JOURNAL PUBLICATIONS
Minor, M. A., and Mukherjee, R., “Under-Actuated Kinematic Structures for Miniature Climbing Robots”, ASME Journal of Mechanical Design, Vol.125, No.2, June 2003, pp.281-291.
Das, T., and Mukherjee, R., “Optimal Trajectory Planning for Hot Air Balloons in Linear Wind Fields”, AIAA Journal of Guidance, Control, and Dynamics, Vol.26, No.3, June 2003, pp.416-424.
Tummala, R. L., Mukherjee, R., Xi, N., Aslam, D., Dulimarta, H., Xiao, J., Minor, M. A., and Dangi, G., “Climbing the Walls: Presenting Two Underactuated Kinematic Designs for Miniature Climbing Robots”, IEEE Robotics and Automation Magazine, Vol.9, No.4, December 2002, pp.10-19.
Mukherjee, R., Minor, M. A., and Pukrushpan, J. T., “Motion Planning for a Spherical Mobile Robot: Revisiting the Classical Ball-Plate Problem”, ASME Journal of Dynamic Systems, Measurement and Control, Vol.124, No.4, December 2002, pp.502-511.
Setiawan, J. D., Mukherjee, R., and Maslen, E. H., “Synchronous Sensor Runout and Unbalance Compensation in Active Magnetic Bearings Using Bias Current Excitation”, ASME Journal of Dynamic Systems, Measurement and Control, Vol.124, No.1, March 2002, pp.14-24.
Setiawan, J. D., Mukherjee, R., and Maslen, E. H., “Adaptive Compensation of Sensor Runout for Magnetic Bearings with Uncertain Parameters: Theory and Experiments”, ASME Journal of Dynamic Systems, Measurement and Control, Vol.123, No.2, June 2001, pp.211-218.
Das, T., and Mukherjee, R., "Dynamic Analysis of Rectilinear Motion of a Self-Propelling Disk with Unbalance Masses", ASME Journal of Applied Mechanics, Vol.68, No.1, January 2001, pp. 58-66.
Mukherjee, R., and Pukrushpan, J. T., "Class of Rotations Induced by Spherical Polygons", AIAA Journal of Guidance, Control and Dynamics, Vol.23, No.4, July 2000, pp. 746-749.
Minor, M., and Mukherjee, R., “A Mechanism for Dexterous End-Effector Placement During Minimally Invasive Surgery”, ASME Journal of Mechanical Design, Vol.141, No.4, December 1999, pp.472-479.
Mukherjee, R., and Rosenberg, R., “Insight into Gyroscopic Coupling Effects in Holonomic Lagrangian Dynamical Systems”, ASME Journal of Applied Mechanics, Vol.66, No.2, June 1999, pp.552-556.
Mukherjee, R., Chen, D., and Song, G., “Feedback Control Strategies for a Nonholonomic Mobile Robot using a Nonlinear Oscillator”, Journal of Robotic Systems, Vol.16, No.4, April 1999, pp.237-248.
Mukherjee, R. and Kamon, M., “Almost-Smooth Time-Invariant Control of Planar Space Multibody Systems”, IEEE Transactions on Robotics and Automation, Vol.15, No.2, April 1999, pp.264-276.
Mukherjee, R., Minor, M., Song, G., and Satava, R., “Optimization of an Articulated Instrument for Enhanced Dexterity in Minimally Invasive Therapy”, Minimally Invasive Therapy and Allied Technologies, Vol.7, No.4, September 1998, pp.335-342.
Song, G., and Mukherjee, R., “A Comparative Study of Conventional Non-Smooth Time-Invariant and Smooth Time-Varying Robust Compensators”, IEEE Transactions on Control Systems Technology, Vol.6, No.4, July 1998, pp.571-576.
Mukherjee, R., Kamon, M., and Senda, K., “Control of Planar Space Robots using Smooth and Time-Invariant Feedback”, Journal of the Robotics Society of Japan, Vol.16, No.3, April 1998, pp.399-406 (in Japanese)
Mukherjee, R., Emond, B. R., and Junkins, J. L., “Optimal Trajectory Planning for Mobile Robots using Jacobian Elliptic Functions”, International Journal of Robotics Research, Vol.16, No.6, December 1997, pp. 826-839.
