Mobile Robotics - Publications

Refereed Publications

  1. Fahimi, F., Ashrafiuon, H., and Nataraj, C., “An Improved Inverse Kinematic and Velocity Solution for Spatial Hyper-Redundant Robots,” IEEE Transactions on Robotics and Automation, February 2002.
  2. F. Fahimi, H. Ashrafiuon, C. Nataraj, “Obstacle Avoidance for Spatial Hyper-Redundant Manipulators Using Harmonic Potential Functions and the Mode Shape Technique,” submitted to Journal of Robotics Research in April 2002.
  3. Elahinia, M. H., and Ashrafiuon, H., “Nonlinear Control of A Shape Memory Alloy Actuated Manipulator,” submitted to the ASME Journal of Vibration and Acoustics, October 2001.
  4. Fahimi, F., Ashrafiuon, H., and Nataraj, C., “Obstacle Avoidance for 2D Hyper-Redundant Manipulators Using Harmonic Potential Functions and the Mode Shape Technique,” Proceedings of DETC2001, Paper No. DETC2001/VIB-21527, 18th Biennial ASME Conferences on Mechanical Vibration and Noise, Sept. 9-12, 2001, Pittsburgh, PA, USA.
  5. G. Hailu, C. Nataraj and H. Ashrafiuon, 2001, “Is Reduction in Task Space a Condition for Accelerated Learning?” IEEE Systems, Man & Cybernetics Conference, October 2001, Tucson, AZ.
  6. F. Fahimi, H. Ashrafiuon, C. Nataraj “Obstacle Avoidance for Spatial Hyper-Redundant Manipulators.” accepted for presentation at the First Asian Conference on Multibody Dynamics 2002, Fukushima, Japan.
  7. F. Fahimi, C. Nataraj, and H. Ashrafiuon, “Path Planning and Obstacle Avoidance for Groups of Mobile Robots,” accepted for presentation at the Sixth International Conference on Motion and Vibration Control, Saitama, Japan, August 2002.
  8. S. Bose, and S. Santhanam,”Constitutive Model for Shape-Memory-Alloys and Its Use in Design and Finite Element Analysis,” Proceedings of the 2002 SPIE Smart Materials Conference, San Diego, CA.
  9. T. Radhakrishnan and Saeed Daroogheha, “Accuracy analysis of a miniature gripper,” under preparation for submission to Robotics and Computer Integrated Manufacturing Journal.
  10. C. Nataraj and M. Feghhi, “Optimal Trajectories for Obstacle Avoidance of Dynamic Mobile Robots,” under preparation for submission to ASME Journal of Dynamic Systems, Measurement and Control.
  11. C. Nataraj, K. Emami and H. Ashrafiuon, “Dynamics and Control of the Mule: An Outdoor Tracked Vehicle,” under preparation for submission to ASME Journal of Dynamic Systems, Measurement and Control.
  12. F. Fahimi, C. Nataraj and H. Ashrafiuon, “Obstacle Avoidance for Groups of Mobile Robots Using the Potential Method,” under preparation for submission to Journal of Robotics Research.
  13. H. Ashrafiuon and M. Eshraghi, “Development of nonlinear control algorithms for a 3-dof manipulator actuated by smart materials,” under preparation for submission to the ASME Journal of Vibration and Acoustics.

Theses

  1. Brett Strayer, April 2001, “Systematic Approach to the Design and Analysis of a Small, Robust, Mobile Robotic Platform.”
  2. M. Elahinia, August 2001, “Control of manipulators actuated by smart materials.”
  3. Bryan Wenzel, November 2002, “Effect of dynamics in car-like and differentially driven micro-robots.”
  4. Sudip Bose, June 2002, “A Constitutive Model for Shape-Memory-Alloys and its Application to Design of Robotic manipulators.”
  5. M. Eshraghi, August 2003 (expected), “Development of nonlinear control algorithms for a 3-dof manipulator actuated by smart materials.”
  6. Kiarash Emami, August 2003 (expected), “Dynamics & Control of The Mule.”
  7. Masoud Feghhi, August 2002, “Optimum Path Planning for Mobile Robots With Nonholonomic Constraints.”
  8. Saeed Daroogheha, August 2002, “Development of a gripper for the miniature mobile unit.”

