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Journal Articles

Physics Informed Synthetic Image Generation for Deep Learning-Based Detection of Wrinkles and Folds

Omey M. Manyar, Junyan Cheng, Reuben Levine, Vihan Krishnan, Jernej Barbič, Satyandra K. Gupta

J. Comput. Inf. Sci. Eng. June 2023, 23(3): 030903.

Paper No: JCISE-22-1284

DOI: https://doi.org/10.1115/1.4056295

Published Online: December 9, 2022

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Topics: Composite materials, Failure, Flaw detection, Physics, Pipelines, Texture (Materials), Manufacturing, Simulation, Carbon fibers, Image segmentation

Journal Articles

Informed Sampling-Based Planning to Enable Legged Robots to Safely Negotiate Permeable Obstacles

Yiyu Chen, Lingchen Lian, Yu-Hsiu Hsieh, Quan Nguyen, Satyandra K. Gupta

J. Mechanisms Robotics. October 2023, 15(5): 051002.

Paper No: JMR-22-1230

DOI: https://doi.org/10.1115/1.4055625

Published Online: November 24, 2022

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Topics: Robots, Safety, Collisions (Physics), Trajectories (Physics), Simulation

Proceedings Papers

Finding Optimal Sequence of Mobile Manipulator Placements for Automated Coverage Planning of Large Complex Parts

Rishi Malhan, Satyandra K. Gupta

Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A006, August 14–17, 2022

Paper No: DETC2022-90105

DOI: https://doi.org/10.1115/DETC2022-90105

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Topics: Manipulators, Sensors, Robotics, Uncertainty, Algorithms, Computation, Construction, Degrees of freedom, Geometry, Kinematics

Proceedings Papers

A Sequential Decision Making Approach to Learn Process Parameters by Conducting Experiments on Sacrificial Objects

Yeo Jung Yoon, Satyandra K. Gupta

Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A004, August 14–17, 2022

Paper No: DETC2022-89810

DOI: https://doi.org/10.1115/DETC2022-89810

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Topics: Decision making, Computation, Manufacturing, Metamodeling, Painting, Risk, Robotics, Sprays, Tradeoffs

Proceedings Papers

Synthetic Image Assisted Deep Learning Framework for Detecting Defects During Composite Sheet Layup

Omey M. Manyar, Junyan Cheng, Reuben Levine, Vihan Krishnan, Jernej Barbič, Satyandra K. Gupta

Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A005, August 14–17, 2022

Paper No: DETC2022-90084

DOI: https://doi.org/10.1115/DETC2022-90084

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Topics: Composite materials, Flaw detection, Manufacturing, Machinery, Simulation, Trains

Proceedings Papers

Visual Servo Based Trajectory Planning for Fast and Accurate Sheet Pick and Place Operations

Omey M. Manyar, Alec Kanyuck, Bharat Deshkulkarni, Satyandra K. Gupta

Proc. ASME. MSEC2022, Volume 1: Additive Manufacturing; Biomanufacturing; Life Cycle Engineering; Manufacturing Equipment and Automation; Nano/Micro/Meso Manufacturing, V001T04A019, June 27–July 1, 2022

Paper No: MSEC2022-85952

DOI: https://doi.org/10.1115/MSEC2022-85952

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Topics: Servomechanisms, Trajectories (Physics), Machinery, Robots, Suction, Textiles, Aerospace industry, Composite materials, Control algorithms, Errors

Proceedings Papers

Using an Articulated Industrial Robot to Perform Conformal Deposition With Mesoscale Features

Ying Cai, Prahar M. Bhatt, Hangbo Zhao, Satyandra K. Gupta

Paper No: MSEC2022-85950

DOI: https://doi.org/10.1115/MSEC2022-85950

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Topics: Manipulators, Printing, Robots, Additive manufacturing, Calibration, Collisions (Physics), Degrees of freedom, Inks

Proceedings Papers

Robot Trajectory Generation for Multi-Axis Wire Arc Additive Manufacturing

Prahar M. Bhatt, Zachary McNulty, Satyandra K. Gupta

Paper No: MSEC2022-85701

DOI: https://doi.org/10.1115/MSEC2022-85701

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Topics: Additive manufacturing, Robots, Trajectories (Physics), Wire, Manipulators, Metals, Sensors, Arc welding, Composite materials

Journal Articles

A Survey of Wheeled Mobile Manipulation: A Decision-Making Perspective

Shantanu Thakar, Srivatsan Srinivasan, Sarah Al-Hussaini, Prahar M. Bhatt, Pradeep Rajendran, Yeo Jung Yoon, Neel Dhanaraj, Rishi K. Malhan, Matthias Schmid, Venkat N. Krovi, Satyandra K. Gupta

