REFEREED JOURNAL PUBLICATIONS

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REFEREED JOURNAL PUBLICATIONS


1.

P. Rani,
N. Sarkar
, C.A. Smith, J.A. Adams, “Affective Communication for
Implicit Human
-
Machine Interaction,” submitted to
the
IEEE Transactions on
Systems, Man, and Cybernetics, 2004.


2.

Z. Zhen,
N. Sarkar
, and X. Yun. “Superv
isory Control of a Mobile Robot for
Agile Motion Coordination,” submitted to the IEEE Transactions on Robotics,
2004.


3.

M. Ji and
N. Sarkar
. “
Supervisory Fault Adaptive Control of
a
Mobile Robot

and
its Application in Sensor Fault Accommodation
,” submitted
to the IEEE
Transactions on Robotics, 2004.


4.

“A Parallel Distributed Cognitive Control System for a Humanoid Robot,” (K.
Kawamura, A. Peters, B. Bodenheimer,
N. Sarkar
, J. Park, and A. Spratley), in
the
International Journal of Humanoid Robotics
, Vol. 1, N
o. 1, pp. 65
-
94,
March
2004
.


5.

“A Unified Dynamics
-
Based Motion Planning Algorithm for Autonomous
Underwater Vehicle
-
Manipulator Systems (UVMS),” (T. Podder and
N. Sarkar
)
in
Robotica
, Vol. 22, No.01, pp.117
-
128, 2004.


6.

“Anxiety Detecting Robotic Systems


Towards Implicit Human
-
Robot
Collaboration,” (P. Rani,
N. Sarkar
, C. Smith, and L. Kirby) in Robotica, Vol.
22, Issue. 1, pp. 85
-
95, 2004.



7.

“Hybrid Fault Adaptive Control of a Wheeled Mobile Robot,” (M. Ji, Z. Zhang,
G. Biswas, and
N. Sarkar
), in the
IEE
E/ASME Transactions on Mechatronics,
Vol. 8, No. 2, pp. 226
-
233,
2003.


8.

“Online Stress Detection using Psychophysiological Signals for Implicit Human
-
Robot Cooperation,” (P. Rani, J. Sims, R. Brackin, and
N. Sarkar
), in
Robotica
,
Vol. 20, No. 6, pp. 673
-
68
6, 2002.


9.

“Explicit Force Control for Underwater Vehicle
-
Manipulator Systems,” (G.
Antonelli,
N. Sarkar

and S. Chiaverini) in
Robotica,
Vol. 20, No. 3, pp. 251
-
260,
2002.


10.

“Fault
-
Accommodating Thruster Force Allocation of an AUV Considering
Thruster Redund
ancy and Saturation,” (
N. Sarkar
, T. Podder, and G. Antonelli),
in the
IEEE Transactions on Robotics and Automation,
Vol. 18, No. 2, pp. 223
-
233, 2002.


11.


“External Force Control for Underwater Vehicle
-
Manipulator Systems,” (G.
Antonelli, S. Chiaverini, and

N. Sarkar
) in the
IEEE Transactions on Robotics
and Automation,
Vol. 17, No. 6, pp. 931
-
938, 2002.


12.

“Adaptive Control of an Autonomous Underwater Vehicle: Experimental Results
on ODIN,” (G. Antonelli, S. Chiaverini,
N. Sarkar
, and M. West), in the
IEEE
Tr
ansactions on Control Systems Technology
, Vol. 9, No. 5, pp. 756
-
765, 2001.


13.

“Coordinated Motion Planning and Control of Autonomous Underwater Vehicle
-
Manipulator Systems Subject to Drag Optimization,” (
N. Sarkar

and T. Podder)
in the
IEEE Journal on Ocean
ic Engineering
, Vol. 26, No. 2, pp. 228
-
239, 2001.


14.

“Fault Tolerant Control of an Autonomous Underwater Vehicle Under Thruster
Redundancy,” (T. Podder and
N. Sarkar
) in the
Journal of Robotics and
Autonomous Systems,
Vol. 34, pp. 39
-
52, 2001.


15.

“A Unified F
orce Control Approach to Autonomous Underwater Manipulation,”
(Y. Cui and
N. Sarkar
) in
Robotica
,
Vol. 19, pp. 255
-
266, 2001.


16.

“An Experimental Investigation into the Fault
-
Tolerant Control of an
Autonomous Underwater Vehicle,” (T. Podder, G. Antonelli, an
d
N. Sarkar
) in
the
Journal of Advanced Robotics
, Vol. 15, No. 5, pp. 501
-
520, 2001.


