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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Review Articles
J. Mechanisms Robotics. April 2023, 15(2): 020801.
Paper No: JMR-21-1444
https://doi.org/10.1115/1.4054611
Published Online: July 19, 2022
View Article titled, A Survey of Wheeled Mobile Manipulation: A Decision-Making Perspective
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Topics: Manipulators, Robots, Path planning, Decision making
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
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Research Papers
J. Comput. Inf. Sci. Eng. April 2022, 22(2): 021006.
Paper No: JCISE-21-1157
https://doi.org/10.1115/1.4052083
Published Online: October 13, 2021
View Article titled, Automated Planning for Robotic Multi-Resolution Additive Manufacturing
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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
Journal: Journal of Manufacturing Science and Engineering
Publisher: ASME
Article Type: Research Papers
J. Manuf. Sci. Eng. April 2022, 144(4): 041010.
Paper No: MANU-21-1352
https://doi.org/10.1115/1.4052132
Published Online: September 27, 2021
View Article titled, A Digital Twin for Automated Layup of Prepreg Composite Sheets
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Topics: Composite materials, Digital twin, Errors, Simulation, Textiles, Shear (Mechanics), Parameter estimation, Canvas
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
Proc. ASME. MSEC2021, Volume 1: Additive Manufacturing; Advanced Materials Manufacturing; Biomanufacturing; Life Cycle Engineering; Manufacturing Equipment and Automation, V001T05A009, June 21–25, 2021
Publisher: American Society of Mechanical Engineers
Paper No: MSEC2021-63617
https://doi.org/10.1115/MSEC2021-63617
View Paper titled, Trajectory-Dependent Compensation Scheme to Reduce Manipulator Execution Errors for Manufacturing Applications
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Topics: Errors, Manipulators, Manufacturing, Trajectories (Physics), Control equipment, End effectors, Robots
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
Publisher: American Society of Mechanical Engineers
Paper No: MSEC2021-63900
https://doi.org/10.1115/MSEC2021-63900
View Paper titled, A Digital Twin for Automated Layup of Prepreg Composite Sheets
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Topics: Composite materials, Finite element analysis, Simulation, Textiles, Canvas, Deformation, Engineering simulation, Errors, Hardening (Curing), Laminates
Journal Articles

Image-Based Surface Defect Detection Using Deep Learning: A Review

Prahar M. Bhatt, Rishi K. Malhan, Pradeep Rajendran, Brual C. Shah, Shantanu Thakar, Yeo Jung Yoon, Satyandra K. Gupta
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Review Articles
J. Comput. Inf. Sci. Eng. August 2021, 21(4): 040801.
Paper No: JCISE-20-1181
https://doi.org/10.1115/1.4049535
Published Online: February 9, 2021
View Article titled, Image-Based Surface Defect Detection Using Deep Learning: A Review
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Topics: Flaw detection, Artificial neural networks
Proceedings Papers

Incorporating Tool Contact Considerations in Tool-Path Planning for Robotic Operations

Prahar M. Bhatt, Cheng Gong, Ariyan M. Kabir, Rishi K. Malhan, Brual C. Shah, Satyandra K. Gupta
Proc. ASME. MSEC2020, Volume 1: Additive Manufacturing; Advanced Materials Manufacturing; Biomanufacturing; Life Cycle Engineering; Manufacturing Equipment and Automation, V001T05A018, September 3, 2020
Publisher: American Society of Mechanical Engineers
Paper No: MSEC2020-8522
https://doi.org/10.1115/MSEC2020-8522
View Paper titled, Incorporating Tool Contact Considerations in Tool-Path Planning for Robotic Operations
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Topics: Algorithms, Degrees of freedom, Generators, Geometry, Manipulators, Manufacturing, Path planning, Robotics, Trajectories (Physics)
Proceedings Papers

Determining Feasible Robot Placements in Robotic Cells for Composite Prepreg Sheet Layup

Rishi K. Malhan, Ariyan M. Kabir, Brual Shah, Timotei Centea, Satyandra K. Gupta
Proc. ASME. MSEC2019, Volume 1: Additive Manufacturing; Manufacturing Equipment and Systems; Bio and Sustainable Manufacturing, V001T02A025, June 10–14, 2019
Publisher: American Society of Mechanical Engineers
Paper No: MSEC2019-3003
https://doi.org/10.1115/MSEC2019-3003
View Paper titled, Determining Feasible Robot Placements in Robotic Cells for Composite Prepreg Sheet Layup
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Topics: Composite materials, Robotics, Robots, Algorithms, Design, Manufacturing, Mechanical properties
Proceedings Papers

Computational Foundations for Using Three Degrees of Freedom Build Platforms to Enable Supportless Extrusion-Based Additive Manufacturing

Prahar M. Bhatt, Rishi K. Malhan, Satyandra K. Gupta
Proc. ASME. MSEC2019, Volume 1: Additive Manufacturing; Manufacturing Equipment and Systems; Bio and Sustainable Manufacturing, V001T02A026, June 10–14, 2019
Publisher: American Society of Mechanical Engineers
Paper No: MSEC2019-3024
https://doi.org/10.1115/MSEC2019-3024
View Paper titled, Computational Foundations for Using Three Degrees of Freedom Build Platforms to Enable Supportless Extrusion-Based Additive Manufacturing
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Topics: Additive manufacturing, Degrees of freedom, Extruding, Printing, Shapes, Surface roughness
Proceedings Papers

Robotic Finishing of Interior Regions of Geometrically Complex Parts

Ariyan M. Kabir, Aniruddha V. Shembekar, Rishi K. Malhan, Rohil S. Aggarwal, Joshua D. Langsfeld, Brual C. Shah, Satyandra K. Gupta
Proc. ASME. MSEC2018, Volume 3: Manufacturing Equipment and Systems, V003T02A005, June 18–22, 2018
Publisher: American Society of Mechanical Engineers
Paper No: MSEC2018-6624
https://doi.org/10.1115/MSEC2018-6624
View Paper titled, Robotic Finishing of Interior Regions of Geometrically Complex Parts
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Topics: Finishing, Robotics, Robots, Algorithms, Computer programming, Computer-aided design, Decision making, Manufacturing, Risk, Surface finishing
Proceedings Papers

Integrating Impedance Control and Learning Based Search Scheme for Robotic Assemblies Under Uncertainty

Rishi K. Malhan, Yash Shahapurkar, Ariyan M. Kabir, Brual Shah, Satyandra K. Gupta
Proc. ASME. MSEC2018, Volume 3: Manufacturing Equipment and Systems, V003T02A006, June 18–22, 2018
Publisher: American Society of Mechanical Engineers
Paper No: MSEC2018-6626
https://doi.org/10.1115/MSEC2018-6626
View Paper titled, Integrating Impedance Control and Learning Based Search Scheme for Robotic Assemblies Under Uncertainty
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