Publications

Bolded names are current or former DART Lab Members

Journal Publications

J. 16 B. Kanwar, S. Balakirsky, A. Mazumdar, “Modeling and Controller Design for Enhanced Hollow-fiber Bioreactor Performance”, IEEE Control Systems Letters, Accepted for Publication, Dec. 2020.

J. 15  A. Mazumdar, S. Buerger, A. Foris, J. Su, “A Modular Mechanism for Downhole Weight-on-Bit and Torque Reaction in Small Diameter Boreholes,” ASME Journal of Energy Resources and Technology, Accepted for Publication, Dec. 2020.

J. 14    R. Kim, S. Balakirsky, K. Ahlin, M. Marcum, A. Mazumdar, “Enhancing Payload Capacity with Dual-Arm Manipulation and Adaptable Mechanical Intelligence,” ASME Journal of Mechanisms and Robotics,  Nov. 2020. [doi: 10.1115/1.4049442].

J. 13    C. Hobart, A. Mazumdar, S.J. Spencer, M. Quigley, J. Smith, S. Bertrand, J. Pratt, M. Kuehl, S.P. Buerger, “Achieving Versatile Energy Efficiency with the WANDERER Biped Robot,” IEEE Transactions on Robotics, Feb. 2020. [doi: 10.1109/TRO.2020.2969017]

J. 12    A. Foris, N. Wagener, B. Boots, A. Mazumdar, “Exploiting Singular Configurations for Controllable, Low-Power, Friction Enhancement on Unmanned Ground Vehicles,” IEEE Robotics and Automation Letters, Feb. 2020. [doi: 10.1109/LRA.2020.2977266] [Media]

J. 11    A. Bajpai, J. Powell, A. J. Young,  A. Mazumdar, “Enhancing Physical Human Evasion of Moving Threats Using Tactile Cues,” IEEE Transactions in Haptics, December 2019. [doi: 10.1109/TOH.2019.2962664] [Media]

J. 10    A. Mazumdar, Y. Chen, B. van Bloemen Waanders, et al., “Wireless Temperature Sensing Using Permanent Magnets for Nonlinear Feedback Control of Exothermic Polymers,” IEEE Sensors Journal,  August 2018. [*First two authors contributed equally] [doi: 10.1109/JSEN.2018.2863249]

J. 9    Y. Chen, A. Mazumdar, C.F. Brooks, et al., “Remote Distributed Vibration Sensing Through Opaque Vessels,” IEEE Transactions on Magnetics, Early Access, April 2018. [doi:10.1109/TMAG.2018.2816578]

J. 8    A. Mazumdar, S.J. Spencer, C. Hobart, et al., “Synthetic Fiber Capstan Drives For Highly Efficient, Torque Controlled, Robotic Applications,”  IEEE Robotics and Automation Letters,  January 2017. [doi: 10.1109/LRA.2016.2646259]

J. 7    A. Mazumdar, S.J. Spencer, C. Hobart, et al., “Parallel Elastic Elements Improve Energy Efficiency on the STEPPR Bipedal Walking Robot,”  IEEE/ASME Transactions on Mechatronics, November 2016. [doi: 10.1109/TMECH.2016.2631170]

J. 6    A. Mazumdar, M. Triantafyllou,  H. Asada, “Dynamic Analysis and Design of Spheroidal Underwater Robots for Precision Multi-Directional Maneuvering,” IEEE/ASME Transactions on Mechatronics, Vol. 20(6), pp. 2890-2902, December 2015.  [doi:10.1109/TMECH.2015.2404789]

J. 5    A. Mazumdar, H. Asada, “Control-Configured Design of Egg-Shaped, Appendage-Free Underwater Vehicles,” IEEE Transactions on Robotics, Vol. 30(2), pp. 448 – 460, April 2014. [doi:10.1109/TRO.2013.2291617]

J. 4   A. Mazumdar, H. Asada, “Pulse Width Modulation of Water Jet Propulsion Systems Using High Speed Coanda-Effect Valves,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 135(5), 051019, August 2013. [doi: 10.1115/1.4024365]