17.

“An Introduction to Graph
-
Rewriting Framework for High
-
Level Robotic Task
Planning,” (
N. Sarkar

and M. Sarkar) in the
International Journal of Intelligent
Automation and
Soft Computing
, Vol. 5, No. 2, pp. 129
-
138, 1999.


18.

“Live
-
Constraint
-
Based Control for Contact Transitions,” (
N. Sarkar
, X. Yun,
and R. Ellis), in the
IEEE Transactions on Robotics and Automation
, Vol. 14, No.
5, pp. 743
-
754, October 1998.


19.

“Unified Formula
tion of Robotic Systems with Holonomic and Nonholonomic
Constraints,” (X. Yun and
N. Sarkar
) in the
IEEE Transactions on Robotics and
Automation
, Vol. 14, No. 4, pp. 640
-
650, August 1998.


20.

“Numerical Methods for the Force Reflection of Contact,” (R. Ellis,

N. Sarkar

and M. Jenkins) in the

Journal of Dynamic Systems, Measurement, and Control,
Transactions of the ASME,
Vol. 119, No. 4, pp. 768
-
774, December 1997.


21.

“Dynamic Control of 3
-
D Rolling Contacts in Two
-
Arm Manipulation,” (
N.
Sarkar
, X. Yun and V. Kum
ar ) in the

IEEE Transactions on Robotics and
Automation
, Vol. 13, No. 3, pp. 364
-
376, June 1997.


22.

“Control of Contact Interactions with Acatastatic Nonholonomic Constraints,” (
N.
Sarkar
, X. Yun and V. Kumar) in the
International Journal of Robotics
Resea
rch (MIT Press)
,

Vol. 16, No. 3, pp. 357
-
374,

June 1997.


23.

“Backlash Detection in Geared Mechanisms: Modeling, Simulation, and
Experimentation,” (
N. Sarkar
, R. Ellis, and T. Moore) in
the Journal of
Mechanical Systems and Signal Processing (Academic Press)
,

Vol. 11, No. 3, pp.
391
-
408, June 1997.


24.

“Velocity and Acceleration Analysis of Contact Between Three
-
Dimensional
Rigid Bodies,” (
N Sarkar
, V. Kumar and X. Yun) in the
Journal of Applied
Mechanics, Transaction of the ASME
, Vol. 63, No. 4, pp. 974
-
984, Dec
ember
1996.


25.

“A Discrete
-
Event Systems Approach to Modeling Dextrous Manipulation,” (L.
Ricker,
N. Sarkar

and K. Rudie) in the
Robotica (Cambridge University Press)
,
Vol. 14, Part 5, pp. 515
-
525, December 1996.


26.

“Control of Mechanical Systems with Rolling
Constraints: Application to
Dynamic Control of Mobile Robots,” (
N. Sarkar
, X. Yun and V. Kumar) in the
International Journal of Robotics Research (MIT Press)
, Vol. 13, No. 1, pp. 55
-
69, February 1994.





REFEREED CONFERENCE PUBLICATIONS (acceptance based
on peer
review of full paper)


1.

P. Rani and
N. Sarkar
. “Operator engagement detection and robot behavior
adaptation in human
-
robot interaction.” Accepted for publication in Proceedings
of the IEEE International Conference on Robotics and Automation, 2005,
B
arcelona.


2.

B. Halder, Z. Zhang, and
N. Sarkar
. “Fault
-
Adaptive Formation Control of
Mobile Robots,” in the
Proceedings of the International Symposium on Advances
in Robot Dynamics and Control (ARDC 04)
,
Paper no. IMECE2004
-
61195,
ASME International Mechan
ical Engineering Congress and Exposition,
2004.


3.

T. Podder and
N. Sarkar
. “Frequency
-
based Partial and Total Decomposition
Approaches for Trajectory Planning of Robotic Systems with Variable Dynamic
Responses,” in the
Proceedings of the International Sympo
sium on Advances in
Robot Dynamics and Control (ARDC 04)
, Paper no. IMECE2004
-
60137,
ASME
International Mechanical Engineering Congress and Exposition,
2004.


4.

J. Park, S. Ferguson,
N. Sarkar
, K. Kawamura, B. Bluethmann, R. Ambrose, and
K. Alader. “Toward I
ntelligent System Health Monitoring for NASA Robonaut,”
Humanoid Robots, 2004 4th IEEE/RAS International Conference on

Volume 2,


10
-
12 Nov. 2004 Page(s):855


868
.


5.