J. Mechanisms Robotics. April 2023, 15(2): 020801.

Paper No: JMR-21-1444

DOI: https://doi.org/10.1115/1.4054611

Published Online: July 19, 2022

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Topics: Manipulators, Robots, Path planning, Decision making

Journal Articles

Seeking Human Help to Manage Plan Failure Risks in Semi-Autonomous Mobile Manipulation

Sarah Al-Hussaini, Neel Dhanaraj, Jason M. Gregory, Rex Jomy Joseph, Shantanu Thakar, Brual C. Shah, Jeremy A. Marvel, Satyandra K. Gupta

J. Comput. Inf. Sci. Eng. October 2022, 22(5): 050906.

Paper No: JCISE-21-1287

DOI: https://doi.org/10.1115/1.4054088

Published Online: April 13, 2022

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Topics: Collisions (Physics), Failure, Manipulators, Probability, Risk, Robots, Uncertainty, Grasping

Journal Articles

Algorithms for Improving Speed and Accuracy of Automated Three-Dimensional Reconstruction With a Depth Camera Mounted on An Industrial Robot

Rishi Malhan, Rex Jomy Joseph, Prahar M. Bhatt, Brual Shah, Satyandra K. Gupta

J. Comput. Inf. Sci. Eng. June 2022, 22(3): 031012.

Paper No: JCISE-21-1288

DOI: https://doi.org/10.1115/1.4053272

Published Online: February 7, 2022

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Topics: Algorithms, Errors, Imaging, Robots, Trajectories (Physics), Uncertainty, Calibration

Proceedings Papers

Learning to Improve Performance During Non-Repetitive Tasks Performed by Robots

Yeo Jung Yoon, Satyandra K. Gupta

Proc. ASME. IDETC-CIE2021, Volume 2: 41st Computers and Information in Engineering Conference (CIE), V002T02A024, August 17–19, 2021

Paper No: DETC2021-67627

DOI: https://doi.org/10.1115/DETC2021-67627

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Topics: Robots, Construction, Decision making, Experimental design, Optimization, Robotics, Simulation, Tradeoffs

Proceedings Papers

Fast, Accurate, and Automated 3D Reconstruction Using a Depth Camera Mounted on an Industrial Robot

Rishi Malhan, Rex Jomy Joseph, Prahar M. Bhatt, Brual Shah, Satyandra K. Gupta

Proc. ASME. IDETC-CIE2021, Volume 2: 41st Computers and Information in Engineering Conference (CIE), V002T02A017, August 17–19, 2021

Paper No: DETC2021-71725

DOI: https://doi.org/10.1115/DETC2021-71725

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Topics: Robots, Cycles, Calibration, Errors, Hardware, Manufacturing, Redundancy (Engineering), Robot motion, Uncertainty

Proceedings Papers

A Semi-Autonomous Quadruped Robot for Performing Disinfection in Cluttered Environments

Yiyu Chen, Abhinav Pandey, Zhiwei Deng, Anthony Nguyen, Ruiqi Wang, Pornrawee Thonapalin, Quan Nguyen, Satyandra K. Gupta

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A024, August 17–19, 2021

Paper No: DETC2021-70850

DOI: https://doi.org/10.1115/DETC2021-70850

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Topics: Robots, Sprays, Computer software, Computers, Design, Feedback, Force control, Image processing, Lasers, Pandemics

Proceedings Papers

Using Unsupervised Learning for Regulating Deposition Speed During Robotic Wire Arc Additive Manufacturing

Ashish Kulkarni, Prahar M. Bhatt, Alec Kanyuck, Satyandra K. Gupta

Proc. ASME. IDETC-CIE2021, Volume 2: 41st Computers and Information in Engineering Conference (CIE), V002T02A045, August 17–19, 2021

Paper No: DETC2021-71865

DOI: https://doi.org/10.1115/DETC2021-71865

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Topics: Additive manufacturing, Robotics, Wire, Corners (Structural elements), Metals, Trains, Dynamics (Mechanics), Electric arcs, Failure, Geometry

Proceedings Papers

A Web-Based Process/Material Advisory System

Yusheng Chen, Satyandra K. Gupta, Shaw Feng

Proc. ASME. IMECE2000, Recent Advances in Design for Manufacture (DFM), 105-113, November 5–10, 2000

Paper No: IMECE2000-1056

DOI: https://doi.org/10.1115/IMECE2000-1056

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Topics: Algorithms, Conceptual design, Design, Uncertainty

