Andrew Petruska
Associate Professor, Mechanical Engineering
Dr. Petruska’s primary research focus is on the control of complex dynamic systems with an emphasis on magnetic manipulation for medical applications and autonomous systems for mining and underground exploration. He obtained his PhD in 2014 from the University of Utah and did his posdoctoral studies at ETH Zurich, where he was named a Max Planck ETH Center for Learning Systems fellow. In 2017 he was named a Boettcher Investigator for his work on magnetic manipulation for neurosurgery. Dr. Petruska earned a BS in Physics and a BS/MS in Mechanical Engineering from Carnegie Mellon University.
Contact
Brown Hall 280F
303-384-2021
apetruska@mines.edu
Labs and Research Centers
Research Areas
- Complex system modeling and design
- Dynamics and control
- Advanced magnetic manipulation
Recent Publications
View all publications on Google Scholar
2023
- Fahle, L., Petruska, A. J., Walton, G., Brune, J. F., Holley, E. A. “Development and Testing of Octree-Based Intra-Voxel Statistical Inference to Enable Real-Time Geotechnical Monitoring of Large-Scale Underground Spaces with Mobile Laser Scanning Data,” Remote Sensing, 15: p. 1764 (2023). doi: https://doi.org/10.3390/rs15071764
- Oltmann, A. F., Petruska, A. J. “Low-Profile Capacitive Load Cells for Underground Mining Material and Wear Classification to Promote Worker Safety,” Mining, Metallurgy & Exploration, p. 14 (2023). doi: https://doi.org/10.1007/s42461-023-00732-2
- Pratt, R. L., Suesser, B. E., Petruska, A. J. “Observed Control of Magnetic Continuum Devices,” Robotics, 12:1-11 (2023). doi: https://doi.org/10.3390/robotics12010011
- Segal, A. D., Petruska, A. J., Adamczyk, P. G., Silverman, A. K. “Age-Specific Biomechanical Challenges and Engagement in Dynamic Balance Training with Robotic or Virtual Real-Time Visual Feedback,” J. Biomechanics, 152: p. 111 (2023). doi: https://doi.org/10.1016/j.jbiomech.2023.111574
2022
- Fahle, L., Holley, E. A., Walton, G., Petruska, A. J., Brune, J. F. “Analysis of SLAM-Based Lidar Data Quality Metrics for Geotechnical Underground Monitoring,” Mining, Metallurgy & Exploration, pp. 1-22 (2022). doi: 10.1007/s42461-022-00664-3
- Lesak, M. C., Gonzalez, D. J., Zhou, M. W., Petruska, A. J. “Map-free Lidar Odometry (MFLO) Using a Range Flow Constraint and Point Patch Covariances,” IEEE Robotics and Automation Letters, 7(4) (2022). doi: 10.1109/LRA.2022.3191198
- Pancaldi, L., Noseda, L., Dolev, A., Fanelli, A. J., Ghezzi, D., Petruska, A. J., Sakar, M. S. “Locomotion of Sensor-Integrated Soft Robotic Devices Inside Sub-Millimetre Arteries with Impaired Flow Conditions,” Advanced Intelligent Systems, 1-10 (2022). doi: 1002/aisy.202100247
- Pratt, R. L., Petruska, A. J. “Magnetic Needle Steering Control Using Lyapunov Redesign,” IEEE Tran Robotics, In Review (2022).
- Pratt, R. L., Petruska, A. J. “Empirically Comparing Magnetic Needle Steering Models Using Expectation-Maximization,” Robotics, 11(2):1-18 (2022). doi: 10.3390/robotics11020049
- Rajagopalan, R., Petruska, A. J., Howard, D. “Design of Bi-State Shape Memory Material Composite Soft Actuator,” MDPI Actuators, 11(3) (2022). doi: 10.3390/ act11030086
- Segal, A. D., Adamczyk P. G., Petruska, A. J., Silverman, A. K. “Mobile Balance Therapy with Hands-Free Robotic Feedback for At-Home Training Across the Lifespan, ” IEEE Transactions on Neural Systems and Rehabilitation Engineering, 30:2671-2681 (2022). doi: 10.1109/TNSRE.2022.3205850
2021
- Hong, A., Petruska, A. J., Zemmar, A., Nelson, B. J. “Magnetic Control of a Flexible Needle in Neurosurgery,” IEEE Transactions on Biomedical Engineering, 68(2):616–627 (2021). doi: 10.1109/ TBME.2020.3009693
- Kale, S., Petruska, A. J., Samaniuk, J., “Active Particle Tracking Microrheology Using Artificial Thermal Noise,” Journal of Rheology, 66: p. 187 (2021).
- Moser, B. L., Gordon, J.A., Petruska, A. J. “Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators,” Robotics, 10: p.124 (2021). doi: 10.3390/robotics10040124
- Shi, X., Olvera, A., Hamilton, C., Gao, E., Li, J., Utke, L., Petruska, A. J., Yu, Z., Udpa, L., Deng, Y., Zhang, H. “AI-Enabled Robotic NDE for Structural Damage Assessment and Repair,” Materials Evaluation, 79(7) (2021).
2020
- Bruns, T. L., Riojas, K. E., Ropella, D. S., Cavilla, M. S., Petruska, A. J., et al. “Magnetically Steered Robotic Insertion of Cochlear-Implant Electrode Arrays: System Integration and First-In-Cadaver Results,” IEEE Robotics and Automation Letters, 5(2):2240–2247 (2020).
