Hinfin Control for Linear Periodically Time- Varying Systems in Hard Disk Drives," IEEE/ASME Transactions on Mechatronics Volume: 18 Issue: 1 Pages: 212-20, Feb 2013. Jianbin Nie; Sheh, E.; Horowitz, R., "Optimal Hinfin Control Design and Implementation of Hard Disk Drives With Irregular Sampling Rates," IEEE Transactions on Control Systems Technology Volume: 20 Issue: 2 Pages: 402-7, March 2012.

R. Conway, J. Nie and R. Horowitz, “H2 Guaranteed Cost Control in Track-Following Servos,”

in Control Technologies for Emerging Micro and Nanoscale Systems, Edit. E. Eleftheriou and S.

O. R. Moheimani. Lecture Notes in Control and Information Sciences Volume 413, pp 235-270

(2011).

E. Keikha, B. Shahsavari, A. Al-Mamun and R. Horowitz “A probabilistic approach to robust

controller design for a servo system with irregular sampling.” 10th IEEE International Conference on Control and Automation, (ICCA2013) Hangzhou, China Date: 12-14 June 2013

B. Shahsavari, R. Conway, E. Keikha, and R. Horowitz, “Limits of Performance in Systems with

Periodic Irregular Sampling and Actuation Rates.” 6th IFAC Symposium on Mechatronic Systems, no. 1, pp. 347-354. 2013.

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B. Shahsavari, R. Conway, E. Keikha, F. Zhang, and R. Horowitz, “H∞ Control Design for

Systems with Periodic Irregular Sampling Using Optimal H2 Reference Controllers,” ASME ISPS Conference June 24-25, 2013, Santa Clara, USA, Paper ISPS2013-295, 2013. Richard Conway and Roberto Horowitz, “A Separation Principle For Output Feed- back Discrete- Time H2 Guaranteed Cost Control,” 2012 Joint ASME Dynamic Systems and Control Conference and MOVIC, Cambridge, Massachusetts, USA, September 13- 15, DSCC2012-MOVIC2012- 8850, 2012. Conway, R.; Horowitz, R., "Discrete-time H 2 guaranteed cost analysis for systems with norm- bounded structured uncertainty," 2012 American Control Conference, Pages: 1858-64, Montreal, QC, Canada, 27-29 June 2012. Wernow, J.; Horowitz, R.; "Quasi-shear mode piezoelectric microactuator for head-based servo control in hard disk drives." 2012 IEEE 25th International Conference on Micro Electro Mechanical Systems (MEMS), Pages: 1169-72, Paris, France, 29 Jan.-2 Feb. 2012. Jianbin Nie; Horowitz, R., "Control Design of Hard Disk Drive Concentric Self-Servo Track Writing via H2 and Hinfin Synthesis." IEEE Transactions on Magnetics Volume: 47 Issue: 7 Pages: 1951-7. July 2011. Richard Conway, Jongeun Choi, Ryozo Nagamune, and Roberto Horowitz, "Robust Track- Following Controller Design in Hard Disk Drives Based on Parameter Dependent Lyapunov Functions." IEEE Transactions on Magnetics, vol.46, no.4, pp. 1060-1068, April 2010. Richard Conway and Roberto Horowitz, “Optimal Full Information H2 Guaranteed Cost Control

f Discrete-Time Systems," 2009 ASME Dynamic Systems and Control Conference, Cambridge,

Massachusetts, September 13-15, 2010. Nie J., Conway R., and Horowitz R., “Optimal H∞ control for linear periodically time-varying systems in hard disk drives,” Proceedings of the 2010 ASME Dynamic Systems and Control Conference, DSCC, Cambridge, Massachusetts, September 13-15, 2010. Nie J. and Horowitz R., “A Tutorial on Control Design of Hard Disk Drive Self-Servo Track Writing,” A tutorial session lead paper, Proceedings of 2010 American Control Conference, Baltimore, Maryland, June 30-July 2, 2010 . Nie J. and Roberto Horowitz, "Design and Implementation of Dual-Stage Track-Following Control for Hard Disk Drives," Proceedings of the 2010 ASME Dynamic Systems and Control Conference, DSCC, Hollywood, California, October 12-14, 2009. Felix S., Nie J. and Horowitz R., “Integration of Thin-Film ZnO Strain Sensors Into Hard Disk Drives,” Proceedings of the IEEE Sensors 2010 Conference, Waikoloa, Hawaii, Nobember 1-4, 2010. Felix S., Nie J. and Horowitz R., “Enhanced vibration suppression in hard disk drives using instrumented suspensions,” IEEE Trans. On Magnetics, vol. 45, no. 11, pp. 5118-5122, November 2009. Conway R. and Horowitz R., "Guaranteed Cost Control for Linear Periodically Time-Varying Systems with Structured Uncertainty and a Generalized H2 Objective." IFAC Journal of Mechatronics, vol. 20, no. 1, pp. 12-19, February 2010.

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KYRIAKOS KOMVOPOULOS

Professor Komvopoulos has been in the Department of Mechanical Engineering of the University of California at Berkeley since 1989. He is the director of the Surface Sciences and Engineering Laboratory (SSEL) and the Computational Surface Mechanics Laboratory (CSML), which sprung out of the Surface Mechanics and Tribology Laboratory (SMTL) that he founded in 1989. His research has been at the interfaces of mechanical and electrical engineering, surface physics/chemistry, and bioengineering, and is characterized by its interdisciplinary nature and combination of analytical and experimental techniques aimed to provide insight into complex surface interaction

phenomena. He has authored/co-authored more than 300 archival journal publications and papers in refereed

conference proceedings and holds 12 US Patents on CVD growth of smooth and thin diamond films, self-assembled monolayers for reducing stiction in MEMS, plasma treatment of orthopaedic implants, vacuum-arc plasma treatment

f magnetic recording heads and ceramic surfaces, polymer surface treatment for enhanced cell

attachment/proliferation, and filtered cathodic vacuum deposition. He is a Fellow of ASME and STLE and recipient

f several prestigious awards, including 1990 IBM Faculty Development Award, 1989 NSF Presidential Young

Investigator Award, 1988 ASME B.L. Newkirk Award, and 1987 NSF Engineering Initiation Award. He has given more than 220 presentations on tribology, contact mechanics, and materials processing and characterization at various conferences, industries, and universities. At UC Berkeley, he teaches courses on tribology, mechanical behavior of materials, fatigue, and fracture mechanics. Selected Recent Relevant Publications (2011-2013) Song Z, Komvopoulos K. Adhesion-induced instabilities in elastic and elastic–plastic contacts during single and repetitive normal loading. J. Mech. Phys. Solids 59, 884 (2011). Wang N, Komvopoulos K. Thermal stability of ultrathin amorphous carbon films for energy-assisted magnetic

recording. IEEE Trans. Magn. 47, 2277 (2011).

Yin X, Komvopoulos K. A discrete dislocation plasticity analysis of a single-crystal half-space indented by a rigid

cylinder. ASME J. Appl. Mech. 78, 041019 (2011).

Yin X, Komvopoulos K. A slip-line plasticity analysis of abrasive wear of a smooth and soft surface sliding against a rough (fractal) and hard surface. Int. J. Solids Struct. 49, 121 (2012). Yin X, Komvopoulos K. A discrete dislocation plasticity analysis of a single-crystal semi-infinite medium indented by a rigid surface exhibiting multi-scale roughness. Philos. Mag. 92, 2984 (2012). Yin X, Komvopoulos K. A slip-line plasticity analysis of sliding friction of rough surfaces exhibiting self-affine (fractal) behavior. J. Mech. Phys. Solids 60, 538 (2012). Wang N, Komvopoulos K. Incidence angle effect of energetic carbon ions on deposition rate, topography, and structure of ultrathin amorphous carbon films deposited by filtered cathodic vacuum arc. IEEE Trans. Mag. 48, 2220 (2012). Xu H, Komvopoulos K. Fracture mechanics analysis of asperity cracking due to adhesive normal contact. Int. J. Fracture 181, 273 (2013). Xu H, Komvopoulos K. Surface adhesion and hardening effects on elastic-plastic deformation, shakedown and ratcheting behavior of half-spaces subjected to repeated sliding contact. Int. J. Solids Struct. 50, 876 (2013). Song Z, Komvopoulos K. Elastic-plastic spherical indentation: deformation regimes, evolution of plasticity, and hardening effect. Mech. Mater. 61, 91 (2013). Xu H, Komvopoulos K. Surface adhesion and hardening effects on elastic-plastic deformation, shakedown and ratcheting behavior of half-spaces subjected to repeated sliding contact. Int. J. Solids Struct. 50, 876 (2013). Song Z, Komvopoulos K. Adhesive contact of elastic-plastic layered media: effective Tabor parameter and mode of surface separation. ASME J. Appl. Mech. 80, 021022 (2013). Song Z, Komvopoulos K. Delamination of an elastic film from an elastic-plastic substrate during adhesive contact loading and unloading. Int. J. Solids Struct. 50, 2549 (2013). Xu H, Komvopoulos K. Elastic-plastic analysis of adhesive sliding contacts. ASME J. Appl. Mech. 80, 041010 (2013). Wang N, Komvopoulos K, Rose F, Marchon B. Structural stability of hydrogenated amorphous carbon overcoats used in heat-assisted magnetic recording investigated by rapid thermal annealing. J. Appl. Phys. 113, 083517 (2013). Wang N, Komvopoulos K. The multilayered structure of ultrathin amorphous carbon films synthesized by filtered cathodic vacuum arc deposition. J. Mater. Res. 28, 2124 (2013). Pathem BK, Guo X-C, Rose F, Wang N, Komvopoulos K, Schreck E, Marchon B. Carbon overcoat oxidation in heat-assisted magnetic recording. IEEE Trans. Magn. 49, 3721 (2013).

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MASAYOSHI TOMIZUKA Professor Masayoshi Tomizuka holds the Cheryl and John Neerhout, Jr., Distinguished Professorship Chair. He was born in Tokyo, Japan in 1946. He received his B.S. and M.S. degrees in Mechanical Engineering from Keio University, Tokyo, Japan and his Ph. D. degree in Mechanical Engineering from the Massachusetts Institute of Technology in February 1974. He joined the faculty of the Department of Mechanical Engineering at the University of California at Berkeley in 1974. He served as Vice Chair of Mechanical Engineering in charge of instruction from December 1989 to December 1991, and as Vice Chair in charge of graduate studies from July 1995 to December 1996. He currently serves as Associate Dean of the College of Engineering. Professor Tomizuka has taught courses in dynamic systems and controls. He has supervised 102 Ph. D. students to completion. His current research interests are optimal and adaptive control, digital control, signal processing, motion control, and control problems related to robotics, manufacturing, information storage devices, vehicles and human-machine systems. He served as a consultant or an advisor for various organizations. He served as Program Director of the Dynamic Systems and Control Program at the National Science Foundation from Sept. 2002 to Dec. 2004.