Nakamura, Y., and Mukherjee, R., “Noetherian Perspective of Eulerian Motion of a Free Rigid Body”, AIAA Journal of Guidance, Control and Dynamics, Vol.20, No.1, January 1997, pp. 193-196.
Mukherjee, R., Christian, T. F., and Thiel, R. A., “An Actuation System for the Control of Multiple Shape Memory Alloy Actuators”, Sensors and Actuators, A. Physical, Vol.55, No.2-3, December 1996, pp.185-196.
Mukherjee, R., “Pseudo-Holonomic Behavior of Planar Space Robots”, AIAA Journal of Guidance, Control, and Dynamics, Vol. 19, No. 1, January 1996, pp. 251-253.
Mukherjee, R., and Anderson, D. P., “A Surface Integral Approach to the Motion Planning of Nonholonomic Systems”, ASME Journal of Dynamic Systems, Measurement and Control, Vol. 116, No. 3, September 1994, pp. 315-325.
Mukherjee, R., and Zurowski, M., “Reorientation of a Structure in Space using a Three Link Rigid Manipulator”, AIAA Journal of Guidance Control and Dynamics, Vol. 17, No. 4, July 1994, pp. 840-847.
Mukherjee, R., and Junkins, J. L., “Invariant Set Analysis of the Hub-Appendage Problem”, AIAA Journal of Guidance, Control and Dynamics, Vol. 16, No. 6, November 1993, pp. 1191-1193.
Mukherjee, R., and Chen, D., “Control of Free-Flying Under-Actuated Space Manipulators to Equilibrium Manifolds”, IEEE Transactions on Robotics and Automation, Vol. 9, No. 5, October 1993, pp. 561-570.
Mukherjee, R., and Chen, D., “Asymptotic Stability Theorem for Autonomous Systems”, AIAA Journal of Guidance, Control, and Dynamics, Vol. 16, No. 5, September 1993, pp. 960-962.
Nakamura Y., and Mukherjee, R., “Exploiting Nonholonomic Redundancy of Space Robots through Hierarchical Lyapunov Functions”, IEEE Transactions on Robotics and Automation, Vol. 9, No. 4, August 1993, pp. 499-506.
Mukherjee, R., and Nakamura, Y., “Formulation and Efficient Computation of Inverse Dynamics of Space Robots”, IEEE Transactions on Robotics and Automation, Vol. 8, No. 3, June 1992, pp. 400-406.
Nakamura, Y., and Mukherjee, R., “Nonholonomic Path Planning of Space Robots via a Bi-Directional Approach”, IEEE Transactions on Robotics and Automation, Vol. 7, No. 4, August 1991, pp. 500 - 514.
BOOK CHAPTERS
Nakamura, Y., and Mukherjee, R., “Nonholonomic Path Planning of Space Robots via a Bi-Directional Approach”, Space Robotics: Dynamics and Control, Eds. Takeo Kanade and Yangsheng Xu, Chap. 5, pp. 101-130.
Mukherjee, R., and Nakamura, Y., “Reorientation of Free-Flying Multibody Structure using Appendage Movement”, Progress in Aeronautics and Astronautics, AIAA publication, Eds. Steven B. Skaar and Carl F. Ruoff, Chap. 13, pp. 259-290.
REFEREED CONFERENCE PUBLICATIONS
Das, T., and Mukherjee, R., “Feedback Stabilization of a Spherical Mobile Robot”, IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, 2002
Das, T., and Mukherjee, R., “Configuration Control of a Rolling Sphere: Application to a Spherical Mobile Robot”, 14th US National Congress on Theoretical and Applied Mechanics, Blacksburg, VA, 2002
Das, T., Mukherjee, R., and Cameron, J., “Optimal Trajectory Control of Hot Air Balloons in Linear Wind Fields”, Proc. 40th AIAA Aerospace Sciences Meeting and Exhibit, Reno, NV, January 2002
Xiao, J., Minor, M., Dullimarta, H., Xi, N., Mukherjee, R., and Tummala, R. L., “Modeling and Control of an Under-Actuated Miniature Crawler Robot”, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, Oct-Nov, 2001
Setiawan, J., Mukherjee, R., and Maslen, E. H., “Synchronous Disturbance Compensation in Active Magnetic Bearings using Bias Current Excitation”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Como. Italy, July, 2001
Das, T., Mukherjee, R., and Yuksel, H., “Design Considerations in the Development of a Spherical Mobile Robot”, Proc. 15th SPIE Annual International Symposium on Aerospace/Defense Sensing, Simulation, and Controls, Orlando, FL, April, 2001
Das, Tuhin K., and Ranjan Mukherjee, "Dynamics of a Self-Propelling Wheel with Three Eccentric Masses", Proc. ASME International Mechanical Engineering Congress and Exposition (IMECE), Dynamics and Controls Division, Orlando, FL, November 2000.
