### I am a Research Robotics Engineer at Energid Technologies

I develop advanced software and robotic systems for the aerospace, agriculture, manufacturing, transportation, defense, and medical industries. My technical area of focus is modeling and simulation using high-performance computing with an emphasis on terramechanics and multiphysics.

## Employment

### Research Robotics Engineer @ Energid

from July 2016 to Now

#### Energid Technologies

I develop advanced software and robotic systems for the aerospace, agriculture, manufacturing, transportation, defense, and medical industries. Energid’s Actin® software is a powerful control framework and operating system for commercial, industrial, and mission critical robots that is sold as a cross platform application and extensible software toolkit. Energid specializes in the control, simulation, and sensing of complex robotic systems.

### Research Assistant @ SBEL

from January 2008 to September 2016

#### Simulation Based Engineering Laboratory

I worked with Professor Negrut to employ the latest modeling techniques and computer hardware to solve large-scale, meaningful, engineering applications. I focused on terramechanics and multiphysics, with simulations that included rigid/flexible bodies and fluid mechanics.

### Dynamics Engineer @ U.S. Army TARDEC

from May 2011 to May 2016

#### U.S. Army Tank Automotive Research, Development and Engineering Center

I worked on the Dynamics Team with Dr. Jayakumar to quantify the uncertainty in traditional terramechanics approaches and validate these approaches against experimental data. I am also assisting in the development of a state-of-the-art terramechanics testing suite for light-weight ground vehicles and modeling terramechanics using high-performance computing.

### Mobility & Robotics Engineer @ NASA JPL

from May 2010 to September 2010

#### NASA Jet Propulsion Laboratory

I worked on the Mobility & Robotics Team with Dr. Jain to model various dynamics systems in an effort to validate research-grade simulation tools. I simulated a hopper robot interacting with the granular material of an asteroid and optimized the landing approach in a non-uniform gravity field. I also worked on simulation visualization for presentation and debugging purposes.

### Plant Engineer @ Integrys Pulliam Power Plant

from May 2008 to August 2008

#### Integrys Pulliam Power Plant

I worked closely with operators and the maintenance team to solve plant issues, including aiding in the problem assessment and recommendation of a sootblower system. I also worked with suppliers to order new equipment for the plant.

## Education

### Ph.D. @ University of Wisconsin - Madison

from 2012 to 2016

#### Doctor of Philosophy in Mechanical Engineering with a minor in Computer Science

### M.S. @ University of Wisconsin - Madison

from 2010 to 2012

#### Master of Science in Mechanical Engineering

### B.S. @ University of Wisconsin - Madison

from 2004 to 2007

#### Bachelor of Science in Mechanical Engineering

## Skills

### Courses

### Development

## Publications

### Book Chapters

Tasora, A., Serban, R., Pazouki, A., Melanz, D., Fleischmann, J., Taylor, M., Sugiyama, H., Negrut, D. (2015). Chrono: An open source multi-physics dynamics engine. Springer (submitted).

Mazhar, H., Heyn, T., Melanz, D., Pazouki, A., Bartholomew, A., Negrut, D., Jayakumar, P., Tasora, A. (2014). Accelerating multi-body simulation and visualization with GPU computing. In Advances in Computers and Information in Engineering Research. ASME.

### Journal Articles

D. Melanz and D. Negrut, “On the use of a differential variational inequality approach to handle frictional contact in flexible multibody dynamics,” J. Comput. Nonlinear Dyn., vol. 12, no. 1, pp. 1–9, Submitted Jun. 2016.

D. Melanz, L. Fang, P. Jayakumar, and D. Negrut, “A comparison of numerical methods for solving multibody dynamics problems with frictional contact modeled via differential variational inequalities,” J. Computational Physics, vol. 318, pp. 1–13, Submitted Jun. 2016.

D. Melanz, P. Jayakumar, and D. Negrut, “Experimental validation of a differential variational inequality-based approach for handling friction and contact in vehicle/granular-terrain interaction,” J. Terramechanics, vol. 65, pp. 1–13, Jun. 2016.

