Robotic Systems Lab - Publications

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    Journal Publications

    1.  Engeberg, E., Minor, M.A., Meek, S.G. “Hybrid Force-Velocity Control of a Prosthetic Hand,”  IEEE Trans. Biomedical Eng., in press.

    2. Kim, Y., Minor, M. A., “Path Manifold Based Kinematic Control of Wheeled Mobile Robots Considering Physical Constraints” International Journal of Robotics Research, Vol 26, No 9, pp 755-75, 2007.

    3. Minor, M.A., Merrell, R., “Instrumentation and Algorithms for Posture Estimation in Compliant Framed Modular Mobile Robotic Systems” International Journal of Robotics Research, Vol. 26, No. 5, pp 491-512, May 2007.

    4. Minor, M.A., Hirschi, C.R., "Design and Evaluation of an Automated Tether Management System for Extravehicular Activities," Journal of Field Robotics, Vol. 24, No 4, pp 311-337, April 2007.

    5. Zhu, X., Kim, Y., Merrell, R., Minor, M.A., “Cooperative Motion Control and Sensing Architecture in Compliant Framed Modular Mobile Robots,” IEEE Trans. Rob., Vol 23, No. 5, pp 1095-1101, October2007.

    6. Zhu, X., Minor, M. A., Park, S-Y., "Distributed Robust Control of Compliant Framed Wheeled Modular Mobile Robots," ASME Journal of Dynamic Systems, Measurement, and Control,  Vol. 128, No. 3, pp 489-498, September 2006.

    7. Minor, M.A., Albiston, B.W., Schwensen, C.L., “Simplified Motion Control for Compliant Framed Wheeled Mobile Robots,” IEEE Transactions on Robotics, Vol 22, No. 3, pp 491-506, June 2006.

    8. Norton, A., Minor, M.A., "Pneumatic Microactuator Powered by the Deflagration of Sodium Azide," IEEE/ASME Journal of Microelectromechanical Systems, Vol 15, No 2, pp. 344-354, April 2006.

    9. Arora, D., Minor. M. A., Skliar, M. Roemer, R. B., “Control of Thermal Therapies With Moving Power Deposition Field,” Physics in Medicine and Biology, Vol. 51, pp. 1201–1219, 2006.

    10. Krosuri, S., Minor, M.A., "Design, Modeling, Control, and Evaluation of a Miniature Hybrid Hip Climbing Robot," International Journal of Robotics Research, Vol. 24, No. 12, p1033-1053, Dec. 2005.

    11. Xiao, J., Xi, N., Dulimarta, H., Tummala, R.L., Minor, M., Mukherjee, R.,  "Modeling, Control, and Motion Planning of a Climbing Microrobot," Integrated Computer-Aided Engineering, Vol. 11, No. 4, pp. 289-307, 2004.

    12. Minor, M.A., Mukherjee, R., "Underactuated Kinematic Structures for Miniature Climbing Robots," ASME Journal of Mechanical Design, Vol.125, No.2, pp.281-91, 2003.

    13. Mukherjee, R, Minor, M.A., Pukrushpan, J., “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, pp 502-511, 2002.

    14. Minor, M.A., Mukherjee, R.  "A Mechanism for Dexterous End-Effector Placement During Minimally Invasive Surgery," ASME Journal of Mechanical Design, Vol.124, No.4, pp. 472-479, 1999.

    15. Mukherjee, R., Minor, M.A., Song, G., Satava, R.  "Optimization of an Articulated Instrument for Enhanced Dexterity in Minimally Invasive Therapy," Journal of Minimally Invasive Therapy and Allied Technologies, Vol.7, No.4, pp.335-42, 1998.

    The following articles have been submitted and are being considered:

    1. Phipps, C., Shores, B., Minor, M.A., “Design, Control, and Characterization of Quasi Steady Hybrid Locomotion in a Rolling Disk Biped,”  submitted to IEEE Trans. Robotics.

    The following articles are in preparation:

    1. Johnson, E., Minor, M.A., Bamberg, S., “A State Estimator for Rejecting Noise and Tracking Bias in Strap Down Inertial Sensors,” to be submitted to IEEE Trans. on Instrumentation and Measurement..

    2. Kim, Y., Minor, M.A., “Time Invariant Kinematic Motion Control of Multi-Robot Coordination Subject to Physical Constraints,” to be submitted to the International Journal of Robotics Research.

    3. Kulkarni, S., Minor, M.A., Deaver, M., Pardyjak, E., “Output Feedback Control of Wind display for a Virtual Environment,” to be submitted to the IEEE Trans.  on Robotics.

    4. Vogt, A., Minor, M.A., “Data Fusion Techniques in Compliant Framed Modular Mobile Robot Snake Configurations,” to be submitted to IEEE Trans. on Robotics.