Minor, M., Dullimarta, H., Danghi, G., Mukherjee, R., Tummala, R. L., and Aslam, D., "Design, Implementation, and Evaluation of an Under-Actuated Miniature Biped Climbing Robot", Proc. IEEE/RSJ International Symposium on Intelligent Robots and Systems (IROS), Takamatsu, Japan, October 2000.
Setiawan, J. D., Mukherjee, R., and Maslen, E.H., "Variable Magnetic Stiffness Approach for Simultaneous Sensor Runout and Mass Unbalance Compensation in Active Magnetic Bearings", Proc. 7th. International Symposium on Magnetic Bearings, Zurich, Switzerland, August 2000.
Mukherjee, R., Minor, M., and Pukrushpan, J. T., "Simple Motion Planning Strategies for Spherobot: A Spherical Mobile Robot", Proc. 38th IEEE International Conference on Decision and Control, Phoenix, AZ, December 1999.
Setiawan, J., Mukherjee, R., and Maslen, E. H., "Adaptive Compensation of Sensor Runout for Magnetic Bearings with Uncertain Parameters: Theory and Experiments", 5th International Symposium on Magnetic Suspension Technology, Santa Barbara, CA, December 1999.
Yue, M., Minor, M., Xi, N., and Mukherjee, R., "Kinematic Workspace Analysis of a Miniature Walking Robot", Proc. 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyongju, Korea, October 1999.
Tummala, R. L., Mukherjee, R., Aslam, D., Xi, N., Mahadevan, S., and Weng, J., "Reconfigurable Adaptable Micro-Robot", Proc. 1999 IEEE International Conference on Systems, Man, and Cybernetics, Tokyo, Japan, October 1999.
Setiawan, J. D., Mukherjee, R., Maslen, E., and Song, G., "Adaptive Compensation of Sensor Runout and Mass Unbalance in Magnetic Bearing Systems", Proc. 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA, September 1999.
Mukherjee, R., and Minor, M., "A Simple Motion Planner for a Spherical Mobile Robot", Proc. 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA, September 1999.
Minor, M., and Mukherjee, R., “A Dexterous Manipulator for Minimally Invasive Surgery”, Proc. 1999 IEEE International Conference on Robotics and Automation, Detroit, MI, May 1999.
Kamon, M., and Mukherjee, R., “Asymptotic Feedback Stabilization of Planar Space Multibody Systems using Momentum Preserving Controls”, Proc. 35th AIAA Aerospace Sciences Meeting, Nonlinear Dynamical Systems Symposium, Reno, NE, January 1997 (invited paper).
Mukherjee, R., Song, G., and Satava, R., “An Articulated Manipulator for Enhanced Dexterity in Minimally Invasive Surgery”, Proc. 18th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE-EMBS), Enschede, Netherlands, October-November, 1996.
Mukherjee, R., Chen, D., and Song, G., “Asymptotic Feedback Stabilization of a Nonholonomic Mobile Robot using a Nonlinear Oscillator”, Proc. 1996 IEEE International Conference on Decision and Control, Kobe, Japan, December 1996
Song, G., and Mukherjee, R., “Integrated Adaptive Robust Control of Active Magnetic Bearings”, Proc. 1996 IEEE International Conference on System, Man and Cybernetics, Beijing, China, October 1996
Mukherjee, R., Emond, B. R., and Junkins, J. L., “Optimal Trajectory Planning for Mobile Robots: A Pendulum Analogy”, Proc. International Symposium on Intelligent Robotic Systems (ISIRS), Bangalore, India, November 1995, pp. 471-478.