- Petruska, A. J. “Open-Loop Orientation Control Using Dynamic Magnetic Fields,” IEEE Robotics and Automation Letters, 5(4):5472–5476 (2020).
- Segal, A. D., Lesak, M. C., Silverman, A. K., Petruska, A. J. “A Gesture-Controlled Rehabilitation Robot to Improve Engagement and Quantify Movement Performance,” Sensors 20(15):4269 (2020).
- Husa, P. L., Saunders, B. D., Suesser, B. E., Petruska, A. J. “Optimal Current Shell Approximation for Solenoids of Rectangular Cross-Section,” AIP Advances, 10:095126 (2020).
- Abbott, J. J., Diller, E., Petruska, A. J. “Magnetic Methods in Robotics,” Annual Review of Control, Robotics, and Autonomous Systems, 3:57–90 (2020).
- Petruska, A. J. “Open-Loop Orientation Control Using Dynamic Magnetic Fields,” IEEE Robotics and Automation Letters, 5(4):5472–5476 (2020).
- Segal, A. D., Lesak, M. C., Suttora, N. E., Silverman, A. K., Petruska, A. J. “iRebot: An Interactive Rehabilitation Robot with Gesture Control,” 2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), pp. 5158–5161 (2020).
- Bruns, T. L., Riojas, K. E., Ropella, D. S., Cavilla, M. S., Petruska, A. J., Freeman, M. H., Labadie, R. F., Abbott, J. J., Webster, R. J. “Magnetically Steered Robotic Insertion of Cochlear-Implant Electrode Arrays: System Integration and First-in-Cadaver Results.” IEEE Robotics and Automation Letters 5(2):2240–2247 (2020).
2019
- Pratt, R. L., Petruska, A. J. “Magnetic Needle Steering Model Identification Using Expectation-Maximization.” 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5432-5437 (2019) doi: 10.1109/IROS40897.2019.8968001.
- Zhu, L., Wen, X., Han, Q., Fryer, A., Suttora, N., Petruska, A. J. “Performance Evaluaion of Wi-Fi for Underground Robots.” Proceedings of the 16th EAI International Conference on Mobile and Ubiquitous Systems: Computing, Networking and Services pp. 498–503 (2019).
2018
- Mohanty, S., Hong, A., Alcantara, C., Petruska, A. J., Nelson, B. J. “Stereo Holographic Diffraction Based Tracking of Microrobots,” IEEE Robotics and Automation Letters, 3(1):567–572 (2018).
- Edelmann, J., Petruska, A. J., Nelson, B. J. “Estimation-Based Control of a Magnetic Endoscope Without Device Localization.” Journal of Medical Robotics Research 3(1):1850002 (2018).
- Ullrich, F., Lussi, J., Chatzopoulos, V., Michels, S., Petruska, A. J., Nelson, B. J. “A Robotic Diathermy System for Automated Capsulotomy.” Journal of Medical Robotics Research 3(1):1850001 (2018).
2017
- Mohanty, S., Hong, A., Alcantara, C., Petruska, A. J., Nelson, B. J. “Stereo Holographic Diffraction Based Tracking of Microrobots.” IEEE Robotics and Automation Letters 3(1):567–572 (2017).
- Zeydan, B., Petruska, A. J., Somm, L., Pieters, R., Fang, Y., Sargent, D. F., Nelson, B. J. “Automated Particle Collection for Protein Crystal Harevesting.” IEEE Robotics and Automation Letters 2(3):1391–1396 (2017).
- Petruska, A. J., Edelmann, J., Nelson, B. J. “Model-Based Calibration for Magnetic Manipulation.” IEEE Transactions on Magnetics 53(7):1–6 (2017).
- Huang, H.-W., Petruska, A. J., Nelson, B. J. “Soft Micro-Robots for Military Medicine.” Homeland Defense & Security Information Analysis Center Journal, Special Nanotechnology Issue: 25–27 (2017).
- Edelmann, J., Petruska, A. J., Nelson, B. J. “Magnetic Control of Continuum Devices.” The International Journal of Robotics Research 36(1):68–85 (2017).
2016
- Jang, B., Wang, W., Wiget, S., Petruska, A. J., Chen, X., Hu, C., Hong, A., Folio, D., Ferreira, A., Pané, S., Nelson, B. J. “Catalytic Locomotion of Core-Shell Nanowire Motors.” ACS Nano 10(11):9983–9991 (2016).
- Ullrich, F., Lussi, J., Felekis, D., Michels, S., Petruska, A. J., Nelson, B. J. “Perforation Forces of the Intact Porcine Anterior Lens Capsule.” Journal of the Mechanical Behavior of Biomedical Materials 62:347–354 (2016).
- Huang, H.-W., Selman Sakar, M., Petruska, A. J., Pané, S., Nelson, B. J. “Soft Micromachines with Programmable Motility and Morphology.” Nature Communications 7(1):1–10 (2016).
- Hong, A., Zeydan, B., Charreyron, S., Ergeneman, O., Pané, S., Toy, M. F. Petruska, A. J., Nelson, B. J. “Real-Time Holographic Tracking and Control of Microrobots.” IEEE Robotics and Automation Letters 2(1):143–148 (2016).
- Hoop, M., Shen, Y., Chen, X.-Z., Mushtaq, F., Iuliano, L. M., Sakar, M. S., Petruska, A., Joessner, M. J., Nelson, B. J., Pané, S. “Magnetically Driven Sivler-Coated Nanocoils for Efficient Bacterial Contact Killing.” Advanced Functional Materials 26(7):1063–1069 (2016).