J. 3    J. Belden, W. Staats, A. Mazumdar, I.W. Hunter, “A Portable Air Jet Actuator Device for Mechanical System Identification,” Review of Scientific Instruments, Vol. 82(3), 035106 , March 2011. [doi: 10.1063/1.3562894]

J. 2    A. Mazumdar, H. Asada,  “An Under-actuated, Magnetic-Foot Robot for Steel Bridge Inspection,” ASME Journal of Mechanisms and Robotics, Vol. 2, 031007, August 2010. [doi:10.1115/1.4001778]

J. 1    A. Slocum, Jr., W. Bosworth, A. Mazumdar, M. Saez, Culpepper, R. Levine, “Design of a Catheter-Based Device for Performing Percutaneous Chordal-Cutting Procedures,” ASME Journal of Medical Devices, Vol. 3(2), 025001, June 2009. [doi:10.1115/1.3139835]


Conference Publications

C. 22   Z. Goddard, K. Wardlaw, R. Krishnan, P. Tsiotras, M. Smith, M. Sena, J. Parish, A. Mazumdar, “Utilizing Reinforcement Learning to Continuously Improve a Primitive-Based Motion Planner,” Proc. of the 2021 AIAA SCITECH Conference, Accepted for Publication, Oct. 2020.

C. 21   R. Kim, A. DeBate, S. Balakirsky, A. Mazumdar, “Using Manipulation to Enable Adaptive Ground Mobility,” Proc. of the 2020 IEEE International Conference on Robotics and Automation (ICRA), June 2020. [doi: 10.1109/ICRA40945.2020.9197061] [Media]

C. 20  E. Lee, Z. Goddard, N. Monterrosa, J. Ngotiaocco, A. Mazumdar, “Controllable, High Force Density Gripping with Sacrificial Adhesion,” Proc. of the 2020 IEEE International Conference on Robotics and Automation (ICRA), June 2020. [Download] [Media]

C. 19   A. Mazumdar, J-C. Su, S. J. Spencer, S. P. Buerger, “Autonomous Control of Pneumatically-Powered Percussive Drilling through Highly Layered Formations,” Proc. of the 2019 American Controls Conference, July 2019. [doi: 10.23919/ACC.2019.8815280]

C. 18   R. Jitosho, S. Choi, A. ForisA. Mazumdar, “Exploiting Bistability for High Force Density Reflexive Gripping,” Proc. of the 2019 International Conference on Robotics and Automation, May 2019. [doi: 10.1109/ICRA.2019.8794393] [Media]

C. 17   G. Notomista, S. Mayya, A. Mazumdar, S. Hutchinson, M. Egerstedt, “A Study of a Class of Vibration-Driven Robots: Modeling, Analysis, Control and Design of the Brushbot,” IEEE/RSJ Conference on Intelligent Robotics and Systems, February 2019.

C. 16   S. J. Spencer, A. Mazumdar, S. P. Buerger, “Energy Implications of Torque Feedback Control and Series Elastic Actuators for Mobile Robots,” Proc. of the 2018 ASME Dynamic Systems and Controls Conference, October 2018.

C. 15    S. J. Spencer, A. Mazumdar, J-C. Su, et al., “Estimation and Control for Efficient Drilling Through Layered Materials,” Proc. of the 2017 American Controls Conference, May 2017.[10.23919/ACC.2017.7962950]

C. 14    A. Mazumdar, S. J. Spencer, C. Hobart, et al., “Improving Robotic Actuator Torque Density and Efficiency Through Enhanced Heat Transfer,” Proc. of the 2016 ASME Dynamic Systems and Controls Conference, October 2016. [doi:10.1115/DSCC2016-9738]

C. 13    J. Wheeler, A. Mazumdar, L. Marron, et al., “A Pressure and Shear Sensing Liner for Prosthetic Sockets,” Proc. of the 2016 IEEE International Engineering in Medicine and Biology Conference, August 2016. [doi 10.1109/EMBC.2016.7591124]