Mukherjee, R., and Thiel, R. A., “An Actuation System for the Control of Multiple Shape Memory Alloy Actuators”, Proc. 3rd IASTED Conference on Robotics and Manufacturing, Cancun, Mexico, June 1995, pp. 73-76.
Mukherjee, R., “Design of Holonomic Loops for Repeatability in Redundant Manipulators” Proc. 1995 IEEE International Conference on Robotics and Automation, Nagoya, Japan, pp. 2785-2790.
Mukherjee, R., and Zurowski, M., “Pseudo-Holonomic Behavior of Planar Space Robots”, Proc. 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, pp. 2405-2410.
Mukherjee, R., and Jordan, P., “Feedback Control of a Three Link Planar Under-Actuated Manipulator using a “Surge” Velocity”, Proc. 1993 ASME Winter Annual Meeting, AD-Vol. 33, pp. 85-94.
Mukherjee, R., and Zurowski, M., “Attitude Control of a Space Structure using a 3-R Rigid Manipulator”, Proc. 1993 AIAA Guidance, Navigation, and Control Conference, Monterey, CA.
Mukherjee, R., “Reorientation of a Structure in Space using a Three Link Manipulator”, Proc. 1993 IEEE/IROS Conference, Yokohama, Japan, pp. 2079-2086.
Mukherjee, R., “An Invariant Set Analysis of the Hub-Appendage Problem”, Proc. 1993 American Control Conference, San Francisco, CA, pp. 207-209.
Mukherjee, R., “A Surface Integral Approach to the Motion Planning of Nonholonomic Systems”, Proc. 1993 American Control Conference, San Francisco, CA, pp. 1816-1822.
Mukherjee, R., and Anderson, D. P., “Nonholonomic Motion Planning using Stokes's Theorem”, Proc. 1993 IEEE International Conference on Robotics and Automation, Atlanta, GA, Vol. 3, pp. 802-809.
Mukherjee, R., and Chen, D., “Stabilization of Free-Flying Under-Actuated Mechanisms in Space”, Proc. 1992 American Control Conference.
Mukherjee, R., and Nakamura, Y., “An Efficient Algorithm for the Inverse Dynamics Computation of Space Manipulators”, Proc. 1992 IEEE International Conference on Robotics and Automation, pp. 560-565.
Mukherjee, R., and Nakamura Y., “Nonholonomic Redundancy of Space Robots and its utilization via Hierarchical Lyapunov functions”, Proc. 1991 American Control Conference, Boston, MA, June 26-28, 1991, pp. 1491-1496.
Mukherjee, R., and Nakamura, Y., “Space Robot Dynamics and its Efficient Computation”, Proc. International Symposium on Artificial Intelligence, Robotics, and Automation in Space, Kobe, Japan, November 1990, pp 267-270.
Nakamura, Y., and Mukherjee, R., “Nonholonomic Path Planning of Space Robots via Bi-Directional Approach”, Proc. 1990 IEEE International Conference on Robotics and Automation, Cincinnati, OH, pp 1764-1769.
Nakamura, Y., and Mukherjee, R., “Bi-Directional Approach for the Nonholonomic Path Planning of Space Robots”, Proc. 1989 5th International Symposium of Robotics Research, Tokyo, Japan, pp 405-416.
Nakamura, Y., and Mukherjee, R., “Nonholonomic Path Planning of Space Robots”, Proc. 1989 IEEE International Conference on Robotics and Automation, Scottsdale, AZ, pp 1050-1055.
Nakamura, Y., and Mukherjee, R., “Redundancy of Space Manipulators on Free-Flying Vehicle and its Nonholonomic Path Planning”, Proc. 1989 NASA Workshop on Space Telerobotics, JPL, Pasadena, CA. Vol.3, pp 181-190.
PATENTS
Minor, M. A., and Mukherjee, R., “Dexterous Articulated Linkage for Surgical Applications”, US Patent 6,309,403, October 30, 2001
Mukherjee R., “Spherical Mobile Robot”, US Patent 6,289,363, September 11, 2001
Mukherjee, R., and Song, G., “Articulated Manipulator for Minimally Invasive Surgery (AMMIS)”, US Patent 5,810,716, September 22, 1998
Mukherjee, R., and Christian, T. F., “Actuation System for the Control of Multiple Shape Memory Alloy Elements”, US Patent 5,763,979, June 09, 1998