Dr. Tomizuka has been and is an active member of the Dynamic Systems and Control Division

(DSCD) of the American Society of Mechanical Engineers (ASME). He served as Chairman of the Executive Committee of the Division (1986-87), Technical Editor of the ASME Journal of Dynamic Systems, Measurement and Control, J-DSMC (1988-93) and Editor-in-Chief of the IEEE/ASME Transactions on Mechatronics (1997-99). He served as President of the American Automatic Control Council (1998-99). He is also active in the International Federation of Automatic Control (IFAC). He chaired the IFAC Technical Committee on Mechatronic Systems. He is a Fellow of the ASME, the Institute

f Electric and Electronics Engineers (IEEE) and the Society of Manufacturing Engineers. He is the

recipient of the DSCD Outstanding Investigator Award (1996), the Pi Tau Sigma-ASME Charles Russ Richards Memorial Award (1997), the DSCD Leadership Award (2000), the Rufus Oldenburger Medal (2002) and the John Ragazzini Award (2006). The Oldenburger Medal was awarded to him for his seminal contributions in the area of adaptive control, preview control and zero-phase control. Selected Publications: "Optimal Discrete Finite Preview Problem (Why and How is Future Information Important?)," (with D. E. Whitney), ASME J. of Dynamic Sys., Measurement and Control, Vol. 97, No. 4, pp. 319-325, Dec 1975. "Zero Phase Error Tracking Algorithm for Digital Control," ASME Journal of Dynamic Syst., Meas. and Control, Vol. 109, No. 1, pp. 65-68, March 1987. "Adaptive Zero Phase Error Tracking Controller for Digital Control," (with T-C. Tsao), ASME Journal of Dynamic Systems, Meas, and Control, pp. 349-354, December 1987 "Digital Control of Repetitive Errors in Disk Drive Systems," (with K-K. Chew), IEEE Control Systems Magazine, Vol. 10, No. 1, pp. 16-20, January 1990. "Discrete-Time Domain Analysis and Synthesis of Repetitive Controllers," (with T-C. Tsao and K-K. Chew), ASME Journal of Dynamic Systems, Meas. and Control, Vol. 111, No. 3, pp. 353-358, Sept. 1989. "Disturbance Rejection Through an External Model," (with K-K. Chew and B-C. Yang), ASME Journal of Dynamic Systems, Meas. and Control, Vol. 112, No. 4, pp. 559-564, December 1990. "An Experimental Sector Servo System for a Rotary-Head Tape Recorder," (with K. Hallamasek and C. Fincher), IEEE Transactions on Magnetics, Vol. 28, No. 5, pp. 2908-2911, Nov. 1992. "A Comparison of Four Discrete Time Repetitive Control Algorithms," (with W. Messner, C. Kempf and R. Horowitz), IEEE Control Systems, Vol. 13, No. 6, pp. 48-54, Dec. 1993. "Robust Motion Controller Design for High-Accuracy Positioning Systems," (with H-S. Lee), IEEE Transactions

n Industrial Electronics, Vol. 43, No. 1, February 1996, pp. 48-55.

"Increased Disturbance Rejection in Magnetic Disk Drive by Acceleration Feedforward Control," (with M. White) IFAC Journal of Control Engineering Practice, Vol. 5, No. 6, June 1997. "Pivot Friction Compensation Using and Accelerometer and a Disturbance Observer for Hard Disk Drives," (with

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J. Ishikawa), IEEE/ASME Transactions on Mechatronics, Vol. 3, No. 3, September 1998, pp. 194-201.

"Performance Enhancement of Multi-Rate Controller for Hard Disk Drives," (with T. Hara) IEEE Transactions on Magnetics, March 1999, pp. 898-903. "Two-Degree-of-Freedom Control with Robust Feedback Control for Hard Disk Servo Systems," (with L. Yi) IEEE/ASME Transactions on Mechatronics, Vol. 4, No. 1, March 1999, pp. 17-24. "Improved Track Following in Magnetic Disk Drives Using a Disturbance Observer," (with M. T. White and

C. Smith) IEEE/ASME Trans. on Mechatronics, Vol. 5, No. 1, March 2000, pp. 3-11.

"Novel Reference Signal Generation for Two Degree-of-Freedom Controllers for Hard Disk Drives," (with S. Hara, T. Hara and L. Yi) IEEE/ASME Trans. on Mechatronics, Vol. 5, No. 1, March 2000, pp. 73-78. “Tuning of a Hard Disk Drive Servo Controller Using Fixed-Structure H∞ Controller Optimization,” (with S. Ibaraki), ASME J of Dynamic Systems, Measurement and Control, Vol. 123, September 2001, pp. 544-549. “Tuning of a digital disk drive servo controller using fixed-structure H∞ controller optimization,” (with W. Niu and S. Ibaraki), Microsystems Technologies, Springer Verlag, 9, 2002, pp. 92-98. “Settling Control and Performance of Dual-Actuator System for Hard Disk Drives,” (with H. Numasato), IEEE/ASME Trans. on Mechatronics, Vol. 8, No. 4, December 2003. “Performance and Aliasing Analysis of Multi-rate Digital Controllers with Interlacing,” (with S-C. Wu), Proceedings of the 2004 American Control Conference, Boston, June 2004, pp. 3514-3519. “Settling control with reference redesign for dual actuator hard disk drive systems,” (with J. Ding and S-C. Wu), Annual Reviews in Control, Volume 28, Issue 2 , 2004, Pages 219-227 “Short Track Seeking of Hard Disk Drives Under Multirate Control – Computationally Efficient Approach Based on Initial Value Compensation,” (with M. Hirata), IEEE/ASME Transactions on Mechatronics,

Vol. 10, No. 3, October 2005, pp. 535-545.

“Multirate Control for Computation Saving,” (with J-G. Ding, F. Marcassa, and S-C. Wu), IEEE Transactions

n Control System Technology, Vol. 14, No. 1, January 2006, pp. 165-169.

“Short Seeking by Multirate Digital Controllers for Computation Saving With Initial Value Adjustment,” (with

L. Yang), IEEE/ASME Transactions on Mechatronics, Vol. 11, No. 1, February 2006, pp. 9-16.

“Repeatable Runout Compensation for Hard Disk Drives Using Adaptive Feedforward Cancellation,” (with S-

C. Wu), Proceedings of the 2006 American Control Conference, June 2006, pp. 382-387.

“Compensation of Dominant Frequency Components of Nonrepeatable Disturbance in Hard Disk Drives,” (with Q. Zheng), IEEE Transactions on Magentics, Vo. 43, No. 9, September 2007, pp. 3756-3762 “Optimal Plant Shaping for High Bandwidth Disturbance Rejection in Discrete Disturbance Observers,” (with

X. Chen) Proc of the 2010 American Contl Conf, Baltimore, MD, June 30-July 2, 2010, pp. 2641-2646.

“Timing Error Compensator Design for Spiral Based Self-Servowriting in Disk Drives,” (with F. Dong), Preprints of the 5th IFAC Symp on Mechatronic Sys., Cambridge, MA, Sept. 13-15, 2010, pp. 558-564. “An Iterative Learning Control Design for Self-Servo Writing in Hard Disk Drives,” (with S-C. Wu) Mechatronics, Vol. 20, 2010, pp. 53-58 “Spiral Servo Writing in Hard Disk Drives Using Iterative Learning Based Tracking Control,” (with X. Chen) Proc the 18th World Congress of the International Federation of Automatic Control (IFAC), Milano, Italy, Aug. 28-Sept. 2, 2011, Vol. 18(1), pp. 5279-5285 “A Minimum Parameter Adaptive Approach for Rejecting Multiple Narrow-Band Disturbances with Application to Hard Disk Drives,” (with X. Chen) IEEE Transactions on Control Systems Technology,

vol. 20, no. 2, pp. 408-415, Mar. 2012

“New Repetitive Control with Improved Steady-state Performance and Accelerated Transient,” IEEE Transactions on Control Systems Technology, available on IEEE Xplore Apr. 2013 “Selective Model Inversion and Adaptive Disturbance Observer for Time-varying Vibration Rejection on an Active-Suspension Benchmark,” (with X. Chen) European J. of Cont. , vol. 19, no. 4, pp. 300-312, 2013 “Discrete-time Frequency-shaped Sliding Mode Control to Reject Audio Vibrations in Hard Disk Drives,” (with M. Zheng and X. Chen) submitted to 19th World Congress of the International Federation of Automatic Control (IFAC), Cape Town, South Africa, Aug. 24-29, 2014 “Selective Iterative Learning Control to Deal with Iteration-dependent Disturbances,” (with L. Sun and X. Chen) submitted to ISCIE/ASME 2014 International Symposium on Flexible Automation (ISFA2014), Awaji-Island, Hyogo, Japan, Jul. 14-16, 2014

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Students

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Curriculum Vitae Omid Bagherieh

CML-servo group, E-mail: omidba@berkeley.edu 5121 Etcheverry Hall, UC Berkeley

midba2@gmail.com

Berkeley, CA 94720 Cell Phone: +1(415)819-0124 FIELD INTEREST Control, Dynamics, Hard disk drives, Floating Offshore Wind Turbines EDUCATION 2013 - Now 2011-2013 2007 – 2011 UC Berkeley, Berkeley, U.S.A. Ph.D. in Mechanical Engineering Supervisor: Professor Roberto Horowitz UBC, Vancouver, Canada GPA: 94.5/100 M.A.Sc. in Mechanical Engineering Supervisor: Dr. Ryozo Nagamune Project: Gain-scheduling Control of Floating Offshore Wind Turbines

n Barge Platforms

Sharif University of Technology, Tehran, Iran GPA: 19.10/20.0 Bachelors of Science in Mechanical Engineering HONORS/AWARDS  Four Years Fellowship, CAD 18,000/year (4 years) UBC, Canada (Declined to study at UC Berkeley)  Excellence Scholarship, CHF 16,000 EPFL University, Switzerland (Declined to study at UBC)  UBC entrance scholarship, CAD 5,000, UBC, Canada  UBC partial tuition scholarship, CAD 3000/year UBC, Canada  Ranked 2nd in school of Mechanical Engineering among more than 160 students, Sharif university of Technology (GPA: 19.10 / 20)  Ranked 58th in university entrance exam (Concour) for B.Sc. program among more than 250,000  Dean’s honorary award by president of Sharif University of Technology, Prof. Sohrabpour (Star Prize)  Semi-finalist in Physics and Chemistry National Olympiad Competition PUBLICATIONS  O.Bagherieh, R. Nagamune, “Utilization of Blade Pitch Control in Low Wind Speed for Floating Offshore Wind Turbines”  This paper is submitted to ACC conference 2014. (Abstract is available upon request.) Supervisor: Dr. Nagamune (nagamune@mech.ubc.ca )  M.Asghari, O.Bagherieh, S.S.Mirjalili, “Three Dimensional Thermoelastic Solution for Functionally Graded Cylinders under Thermal Loadings”  Paper preparation is in the final stages and it will be submitted to an international journal in the near future. (Abstract is available upon request.) Supervisor: Dr. Asghari (asghari@sharif.edu ) PAPER REVIEWER  American Control Conference  Journal of Dynamic Systems, Measurement and Control

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WORKSHOPS ATTENDED  NAWEA (North American Wind Energy Academy) workshop at University of Massachusetts Amherst  Training workshop for the software used in wind turbine analysis (FAST) which is developed by NREL (National Renewable Energy Laboratory), Aug 7th-9th 2012  Presentation: Gain Scheduling Control of Floating Offshore Wind Turbines WORK EXPERIENCE  Research assistant, Control Engineering Laboratory, UBC  Project (M.A.Sc project): “Gain Scheduling Control of Floating Offshore Wind Turbines”  Working as an apprentice in Mobarakeh Steel Company for 240hr.  Mobarakeh Steel Company is the largest steel company in Iran.  Working as an apprentice in Iran Godakht company for 240hr.  This company produces water pumps for automobiles and designs facilities for pneumatic valves. (I investigated different mechanisms and performances of pneumatic valve positioners.)  Publishing more than 4 papers about innovations in mechanical engineering in “Name Mechanic Sharif”  “Name Mechanic Sharif” is a magazine which is written by professors and students of Sharif University of Technology in mechanical engineering field. SELECTED PROJECTS  Nonlinear control, Dr. Karl Hedrick, Fall 2013  Floating offshore wind turbines control using input/ output feedback linearization and sliding control  Experiential control, Dr. Andrew Packard, Fall 2013  Floating offshore wind turbines control using model predictive control  Foundation in control engineering, Dr. Ryozo Nagamune, Fall 2012  Design and simulation of state feedback controller for floating offshore wind turbines  Research methods, Dr. Steven Rogak, Spring 2012  Writing a research proposal on “Gain scheduling control of floating offshore wind turbines”  Control sensors and actuators, Dr. Daniel Gelbart, Spring 2012  Characteristics identification of a hard drive  Multivariable feedback control, Dr. Ryozo Nagamune, Fall 2011  Design and simulation of gain scheduling controller for variable speed wind turbines TEACHING EXPERIENCE  Teacher Assistant of Dr. Nagamune, Automatic control, UBC (winter 2012) Tasks: Marking, leading laboratory sessions, revising homework problems  Teacher Assistant of Dr. Van der Loos, Mechanical Design 1, UBC (fall 2012) Tasks: Marking, leading tutorial sessions  Teacher Assistant of Markus Fengler, Technical drawing, UBC (fall 2012) Tasks: Marking, leading workshop sessions and exercise sessions  Teacher Assistant of Mr. Ehdaie, computer programming, Sharif University of Technology (for 6 semesters) Tasks: Marking, leading tutorial sessions, revising homework problems  Teacher Assistant of Dr. Asghari, Statics and Strength of materials, Sharif University of Technology Tasks: Marking, revising homework problems COMPUTER SKILLS  Programming: MATLAB, Turbo Pascal, Delphi  Engineering applications: MATLAB/Simulink, ANSYS, Fluent and Gambit, FAST  Technical drawing: Autocad, Solidworks, Mechanical Desktop SELECTED EXTRACURRICULAR ACTIVITIES  Volunteer for graduate student orientation, September 2012, UBC  Volunteer for organizing Iranian cultures exhibition, March 2008, Sharif University of Technology  Writing articles for department’s magazine, Sharif University of Technology

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Dr. Bair Budaev

Computer Mechanics Lab. Mechanical Engineering at UC Berkeley E‐mail: Budaev@berkeley.edu  Education: Masters of Sciences and PhD, both in Solid Mechanics and Applied Mathematics, from: Department of Mathematics and Mechanics Leningrad State University, USSR Doctor of Sciences (in Mechanics and Applied Mathematics), form Steklov Mathematical Institute, Russian Academy of Sciences  Areas of Interest: Mechanics, Wave propagation, Theoretical Physics  Experience: Leningrad Military Academy of Construction Engineering. Assistant‐Associate Professor of Mathematics Leningrad Polytechnic University Associate professor of Mathematics (25%) Steklov Mathematical Institute (Junior Researcher ‐ Researchers ‐ Senior Researchers)

f the Laboratory of Mathematical methods in Geophysics (wave phenomena)

University of California at Berkeley, Department of Mechanical Engineering, Computer Mechanics Laboratory. Research of phenomena related with wave propagation.