P. Rani and
N. Sarkar
.
“Emotion Sensitive Robots


A New Paradi
gm for
Human
-
Robot Interaction,”
Humanoid Robots, 2004 4th IEEE/RAS International Conference on

Volume 1,


10
-
12 Nov. 2004 Page(s):149
-

167 Vol. 1


6.

“Supervisory Control of a Mobile Robot for Agile Motion Coordination,” (Z.
Zhang,
N. Sarkar
, and X. Yun), t
o appear in the
Proceedings of the IEEE
International Conference on Robotics and Automation
, 2004.

Volume: 3 ,

April
26
-

May 1, 2004

Pages:2196
-

2203


7.


High Level Human
-
Robot Interaction Based on EMG Control

,”

(P. Nilas, P.
Rani, and
N. Sarkar
)

in
Pro
ceedings of the IEEE International Conference on
Robotics and Automation
, 2004.

Volume: 3 ,

April 26
-

May 1, 2004

Pages:2309
-

2314


8.

“Dextrous Trajectory Control of a Mobile Robot,” (Z. Zhang, M. Ji, and
N.
Sarkar
) in the
Proceedings of the International

Symposium on Advances in Robot
Dynamics and Control (ARDC 03)
, Paper no. IMECE2003
-
43493,
ASME
International Mechanical Engineering Congress and Exposition,
2003.


9.


An Affect
-
Sensitive Human
-
Robot Cooperation


Theory and Experiments,” (P.
Rani,
N. Sarka
r
, and C. Smith) in the Proceedings of the IEEE International
Conference on Robotics and Automation,

pp. 2382
-
2387,
2003.



10.

“Hybrid Fault Adaptive Control of a Mobile Robot,” (M. Ji, Z. Zhang, G. Biswas,
and
N. Sarkar
), in the
Proceedings of the Internatio
nal Symposium on Advances
in Robot Dynamics and Control (ARDC 02)
, Paper no. IMECE2002
-
32696,
ASME International Mechanical Engineering Congress and Exposition,
2002.



11.

“Psychophysiological Control Architecture for Human
-
Robot Coordination


Concepts and
Initial Experiments,” (
N. Sarkar
), in
Proceedings of the IEEE
International Conference on Robotics and Automation
, pp. 3719
-
3725, 2002.



12.

“Biologically
-
Inspired Control Architecture for a Humanoid Robot,” (S.
Northrup,
N. Sarkar
, and K. Kawamura), in the
P
roceedings of the IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS)
, pp. 1100
-
1105, Maui, 2001.



13.

“A Fault Accommodating Control of an Autonomous Underwater Vehicle Under
Thruster Redundancy and Saturation,” (T. Podder and
N. Sarka
r
), in the
Proceedings of the 2001 ASME International Symposium on Advances in Robot
Dynamics and Control, ASME International Mechanical Engineering Congress
and Exposition, New York, 2001.



14.

“A Frequency Modeling Method of Rubbertuators for Control Applic
ation in an
IMA Framework,” (S. Thongchai. M. Goldfarb,
N. Sarkar
, and K. Kawamura),
in the Proceedings of the American Control Conference, pp. 1710
-
1714,
Arlington, Virginia, June 25
-
27, 2001.



15.

“Fault Tolerant Control of an Autonomous Underwater Vehicle
Under Thruster
Redundancy: Simulations and Experiments,” (T. Podder, G. Antonelli and N.
Sarkar), in the
Proceedings of the

IEEE International Conference on Robotics and
Automation
, pp. 1251
-
1256, San Francisco, 2000.
This paper received the
Anton Phillips

Best Student Paper Award.



16.

“Dynamic Trajectory Planning of an Underwater Vehicle
-
Manipulator System,”
(T. Podder and
N. Sarkar)
in the
Proceedings of the

IEEE International
Conference on Robotics and Automation
, pp. 3461
-
3466, San Francisco, 2000.



17.

“A U
nified Force Control Approach to Autonomous Underwater Manipulation,”
(Y. Cui and
N. Sarkar
) in the
Proceedings of the

IEEE International Conference
on Robotics and Automation
, pp. 1263
-
1268, San Francisco, 2000.



18.

“Adaptive Control of Underwater Vehicle
-
M
anipulator Systems Subject to Joint
Limits,” (
N. Sarkar
, J. Yuh and T. Podder) in the
Proceedings of the IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS)
, pp. 142
-
147,
Korea, 1999.



19.

“An Explicit Force Control Scheme for Underwate
r Vehicle
-
Manipulator
Systems,” (G. Antonelli, S. Chiaverini and
N. Sarkar
) in the
Proceedings of the
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
,
pp. 136
-
141, Korea, 1999.



