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Journal Articles

Design and Kinematic Analysis of a Novel Series-Parallel Hybrid Finger for Robotic Hands

Thiha Zaw, Dasharadhan Mahalingam, Nicholas Baiata, Aditya Patankar, Nilanjan Chakraborty
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044512.
Paper No: JMR-24-1456
https://doi.org/10.1115/1.4067024
Published Online: November 22, 2024
View Article titled, Design and Kinematic Analysis of a Novel Series-Parallel Hybrid Finger for Robotic Hands
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Topics: Design, Kinematic analysis, Kinematics, Motors, Robotics, Position control, Jacobian matrices
Journal Articles

Deep Learning-Driven Design of Robot Mechanisms

Anurag Purwar, Nilanjan Chakraborty
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Review Articles
J. Comput. Inf. Sci. Eng. December 2023, 23(6): 060811.
Paper No: JCISE-23-1055
https://doi.org/10.1115/1.4062542
Published Online: June 5, 2023
View Article titled, Deep Learning-Driven Design of Robot Mechanisms
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Topics: Artificial neural networks, Design, Robotics
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-72009
https://doi.org/10.1115/DETC2021-72009
View Paper titled, Task Space Planning With Complementarity Constraint-Based Obstacle Avoidance
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71814
https://doi.org/10.1115/DETC2021-71814
View Paper titled, Point-to-Point Path Planning Based on User Guidance and Screw Linear Interpolation
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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 041001.
Paper No: JMR-20-1012
https://doi.org/10.1115/1.4049877
Published Online: April 9, 2021
View Article titled, Modeling and Prediction of Rigid Body Motion With Planar Non-Convex Contact
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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 041005.
Paper No: JMR-20-1242
https://doi.org/10.1115/1.4050098
Published Online: April 9, 2021
View Article titled, Dynamic Simulation-Guided Design of Tumbling Magnetic Microrobots
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22722
https://doi.org/10.1115/DETC2020-22722
View Paper titled, Robust Relative Hand Placement for Bi-Manual Tasks
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97306
https://doi.org/10.1115/DETC2019-97306
View Paper titled, Towards Dynamic Simulation Guided Optimal Design of Tumbling Microrobots
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97945
https://doi.org/10.1115/DETC2019-97945
View Paper titled, Computing Robust Inverse Kinematics Under Uncertainty
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85429
https://doi.org/10.1115/DETC2018-85429
View Paper titled, Rigid Body Dynamic Simulation With Multiple Convex Contact Patches
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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
Journal: Journal of Electrochemical Energy Conversion and Storage
Publisher: ASME
Article Type: Research-Article
J. Electrochem. En. Conv. Stor. February 2018, 15(1): 011004.
Paper No: JEECS-17-1043
https://doi.org/10.1115/1.4037942
Published Online: October 17, 2017
View Article titled, A Three-Dimensional Agglomerate Model of an Anion Exchange Membrane Fuel Cell
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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
Journal: ASME Journal of Heat and Mass Transfer
Publisher: ASME
Article Type: Research-Article
J. Heat Mass Transfer. May 2015, 137(5): 052504.
Paper No: HT-14-1068
https://doi.org/10.1115/1.4029763
Published Online: May 1, 2015
View Article titled, Laminar Natural Convection of Bingham Fluids in Inclined Differentially Heated Square Enclosures Subjected to Uniform Wall Temperatures
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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
Journal: Journal of Energy Resources Technology
Publisher: ASME
Article Type: Research-Article
J. Energy Resour. Technol. May 2015, 137(3): 032201.
Paper No: JERT-14-1093
https://doi.org/10.1115/1.4028693
Published Online: October 21, 2014
View Article titled, Modeling of Entropy Generation in Turbulent Premixed Flames for Reynolds Averaged Navier–Stokes Simulations: A Direct Numerical Simulation Analysis
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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
Journal: ASME Journal of Heat and Mass Transfer
Publisher: ASME
Article Type: Research-Article
J. Heat Mass Transfer. December 2012, 134(12): 122504.
https://doi.org/10.1115/1.4007123
Published Online: December 8, 2012
View Article titled, Laminar Natural Convection of Power-Law Fluids in a Square Enclosure With Differentially Heated Sidewalls Subjected to Constant Wall Heat Flux
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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
Journal: Journal of Engineering for Gas Turbines and Power
Publisher: ASME
Article Type: Research Papers
J. Eng. Gas Turbines Power. May 2012, 134(5): 051502.
https://doi.org/10.1115/1.4005214
Published Online: February 29, 2012
View Article titled, Displacement Speed Statistics for Stratified Mixture Combustion in an Igniting Turbulent Planar Jet
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35526
https://doi.org/10.1115/DETC2007-35526
View Paper titled, An Implicit Time-Stepping Method for Quasi-Rigid Multibody Systems With Intermittent Contact
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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
Publisher: American Society of Mechanical Engineers
Paper No: FEDSM2003-45774
https://doi.org/10.1115/FEDSM2003-45774
View Paper titled, Modelling of Turbulent Transport in Laser Melt Pools
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2003/DAC-48846
https://doi.org/10.1115/DETC2003/DAC-48846
View Paper titled, Kinematics of Wheeled Mobile Robots With Toroidal Wheels on Uneven Terrain
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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
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2003-55420
https://doi.org/10.1115/IMECE2003-55420
View Paper titled, Modelling of Turbulent Transport in Laser Surface Alloying
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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
Journal: ASME Journal of Heat and Mass Transfer
Publisher: ASME
Article Type: Research Papers
J. Heat Mass Transfer. August 2005, 127(8): 848–862.
https://doi.org/10.1115/1.1928913
Published Online: March 3, 2005
View Article titled, Influences of Sign of Surface Tension Coefficient on Turbulent Weld Pool Convection in a Gas Tungsten Arc Welding (GTAW) Process: A Comparative Study
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Topics: Convection, Surface tension, Turbulence, Gas tungsten arc welding