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Xu CHEN

Mechanical Systems Control Laboratory Phone: (510) 642-3740 2103 and 5112 Etcheverry Hall Webpage: me.berkeley.edu/~maxchen University of California, Berkeley, CA 94720, USA Email: maxchen@me.berkeley.edu EDUCATION University of California, Berkeley (advisor: Masayoshi Tomizuka) California, USA Ph.D. (GPA: 3.971/4.0) 08/2010-08/2013 M.S. (GPA: 4.0/4.0) 08/2008-05/2010 Tsinghua University Beijing, China B.S. in Mechanical Engineering (GPA: 90.43/100) 09/2004-07/2008 Hong Kong University of Science and Technology Hong Kong, China Exchange Student in Mechanical Engineering (GPA: 4.0/4.0) 08/2006-12/2006 RESEARCH AND Lecturer at Univ. of California, Berkeley  Lecturing undergraduate and graduate classes ME132 and ME233 08/2013-Present WORK Assistance Academic Specialist at Univ. of California, Berkeley 08/2013-Present EXPERIENCE Graduate Student Researcher at Univ. of California, Berkeley 08/2008-08/2013  Spiral writing for hard disk drives: developed high performance learning control algorithms for spiral writing on servo track writers. 08/2008-08/2009  Adaptive vibration rejection: developed adaptive schemes to reject non-repeatable multiple narrow-band disturbances and audio vibrations. 08/2009-Present  Enhanced repetitive-disturbance rejection: developed an enhanced repetitive control algorithm using a disturbance-observer structure, with accelerated transient speed and improved steady-state performance. 10/2011-08/2013  Optimization in controls: developed convex optimization techniques to address the strict positive real problem in adaptive control. 03/2011-Present Research Intern and Senior Research Intern at Western Digital Co. (details on webpage)  Seek-settle improvement (San Jose) 06/2010-07/2010  Loop shaping and vibration rejection (Irvine) 05/2011-08/2011  Feedforward control and vibration rejection (Irvine) 05/2012-07-2012  Nonlinear and constrained control (Irvine) 06/2013-06-2013 SELECTED PUBLICATIONS

X. Chen and M. Tomizuka, “New Repetitive Control with Improved Steady-state Performance

and Accelerated Transient,” IEEE Trans. Control Syst. Tech., available on IEEE Xplore Apr. 2013

X. Chen and M. Tomizuka, “Selective Model Inversion and Adaptive Disturbance Observer for

Time-varying Vibration Rejection on an Active-Suspension Benchmark,” European Journal of Control, vol. 19, no. 4, pp. 300-312, 2013

X. Chen and M. Tomizuka, “A Minimum Parameter Adaptive Approach for Rejecting Multiple

Narrow-Band Disturbances with Application to Hard Disk Drives,” IEEE Trans. Control Syst. Tech., vol. 20, no. 2, pp. 408-415, Mar. 2012

X. Chen and M. Tomizuka, “An Enhanced Repetitive Control Algorithm using the Structure of a

Disturbance Observer,” Proc 2012 IEEE/ASME International Conf. on Advanced Intelligent Mechatronics, Taiwan, Jul. 11-14, 2012, pp. 490-495

X. Chen and M. Tomizuka, “Optimal Plant Shaping for High Bandwidth Disturbance Rejection

in Discrete Disturbance Observers,” Proc. Amer. Contr. Conf., 2010, pp. 2641-2646 SELECTED UC Berkeley Outstanding Graduate Student Instructor 2012 AWARDS UC Berkeley Graduate Division Summer Grant Award 2013 ASME ISPS Division 2012 Graduate Student Conference Scholarship 2012 Frank and Margaret Lucas Scholarship 2011 UC Berkeley Fellowship for Graduate Study 2009 Excellent College Graduate of Tsinghua University 2008 Excellent Undergraduate Thesis of Tsinghua University (top 1%) 2008 Jiangxi Province Outstanding Students Scholarship (top 1%) China Construction Bank Scholarship 2007 2006 Dean’s List, Hong Kong University of Science and Technology 2006 Gold medal for Beijing College Student Physics Competition 2005 Tsinghua Alumni – Xu Shunshou Scholarship (1st class) 2005

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Yu Yung-Kan C Chen

Computer Mechanics Lab Phone: 510-517-7899 Department of Mechanical Engineering ykchen@berkeley.edu

University of California at Berkeley EDUCATION

University of California at Berkeley CA, United States Ph.D. Candidate May 2013-present Major: Mechanics Advisor: Prof. David B. Bogy University of California at Berkeley CA, United States Master of Science, Mechanical Engineering September 2010-Dec 2012 Advisor: Prof. David B. Bogy National Taiwan University (NTU) Taipei, Taiwan Bachelor of Science, Mechanical Engineering September 2005-June 2009

PUBLICATIONS

Y.-K. Chen, Jih-Ping Peng and David B Bogy, “Thermal protrusion induced air bearing slider instability at contact proximity and light contacts”, (under revision, IEEE Trans Magn.) Y.-K. Chen, Jinglin Zheng and David B Bogy, “Light contact and surfing state dynamics of air bearing sliders in hard disk drives”, Appl. Phys. Lett., Vol. 100, Issue 24, 243104, 2012 Chen, J.-S., Chen, Y.-K., “Steady State and Stability of a Beam on a Damped Tensionless Foundation under a Moving Load”, International Journal of Non-linear Mechanics, Vol. 46,

Issue 1, pp.180-185, 2011 CONFERENCES

Y.-K. Chen, A. N. Murthy, R. Pit and D. B. Bogy, “Probing the molecularly-thin lubricated disk surface using thermal fly-height control sliders to study recording head wear”, World Tribology Congress, Torino, Italy, Sept. 8-13, 2013 Y.-K. Chen, J. Zheng and D. B. Bogy, “Experimental and numerical investigations of the light contact dynamics of thermal flying-height control sliders”, ASME/STLE International Joint Tribology Conference, Denver, Colorado, Oct. 7-10, 2012

AWARDS AND HONORS

Frank and Margaret Lucas Fund Spring 2014

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College of Engineering, UC Berkeley Graduate Division Block Grant Summer 2013 Graduate Division, UC Berkeley Studying Abroad Scholarship Fall 2012-Spring 2014 Ministry of Education, Taipei, Taiwan ROC Frank and Margaret Lucas Scholarship Spring 2012 Graduate Division, UC Berkeley Presidential Award (top 5% students in each department) 2005-2009 (six semesters) Department of Mechanical Engineering, NTU Hsing Tian Kong (Long-Term) Scholarship for Talented Students 2008- present Hsing Tian Kong Culture and Education Development Foundation “WEN SONG ZHEN” Scholarship 2007 Institute of Applied Mechanics, NTU

RESEARCH EXPERIENCE

Computer Mechanics Laboratory, UC Berkeley September 2010-present Graduate Student Researcher, Berkeley, CA

 Advisor: Prof. David B. Bogy

University Collaboration, Western Digital Corporation September 2011-present

 Advisor: Prof. David B. Bogy  Project Manager: Dr. Jih-Ping Peng

HGST(Hitachi GST, a WD company) May 2012-August 2012 Adv-MI Summer Co-Op, San Jose, CA

 Manager: Dr. Remmelt Pit  Supervisor: Dr. Aravind N. Murthy

Solid Mechanics Laboratory, NTU July 2008- August 2009 Part-time Research Assistant, Project Student, Taipei, Taiwan

 Advisor: Prof. Jen-San Chen

SKILLS

 Programming experience: MATLAB, ANSYS, Labview, Mathematica, Fortran 90/95  Experimental Apparatus: Data acquisition system, Polytec LDV, Candela OSA,VENA,

AFM, Hysitron and Zygo

 Language: Mandarin Chinese (native speaker), English (fluent) 54

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Joanna Bechtel Dahl

B93 Tan Hall Email: jobechtel@berkeley.edu Berkeley, CA 94720-1462 sites.google.com/site/joannabechtel Tel: 510-642-3699

Education

Ph.D. Dec 2013 University of California, Berkeley GPA 3.96 Mechanical Engineering Heat Assisted Magnetic Recording Head-Disk Interface: Numerical Simulation of Air Bearing and Lubricant Mechanics Committee: David Bogy (chair), Panayiotis Papadopoulos, Per-Olof Persson Major: Continuum Mechanics, Minors: Heat Transfer and Mathematics M.S. Dec 2009 University of California, Berkeley GPA 3.96 Mechanical Engineering The Effect of Thermal Creep Flow in a Heat Assisted Magnetic Recording System Adviser: David Bogy B.S. May 2007 University of Illinois at Urbana-Champaign GPA 4.0 Mechanical Engineering, Mathematics minor

Experience

UC Berkeley Berkeley, CA Oct 2013 – present Postdoctoral Researcher Advisers: Susan Muller (Chemical Engineering) and Sanjay Kumar (Bioengineering) Postdoctoral Research Fellowships in Biology – Intersections of Biology and Mathematical and Physical Sciences and Engineering, NSF Award #1308051 Predicting Single Cell Mechanical Behavior: Integrated Insight of Mechanical Theory and Microfluidic Device Experiments Computer Mechanics Laboratory UC Berkeley Berkeley, CA Aug 2008 – Sept 2013 Graduate Student Researcher Adviser: David Bogy Numerical simulation investigation of the HAMR head-disk interface based on modified continuum theory. Interface components include a non-isothermal air bearing code and a lubricant flow and evaporation model that accounts for thin- film viscosity and polar end-groups. UC Berkeley Berkeley, CA Summer 2012 Summer Institute for Preparing Future Faculty Instructors: Linda von Hoene, Sabrina Soracco A six-week course offered by the Graduate Division. Course activities consisted

f panel presentations, discussions, readings, projects, and preparing a teaching

portfolio. UC Berkeley Berkeley, CA Fall 2011 Graduate Student Instructor Introduction to Continuum Mechanics, Professor: George Johnson Teaching assistant for class of 50 students. Duties included leading two discussion sections to supplement lectures, holding office hours, creating homework solutions, and grading homework and exams. Seagate Technologies Bloomington, MN June 2010 – Aug 2010 Summer Intern Manager: Cynthia Hipwell Advisers: James Kiely, Robert Crone, Manuel Anaya-Dufresne Worked independently to include thermal effects in a 1D air bearing model and made conclusions about the importance of thermal effects. Learned to conduct burnish studies in a clean room environment and presented results of burnish time on applied power and head wear.