    Peer Reviewed Conference  Publications

    1. Kulkarni, S.D., Minor, M.A., Deaver, M.W., Pardyjak, E.R., “Output Feedback Control of Wind Display in a Virtual Environment,” 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, April  10-14, 8 pages, 2007.
    2. Flickinger, D.M., Minor, M.A., “Remote Low Frequency State Feedback Kinematic Motion Control for Mobile Robot Trajectory Tracking,” 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, April  10-14, 6 pages, 2007.
    3. Kim, Y., Minor, M.A., “Decentralized Motion Control for Multiple-Axle Compliant Framed Modular Mobile Robots,” 2006 IEEE/RSJ Int’l Conf. on Intelligent Systems and Robots, October 9-15, Beijing, China, p392-397, 2006.
    4. Zhu, X., Minor, M.A., “Motion Control and Sensing Strategy for a Two-axle Compliant Framed Wheeled Modular Mobile Robot,” 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida, May 15-19, pp. 3526-31, 2006.
    5. Kim, Y., Minor, M.A., "Bounded Smooth Time Invariant Motion Control of Unicycle Kinematic Models," 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 18-22, pp. 3687-92 , 2005.
    6. Shores, B. Minor, M.A., "Design, Kinematic Analysis, and Quasi-Steady Control of a Morphic Rolling Disk Biped Climbing Robot," 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 18-22, pp. 2732-37, 2005.
    7. Phipps, C.C., Minor, M.A., “Introducing the Hex-A-Ball, a Hybrid Locomotion Terrain Adaptive Walking and Rolling Robot,” Proc. of Climbing and Walking Robots (CLAWAR) 2005, Sept. 13-15, London, UK, pp 525-32, 2005.
    8. Zhu, X., Kim, Y., Minor, M.A., “Cooperative Distributed Robust Control of Modular Mobile Robots with Bounded Curvature and Velocity,” to appear in Proc. 2005 IEEE/ASME Int’l Conference on Advanced Intelligent Mechatronics, July 24-28, Monterey, CA, USA, pp 1151-57, 2005.
    9. Perry, T.; Cooley, D.; Junyu Guo; Hadley, R.; Minor, M.A.; Parker, D.; Skliar, M.; Roemer, R.B. “Constrained model-predictive thermal dose control for MRI-guided ultrasound thermal treatments,” Proceedings of the SPIE - The International Society for Optical Engineering, v 5698, n 1, p 195-206, 2005.
    10. Park, S., Minor, M.A., “Modeling and Dynamic Control of Compliant Framed Wheeled Modular Mobile Robots,” Proc. 2004 IEEE International Conference on Robotics and Automation, April 26-May 1, New Orleans, LA, USA, pp. 3937-43, 2004.
    11. Hirschi, C.R., Minor, M.A., “Testing and Evaluation of An Automated Tether Management System for Microgravity Extravehicular Activities,” Proc. 2004 IEEE International Conference on Robotics and Automation, April 26-May 1, New Orleans, LA, USA, pp. 2980-86, 2004.
    12. Albiston, B.W., Minor, M.A., “Curvature Based Point Stabilization for Compliant Framed Wheeled Modular Mobile Robots,” Proc. 2003 IEEE International Conference on Robotics and Automation, Sept 14-19, Taipei, Taiwan, pp. 81-89, 2003.
    13. Krosuri, S., Minor, M.A., “A Multifunctional Hybrid Hip Joint for Improved Adaptability in Miniature Climbing Robots,” Proc. 2003 IEEE International Conference on Robotics and Automation, Sept 14-19, Taipei, Taiwan, pp. 312-317, 2003.
    14. Merrell, R., Minor, M.A., “Internal Posture Sensing for a Flexible Frame Modular Mobile Robot,” Proc. 2003 IEEE International Conference on Robotics and Automation, Sept 14-19, Taipei, Taiwan, pp. 452-457, 2003.
    15. Minor, M.A., Meek, S.G., “Structured and Integrated Project Environment in Mechatronics Education,” Proc. 2002 ASEE Annual Meeting and Exposition, Montreal, Canada, pp 11819-34, 2002.
    16. Minor, M. A., Hirschi, C. R., Ambrose, R. O., “An Automated Tether Management System for Microgravity Extravehicular Activities,” 2002 IEEE Conference on Robotics and Automation, Washington DC, Vol.3, pp. 2289-95, 2002.
    17. Minor, M. A., Jensen, K., Kim, Y., “Design and control of a three-link serial manipulator for lessons in particle dynamics,” 2002 IEEE Conference on Robotics and Automation, Washington DC, Vol. 4, pp. 3435-41, 2002.
    18. Xiao, J., Minor, M., Dulimarta, H., Ning Xi, Mukherjee, R., Tummala, R.L., “Modeling and control of an under-actuated miniature crawler robot,” Proceedings. 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol.3, pp. 1545-51, 2001.
    19. Meek, S., Roemer, R., Minor, M., "Graduate Mechatronics Education In the Department of Mechanical Engineering at the University of Utah," 2001 IEEE/ASME Int'l Conference on Advanced Intelligent Mechatronics, July 8-12, Como, Italy, pp. 1099-1102, 2001.
    20. Minor, M., Dulimarta, H., Dangi, G., Tummala, L., Mukherjee, R., Aslam, D., “Design and Implementation of a Miniature Under-Actuated Wall Climbing Robot,”  2000 IEEE/RSJ International Symposium on Intelligent Robots and Systems (IROS), Takamatsu, Japan, October 2000, Vol. 3, pp. 1999-2005, 2000.
    21. Yue, M., Xi, N., Minor, M., Mukherjee, R., "Dynamic workspace analysis and motion planning for a micro biped walking robot," Proc. 2000 IEEE/RSJ Conference on Intelligent Robots and Systems, v3, pp. 1900-05, 2000.
    22. Minor, M., Mukherjee, R.  "A Dexterous Manipulator for Minimally Invasive Surgery", Proc. 1999 IEEE Conference on Robotics and Automation, May 10-15, Detroit, Mi, Vol. 3, pp. 2057-64, 1999.
    1. Mukherjee, R., Minor, M., Pukrushpan, J.,  "Simple Motion Planning Strategies for sphereobot: a spherical mobile robot,"  Proc. of the 38th IEEE Conference on Decision and Control, December 7-10, Phoenix, Az., pp. 2132-37, 1999.
    2. Yue, M., Minor, M., Xi, N., Mukherjee,  R.,  "Kinematics Workspace Analyses of a Miniature Walking Robot," Proc. 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems.  October 17-21, Kyongju, Korea. pp. 1798-1803, 1999.
    3. Mukherjee, R., Minor, M.,  "A Simple Motion Planner for a Spherical Robot,"  Proc. 1999 ASME/IEEE Conference on Advanced Intelligent Mechatronics, Sept 19-23, Atlanta, GA, pp. 896-901, 1999.
    4. Rosenberg, R.C., Hales, M.K., Minor, M.  "Engineering Icons for Multidisciplinary Systems", 1996 International Mech. Eng. Congress and Exposition, Atlanta, Georgia, Proc. of the ASME Dynamic Systems and Control Division, Vol.58, pp.665-673, 1996.

