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Proceedings Papers

Task Space Planning With Complementarity Constraint-Based Obstacle Avoidance

Anirban Sinha, Anik Sarker, Nilanjan Chakraborty

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A012, August 17–19, 2021

Paper No: DETC2021-72009

DOI: https://doi.org/10.1115/DETC2021-72009

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Topics: Collisions (Physics), End effectors, Interpolation, Kinematics, Path planning, Robots, Screws, Simulation, Space utilization (Design)

Proceedings Papers

Point-to-Point Path Planning Based on User Guidance and Screw Linear Interpolation

Riddhiman Laha, Anjali Rao, Luis F. C. Figueredo, Qing Chang, Sami Haddadin, Nilanjan Chakraborty

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A010, August 17–19, 2021

Paper No: DETC2021-71814

DOI: https://doi.org/10.1115/DETC2021-71814

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Topics: Interpolation, Kinematics, Path planning, Screws, Robots, Trajectories (Physics), Assembly lines, Generators, Manufacturing, Redundancy (Engineering)

Journal Articles

Modeling and Prediction of Rigid Body Motion With Planar Non-Convex Contact

Jiayin Xie, Nilanjan Chakraborty

J. Mechanisms Robotics. August 2021, 13(4): 041001.

Paper No: JMR-20-1012

DOI: https://doi.org/10.1115/1.4049877

Published Online: April 9, 2021

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Topics: Equations of motion, Friction, Hull, Modeling, Simulation, Dynamic models, Rigid-body mechanisms, Collisions (Physics), Impulse (Physics), Kinematics

Journal Articles

Dynamic Simulation-Guided Design of Tumbling Magnetic Microrobots

Jiayin Xie, Chenghao Bi, David J. Cappelleri, Nilanjan Chakraborty

J. Mechanisms Robotics. August 2021, 13(4): 041005.

Paper No: JMR-20-1242

DOI: https://doi.org/10.1115/1.4050098

Published Online: April 9, 2021

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Topics: Design, Dynamic models, Errors, Manufacturing, Robots, Simulation, Geometry, Aluminum, Adhesives, Magnetization

Proceedings Papers

Robust Relative Hand Placement for Bi-Manual Tasks

Anirban Sinha, Nilanjan Chakraborty

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A057, August 17–19, 2020

Paper No: DETC2020-22722

DOI: https://doi.org/10.1115/DETC2020-22722

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Topics: Computer simulation, Degrees of freedom, Errors, Kinematics, Manufacturing, Performance, Probability, Robotics, Robots

Proceedings Papers

Towards Dynamic Simulation Guided Optimal Design of Tumbling Microrobots

Jiayin Xie, Chenghao Bi, David J. Cappelleri, Nilanjan Chakraborty

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A057, August 18–21, 2019

Paper No: DETC2019-97306

DOI: https://doi.org/10.1115/DETC2019-97306

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Topics: Design, Simulation, Robots, Shapes, Adhesion, Errors, Friction

Proceedings Papers

Computing Robust Inverse Kinematics Under Uncertainty

Anirban Sinha, Nilanjan Chakraborty

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A065, August 18–21, 2019

Paper No: DETC2019-97945

DOI: https://doi.org/10.1115/DETC2019-97945

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Topics: Kinematics, Uncertainty, Errors, Redundant manipulators, Robots, End effectors, Probability, Robot motion, Robotics, Simulation

Proceedings Papers

Rigid Body Dynamic Simulation With Multiple Convex Contact Patches

Jiayin Xie, Nilanjan Chakraborty

Proc. ASME. IDETC-CIE2018, Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T09A002, August 26–29, 2018

Paper No: DETC2018-85429

DOI: https://doi.org/10.1115/DETC2018-85429

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Topics: Simulation, Impulse (Physics), Equations of motion, Simulation results

Journal Articles

A Three-Dimensional Agglomerate Model of an Anion Exchange Membrane Fuel Cell

Bruno S. Machado, Nilanjan Chakraborty, Mohamed Mamlouk, Prodip K. Das

J. Electrochem. En. Conv. Stor. February 2018, 15(1): 011004.

Paper No: JEECS-17-1043

DOI: https://doi.org/10.1115/1.4037942

Published Online: October 17, 2017

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Topics: Anodes, Catalysts, Fuel cells, Membranes, Overvoltage, Water, Temperature, Transportation systems, Diffusion (Physics), Oxygen

Journal Articles

Laminar Natural Convection of Bingham Fluids in Inclined Differentially Heated Square Enclosures Subjected to Uniform Wall Temperatures

Şahin Yİğİt, Robert J. Poole, Nilanjan Chakraborty

J. Heat Transfer. May 2015, 137(5): 052504.

Paper No: HT-14-1068

DOI: https://doi.org/10.1115/1.4029763

Published Online: May 1, 2015

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Topics: Fluids, Natural convection, Rayleigh number, Wall temperature

Journal Articles

Modeling of Entropy Generation in Turbulent Premixed Flames for Reynolds Averaged Navier–Stokes Simulations: A Direct Numerical Simulation Analysis

Nilanjan Chakraborty

J. Energy Resour. Technol. May 2015, 137(3): 032201.

Paper No: JERT-14-1093

DOI: https://doi.org/10.1115/1.4028693

Published Online: October 21, 2014

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Topics: Entropy, Flames, Modeling, Simulation, Turbulence

Journal Articles

Laminar Natural Convection of Power-Law Fluids in a Square Enclosure With Differentially Heated Sidewalls Subjected to Constant Wall Heat Flux