SLIDE 58

Joanna Bechtel 2

Peer-Reviewed Publications

JB Dahl and DB Bogy, “Static and Dynamic Slider Air Bearing Behavior in Heat Assisted Magnetic Recording under Thermal Flying Height Control and Laser System Induced Protrusion," Tribology Letters, submitted. JB Dahl and DB Bogy, “Lubricant Flow and Evaporation Model for Heat-Assisted Magnetic Recording Including Functional End-Group Effects and Thin Film Viscosity," Tribology Letters, vol. 52, no. 1, pp. 27-45, 2013. JB Dahl and D. B. Bogy, “Simulation of Lubricant Recovery After Heat-Assisted Magnetic Recording Writing," Tribology Letters, vol. 52, no. 1, pp. 163-174, 2013. JE Bechtel and DB Bogy, "Heat-Assisted Magnetic Recording Air Bearing Simulations That Account for Lateral Air Temperature Variation," IEEE Transactions on Magnetics, vol. 47, no. 10, pp. 2379-2382, 2011.

Presentations and Conferences

JE Bechtel and DB Bogy, “Lubricant Flow and Evaporation Model for Heat Assisted Magnetic Recording Systems Including Reactive End-Group and Thin-Film Viscosity Effects,” Extended Abstract and Presentation, ASME/STLE International Joint Tribology Conference (IJTC 2012), October 7-10, 2012, Denver, CO. International Disk Drive Equipment and Materials Association (IDEMA) Advanced Storage Technology Consortium (ASTC) Meetings (invited)

JB Dahl and DB Bogy, “HAMR HDI Modeling: Air Bearing Dynamics for HAMR ABS under

TFC and Laser-Induced Protrusion and Lubricant Depletion and Recovery,” ASTC Technical Review Meeting, September 26-27, 2013, Santa Clara, CA.

JB Dahl and DB Bogy, “Air Bearing Static and Dynamic Modeling for HAMR under Thermal

Flying-Height Control and Laser Induced Protrusion,” ASTC Technical Review Meeting, February 4-6, 2013, Santa Clara, CA.

JE Bechtel and DB Bogy, “HAMR HDI Modeling: Air Bearing Dynamics and Lubricant Flow,”

ASTC Fall 2011 Technical Meeting, October 18-19, 2011, San Jose, CA.

JE Bechtel and DB Bogy, “HAMR Air Bearing Simulations that Account for Lateral Air

Temperature Variation,” ASTC Launch Event, January 31, 2011, San Jose, CA. JE Bechtel and DB Bogy, “Heat Assisted Magnetic Recording Air Bearing Simulations that Account for Lateral Air Temperature Variation”, IEEE International Magnetics Conference (InterMag 2011), April 25-29, 2011, Taipei, Taiwan. Information Storage Industry Consortium (INSIC) Extremely High Density Recording (EHDR) Program Technical Review Meetings (invited)

JE Bechtel, L Pan, and DB Bogy, “Study of Lubricant Performance in HAMR Systems:

Preliminary Experiments and Model Development”, January 27-28, 2010, UC Berkeley, Berkeley, CA.

JE Bechtel and DB Bogy, “Study of Lubricant Performance in HAMR Systems: Modeling”, May

13-14, 2010, Carnegie Mellon University, Pittsburgh, PA.

JE Bechtel and DB Bogy, “Modified Reynolds Equation for HAMR”, August 5-6, 2010,

Milpitas, CA.

SLIDE 59

Sayna Ebrahimi

Ph.D. Student

Contact Surface Mechanical Engineering Laboratory 6178 Etcheverry Hall Department of Mechanical Engineering University of California, Berkeley, CA 94720 TEL: (650) 644-7716 EMAIL: sayna@berkeley.edu Education Ph.D. Mechanical Engineering 2013 - Ph.D in progress University of California, Berkeley, CA Major: Mechanics of Materials M.S. Mechanical Engineering 2011 - 2013 University of South Alabama, Mobile, AL Dissertation title: A Dynamic Crack Growth Modeling Technique Based Upon the SGBEM in the Laplace Domain B.S. Aerospace Engineering 2007 - 2011

K. N. Toosi University of Technology, Tehran, Iran

Thesis title: Quasi-Static Crack Growth Analysis in Brittle Materials Using eXtended Finite Element Method (XFEM) Research Experience University of California, Berkeley June 2013 - Present Computational Surface Mechanics Laboratory(CSML) Graduate Student Researcher

Peridynamics wear study of the effect of asperity radius and sliding velocity.
Crack propagation and damage modeling in PMMA using Peridynamics

University of South Alabama, Mobile, AL

Aug. 2011 - May 2013

Computational Mechanics Labratory Graduate Student Researcher

Developing a crack growth tool based on T-stress effects in SGBEM-elastodynamics

in Laplace domain

Developing an in-house peridynamic code for crack modeling in unidirectional

fiber-reinforced composites interacting with a cluster of inclusions.

K. N. Toosi University of Technology, Tehran, Iran
Sep. 2010 - May 2011

Numerical Analysis Lab Undergraduate Research Assistant

Developing an in-house code for crack modeling in brittle materials by introducing

a new triangular enriched element Honors and Awards

Graduate Division Block Grant Award

University of California, Berkeley 2013 - 2014

Alabama NASA-EPSCoR Fellowship

Selected in a research proposal competition, Round 7 2012 - 2013

Graduate Research Assistantship Award

University of South Alabama, Funded by NASA 2011 - 2012

Dean’s Honor List

2007 - 2011

SLIDE 60

Publications and Presentations Journal Publications:

Ebrahimi, S., and Phan, A.-V. Dynamic analysis of cracks using the (SGBEM)

for elastody-namics in the laplace-space frequency domain. Engineering Analysis with Boundary Elements, 37, 11 (2013), 1378-1391

Ebrahimi, S., A. -V. Phan, “Dynamic crack growth modeling technique based

upon the SGBEM in the Laplace domain”, Journal of Computer Methods in Ap- plied Mechanics and Engineering, (In Press)

Ebrahimi, S., A. -V. Phan, “Analyzing Effects of Dynamic T-Stress on Crack-

Inclusion Interaction Using Laplace-SGBEM”, Journal of Fracture Mechanics (In Press) Refereed Conference Proceedings:

Ebrahimi, S., K.K. Komvopoulos, D. Steigmann, “”Wear process analysis of

thin-films using Peridynamics “”, To be presented in 17th U.S. National Congress

n Theoretical and Applied Mechanics, June 15-20, 2014, East Lansing, Michigan
Ebrahimi, S. A.-V. Phan, ”Dynamic crack growth analysis in the Laplace-space

frequency domain by the symmetric-Galerkin boundary element method.” Pro- ceedings of the ASME 2013 International Mechanical Engineering Congress and Exposition, July 22-25, 2013, Raleigh, North Carolina

Ebrahimi, S., A. -V. Phan, ”Boundary Element Dynamic Fracture Analysis in

the Frequency Domain: Fourier- or Laplace-Space?” Proceedings of the ASME 2012 International Mechanical Engineering Congress and Exposition 2012-89850, Houston, Texas. - Nov. 2012

Ebrahimi, S., A. -V. Phan, Peridynamic Analysis of Crack-Inclusion Interaction

in Unidirectional Fiber-Reinforced Composites, ASME ECTC, Georgia Institute

f Technology, Georgia. - Nov. 2012

SLIDE 61

Ehsan Keikha Curriculum vitae

WORK EXPERIENCE

FEB 2013 – PRESENT University of California, Berkeley

Postdoc ( Associate Specialist)

Bit Patterned Recording Repetitive Run-Out (RRO)

following (in collaboration with ASTC)

Servo Control of Hard Disk Drive with irregular

sampling (in collaboration with WD)

Microscale Rate Integrating Gyroscope (in collab-
ration with Honeywell and DARPA)

JAN 2009 – JAN 2013 National University of Singapore

Research Scholar

The servo control challenges to achieve 10 Tbit

per square inch recording density.

Optimal robust controller design for dual stage

servo system.

Probabilistic Robust controller design for the servo

system with uncertainty. MAY 2005 - JAN 2009 BBS Access Pte Ltd, Singapore

Senior Test development Leader

Lead a team of engineers to build and modify the

hardware as appropriate to test the product.

Guide software programmer for Design of System

Architecture and GUI for the automated test software.

Lead and support test engineering team for man-

ufacturing processes in automated test and assembly lines.

EDUCATION

2009 – 2013 Doctor of Philosophy ELECTRICAL

AND

COMPUTER ENGINEERING National University of Singapore, Singapore 2010 – 2012 Master of Science MANAGEMENT OF TECHNOLOGY National University of Singapore, Singapore 2005 – 2008 Master of Science ELECTRICAL

AND

COMPUTER ENGINEERING Shiraz University, Iran 2000 – 2004 Bachelor of Science ELECTRICAL ENGINEERING Shiraz University, Iran

✍

5151 Etcheverry Hall, Berkeley – CA (94705)

☎

+1 (510) 717-8447

✉

keikha@berkeley.edu

AWARDS EXCELLENCE AND AWARDS

2009 PhD Research Scholarship, International Graduate Scholarship (IGS) award 2009 Research Scholarship, Singapore International Graduate award (SINGA) 2005 Among top 1% students in the National and M.Sc. entrance exams, Iran.

SOFTWARE SKILLS

MatLab, C, CSS, LabVIEW, Simulink, dSpace, As- sembly language

FIELDS OF RESEARCH AND INTEREST

Disk Drive Servomechanism, Dynamic Systems and Control Theory ,, Robust optimal control, Adaptive control design, Nano-Positioning control

SELECTED PUBLICATIONS

Journal Papers

A. A. Mamun, E. Keikha, C. S. Bhatia, T.
H. Lee “Integral resonant control for suppres-

sion of resonance in piezoelectric micro-actuator used in precision servomechanism” Mecha- tronics Elsevier Journals Volume 23, Issue 1, Pages 1-9, February 2013.

A. A. Mamun, E. Keikha, C. S. Bhatia, T. H.

Lee, “Integral Resonant Control for Suppres- sion of Micro-Actuator Resonance in Dual Stage Actuator,” IEEE Transactions on Magnetics, Vol- ume 48, Issue 11, Pages 4614-4617, Nov. 2012.

B. Shahsavari, R. Conway, E. Keikha, F. Zhang,

and R. Horowitz “Robust Track-Following Con- troller Design for Hard Disk Drives With Ir- regular Sampling” IEEE Transactions on Mag- netics, Volume 49, Issue 6, pages 2798-2804, 2013.

M. Chamnabaz, E. Keikha, V. Venkataramanan,
A. A. Mamun, Q.-G. Wang, Y. F. Liew “Design

SLIDE 62

f a Probabilistic Robust Track-Following Con-

troller for Hard Disk Drive Servo Systems” to be appear in Mechatronics Elsevier Journals

Conference Papers

E. Keikha B. Shahsavari, Fu Zhang, A. A.

Mamun, and R. Horowitz “An Evaluation of HDD Servo System Performance with Irregu- lar Sampling Rate” in 23rd ASME Annual Con- ference on Information Storage and Process Sys- tems (ISPS’13), Santa Clara University, Cali- fornia, USA, 2013.

E. Keikha,B. Shahsavari, A. A. Mamun, and
R. Horowitz “A probabilistic approach to ro-

bust controller design for a servo system with irregular sampling” in IEEE International Con- ference on Control and Automation Hangzhou, China ,2013.

B. Shahsavari, R. Conway, E. Keikha and R.

Horowitz “Limits of Performance in Systems with Periodic Irregular Sampling and Actua- tion Rates” The 6th IFAC Symposium on Mecha- tronic Systems (Mechatronics ’13) Hangzhou, China, no. 1, pp. 347-354. 2013.

B. Shahsavari, R. Conway, E. Keikha and
R. Horowitz “Robust Control Design for Hard

Disk Drives with Irregular Sampling” in The Asia-Pacific Magnetic Recording Conference (APMRC) Singapore , Pages 1-2. 2012.

E. Keikha, D. Zonoobi, A. Kassim, A. A. Ma-

mun, C. S. Bhatia “A Track following Con- troller design based on Compressive Sensing Approach” in 2012 ASME-ISPS joint international conference on Mechatronics for information and precession equipment Santa Clara, CA , USA, 2012.

M.Chamnabaz, E. Keikha, V. Venkataramanan,Q.-
G. Wang , A. A. Mamun “ Probabilistic Robust

Approach for Discrete Multi-objective Control

f Track-Following Servo Systems in Hard Disk

Drives” in 7th IFAC Symposium on Robust Con- trol Design Aalborg, Denmark, 2012.