Journal Articles

Automated Planning for Robotic Multi-Resolution Additive Manufacturing

Prahar M. Bhatt, Ashish Kulkarni, Rishi K. Malhan, Brual C. Shah, Yeo Jung Yoon, Satyandra K. Gupta

J. Comput. Inf. Sci. Eng. April 2022, 22(2): 021006.

Paper No: JCISE-21-1157

DOI: https://doi.org/10.1115/1.4052083

Published Online: October 13, 2021

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Topics: Algorithms, Collisions (Physics), Extruding, Manipulators, Nozzles, Resolution (Optics), Additive manufacturing, Surface quality

Journal Articles

A Digital Twin for Automated Layup of Prepreg Composite Sheets

Yi-Wei Chen, Rex Jomy Joseph, Alec Kanyuck, Shahwaz Khan, Rishi K. Malhan, Omey M. Manyar, Zachary McNulty, Bohan Wang, Jernej Barbič, Satyandra K. Gupta

J. Manuf. Sci. Eng. April 2022, 144(4): 041010.

Paper No: MANU-21-1352

DOI: https://doi.org/10.1115/1.4052132

Published Online: September 27, 2021

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Topics: Composite materials, Digital twin, Errors, Simulation, Textiles, Shear (Mechanics), Parameter estimation, Canvas

Proceedings Papers

A Digital Twin for Automated Layup of Prepreg Composite Sheets

Yi-Wei Chen, Rex Jomy Joseph, Alec Kanyuck, Shahwaz Khan, Rishi K. Malhan, Omey M. Manyar, Zachary McNulty, Bohan Wang, Jernej Barbič, Satyandra K. Gupta

Proc. ASME. MSEC2021, Volume 1: Additive Manufacturing; Advanced Materials Manufacturing; Biomanufacturing; Life Cycle Engineering; Manufacturing Equipment and Automation, V001T05A016, June 21–25, 2021

Paper No: MSEC2021-63900

DOI: https://doi.org/10.1115/MSEC2021-63900

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Topics: Composite materials, Finite element analysis, Simulation, Textiles, Canvas, Deformation, Engineering simulation, Errors, Hardening (Curing), Laminates

Proceedings Papers

Trajectory-Dependent Compensation Scheme to Reduce Manipulator Execution Errors for Manufacturing Applications

Prahar M. Bhatt, Rishi K. Malhan, Pradeep Rajendran, Aniruddha V. Shembekar, Satyandra K. Gupta

Paper No: MSEC2021-63617

DOI: https://doi.org/10.1115/MSEC2021-63617

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Topics: Errors, Manipulators, Manufacturing, Trajectories (Physics), Control equipment, End effectors, Robots

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Supplemental Material

Physics Informed Synthetic Image Generation for Deep Learning-Based Detection of Wrinkles and Folds

Informed Sampling-Based Planning to Enable Legged Robots to Safely Negotiate Permeable Obstacles

Finding Optimal Sequence of Mobile Manipulator Placements for Automated Coverage Planning of Large Complex Parts

A Sequential Decision Making Approach to Learn Process Parameters by Conducting Experiments on Sacrificial Objects

Synthetic Image Assisted Deep Learning Framework for Detecting Defects During Composite Sheet Layup

Visual Servo Based Trajectory Planning for Fast and Accurate Sheet Pick and Place Operations

Using an Articulated Industrial Robot to Perform Conformal Deposition With Mesoscale Features

Robot Trajectory Generation for Multi-Axis Wire Arc Additive Manufacturing

A Survey of Wheeled Mobile Manipulation: A Decision-Making Perspective

Seeking Human Help to Manage Plan Failure Risks in Semi-Autonomous Mobile Manipulation

Algorithms for Improving Speed and Accuracy of Automated Three-Dimensional Reconstruction With a Depth Camera Mounted on An Industrial Robot

Learning to Improve Performance During Non-Repetitive Tasks Performed by Robots

Fast, Accurate, and Automated 3D Reconstruction Using a Depth Camera Mounted on an Industrial Robot

A Semi-Autonomous Quadruped Robot for Performing Disinfection in Cluttered Environments

Using Unsupervised Learning for Regulating Deposition Speed During Robotic Wire Arc Additive Manufacturing

A Web-Based Process/Material Advisory System

Automated Planning for Robotic Multi-Resolution Additive Manufacturing

A Digital Twin for Automated Layup of Prepreg Composite Sheets

A Digital Twin for Automated Layup of Prepreg Composite Sheets

Trajectory-Dependent Compensation Scheme to Reduce Manipulator Execution Errors for Manufacturing Applications

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