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Nilanjan Sarkar
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Proceedings Papers

A Fault Accommodating Control of an Autonomous Underwater Vehicle Under Thruster Redundancy and Saturation

Tarun Kanti Podder, Nilanjan Sarkar
Proc. ASME. IMECE2001, Dynamic Systems and Control, 979-986, November 11–16, 2001
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2001/DSC-24622
https://doi.org/10.1115/IMECE2001/DSC-24622
View Paper titled, A Fault Accommodating Control of an Autonomous Underwater Vehicle Under Thruster Redundancy and Saturation
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Topics: Redundancy (Engineering), Underwater vehicles, Computer simulation, Control equipment, Errors, Resolution (Optics), State feedback
Proceedings Papers

Rate Kinematics for Mobile Manipulators

Chau-Chang Wang, Nilanjan Sarkar, Vijay Kumar
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 225-231, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0219
https://doi.org/10.1115/DETC1992-0219
View Paper titled, Rate Kinematics for Mobile Manipulators
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Topics: Kinematics, Manipulators, End effectors, Actuators, Chain, Preferences
Proceedings Papers

Velocity and Acceleration Analysis of Contact Between Three-Dimensional Rigid Bodies

Nilanjan Sarkar, Vijay Kumar, Xiaoping Yun
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Mechanism Synthesis and Analysis, 433-440, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0222
https://doi.org/10.1115/DETC1994-0222
View Paper titled, Velocity and Acceleration Analysis of Contact Between Three-Dimensional Rigid Bodies
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Topics: Robotics, Surface properties
Proceedings Papers

Tracking Control for Nonholonomic Wheeled Mobile Robot With Wheel Slip Dynamics

Yu Tian, Shahrul Naim Sidek, Nilanjan Sarkar
Proc. ASME. DSCC2009, ASME 2009 Dynamic Systems and Control Conference, Volume 2, 739-746, October 12–14, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2009-2569
https://doi.org/10.1115/DSCC2009-2569
View Paper titled, Tracking Control for Nonholonomic Wheeled Mobile Robot With Wheel Slip Dynamics
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Topics: Dynamics (Mechanics), Mobile robots, Tracking control, Wheels, Traction, Dynamic systems, Robots, Simulation results, Trajectories (Physics)
Journal Articles

A Robotic System for Real-Time Tumor Manipulation During Image Guided Breast Biopsy

Vishnu G. Mallapragada, Nilanjan Sarkar, Tarun K. Podder
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Design Of Medical Devices Conference Abstracts
J. Med. Devices. June 2008, 2(2): 027543.
https://doi.org/10.1115/1.2932434
Published Online: June 25, 2008
View Article titled, A Robotic System for Real-Time Tumor Manipulation During Image Guided Breast Biopsy
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Topics: Phantoms, Probes, Robotics, Tumors
Proceedings Papers

Hybrid Fault Adaptive Control of a Mobile Robot

Meng Ji, Zhen Zhang, Gautam Biswas, Nilanjan Sarkar
Proc. ASME. IMECE2002, Dynamic Systems and Control, 965-971, November 17–22, 2002
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2002-32696
https://doi.org/10.1115/IMECE2002-32696
View Paper titled, Hybrid Fault Adaptive Control of a Mobile Robot
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Topics: Adaptive control, Mobile robots, Control equipment, Flaw detection, Modeling, Simulation results, Switches
Proceedings Papers

Dexterous Trajectory Tracking Control of a Mobile Robot

Zheng Zhang, Meng Ji, Nilanjan Sarkar
Proc. ASME. IMECE2003, Dynamic Systems and Control, Volumes 1 and 2, 751-758, November 15–21, 2003
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2003-43493
https://doi.org/10.1115/IMECE2003-43493
View Paper titled, Dexterous Trajectory Tracking Control of a Mobile Robot
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Topics: Mobile robots, Tracking control, Trajectories (Physics), Control equipment, Hybrid control, Navigation, Robots, Simulation results, Stability
Proceedings Papers

Fault Adaptive Formation Control of Mobile Robots

Bibhrajit Halder, Zhen Zhang, Nilanjan Sarkar
Proc. ASME. IMECE2004, Dynamic Systems and Control, Parts A and B, 1203-1210, November 13–19, 2004
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2004-61195
https://doi.org/10.1115/IMECE2004-61195
View Paper titled, Fault Adaptive Formation Control of Mobile Robots
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Topics: Mobile robots, Control equipment, Stability, Teams, Dynamics (Mechanics), Robots
Proceedings Papers

Frequency-Based Partial and Total Decomposition Approaches for Trajectory Planning of Robotic Systems With Variable Dynamic Responses

Tarun K. Podder, Nilanjan Sarkar
Proc. ASME. IMECE2004, Dynamic Systems and Control, Parts A and B, 1131-1138, November 13–19, 2004
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2004-60137
https://doi.org/10.1115/IMECE2004-60137
View Paper titled, Frequency-Based Partial and Total Decomposition Approaches for Trajectory Planning of Robotic Systems With Variable Dynamic Responses
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Topics: Dynamic response, Robotics, Trajectories (Physics), Algorithms, Manipulators, Path planning, Robots, Vehicles, Actuators, Complex systems
Proceedings Papers

Robust Fault Detection Based on Nonlinear Analytic Redundancy Techniques With Applications to Robotics

Bibhrajit Halder, Nilanjan Sarkar
Proc. ASME. IMECE2005, Dynamic Systems and Control, Parts A and B, 1515-1522, November 5–11, 2005
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2005-81098
https://doi.org/10.1115/IMECE2005-81098
View Paper titled, Robust Fault Detection Based on Nonlinear Analytic Redundancy Techniques With Applications to Robotics
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Topics: Flaw detection, Redundancy (Engineering), Robotics, Actuators, Sensors, Uncertainty, Design, Design methodology, Dynamic systems, Mobile robots