Osman Turan, Anuj Sachdeva, Robert J. Poole, Nilanjan Chakraborty

J. Heat Transfer. December 2012, 134(12): 122504.

DOI: https://doi.org/10.1115/1.4007123

Published Online: December 8, 2012

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Topics: Fluids, Heat flux, Natural convection, Rayleigh number, Boundary-value problems, Temperature, Heat conduction, Convection

Journal Articles

Displacement Speed Statistics for Stratified Mixture Combustion in an Igniting Turbulent Planar Jet

Henrik Hesse, Sean P. Malkeson, Nilanjan Chakraborty

J. Eng. Gas Turbines Power. May 2012, 134(5): 051502.

DOI: https://doi.org/10.1115/1.4005214

Published Online: February 29, 2012

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Topics: Combustion, Density, Displacement, Flames, Statistics, Turbulence, Fuels, Diffusion (Physics), Ignition

Proceedings Papers

An Implicit Time-Stepping Method for Quasi-Rigid Multibody Systems With Intermittent Contact

Nilanjan Chakraborty, Stephen Berard, Srinivas Akella, Jeff Trinkle

Proc. ASME. IDETC-CIE2007, Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C, 455-464, September 4–7, 2007

Paper No: DETC2007-35526

DOI: https://doi.org/10.1115/DETC2007-35526

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Topics: Algebra, Dampers, Deflection, Deformation, Friction, Multibody systems, Springs

Proceedings Papers

Modelling of Turbulent Transport in Laser Melt Pools

Nilanjan Chakraborty, Suman Chakraborty

Proc. ASME. FEDSM2003, Volume 1: Fora, Parts A, B, C, and D, 2417-2424, July 6–10, 2003

Paper No: FEDSM2003-45774

DOI: https://doi.org/10.1115/FEDSM2003-45774

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Topics: Lasers, Modeling, Turbulence, Simulation, Convection, Melting, Enthalpy, Mechanical properties, Metals, Performance

Proceedings Papers

Kinematics of Wheeled Mobile Robots With Toroidal Wheels on Uneven Terrain

Nilanjan Chakraborty, Ashitava Ghosal

Proc. ASME. IDETC-CIE2003, Volume 2: 29th Design Automation Conference, Parts A and B, 1331-1341, September 2–6, 2003

Paper No: DETC2003/DAC-48846

DOI: https://doi.org/10.1115/DETC2003/DAC-48846

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Topics: Kinematics, Mobile robots, Wheels, Degrees of freedom, Differential equations, Disks, Geometry, Kinematic analysis, Simulation results, Vehicles

Proceedings Papers

Modelling of Turbulent Transport in Laser Surface Alloying

Nilanjan Chakraborty, Dipankar Chatterjee, Suman Chakraborty

Proc. ASME. IMECE2003, Fluids Engineering, 59-68, November 15–21, 2003

Paper No: IMECE2003-55420

DOI: https://doi.org/10.1115/IMECE2003-55420

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Topics: Lasers, Modeling, Turbulence

Journal Articles

Influences of Sign of Surface Tension Coefficient on Turbulent Weld Pool Convection in a Gas Tungsten Arc Welding (GTAW) Process: A Comparative Study

Nilanjan Chakraborty, Suman Chakraborty

J. Heat Transfer. August 2005, 127(8): 848–862.

DOI: https://doi.org/10.1115/1.1928913

Published Online: March 3, 2005

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Topics: Convection, Surface tension, Turbulence, Gas tungsten arc welding

Journal Articles

Dynamic Modeling and Simulation of a Wheeled Mobile Robot for Traversing Uneven Terrain Without Slip

Nilanjan Chakraborty, Ashitava Ghosal

J. Mech. Des. September 2005, 127(5): 901–909.

DOI: https://doi.org/10.1115/1.1867503

Published Online: October 13, 2004

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Topics: Equations of motion, Mobile robots, Simulation, Wheels, Vehicles

Journal citation

NARROW

Task Space Planning With Complementarity Constraint-Based Obstacle Avoidance

Point-to-Point Path Planning Based on User Guidance and Screw Linear Interpolation

Modeling and Prediction of Rigid Body Motion With Planar Non-Convex Contact

Dynamic Simulation-Guided Design of Tumbling Magnetic Microrobots

Robust Relative Hand Placement for Bi-Manual Tasks

Towards Dynamic Simulation Guided Optimal Design of Tumbling Microrobots

Computing Robust Inverse Kinematics Under Uncertainty

Rigid Body Dynamic Simulation With Multiple Convex Contact Patches

A Three-Dimensional Agglomerate Model of an Anion Exchange Membrane Fuel Cell

Laminar Natural Convection of Bingham Fluids in Inclined Differentially Heated Square Enclosures Subjected to Uniform Wall Temperatures

Modeling of Entropy Generation in Turbulent Premixed Flames for Reynolds Averaged Navier–Stokes Simulations: A Direct Numerical Simulation Analysis

Laminar Natural Convection of Power-Law Fluids in a Square Enclosure With Differentially Heated Sidewalls Subjected to Constant Wall Heat Flux

Displacement Speed Statistics for Stratified Mixture Combustion in an Igniting Turbulent Planar Jet

An Implicit Time-Stepping Method for Quasi-Rigid Multibody Systems With Intermittent Contact

Modelling of Turbulent Transport in Laser Melt Pools

Kinematics of Wheeled Mobile Robots With Toroidal Wheels on Uneven Terrain

Modelling of Turbulent Transport in Laser Surface Alloying

Influences of Sign of Surface Tension Coefficient on Turbulent Weld Pool Convection in a Gas Tungsten Arc Welding (GTAW) Process: A Comparative Study

Dynamic Modeling and Simulation of a Wheeled Mobile Robot for Traversing Uneven Terrain Without Slip

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