R. Serban, D. Melanz, A. Li, I. Stanciulescu, and D. Negrut, “A GPU-based preconditioned Newton-Krylov solver for flexible multibody dynamics,” Int. J. Numer. Methods Eng., pp. 1585–1604, Jun. 2015.

W. Smith, D. Melanz, C. Senatore, K. Iagnemma, and H. Peng, “Comparison of discrete element method and traditional modeling methods for steady-state wheel-terrain interaction of small vehicles,” J. Terramechanics, vol. 56, pp. 61–75, Dec. 2014.

P. Jayakumar, D. Melanz, J. MacLennan, D. Gorsich, C. Senatore, and K. Iagnemma, “Scalability of classical terramechanics models for lightweight vehicle applications incorporating stochastic modeling and uncertainty propagation,” J. Terramechanics, vol. 54, pp. 37–57, Aug. 2014.

D. Melanz, N. Khude, P. Jayakumar, and D. Negrut, “A Matrix-Free Newton–Krylov Parallel Implicit Implementation of the Absolute Nodal Coordinate Formulation,” J. Comput. Nonlinear Dyn., vol. 9, no. 1, pp. 1–9, Oct. 2013.

N. Khude, I. Stanciulescu, D. Melanz, and D. Negrut, “Efficient Parallel Simulation of Large Flexible Body Systems With Multiple Contacts,” J. Comput. Nonlinear Dyn., vol. 8, no. 4, pp. 1–11, Mar. 2013.

H. Mazhar, T. Heyn, A. Pazouki, D. Melanz, A. Seidl, A. Bartholomew, A. Tasora, and D. Negrut, “Chrono: a parallel multi-physics library for rigid-body, flexible-body, and fluid dynamics,” Mechanical Sciences, no. 4, pp. 49–64, 2013.

### Conference Proceedings

D. Melanz, H. Mazhar, and D. Negrut, “Using an Anti-Relaxation Step to Improve the Accuracy of the Frictional Contact Solution in a DVI Framework for Rigid Body Dynamics,” in ASME International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference (CIE), August 21 - 24, 2016, Charlotte, NC

D. Melanz, H. Mazhar, and D. Negrut, “Gauging Military Vehicle Mobility Through Many-Body Dynamics Simulation,” in ASME International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference (CIE), August 17 - 20, 2014, Buffalo, NY

R. Serban, H. Mazhar, D. Melanz, P. Jayakumar, and D. Negrut, “A Comparative Study of Penalty and Complementarity Methods for Handling Frictional Contact in Large Multibody Dynamics Problems,” in U.S. National Congress on Theoretical & Applied Mechanics, June 15 - 20, 2014, East Lansing, MI

H. Mazhar, R. Serban, D. Melanz, A. Pazouki, D. Kaczmarek, P. Jayakumar, A. Tasora, and D. Negrut, “Chrono: An Open Source Parallel Simulation Framework for Many-Body Dynamics Applications,” in U.S. National Congress on Theoretical & Applied Mechanics, June 15 - 20, 2014, East Lansing, MI

D. Melanz, H. Mazhar, and D. Negrut, “A Multibody Dynamics-Enabled Mobility Analysis Tool for Military Applications,” in SAE World Congress & Exhibition, April 8 - 10, 2014, Detroit, MI

P. Jayakumar, D. Melanz, and W. Smith, “Recommendation of a Next Generation Terramechanics Experimentation Capability for Ground Vehicle Systems,” in Proceedings of the 7th Americas Regional Conference of the ISTVS, November 4 - 7, 2013, Tampa, FL

P. Jayakumar, D. Melanz, J. Maclennan, C. Senatore, and K. Iagnemma, “Stochastic Modeling and Uncertainty Cascade of Soil Bearing and Shearing Characteristics for Light-Weight Vehicle Applications,” in Proceedings of the 7th Americas Regional Conference of the ISTVS, November 4 - 7, 2013, Tampa, FL

W. Smith, D. Melanz, C. Senatore, K. Iagnemma, and H. Peng, “Comparison of DEM and traditional modeling methods for simulating steady-state wheel-terrain interaction for small vehicles,” in Proceedings of the 7th Americas Regional Conference of the ISTVS, November 4 - 7, 2013, Tampa, FL