20.

“Impedance Control of Underwater Vehicle
-
Manipulat
or Systems,” (Y. Cui, T.
Podder and
N. Sarkar
), in the
Proceedings of the IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS)
, Korea, 148
-
153, 1999.



21.

“An External Force Control Scheme for Underwater Vehicle
-
Manipulator
Systems,” (G.

Antonelli,
N. Sarkar

and S. Chiaverini) in the
Proceedings of the
IEEE Conference on Decision and Control
, pp. 2975
-
2980, 1999.



22.

“Adaptive Control of an Autonomous Underwater Vehicle: Experimental Results
on ODIN,” (G. Antonelli, S. Chiaverini,
N. Sarkar
,
and M. West), in the
Proceedings of the 1999 IEEE International Symposium on Computational
Intelligence in Robotics and Automation,
pp. 64
-
69, California
, 1999.




23.

“Motion Coordination of Underwater Vehicle
-
Manipulator Systems Subject to
Drag Optimizatio
n,” (
N. Sarkar

and T. Podder) in the
Proceedings of the 1999
IEEE International Conference on Robotics and Automation
, pp. 387
-
392,
Detroit, MI, May 1999.



24.

“Fault Tolerant Decomposition of Thruster Forces of an Autonomous Underwater
Vehicle,” (T. Podder a
nd
N. Sarkar
), in
the Proceedings of the 1999 IEEE
International Conference on Robotics and Automation
, pp. 84
-
89, Detroit, MI,
May 1999.



25.

“Explicit Force Control for Underwater Vehicle
-
Manipulator Systems with
Adaptive Motion Control,” (G. Antonelli, S.
Chiaverini, and
N. Sarkar
), in the
Proceedings of the 1999 IEEE Hong Kong Symposium on Robotics and Control
,
pp. 361
-
366, Hong Kong, 1999.



26.

“A Graph
-
Rewriting Approach to High
-
Level Task Planning


An Introduction,”
(
N. Sarkar

and M. Sarkar) in the
Procee
dings of the 1998 IEEE/RSJ
International Conference on Intelligent Robots and Systems
, pp. 661
-
666,
Victoria, Canada 1998.



27.

“Traction Control of Wheeled Vehicles Using Dynamic Feedback Approach,” (
N.
Sarkar

and X. Yun) in the
Proceedings of the 1998 IEEE/
RSJ International
Conference on Intelligent Robots and Systems
, pp. 413
-
418, Victoria, Canada.



28.

“Live
-
Constraint
-
Based Control for Contact Transitions,” (
N. Sarkar
, X. Yun,
and R. Ellis) in the
Proceedings of the 1997 IEEE International Symposium on
Compu
tational Intelligence in Robotics and Automation
, pp. 353
-
360, Monterey,
CA, July 1997.



29.

“Numerical Methods for the Haptic Presentation of Contact: Theory, Simulations,
and Experiments,” (R. Ellis,
N. Sarkar

and M. Jenkins) in the
Proceedings of the
ASME
Dynamic Systems and Control Division, The Fifth Annual Symposium on
Haptic Interfaces for Virtual Environment and Teleoperator Systems
, The Winter
Annual Meeting of the ASME, Atlanta 1996, DSC
-
Vol 58, pp. 413
-
420.




30.

“Design of a Continuous Controller for
Contact Transition Task Based on
Impulsive Constraint Analysis,” (
N. Sarkar

and X. Yun) in the
Proceedings of
the IEEE International Conference on Robotics and Automation
, pp. 2000
-
2005,
Minneapolis, Minnesota, 1996.



31.

“Dynamic Feedback Control of Vehicles

with Two Steerable Wheels,” (X. Yun
and
N. Sarkar
) in the
Proceedings of the IEEE International Conference on
Robotics and Automation
, pp. 3105
-
3110, Minneapolis, Minnesota, 1996.



32.

“A Discrete Event Systems Approach to Modeling Dextrous Manipulation,” (L
.
Ricker,
N. Sarkar

and K. Rudie) in the Proceedings of the
33rd Annual Allerton
Conference on Communication, Control and Computing
, pp. 156
-
165, Illinois,
October 1995.



33.

“Velocity and Acceleration Analysis of Contact Between Three
-
Dimensional
Rigid Bodie
s,” (
N. Sarkar
, V. Kumar and X. Yun) in the
Proceedings of the
ASME Mechanisms Conference
, DE
-
Vol. 70, pp. 433
-
440, Minneapolis,
Minnesota, 1994.



34.