E. Keikha, A. A. Mamun, C. S. Bhatia , T.
H. Lee “Multi-Frequency Technique for Fre-

quency Response Measurement and its Appli- cation to Servo System with Friction” in 18th IFAC World Congress Milano, Italy, 2011. pages 5273-5278

E. Keikha, M.Chamnabaz, A. A. Mamun, C.
S. Bhatia “Design of Track Following Controller
f Dual Actuated HDD Servo for 10 Tb/in2

Magnetic Recording” in International Confer- ence on Control, Instrumentation, and Automa- tion (ICCIA) 2011, Shiraz, Iran, pages 551- 556.

M.Chamnabaz, E. Keikha, V. Venkataramanan,
A. A. Mamun, Q.-G. Wang, Y. F. Liew “H∞

Probabilistic Robust Control of Hard Disk Drive Servo Systems” in 37th IEEE Industrial Elec- tronic Society Conference (IECON) 2011, Mel- bourne, Australia, pages 3275-3280.

REFERENCES

Roberto Horowitz horowitz@berkeley.eduf

Professor Department of Mechanical Engineer- ing University of California Berkeley

Al-Abdulah, Mamun eleaam@nus.edu.edu.sg

Associate Professor Department of Electrical and Computer Engineering National Univer- sity of Singapore,Singapore

Bhatia, Charanjit Singh elebcs@nus.edu.edu.sg

Professor Department of Electrical and Com- puter Engineering National University of Sin- gapore,Singapore

SLIDE 63

Liping Li

434 Junction Ave., Apt28, Livermore, CA 94551 510-928-8772 | mellxaa@gmail.com

EDUCATION

University of California at Berkeley, Berkeley, CA 05/2013

Ph. D., Mechanical Engineering

University of California at Berkeley, Berkeley, CA 05/2012 M.S., Mechanical Engineering University of Science and Technology of China, China 07/2008 B.S., Theoretic and Applied Mechanics Hong Kong University of Science and Technology, Hong Kong 12/2006 Exchange Program, Mechanical Engineering

PROFESSIONAL EXPERIENCE

Livermore Software Technology Corp., Livermore, CA 07/2013~Present Software Developer University of California at Berkeley, Berkeley, CA 08/2008~05/2013 Graduate Student Researcher Western Digital Co., San Jose, CA 06/2010~08/2010 Research Internship

SKILLS

Scientific Program: MATLAB, C/C++, FORTRAN Finite Element Analysis(FEA): LS-DYNA, ANSYS, ABAQUS, FLUENT Computer Aid Design(CAD): AutoCAD, SolidWorks

PUBLICATIONS

 L. Li and D. B. Bogy, 2013, “Multi-body Structural Effects on the Head-disk Interface during

Operational Shocks in Hard Disk Drives Contact”, Microsyst Technol.

 L. Li and D. B. Bogy, 2013, “Operational Shock Failure Mechanisms in Hard Disk Drives”, J. of Tribol.  L. Li and D. B. Bogy, 2013, “Head Disk Interface Response during Operational Shock with Disk-Ramp

Contact”, IEEE Transactions on Magnetics.

 L. Li and D. B. Bogy, 2013, “Local Adaptive Multi-Grid Control Volume Method for the Air Bearing

Problem in Hard Disk Drives”, J. of Tribol.,135(3).

 L. Li and D. B. Bogy, 2013, “Air Bearing Dynamic Stability on Bit Patterned Media Disks”, Microsyst

Technol , 19:1401-1406.

 L. Li and D. B. Bogy, 2011, “Dynamics of air bearing sliders flying on partially planarized bit patterned

media in hard disk drives”, Microsyst Technol, 17:805-812.

SLIDE 64

Tholfaqar A. Mardan

5150 Etcheverry Hall. Berkeley, CA 94720

Education Research Interests Experiments, Mechanics, Dynamics, Parallel Computing, Micro and Nano Engineering Occupational Experience 09/2008 – present Computer Mechanics Laboratory (CML), University of California, Berkeley, CA Programmer/Analyst III 

Software development

Maintenance and extension of CMLAir, a CAD tool, written in visual C++ used to design Air

Bearing Sliders (ABS) for hard disk drives, and analysis of data from simulations

Research, development and implementation of parallel computing techniques to improve speed (3X

speed obtained) of CML ABS solvers by using Graphical Processing Units (GPUs) and Cuda Fortran

Research and development of multiple CML Fortran codes through additions and advancements



Network security

Maintenance of CML networks, files and web servers to keep up-to-date and ensure immunity

against cyber attacks 

Conference experience

Preparation and logistical organization of annual CML Sponsors' Meeting, a two-days’ event with
ver 80 researcher attendees from academia and the hard disk drive industry

04/2007 – 04/2008 US Department of State, US Embassy, Abu Dhabi, UAE Computer Management Assistant 

Computer technical support

Installation and maintenance of State Department’s Sensitive but Unclassified workstations and

networks

Installation and maintenance of State Department servers (Exchange server 2003, File and Print

server 2003, Netapp and FilesX backup servers, Application Server 2003, SMS Server 2003, Web Server 2003, Symantec 10.1 AV server, Symantec Ghost Server), Black Berry Devices, printers, laptops, scanners and cabling (including LAN cabling)

Documentation and installation procedures and creation of manuals for non-technical users



Organization

Set-up of network equipment and coordination with the press filing center to support the visit of

then president George W. Bush to the United Arab Emirates on 15th Jan. 2008

Communication with Washington DC to send network status updates and reports

05/2005 – 06/2006 US Department of State, US Consulate general, Basra, IRQ Computer Management Assistant  Technical support, installation and maintenance of State Department’s Sensitive but Unclassified workstations and networks  Support for other networks including but not limited to several NGOs and their private networks

(510) 642-7642 tmardan@cml.me.berkeley.edu

University of Basra, Basra, Iraq B.S. in Electrical Engineering, June 2002 M.S. in Electrical Engineering, June 2006

SLIDE 65

11/2003 – 05/2005 US Department of Defense, Basra, IRQ Senior Helpdesk Technician  Provided tier 1 customer service and technical support for DoD employees in a friendly and professional manner  Installation and maintenance of DoD Servers, Routers, Switches, Call Mangers, PCs, Printers, Plotters, and Scanners as well as cables installation for the network 06/2003 – 06/2006

Dept. of Electrical Engineering, University of Basra, Basra, IRQ

Graduate Student  Supervision of undergraduate students in Electronics and Communication lab  Lectures given to a group of undergraduate students in the Computer and Programming lab  Designed prototype electronic circuits to be used as a case study in Electronics and Communications lab Academic Presentations  “CML codes’ speed optimization, migration to GPU” Paper presented at 2013 CML Sponsors’ Meeting, UC Berkeley  “Overview of the new features added to CMLAir 8.01 interface program” Paper presented at 2012 CML Sponsors’ Meeting, UC Berkeley  “Overview of the new CMLAir 8 interface program” Paper presented at 2011 CML Sponsors’ Meeting, UC Berkeley Publications  “Quick 5 user manual, A GPU version of CMLAir”, edited by Prof. David B. Bogy. June 2013. 

“The CML Air Bearing Design Program (CMLAir) Version 8.01 User Manual”, edited by Prof. David B.

Bogy. December 2011.

Honors and awards  Spot award from chair of Mechanical Eng. Prof. David Dornfeld, August 2011  Thank you letter from Dean of College of Eng. Prof. S. Shankar Sastry, May 2011  Best circuit design award from Dean of College of Eng. Prof. Abdulkareem Ghailan, May 2002 Language Skills 

Software

C/C++ and Visual C++/MFC, Fortran, Cuda Fortran, Pascal, PHP, MySQL, Perl, Python, Bash, x86

Assembly 

Linguistic

Arabic: native fluency
Spanish: advanced proficiency

SLIDE 66

JOZEF MATLAK

1105 Sutter St., Berkeley CA, 94707 | 510-847-4970 | jmatlak@me.berkeley.edu

PROFILE Third year Mechanical Engineering MS/PhD student at the University of California in Berkeley with a strong background in materials and design engineering. EDUCATION UNIVERSITY OF CALIFORNIA, BERKELEY Mechanical Engineering Current GPA: 3.823 – Masters of Science / Doctor of Philosophy, In Progress Mechanical Engineering / Materials Science and Engineering – Bachelor of Science, May 2011 TEACHING GSI, ME 108, MECHANICAL BEHAVIOR OF ENGINEERNG MATERIALS EXPERIENCE University of California, Berkeley January 2014-Present  Supervise material testing experiments (monotonic tensile, fatigue, etc) and lead discussion sections.  Hold office hours assisting students with class material and laboratory write-ups. GSI, ME 102A, INTRO TO MEASUREMENT SYSTEMS FOR MECHATRONICS University of California, Berkeley August 2013-December 2013  Instructed laboratory sessions that introduced students to digital data acquisition and signals processing.  Graded student lab reports and held office hours to assist students with questions pertaining to course material. GSI, ME 107, MECHANICAL ENGINEERING LABORATORY University of California, Berkeley January 2013-May 2013  Organized and ran shock dynamometer experiment for different groups of undergraduate students.  Created shock dynamometer background, theory, and lab procedure documents. RESEARCH SURFACE SCIENCES AND ENGINEERING LABORATORY EXPERIENCE University of California, Berkeley August 2011-Present Under Professor K. Komvopoulos, I investigate nanomechanical and nanotribological properties of ultrathin amorphous carbon films synthesized with various depositions methods including filtered cathodic vacuum arc (FCVA) and radio frequency (RF) sputtering. Mechanical and tribological properties were quantified for films over a range of thicknesses and varying deposition parameters. SURFACE SCIENCE LABORATORY Lawrence Berkeley National Laboratory, Berkeley, CA May 2010-September 2010 Under Professor Gabor A. Somorjai research was conducted with a focus on the development of novel monodisperse single and multi-component nanostructured catalysts. I performed synthesis, material characterization, and reaction kinetic studies of metal nano-particle catalysts with uniform size distribution and shape and helped in reaction kinetic studies of selective hydrogenation of aromatic compounds under high pressure and high temperature conditions. DYNAMICS LABORATORY University of California, Berkeley February 2010-May 2011 As a senior researcher working with Professor J. Karl Hedrick, I performed studies relating to the advancement of tennis racquet technology through the measurement and analysis of tangible properties such as: the coefficient of restitution, racquet vibrations and damping frequency/ratio, and string bed deformation. WORK ENGINEERING AIDE EXPERIENCE Berkeley Seismological Laboratory; Berkeley, CA June 2007-May 2011 Systems pertinent to seismic detection were created and maintained as part of earthquake research and analysis. Projects included designing equipment for data acquisition systems, assembling power systems, and calibrating equipment.

Collaboration with outside companies was made to create specialized hardware for operation in remote sites.

LEADERSHIP OFFICER OF PI TAU SIGMA MECHANICAL ENG. HONORS SOCIETY December 2008-January 2010 TECHNICAL SKILLS PROGRAMMING, DESIGN, AND CAD: 3ds Max Design, AutoCAD, LabVIEW, MATLAB & Simulink, Pro/ENGINEER, SolidWorks (Certified) INSTRUMENTS: Atomic Force Microscope (AFM), Focused Ion Beam (FIB), Gas Chromatography (GC), Filtered Cathodic Vacuum Arc (FCVA) Deposition, Nano-Mechanical Indentation, Radio-Frequency (RF) Sputtering Deposition, Scanning Electron Microscopy (SEM), Transmission Electron Microscope (TEM)

SLIDE 67

Yuan MA

5146 Etcheverry Hall, University of California, Berkeley, CA, 94720 | +1-510-599-7276 | yuan.ma@berkeley.edu

EDUCATION

Department of Mechanical Engineering, University of California, Berkeley 08 / 2013 – Present  Ph.D. in Mechanics Department of Mechanical Engineering, Tsinghua University (THU) 08 / 2011 – 07 / 2013  M.S. in Materials Science and Engineering, GPA: 88.9/100 Department of Mechanical Engineering, Tsinghua University 08 / 2007 – 07 / 2011  B.E. in Mechanical Engineering and Automation, GPA: 90.2/100

RESEARCH EXPERIENCE

Mechanics Related Projects

Structural Design and Dynamic Analysis of Cable Reinforced Structure on Horizontal Axial Wind Turbines (HAWT) Advisor: Prof. Pan Zeng, Humboldt Fellow, Cheung Kong Chair Professorship 03 / 2012 – 07 / 2013

Designed and manufactured the controllable cable reinforced structure on a small scale HAWT
Conducted vibration tests on the turbines to examine the significance of cable reinforcement
Established the turbines model by reverse engineering to verify the experimental results