Technical Reports

  1. Hashem Ashrafiuon, Frank DiMeo, Mark Jupina, Steven Konyk, Jr., John Majerus, Bijan Mobasseri, C. Nataraj, T. Radhakrishnan, Sridar Santhanam, Pritpal Singh, and Anthony Zygmont, (Collated and Edited by Joseph Di Giacomo), “Gap Analysis, System Engineering for Miniature Devices, ID Technical State-of-the-art and Expertise in, Microelectronics, MEMS, Nanotechnology, Sensors, Power, Wireless Communications, Algorithms, Robotics, Mechanical Devices,” Report to CTC, November 8, 1999.
  2. C. Nataraj and Bryan Wenzel, “Gap Analysis Report On Mobile Devices,” Report to CTC, November 16, 1999.
  3. Hashem Ashrafiuon, John Majerus, C. Nataraj, T. Radhakrishnan, Sridhar Santhanam, “Miniature Mobile Robot Actuators: A Proposal,” Report to CTC, February 14, 2000.
  4. Hashem Ashrafiuon, “Annual Progress Report: Manipulator design and control for a miniature mobile robot,” Report to CTC, April 30, 2000.
  5. Farbod Fahimi, “Annual Progress Report, Systems Engineering for Miniature Devices, Systems Dynamics Group,” Report to CTC, May 31, 2000.
  6. Ashitava Ghosal and C. Nataraj, "Modeling of wheeled mobile robots on uneven terrain," Report to CTC, August 24, 2000.
  7. John N. Majerus and Brett A. Strayer, “Beating the Competition with Goodness and Virtue,” Report to CTC, October 5, 2000.
  8. Farbod Fahimi, “Kinematics of Spatial Hyper-redundant Manipulators, Position, Velocity and Workspace,” Report to CTC, October 30, 2000.
  9. Farbod Fahimi, “Obstacle Avoidance for Mobile Robots, and Planar and Spatial Hyper-Redundant Manipulators,” Report to CTC, November 30, 2000.
  10. T. Radhakrishnan, Saeed Daroogheha, and Vijay Pegada, “On the Development of a Mini Gripper for a Miniature Mobile Device,” Report to CTC, December 1, 2000.
  11. T. Radhakrishnan, Ujjal Bhaumik, and Kevin Gallen, “A Preliminary Study for Analyzing the Accuracy of a Miniature Mobile Device,” Report to CTC, December 1, 2000.
  12. Hashem Ashrafiuon, “Design, Modeling and Control of a 3-dof SMA Arm,” Report to CTC, May 31, 2001.
  13. Hashem Ashrafiuon and Mohammad Elahinia, “SMA Actuated Arm Modeling and Control,” Report to CTC, May 31, 2001.
  14. Sridhar Santhanam, “Systems Engineering for Miniature Devices (SEMD) Shape Memory,” Report to CTC, May 31, 2001.
  15. Farbod Fahimi, “Shortest Path and Tracking Control for Single Mobile Robots, and Obstacle Avoidance for a Group of Mobile Robots,” Report to CTC, May 31, 2001.
  16. Getachew Hailu, C. Nataraj and Hashem Ashrafiuon, “The Relative Influence of Biasing and Search Space Size on Learning Behavior,” Report to CTC, October 12, 2001.
  17. C. Nataraj and Bryan Wenzel, “Dynamic Analysis and Control of Wheeled Mobile Devices,” Report to CTC, October 1, 2001.
  18. Farbod Fahimi, “Systems Engineering for Miniature Devices Progress Report, Summer and Fall 2001,” Report to CTC, December 30, 2001.
  19. Masoud Feghhi and C. Nataraj, "Obstacle Avoidance and General Path Planning of Car-like Robots," Report to CTC, May 22, 2002.
  20. Saeed Daroogheha, Kiarash Emami, Mojtaba Eshraghi, Masoud Feghhi, Matthew Smith, Farbod Fahimi, “Mule, SMA and Servo Arm Construction and Software Manual,” Report to CTC, May 22, 2002.

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