C. 12     A. Mazumdar, S. J. Spencer, C. Hobart, et al., “Using Parallel Stiffness to Achieve Improved Locomotive Efficiency with the Sandia STEPPR Robot ,” Proc. of the 2015 IEEE International Conference on Robotics and Automation, pp. 835 – 841, May 2015. [doi: 10.1109/ICRA.2015.7139275]

C. 11    A. Mazumdar, M. Chuah, M. Triantafyllou, H. Asada, “Design for Precision Multi- Directional Maneuverability: Egg-Shaped Underwater Robots for Infrastructure Inspection,” Proc. of the 2014 IEEE International Conference on Robotics and Automation, pp. 2950 – 2956, June 2014. [doi: 10.1109/ICRA.2014.6907284]  (Best Conference Paper Finalist)

C. 10     A. Mazumdar, A. Fittery, W. Ubellacker, H. Asada, “A Ball-Shaped Underwater Robot for Direct Inspection of Nuclear Reactors and Other Water-filled Infrastructure,” Proc. of the 2013 IEEE International Conference on Robotics and Automation, pp. 3415 – 3422, May 2013. [doi:10.1109/ICRA.2013.6631054]

C. 9    A. Mazumdar, A. Fittery, M. Lozano, H. Asada, “Active Yaw Stabilization for Smooth Highly Maneuverable Underwater Vehicles,” Proc. Of the 2012 ASME Dynamic Systems and Controls Conference, pp. 195-201, Oct. 2012. [doi:10.1115/DSCC2012-MOVIC2012-8693]

C. 8     A. Mazumdar, H. Asada, “Valve-PWM Control of Integrated Pump-Valve Propulsion Systems for Highly Maneuverable Underwater Vehicles,” Proc. Of the 2012 American Controls Conference, pp. 5414 – 5420, June 2012. [doi:10.1109/ACC.2012.6315240]

C. 7   A. Mazumdar, M. Lozano, A. Fittery, H. Asada, “A Compact, Maneuverable, Underwater Robot for Direct Inspection of Nuclear Power Piping Systems,” Proc. Of 2012 IEEE International Conference on Robotics and Automation, pp. 2818 – 2823, May 2012. [doi:10.1109/ICRA.2012.6224619]

C. 6    A. Mazumdar, H. Asada, “A Compact Underwater Vehicle Using High-Bandwidth Coanda-Effect Valves for Low Speed Precision Maneuvering in Cluttered Environments,” Proc. Of 2011 IEEE International Conference on Robotics and Automation, pp. 1544 – 1550, May 2011. [doi:10.1109/ICRA.2011.5980499]

C. 5    P. Valdivia y Alvarado, S. Chin, W. Larson, W., A. Mazumdar, K. Youcef-Toumi, “A soft body under-actuated approach to multi degree of freedom biomimetic robots: A stingray example,” Proc. of the 2010 IEEE International Conference on Biomedical Robotics and Biomechatronics, pp. 473 – 478, Sept. 2010. [doi:10.1109/BIOROB.2010.5627803]

C. 4    T. Secord, A. Mazumdar, H. Asada, “A multi-cell piezoelectric device for tunable resonance actuation and energy harvesting,” Proc. of 2010 IEEE International Conference on Robotics and Automation, pp. 2169 – 2176, May. 2010. [doi:10.1109/ROBOT.2010.5509158]

C. 3    A. Mazumdar, H. Asada, “Mag-Foot: A Steel Bridge Inspection Robot,” Proc. of 2009 IEEE/ RSJ International Conference on Intelligent Robots and Systems, pp. 1691-1696, Oct. 2009. [doi:10.1109/IROS.2009.5354599]

C. 2    A. Mazumdar, H. Asada, “Optimal Control of a Magnetically Suspended Under Actuated Robot for Swing-Up Motion,” Proc. of 2009 ASME 2009 Dynamic Systems and Controls Conference, pp. 755-762, Oct. 2009. [doi:10.1115/DSCC2009-2591]

C. 1     A. Mazumdar, P. Valdivia, K. Youcef-Toumi, “Maneuverability of a Robotic Tuna with Compliant Body,” Proc. of 2008 IEEE International Conference on Robotics and Automation,  pp. 683 – 688, May. 2008. [doi:10.1109/ROBOT.2008.4543284]