P. Jayakumar, D. Melanz, J. Maclennan, C. Senatore, and K. Iagnemma, “Scalability of Classical Terramechanics Models for Lightweight Vehicle Applications,” in Ground Vehicle Systems Engineering and Technology Symposium, August 20 - 22, 2013, Troy, MI

T. Heyn, H. Mazhar, A. Pazouki, D. Melanz, A. Seidl, J. Madsen, A. Bartholomew, D. Negrut, D. Lamb, and A. Tasora, “Chrono: A Parallel Physics Library for Rigid-Body, Flexible-Body, and Fluid Dynamics,” in ASME International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference (CIE), August 4 - 7, 2013, Portland, OR

T. Heyn, H. Mazhar, A. Pazouki, D. Melanz, A. Seidl, A. Bartholomew, L. Fang, A. Tasora, E. Sifakis, and D. Negrut, “Chrono: A Parallel Multi-Physics Library for Rigid-Body, Flexible-Body, and Fluid Dynamics,” in ECCOMAS Thematic Conference on Multibody Dynamics, July 1 - 4, 2013, Zagreb, Croatia

D. Negrut, H. Mazhar, D. Melanz, D. Lamb, P. Jayakumar, and M. Letherwood, “Investigating Through Simulation the Mobility of Light Tracked Vehicles Operating on Discrete Granular Terrain,” in SAE World Congress & Exhibition, April 16 - 18, 2013, Detroit, MI

D. Negrut, H. Mazhar, D. Melanz, D. Lamb, P. Jayakumar, M. Letherwood, A. Jain, and M. Quadrelli, “Investigating the Mobility of Light Autonomous Tracked Vehicles Using a High Performance Computing Simulation Capability,” in Ground Vehicle Systems Engineering and Technology Symposium, August 14 - 16, 2012, Troy, MI

D. Melanz, N. Khude, P. Jayakumar, M. Leatherwood, and D. Negrut, “A GPU Parallelization of the Absolute Nodal Coordinate Formulation for Applications in Flexible Multibody Dynamics,” in ASME International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference (CIE), August 12 - 15, 2012, Chicago, IL

N. Khude, D. Melanz, J. Madsen, D. Negrut, and J. Paramsothy, “Efficient Modeling of Frictional Contacts with Absolute Nodal Coordinate Formulation and the Parallel GPU Implementation for Simulation of Large Flexible Body Systems,” in International Conference on Multibody System Dynamics, May 29 - June 1, 2012, Stuttgart, Germany

N. Khude, D. Melanz, I. Stanciulescu, and D. Negrut, “A Parallel GPU Implementation of the Absolute Nodal Coordinate Formulation With a Frictional/Contact Model for the Simulation of Large Flexible Body Systems,” in ASME International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference (CIE), August 28 - 31, 2011, Washington, DC

D. Negrut, T. Heyn, A. Seidl, D. Melanz, D. Gorsich, and D. Lamb, “Enabling Computational Dynamics in Distributed Computing Environments Using a Heterogeneous Computing Template,” in Ground Vehicle Systems Engineering and Technology Symposium, August 9 - 11, 2011, Dearborn, MI

N. Khude, D. Melanz, I. Stanciulescu, and D. Negrut, “A Parallel GPU Implementation of the Absolute Nodal Coordinate Formulation With a Frictional/Contact Model for the Simulation of Large Flexible Body Systems,” in ECCOMAS Thematic Conference on Multibody Dynamics, July 4 - 7, 2011, Brussels, Belgium

D. Melanz, M. Tupy, B. Smith, K. Turner, and D. Negrut, “On the Validation of a Differential Variational Inequality Approach for the Dynamics of Granular Material,” in ASME International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference (CIE), August 15 - 18, 2010, Montreal, Canada

### Theses

D. Melanz, “On the Validation and Applications of a Parallel Flexible Multi-body Dynamics Implementation,” University of Wisconsin - Madison, 2012.