Theoretical Study of Impact-Echo Testing and Design of the Blast Furnace Refractory Lining Monitoring System Advisor: Prof. Pan Zeng 10 / 2010 – 03 / 2012

Assembled the impact-echo testing system; conducted various experiments to grasp the basic theory of impact-echo
Performed numerical simulation with ANSYS in both transient mode and modal mode to verify the experiments
Evaluated the applicability of impact-echo method in thickness measurement on multilayer structures such as the blast

furnace refractory linings

Proposed Monte Carlo method to simulate the theoretical impact-echo spectrum of multilayer structures
Clarified the applicable range of the original theoretical equation of characteristic frequency in impact-echo
Established relationship between the characteristic frequencies of the multilayer structures and the relative acoustic

impedance differences between the layers

Designing Projects

Fatigue Testing Machine for Cantilever Structures 03 / 2012 – 05 / 2012 Advisor: Prof. Pan Zeng & A. Prof. Ti-ming Qu

Designed the fatigue testing machine and performed strength check with ANSYS
Performed fatigue tests with different loads on 12 specimens without the machine ever failing

Development and Adjustment of a Tunnel-Dilatation Rescue Machine 09 / 2009 – 01 / 2011 Advisor: A. Prof. Shuang-fu Suo

Designed a model of a tunnel-dilatation rescue machine
Managed a team of five students to design, construct and modify the prototype
Entered the Mechanical Innovation Design Contest for Capital (Beijing) College Students and earned the rank of 9/187

Design and Adjustment of a Non-Wheel Straight-Moving Robot 09 / 2008 – 04 / 2009

Developed a model of a jumping robot to realize linear movement without wheels
Led a team of three students to manufacture and make proper adjustments to the prototype
Entered the annual campus Mechanical Innovation Design Contest and came in the first place out of 31 teams

PATENTS & PUBLICATIONS

Yuan Ma, Dong-ping Deng, Guo-xuan Li, Zhong-lin Li, Jing-cheng Shi, Shuang-fu Suo. A kind of tunnel-dilatation

rescue machine: No.201110031767 (Chinese Patent of Invention: Authorized)

Yuan Ma, Jing Tsui, Pan Zeng, Ti-ming Qu. A type of fatigue testing machine for cantilever structures: (Chinese Patent of

Invention: Applying)

Yuan Ma, Pan Zeng, Hongya Lu and Yuejie Xu. Cable Reinforced Small Scale Horizontal Axial Wind Turbine: Applied

Mechanics and Materials 394, 2013:309-313

Yuan Ma, Pan Zeng, Jiaqing Zhao and Hongya Lu. Inverse Calculation of Equivalent Elastic Constants of Fiber Reinforced

Composite Wind Generator Blade from Displacement and Natural Frequency Measurement: Engineering Mechanics. (In Press, in Chinese)

SLIDE 68

Alejandro Rodriguez Mendez

Computer Mechanics Laboratory Department of Mechanical Engineering University of California at Berkeley 5146 Etcheverry Hall aleromende@berkeley.edu Tel: (510) 520 8402

______________________________________________________________________ Education

University of California, Berkeley Ph.D. Candidate. Mechanical Engineering. Major and minors: Solid mechanics, Fluid mechanics, Mathematics National Center for Research and Technological Development, Cuernavaca, Mexico

M. S. Mechanical Engineering, September 2009

Ciudad Guzman Institute of Technology, Jalisco, Mexico

B. S. Mechanical Engineering, September 2006.

Experience:

Seagate, Fremont, Summer internship, CA, 2012 LDV-OSA correlation for the measurement of disk surface micro-waviness. Seagate, Fremont, Summer internship, CA, 2011 Spinstand study of perpendicular recording media with scratch damage. General Electric, Aviation. Queretaro, Mexico, 2010 Combustor case manufacturing support engineer for commercial and military turbines Hitachi Global Storage Technologies, Guadalajara, Jalisco México, 2007 Maintenance of wire bonding equipment.

Publications:

Alejandro Rodriguez Mendez, David B. Bogy, “Lubricant flow and accumulation on the slider's air bearing surface in a hard disk drive” Tribology Letters, 2013. Alejandro Rodriguez Mendez, David B. Bogy, “Lubricant flow and accumulation on the air bearing surface of a hard disk drive” ISPS 2013, Santa Clara, CA, US. Alejandro Rodriguez Mendez, David B. Bogy, “Lubricant flow-reflow on the air bearing surface in a hard disk drive” WTC 2013, Turin, Italy.

Honors and Awards

UC MEXUS-CONACYT fellowship 2010-2015 Graduated with honors from B.S. and M.S. degrees.

Technical Skills

MatLab, Abaqus, SolidWorks, Autocad, CML Air, LDV, Oscilloscope.

SLIDE 69

Ehsan Rismani-Yazdi, Ph.D.

University of California Mechanical Engineering Department 6178 Etcheverry Hall Berkeley, CA 94720-1740 Phone: Email: (510)-990-7175 rismani@berkeley.edu e_rismani@yahoo.com

OBJECTIVE:

Tribological studies of ultra-thin films at head/media interface for magnetic data storage systems

SUMMARY:

Substantial experience in micro/nanotribology, design and synthesize of ultrathin film protective coatings
Experience on thin film process developments with hands-on experienced in PVD & CVD methods, materials

characterization techniques, photo-lithography, etching, and cleanroom and UHV technology.

KEYWORDS: Thin film, tribology, characterization, physics, mechanical engineering SKILLS:

Hands-on tribology testing of head/disk interface and lubricant/COC interaction
Thin film deposition technologies of RF/AC/DC sputtering, filtered cathodic vacuum arc (FCVA), chemical vapor

deposition CVD, to fabricate multi-layers thin films of semiconductor, diamond-like carbon, magnetic materials. Understanding of the role of process parameters on thin film properties.

Thin film material and surface characterization techniques, process monitoring and control by XRD, SEM, TEM,

AFM, XPS, AES, ToF-SIMS, Raman spectroscopy, stress measurement, and four point probe.

Cleanroom experience, photolithography, ion milling (etching), deep coating, wafer handling, surface modification,

working knowledge of vacuum system and components (cryogenic system, turbo molecular pump)

Software skills: ANSYS, CATIA, MATLAB, SRIM, LabView, AutoCAD, MS Office, Origin.

WORK EXPERIENCE

University of California, Berkeley, USA- September 2013-present

Position: Postdoc (under J-1 visa)

 Developed an ultrathin (< 1.5 nm) bilayer SiNx/a-C film to improve wear and corrosion resistance of the carbon coatings and their thermal stability under laser irradiation conditions

National University of Singapore, Singapore-August 2012- present.

Position: Research Fellow

 Developed and carried out ideas and experimental plans for research on tribology of future HDDs  Implemented a bi-layer C+ ion implantation technique using FCVA deposition method to modify tribo-mechanical properties of the hard disk media with formation of mixed layer thinner than 1.5 nm to address the requirements of the next generation of hard disk drives

National University of Singapore, Singapore-August 2009- August 2012.

Position: Research Engineer

 Optimized the deposition process of tetrahedral carbon coating using filtered cathodic vacuum arc (FCVA) technique to minimize the thickness of the coating while increasing its wear life up to 3 times as compared to the conventional diamond- like-carbon coatings  Designed and fabricated custom built tribology test-beds and acquisition software to measure forces at head/media interface

Pad Energy Esfahan Engineering Company , Esfahan, Iran- 03/2007-06/2008

Position: Design and development engineer

 Designed energy saving plans for industries which improved the energy consumption efficiency in the industrial buildings by 5%

EDUCATION

PhD., Mechanical Engineering,08/2008–11/ 2012, National University of Singapore, Singapore Thesis: “Tribological studies of ultra-thin films at head/media interface for magnetic data storage systems" M.S., Mechanical Engineering, 09/2005 – 02/2008, Isfahan University of Technology, Isfahan, Iran Thesis: “Numerical simulation of particulate fluid using lattice Boltzmann method” B.S., Mechanical Engineering, 09/2001 – 09/2005, Isfahan University of Technology, Isfahan, Iran Thesis: “Tortional vibration analysis of helicopter power transmission system”

PUBLICATIONS, PATENTS, FUNDED RESEARCH PROPOSALS, AND AWARDS

11 peer-reviewed journal papers (6 main author, 2 co-author, 3 under review), 1 US-patent, 1 book chapter, 13

conference digests or abstracts (3 invited talks)

6 funded research grants (funded by INSIC, ASTC, NRF, etc.)
Graduate Student Fellowship form Information Storage & Processing Systems (ISPS) division of American Society
f Mechanical Engineering (ASME)

SLIDE 70

Mohammad Soroush Ghahri Sarabi

Computer Mechanics Laboratory, University of California, Berkeley, 5150 Etcheverry Hall #1740,Berkeley, CA 94720-1740 E-mail: sarabi@berkeley.edu Phone: +1 (510) 394-7127  Nano-Scalar Lubrication Theory and Simulations  Disk-Slider Mechanical Sub-nano Precision Interaction in HDDs  Lubrication, Flow Control and Dynamics  Modeling and Simulation of Dynamic Systems  Innovative/Creative Methods of Design and Optimization Research Interests Education  University of California Berkeley, Berkeley, CA, USA, August 2012-present, Doctor of Philosophy in Mechanical Engineering GPA: 3.92/4  Sharif University of Technology, Tehran, Iran, September 2008-2012, Bachelor of Science in Mechanical Engineering, GPA: 3.95/4  Computer Mechanics Lab (CML), University of California Berkeley, Graduate Student Researcher, August 2012 – present  Member of design team and participant in manufacturing, installation, and testing of Heavy Duty 130 Tons Lifter used for loading and unloading the transformers and butterfly valves to be carried to Siahbishe Hydro Power Plant, Summer 2010 - Spring 2011 Work Experiences  Ranked 9th in Iranian Physics Olympiad, Tehran, Summer 2005  Participant in Senior Rescue League of Iran Open 2007, March 2007  Member of the first high school team to qualify for International Robocup Competition in the Senior Rescue League, Georgia Institute of Technology, Atlanta, GA, USA, July 2007  4th Place Standing and Winner of Referee's Special Award in National Competition of Civil Robots, Iran, October 2006  Ranked 198th among nearly 400000 participants in the Nation-Wide Universities Entrance Exam, Summer 2008  Ranked 45th among nearly 400000 participants in the Azad Universities Entrance Exam, Summer 2008  Eligible for entrance exam waiver and scholarship for Graduate Studies in Mechanical Engineering at Sharif University of Technology (for Fall 2012 entrance) Honors and Awards  ANSYS  Code Vision AVR  Simulink  Microsoft Office  Lab View Programming:  C, C++  MATLAB  PLC Engineering Software:  Solid Works  Auto Cad Computer Skills 

Prof. David Bogy, Distinguished Chair, Professor, University of California Berkeley

 dbogy@berkeley.edu http://www.me.berkeley.edu/faculty/bogy/ 

Prof. Mohammad Durali, Professor, Sharif University of Technology

durali@sharif.edu http://sharif.ir/~durali/ References

SLIDE 71

BEHROOZ SHAHSAVARI

Computer Mechanics Laboratory, Department of Mechanical Engineering 5121 Etcheverry Hall, UC Berkeley, Berkeley, CA 94720

Phone: Email: 510-815-8092 behrooz@berkeley.edu

Ed Education: ion:  Ph.D. in Mechanical Engineering, 2011-Present, GPA: 3.97 UC Berkeley.  B.S in Aerospace Engineering (Double Major), GPA: 4.00 Sharif University of Technology, Tehran, Iran, 2009–2011.  B.S in Mechanical Engineering (Double Major), GPA: 3.95 Sharif University of Technology, Tehran, Iran, 2006-2011. Expe perie ienc nces  Engineer Intern (software/firmware), Western Digital Technologies, San Jose, Summer 2013.  Graduate Student Researcher, Computer Mechanics Laboratory, UC Berkeley, Aug 2011-present Majo jor Intere rest sts: s:  Computer mechatronics systems (data storage technology)  Robust and adaptive control  Micro electro-mechanical systems (MEMS) Award ards an s and Honor

nors:

 Anselmo Macchi Fellowship for Engineering Graduate Students, Spring 2013, UC Berkeley  UC Berkeley graduate division NRST award, Spring 2012  UC Berkeley graduate division NRST award, Fall 2011  Graduate full scholarship at Sharif University of Technology, 2010  Golden medal, 5th Moscow international salon of innovations and investments, Russia, 2005  Honorable diploma from the Science & Technology Association "Technopol-Moscow", Russia, 2005  Golden medal, national Khwarizmi festival, Iran, 2003

Remark: Khwarizmi Festival is the most reputable scientific festival in Iran

 Ranked 5th among 400’000 participants in national Azad University Exam, Iran, 2006  Ranked 1st, innovations competition in the National Organization for Development of Exceptional Talents, Iran, 2003  Undergraduate scholarship, the privilege of studying B.S degree at any

f the Iranian universities without any entrance exam, 2006

 Member of “National Elites Foundation” of Iran  Public lications

ns:  B. Shahsavari, R. Conway, E. Keikha, R. Horowitz, “Robust track-

following controller design for hard disk drives with Irregular Sampling”, IEEE Transactions on Magnetics, 2013.  B. Shahsavari, R. Conway, E. Keikha, R. Horowitz, “Robust control design for hard disk drives with irregular sampling”, APMRC, 2012 IEEE.