    Invited Publications

    Tummala, R.L., Mukherjee, M., Xi, N., Aslam, D., Dulimarta, H., Xiao, J., Minor, M., Dangi, G., "Climbing the Walls," IEEE Robotics and Automation Magazine,  Vol.9, No.4, pp.10-20, December 2002.

    Other Publications

    1. Johnson, D., Flickinger, D., Stack, T., Ricci, R., Stoller L., Fish, R., Webb, K., Minor, M., Lepreau, J. Poster Abstract: “Robot Couriers: Precise Mobility in a Wireless Network Testbed,” in Proc. of ACM SenSys 2005, San Diego, CA, Nov 2-4 2005.

    2. Johnson, D., Flickinger, D., Stack, T., Ricci, R., Stoller, L., Fish, R., Webb, K., Minor, M., Lepreau, J.. Demo Abstract: “Emulab's Wireless Sensor Net Testbed: True Mobility, Location Precision, and Remote Access,” in Proc. of ACM SenSys 2005, San Diego, CA, Nov 2-4 2005.

    3. Jensen, K., Minor, M., "An Interactive Robot for Educating Pre-College Students About Engineering Disciplines," ASEE Rocky Mountain Chapter Proceedings, April 2001.

    Patents

    1. Minor, M.A., Mukherjee, R.M., “Dexterous articulated linkage for surgical applications,”  US Patent No. 6,309,403.  October 30, 2001.

    2. Minor, M.A., Schwensen, C. , "System And Method For Controlling Modular Multi-Axle Robots," Patent Application Docket No.  22904, Submitted March 3, 2003.

    Invited Presentations

    1. “Design, Modeling, Control, and Evaluation of a Miniature Hybrid Hip Climbing Robot,” Dept. of Electrical Engineering, Brigham Young University, July 13, 2006. 

    2. “Design, Modeling, Control, and Evaluation of a Miniature Hybrid Hip Climbing Robot,” Dept. of Aerospace and Mechanical Engineering, University of Notre Dame, November 15, 2005. 

    3. “Reconfigurable Adaptable Micro-Robots,” ICRA 2002 Workshop on Distributed Micro-Robotics, IEEE Conference on Robotics and Automation, Washington, DC, 2002.

    4. “Automated Tether Management System,” NASA Johnson Space Center, Automation, Robotics, and Simulation Division, Robotic Systems Technology Branch, 2001.