“Control of a Single Robot in a Decentralized Multi
-
Robot System,” (
N. Sarkar
,
X. Yun and V. Kumar) in the
P
roceedings of the IEEE International Conference
on Robotics and Automation
, pp. 896
-
901, San Diego, California, 1994.



35.

“Dynamic Path Following: A New Control Algorithm for Mobile Robots,” (
N.
Sarkar
, X. Yun and V. Kumar) in the
Proceedings of the IEEE Con
ference on
Decision and Control
, pp. 2670
-
2675, San Antonio, Texas 1993.



36.

“Control of a Single Robot in a Cooperative Multi
-
Robot Framework,” (
N.
Sarkar
, X. Yun and V. Kumar) in the
Proceedings of the IEEE/RSJ International
Conference on Intelligent Robot
s and Systems (IROS)
, pp. 1645
-
1652, Yokohama,
Japan, 1993.



37.

“Dynamic Control of 3
-
D Rolling in Two
-
Arm Manipulation,” (
N. Sarkar
, X.
Yun and V. Kumar) in the
Proceedings of the IEEE International Conference on
Robotics and Automation
, pp. 978
-
983, Atlant
a, Georgia, 1993.




38.

“Rate Kinematics for Mobile Manipulators,” (C. Wang,
N. Sarkar

and V.
Kumar) in the
Proceedings of the ASME Mechanisms Conference
, pp. 225
-
231,
Phoenix, Arizona, 1992.



39.

“Control of Multiple Arm Systems with Rolling Constraints,” (X. Y
un, V. Kumar,
N. Sarkar

and E. Paljug) in the
Proceedings of the IEEE International
Conference on Robotics and Automation
, pp. 2193
-
2198, Nice, France, 1992.



40.

“Control of Contact Conditions for Manipulation with Multiple Robotic
Systems,” (V. Kumar, X. Yu
n, E. Paljug and
N. Sarkar
) in the
Proceedings of the
IEEE International Conference on Robotics and Automation
, pp. 170
-
175,
Sacramento, California, 1991.






REFEREED CONFERENCE PUBLICATIONS (acceptance based on review
of extended abstract)


1.

P. Rani and
N. Sarkar
. “Maintaining Optimal Challenge in Computer Games
through Real
-
Time Physiological Feedback” accepted for publication in the
Proceedings of the Augmented Cognition International meeting to be held in
conjunction with the Human
-
Computer Interface (
HCI) International conference
at the Caesar’s Palace Hotel in Las Vegas, NV from July 22
-
27, 2005.

2.


“Motion Planning and Control of UVMS: A Unified Dynamics
-
Based
Approach,” (T.K. Podder and
N. Sarkar
) in the Proceedings of IEEE/MTS
International Conferenc
e
-

OCEANS, pp. 2446
-
2453, San Diego, USA,
September 22
-
26, 2003.


3.

"Affective Communication For Implicit Human
-
Machine Interaction", (P. Rani,
N. Sarkar
,
C. Smith, and J. Adams
) in the IEEE International Conference on
System, Man and Cybernetics, pp. 4896
-
4903, October 2003, Washington D. C.


4.

Stress Detection for Implicit Human
-
Robot Cooperation,” (J. Sims, D.
Vashishtha, P. Rani, R. Brackin, and
N. Sarkar
), in the Proceedings of the
ISORA, World Automation Congress, 2002.

World Automation Congress, 2002.
P
roceedings of the 5th Biannual

Volume 14,


9
-
13 June 2002 Page(s):567
-

572



5.

Sonar Behavior
-
Based Fuzzy Control for a Mobile Robot,” (S. Thongchai, S.
Suksakulchai, D. Wilkes, and
N. Sarkar
), in the Proceedings of the
IEEE
International Conference on Syst
ems, Man, and Cybernetics
, Vol: 5, pp. 3532
-
3537, October 8
-
11, Nashville, 2000.



6.

Design of a Semi
-
Autonomous Underwater Vehicle for Intervention Mission,” (J.
Yuh, S. Choi, C. Ikehara, J. Kim, G. McMurtry, M. Nejhad,
N. Sarkar
, and K.
Sugihara) in the
P
roceedings of the 1998 International Symposium on
Underwater Technology
, pp. 63
-
68, Tokyo, Japan, 1998.


7.

Detection of Incipient Backlash in Robotic Mechanisms,” (R. Ellis,
N. Sarkar

and T. Moore) in the
Proceedings of the 8th International Congress on Cond
ition
Monitoring and Diagnostic Engineering Management
, Vol 2, pp. 527
-
534,
Kingston, Ontario, June 1995.