SLIDE 72

 B. Shahsavari, R. Conway, E. Keikha, R. Horowitz, “Limits of Performance in Systems with Periodic Irregular Sampling and Actuation Rates”, 6th IFAC Symposium on Mechatronic Systems (Mechatronics '13), 2013.  B. Shahsavari, R. Conway, E. Keikha, F. Zhang, R. Horowitz, “𝐼∞ Control design for systems with periodic irregular sampling using 𝐼2

ptimal reference controllers”, ISPS 2013.

 E. Keikha, B. Shahsavari, A. Al-Mamun, R. Horowitz, “A probabilistic approach to robust controller design for servo system with irregular sampling”, ICCA 2013  E. Keikha, B. Shahsavari, A. Al-Mamun, R. Horowitz, “An evaluation of HDD servo system performance with Irregular Sampling Rate”, ISPS 2013  F. Zhang, E. Keikha, B. Shahsavari, R. Horowitz, “A novel adaptive mismatch compensator for vibratory gyroscope”, to be published in ISISS 2013  Pate tents ts:  “Variable Reluctance Linear Motor”, P-Number: 38304192, Iran, 2004.  “Tendon Actuated Manipulator with Hydraulic Lockable Joints”, P- Number: 389020541, Iran, 2010  “Ring-like Robot with Flexible Body and Creeping-Rolling Motion”, P- Number: 389010522, Iran, 2010 Ref efer eren ences es:  Prof. Roberto Horowitz Director, Partners for Advanced Transportation Technology (PATH) University of California, Berkeley horowitz@berkeley.edu  Dr. Brian Rigney Director of Engineering Western Digital brian.rigney@wdc.com

SLIDE 73

ZHOU Shiying(Stella)

Apt 1, 555 Ohlone Avenue, Albany, CA 94706, USA 217-4187543 szhou17@berkeley.edu

EDUCATINAL BACKGROUND

09/2013- present: Graduate Student in Mechanical Engineering in University of California Berkeley, USA  GPA: 09/2013-01/2014 4.0/ 4.0 01/2012- 08/2013: MS in Mechanical Engineering in University of Illinois at Urbana-Champaign, USA  GPA: 01/2012-01/2013 3.97/ 4.0 08/2008-01/2012: BS in Mechanical Engineering in Tsinghua University, P. R. China  GPA: 90.8/100 Ranking: 1/ 81

AWARDS

01/2012-08/2013: Tsinghua-Illinois University-Corporate 3+2 Fellowship 03/2011: First Prize of Beijing University Student Mechanical Design Competition 11/2010: Kaifeng Scholarship (one of ten recipients out of 3000+ students) 05/2010: Three Star Volunteer Certificate and “ Sincerity” medal 11/2009: National First Class Scholarship 11/2008-11/2011: Tang Zhongying Moral scholarship for four years

EXPERIENCE

09/2013-present: Group member of HDD research group 01/2013-07/2013: Internship in Dynamic System Modeling Group in John Deere Dubuque Works, IA, USA  Analyzed power-train fuel efficiency for Wheel Loader 56 produced in China  Modeled several competitor loader linkages and completed performance analysis  Hydraulic control valve metering design on John Deere 644k powerllel loader 05/2012-08/2012: Internship of Manufacturing in John Deere Dubuque Works, IA, USA  Created Operational Method Sheet for the Physical Build(PB) of the 360 ton excavator  Reported issues identified during PB and made plans for the next day in daily build meeting  Refined methods identified during e-build in PB and resolved issues with coworkers first time 05/2012: Parameter Control of E-jet Printing Project  Designed experiment on E-jet printing to investigate parameter influence on printing pattern and wrote final report 03/2010-08/2011: Student Research Training at Laser Processing & Rapid Prototyping Center in Tsinghua University  Conducted specific experiment on “Difference between Laser Cladding by Laser Fusion of Blown Powder and Pre- place Powder Coatings ”  Wrote reports on final experiment results and made conclusion which scored 92/100  Concluded and reviewed from experiment results in weekly meetings’ discussion with lab members 06/2011: Visited First Machinery Group Corporation in Inner Mongolia  Thorough tour in casting, forging, welding workshop for 3weeks 03/2011: Participated in “Beijing University Student Mechanical Design Competition”  Designed a friction based emergency building escaping devices and group(5 members) won the First Prize of the competition 08/2010- 09/2010: Monographic Training at Bio-Manufacturing Lab in Tsinghua University  Researched on “ laser Micro-Cladding Deposition Manufacturing” and submitted final report 10/2009: Transportation volunteer for 2009 China Tennis Open for eight days  Awarded Three Star Volunteer and “ Sincerity” Medal

SKILLS

Software  Microsoft Office, Auto CAD, Mat lab, Simulink, Pro/E, C-programing, CNC Programing, Language  Mandarin, English

SLIDE 74

Liting Sun

Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China | Hefei, Anhui, 230027, P.R. China Visiting Student Researcher, Mechanical Systems Control Laboratory 2103 Etcheverry Hall, University of California, Berkeley | CA 94720, USA Email: litingsun@me.berkeley.edu;litingm@mail.ustc.edu.cn

Education

 B. S. University of Science and Technology of China, Hefei Mechanical Engineering 09/2005-06/2009  M. S. candidate University of Science and Technology of China, Hefei Mechanical Engineering 09/2009-06/2011  P.H.D. candidate University of Science and Technology of China, Hefei Mechanical Engineering 09/2011-present  Visiting student University of California at Berkeley, Berkeley Mechanical Engineering 08/2012-present

Research Topic

Control of precision positioning system (wafer scanner, long-range ultra-precision positioning table) based on Iterative learning control (ILC) and vibration suppression; audio vibration suppression based on adaptive disturbance observer (DOB) in HDDs;

Selected Publications

 Liting Sun, Xu Chen, Masayoshi Tomizuka, “Selected Publications Selective Iterative Learning Control with Non-repetitive Disturbance Rejection”, submitted to 2014 International Symposium on Flexible Automation, Awaji-Island, Hyogo, Japan, 14-16 July, 2014.  Liting Sun, Xu Chen, Masayoshi Tomizuka, “Neural-Network Based Automatic PID Gain Tuning in the Presence of Time-Varying Disturbances in Hard Disk Drives”, Proceedings of the ASME 2013 Conference on Information Storage and Processing Systems (ISPS2013), June 24-25, 2013, Santa Clara, California, USA, Vol. 1, pp 3-7 (Best Paper).  Liting Sun, Jingshu Wang, Zhongqing Han, Chang’an Zhu. “Active Vibration Suppression Based on Intelligent Control for a Long-Range Ultra-Precise Positioning System’, Applied Mechanics and Materials, Vol. 87(2011), pp123-128.  Jingshu Wang, Liting Sun, Mingchi Feng, Chang’an Zhu. “Modeling and Validation of Ultra Precision Positioning System”, Applied Mechanics and Materials, Vol. 87(2011), pp200-205.

SLIDE 75

Haoyu Wu

5146 Etcheverry Hall Computer Mechanics Laboratory Department of Mechanical Engineering University of California, Berkeley Berkeley, CA 94720 Tel: (217) 417-6663 Fax: (510) 643-9786 Email: wuhaoyu@berkeley.edu Website: wuhaoyu.org

EDUCATION

University of California, Berkeley

Aug. 2013 – Present

Graduate Student in Mechanical Engineering Researcher in Computer Mechanics Laboratory

University of Illinois at Urbana-Champaign

Jan. 2012 – Aug. 2013

Master of Science in Mechanical Engineering Major GPA: 3.93/4.00

Tsinghua University, Beijing

Aug. 2008 – Dec. 2011

Bachelor of Science in Mechanical Engineering and Automation Major GPA: 91.6/100 Ranking: 3/75

ACADEMIC EXPERIENCE

HDI Study in Heat Assisted Magnetic Recording (HAMR)

Sept. 2013 – Present

Developed a HAMR stage and simulated HAMR process on disk

Microscale Pressure Sensor Fabrication

Aug. – Dec. 2012

Fabricated a MEMS pressure devices with the measuring range 1 – 10 psi (about 6.9 × 103 − 6.9 × 104Pa)

The Electronic Design Competition of Tsinghua University

Sept. 2010 – Nov. 2010

Designed and built an MCU-based model vehicle with the function of obstacle avoidance and tracking

Design and Production of Ultrasonic Telemeter

Aug. 2010

Designed and built a non-MCU based ultrasonic telemeter with the function of measuring distance within 5.5 meters

WORKING EXPERIENCE

Intern, Finite Element Analysis Group, John Deere

Jan. 2013 – Jul. 2013

 Performed thirteen Finite Element Analyses for several products, including graders, loaders, skid steer loaders, loaders, articulated dump trucks, crawlers, etc.

Intern, Electrical Engineering Group, John Deere

May 2012 – Aug. 2012  Developed software to import encoded CAN memory access file and turn it into a machine birth certificate  Troubleshot problems with physical build units of excavators  Developed door opening/closing control system for a new design excavator  Supported sub-assembling the cabs of excavators in physical build

AWARDS AND HONORS

 3+2 Tsinghua-Illinois Corporate Fellowship 2012  National Encouragement Scholarship 2011  Friends of Tsinghua University - Couple of Huang Yicong Scholarship 2010  National Encouragement Scholarship 2009

ACTIVITIES

 Participant of the 2011 Beijing Marathon Race, Half Distance

Oct. 16th, 2011

 Participant of Tohuku University Summer Program 2010

Jul. 2010 – Aug. 2010

SKILLS

 Software(Engineering): Matlab, Pro/E, SolidWorks, Hypermesh, Abaqus, Auto CAD, CNC Programming, Protel, Visual Basic, C Language, Python  Software(Others): Microsoft Office, Adobe Photoshop  Language: Mandarin

SLIDE 76

¡ ¡

Jun Xie (谢珺)

(As of Dec 2013) EDUCATION University of California, Berkeley, CA, USA 2010-Present

Ph. D. in Mechanical Engineering (Advisor: Prof. Kyriakos Komvopoulos)

Aug/2015(Expected)

Cumulative GPA: 3.968/4.000

Peking University (PKU), Beijing, China 2006-2010

B. S. in Physics

July/2010

Cumulative GPA: 3.71/4.00
B. S. Minor in Economics

July/2010 RESEARCH EXPERIENCE Graduate Student Researcher, Surface Science and Engineering Lab, UC Berkeley, CA Nov/2009-Present Advisor: Prof. K. Komvopoulos

I. Filtered Cathodic Vacuum Arc (FCVA):
Investigating the duty cycle effects in FCVA deposition process of diamond-like carbon (DLC) by

cross-section HRTEM and EELS techniques

II. Radio Frequency (RF) Sputtering Technology:
Fabricated ultrathin (sub-5 nm) amorphous carbon (a-C) films, multi-layer a-C films, and Cr-C
vercoats by RF sputtering for magnetic recording application

Undergraduate Research Assistant, Center for Nanochemistry, PKU, Beijing, China Jun/2008- May/2010 Advisor: Prof. Zhongfan Liu, Co-advisor: Prof. Lei Fu

Developed chemical vapor deposition (CVD) growth method of graphene on polycrystalline metal (Ni

and Co) and investigated hydrogen effect on CVD grapheme TEACHING EXPERIENCE Graduate Student Instructor, “Mechanical Behavior of Engineering Materials,” Dept. of Mechanical Engineering, UC Berkeley Jan/2013- May/2013 Ph.D. Candidate in Mechanical Engineering Expected to receive degree in Aug, 2015

Department of Mechanical Engineering University of California, Berkeley 5119 Etcheverry Hall, 2521 Hearst Ave, Berkeley, CA, 94709, USA Tel: +1-415-244-9958; Email: xiejun@berkeley.edu Linkedin: http://www.linkedin.com/pub/jun-xie/30/287/a44

SLIDE 77

Shaomin Xiong

5146 Etcheverry Hall, Computer Mechanics Laboratory Tel: (510) 708-0086 Department of Mechanical Engineering Fax: (510) 643-9786 University of California, Berkeley Email: xshaomin@berkeley.edu Berkeley, CA 94720 webpage:https://sites.google.com/site/xiongxiong1987/

Education:

Ph.D. Candidate Department of Mechanical Engineering (expected graduation: University of California, Berkeley May 2014) Major: Continuum Mechanics; minor: control and optics Master of Science (2012) Department of Mechanical Engineering, UC Berkeley B.S. 2005-2009 Major in Theoretical and Applied Mechanics University of Science and Technology of China (USTC)

Skills: Matlab, Labview, Origin, CAD, VHDL, FEA, FDTD, Fortan,

mechatronics, hardware verification, design of experiments, Nano-fabrication and imaging, thin film mechanics

Honors and Awards:

Outstanding Student Scholarship , 2005-2007 National Scholarship,2008 Excellent Thesis Award at USTC (2009) Outstanding preliminary examination award (1st), UC-Berkeley, 2010

Research Experiences:

05/2008-07/2009 Undergraduate Research Program and thesis for B.S., USTC The Plastic Instabilities Phenomenon (Portevin-Le Chatelier Effect) in Al-Mg Alloys 09/2009-present Research Assistant, Mechanical Engineering, UC Berkeley, Project 1: HDI Study in the Heat Assisted Magnetic Recording at CML

1. Developed a HAMR test stage
2. Design and fabricated Near field transducer
3. Develop the optical, thermal and mechanical models for HAMR systems
4. Experimental study of Lubricant,DLC layer and NFT for HAMR systems

Project 2: Plasmonic lithography and the instrumentation at the Center for Scalable and Integrated Nano Manufacturing (SINAM)

1. High resolution encoder system for rotatory stages
2. Mechanical and electrical design and integration of a high speed

plasmonic lithography machine

Selected publication:

1. Abdul Samad,Xiong, S , et. al. IEEE Transactions on Magnetics, Volume: 48, Issue: 5 ,2012 2. Jia Zhao, Shaomin Xiong*, David B. Bogy, Kun Sun, and Liang Fang.Microsystem Technologies: Volume 19, Issue 9-10, pp 1313-1317, September 2013. 3. Shaomin Xiong, and David Bogy. Microsystem Technologies Volume 19, Issue 9-10, pp 1307-1311, September 2013, 4. Shaomin Xiong and David B. Bogy, IEEE Transactions on Magnetics, vol.49, no.10, pp.5222-5226, Oct. 2013 5. Shaomin Xiong and David B. Bogy, IEEE Transactions on Industrial Electronics. 6. Shaomin Xiong and David B. Bogy, IEEE Transactions on Magnetics 7. Shaomin Xiong and David B. Bogy, IEEE Transactions on Magnetics

Shaomin Xiong, Jeongmin Kim, Yuan Wang, Xiang Zhang, David Bogy, Journal of Applied Physics, 115, 17B702

SLIDE 78

Minghui ZHENG’s Resume

Mechanical Systems Control Laboratory, 2103 Etcheverry Hall, University of California, Berkeley, CA 94720, USA Email: minghuizheng@berkeley.edu

EDUCATION

University of California, Berkeley, 08/2011~Present · PhD student in Mechanical Engineering (GPA: 3.87; Major: Control) · Research Area: Hard Disk Drive Control (HDD) Beijing University of Aeronautics and Astronautics (BUAA), 09/2008~03/2011 · Master of Control Science and Engineering (GPA: 91/100; Rank: 1/243) · Research Area: Control of a Spherical Robot BHQ-1 Beijing University of Aeronautics and Astronautics (BUAA), 09/2004~07/2008 · Bachelor of Engineering Mechanics (GPA: 88/100) · Double-Bachelor of Applied Mathematics (GPA: 91/100)

PUBLICATION & COMPLETED THESES

· Minghui Zheng, Xu Chen, Masayoshi Tomizuka, “Discrete-time Frequency-shaped Sliding Mode Control for Audio-Vibration Rejection in Hard Disk Drives,” submitted for IFAC 2014. · One (first-author) U.S. patent on control of dual-stage HDDs, pending, 2013. · Minghui Zheng, etc., “Trajectory Tracking of a Spherical Robot Based on an RBF Neural Network,” Advanced Materials Research, Vols. 383-390, 2012, pp. 631-637. · Zheng Minghui, etc., “Control of a Spherical Robot: Path Following Based on Non-holonomic Kinematics and Dynamics,” Chinese Journal of Aeronautics, Vol. 24, 2011.6, pp. 337-345. · Graduate Thesis for Master Degree, Motion control of a spherical robot, awarded as Outstanding Graduate Thesis of Beijing University of Aeronautics and Astronautics, 01/2011. · Graduate Thesis for Bachelor Degree, Control of a 2-link manipulator, awarded as Outstanding Thesis of Beijing University of Aeronautics and Astronautics, 07/2008

RESEARCH & INTERN EXPERIENCE

Hard Disk Drive Control, MSC Lab and CML Lab, UC Berkeley. Adviser: Prof. Masayoshi Tomizuka · 10/2013~Present Frequency-shaping for nonlinear control (active disturbance rejection control) in HDDs · 08/2013~12/2013 Frequency-shaped sliding mode control with peak filter for HDDs to improve the track- following performance, with reduced overall 3-Sigma values and amplitude of PES at specific frequencies. · 12/2012~5/2013 Discrete sliding mode control with time-varying sliding surface for HDDs, to unify the track-seeking and track-following tasks and improve the transient performance, with reduced overshoot and settling time. · 08/2011~01/2013 Multi-rate control, including fast-sampling and slow-sampling sessions, to enhance the servo performance of HDDs with reduced 3Sigma value of PES. Hard Disk Drive Control, Western Digital Co., Irvine, CA, USA, 05/2013~08/2013 (Intern) · On-drive test for audio-vibration vibration on laptops · Feedforward frequency-shaped control for audio vibration rejection · Anti-windup Scheme for dual-stage HDDs: theory, simulation & experiments. Spherical Robot Control, 10/2009~03/2011, Robotics Institute of BUAA · Mathematics Modeling and Posture Control · A sliding mode controller with adaptive parameters for path following · A PID controller with adaptive RBF networks for trajectory tracking Two-link Manipulator Control, 09/2007~06/2008, Control Theory Laboratory of BUAA · Parameter identification based on improved Hopfield networks · An adaptive sliding mode controller based on RBF networks with improved network learning rules Structure Analysis and Mechanical Design, HongDu Mechanical Co., China, 06/2007~08/2007 (Intern)

SLIDE 79

Attendees

SLIDE 80

SLIDE 81

No. Full Name

Company E-mail Phone 1

Bruno Marchon

HGST-WDC

bruno.marchon@hgst.com 408-717-5834

Paul Yoon

HGST-WDC

yeoungchin.yoon@hgst.com 408-717-5970

Hong Deng

HGST-WDC

Hong.Deng@hgst.com 408-717-5827

Lidu Huang

HGST-WDC

Lidu.Huang@hgst.com 408-717-5518

Anoosheh Niavarani

HGST-WDC

anoosheh.niavaranikheiri@hgst.com 408-717-7151

Na Wang

HGST-WDC

Na.Wang0@hgst.com 408-717-5904

Nan Liu

HGST-WDC

nan.liu@hgst.com 408-717-8738

Sripathi Canchi

HGST-WDC

sripathi.canchi@hgst.com 408-717-7416

Bala Krishna Pathem

HGST-WDC

bala.pathem@hgst.com 408-717-5165

SUKUMAR RAJAURIA

HGST-WDC

sukumar.rajauria@hgst.com 408-717-7867

Robert Smith

HGST-WDC

Robert.Smith@HGST.com 408-717-7931

Jinglin Zheng

HGST-WDC

jinglin.zheng@hgst.com 408-717-5693

Hong Deng

HGST-WDC

hong.deng@hgst.com 408-717-5014

Shuyu Zhang

WDC

shuyu.zhang@wdc.com 510-683-7989

JP Peng

WDC

jih-ping.peng@wdc.com 408-363-5385

Yanning Liu

WDC

yanning.liu@wdc.com 408-363-5015

Jianbin Nie

WDC

jianbin.nie@wdc.com 408-833-2007

Jian Xu

WDC

jian.xu@wdc.com 408-363-5530

Siyang Xu

WDC

siyang.xu@wdc.com 412-979-3895

Benjamin Dawson

WDC

benjamin.dawson@wdc.com 408-576-2781

Jian Yang

WDC

Jian.Yang@wdc.com 408-363-4256

Elson Goh

Seagate

hongjoo.goh@seagate.com +65 64177596

Joseph Lau

Seagate

joseph.ht.lau@seagate.com +65 6177757

Henry Wang

Seagate

hongbo.wang@seagate.com 501-353-4749

Kent Forbord

Seagate

kent.forbord@seagate.com 952-334-1181

Matt Carper

Seagate

matthew.a.carper@seagate.com 952-402-8132

Jane Yang

Seagate

jane.j.yang@seagate.com 510-353-4645

Stefan Weissner

Seagate

stefan.weissner@seagate.com 952-402-8620

Zheming Zhao

Seagate

zheming.zhao@seagate.com 510-624-3661

Manuel Anaya Dufresne

Seagate

manuel.anayadufresne@seagate.com 952-402-7832

Huiwen Liu

Seagate

huiwen.liu@seagate.com 952-402-8213

Ellis Cha

SAE

ellis_cha@saeus.com 408-935-1041

Sindy Yeung

SAE

sindy_yeung@saeus.com 408-935-1022

Hardy Zheng

SAE

hardy_zheng@saeus.com 408-935-1025

Liping Li

LSTC

liping@lstc.com 925-245-4506

Joanna Dahl

UCB Chemical Eng.

jobechtel@berkeley.edu

Masayoshi Tomizuka

Tomizuka Lab

tomizuka@me.berkeley.edu

Xu Chen

Tomizuka Lab

maxchen@me.berkeley.edu

Minghui Zheng

Tomizuka Lab

zhengmhbuaa@gmail.com

Litting Sun

Tomizuka Lab

litingm@gmail.com

Shiying Zhou

Tomizuka Lab

szhou17@berkeley.edu

Roberto Horowitz

Horowitz Lab

horowitz@berkeley.edu

Ehsan Keikha

Horowitz Lab

ehsan.keikha@nus.edu.sg

Fu Zhang

Horowitz Lab

vicfuzhang1@gmail.com

Behrooz Shahsavari

Horowitz Lab

behrooz@berkeley.edu

Omid Bagherieh

Horowitz Lab

midba2@gmail.com

Kyriakos Komvopoulos

Komvopolous Lab

kyriakos@me.Berkeley.EDU

Jun Xie

Komvopolous Lab

xiejun@berkeley.edu

Ehsan Rismani

Komvopolous Lab

rismani@berkeley.edu

Josef Matlak

Komvopolous Lab

jmatlak@berkeley.edu

Sayna Ebrahimi

Komvopolous Lab

sayna@berkeley.edu

David Bogy

Bogy Lab

dbogy@cml.me.berkeley.edu

Bair Budaev

Bogy Lab

budaev@berkeley.edu

Dolf Mardan

Bogy Lab

tmardan@cml.me.berkeley.edu

Shaomin Xiong

Bogy Lab

xshaomin@cml.me.berkeley.edu

Yung-Khan Chen

Bogy Lab

ykchen@berkeley.edu

Alejandro Rodriguez

Bogy Lab

aleromende@berkeley.edu

Soroush Sarabi

Bogy Lab

sarabi@berkeley.edu

Haoyu Wu

Bogy Lab

wuhaoyu@berkeley.edu

Yuan Ma

Bogy Lab

yuan.ma@berkeley.edu