## Departmental Papers (MEAM)

#### Papers from 2002

Visual Programming for Modeling and Simulation of Biomolecular Regulatory Networks, Rajeev Alur, Calin Belta, Franjo Ivancic, R. Vijay Kumar, Harvey Rubin, Jonathan Schug, Oleg Sokolsky, and Jonathan Webb

Modeling and Analyzing Biomolecular Networks, Rajeev Alur, Calin Belta, R. Vijay Kumar, Max L. Mintz, George J. Pappas, Harvey Rubin, and Jonathan Schug

Modeling and Analyzing Biomolecular Networks, Rajeev Alur, Calin Belta, Vijay Kumar, Max Mintz, George J. Pappas, Harvey Rubin, and Jonathan Schug

A Framework and Architecture for Multi-Robot Coordination, Rajeev Alur, Aveek J. Das, Joel Esposito, Rafael Fierro, Gregory Grudic, Yerang Hur, R. Vijay Kumar, Insup Lee, James Ostrowski, George J. Pappas, B. Southall, John R. Spletzer, and Camillo J. Taylor

Euclidean metrics for motion generation on *SE(3)*, Calin Andrei Belta and R. Vijay Kumar

Control of Multi-Affine Systems on Rectangles with Applications to Hybrid Biomolecular Networks, Calin Belta, Luc C.G.J.M. Habets, and R. Vijay Kumar

An SVD-Based Projection Method for Interpolation on *SE*(3), Calin Belta and R. Vijay Kumar

Motion generation for groups of robots: a centralized, geometric approach, Calin Belta and R. Vijay Kumar

Trajectory design for formations of robots by kinetic energy shaping, Calin Belta and R. Vijay Kumar

An SVD-Based Projection Method for Interpolation on *SE*(3), Calin Belta and Vijay Kumar

Who Wants to be an Engineer? - Or Better Teaching Through Game Shows, Robert W. Carpick

Dynamic Role Assignment for Cooperative Robots, Luiz Chaimowicz, Mario F. M. Campos, and R. Vijay Kumar

Mobile robot for uneven terrain, Kenneth Chin, Robert Breslawski, Terry Kientz, and R. Vijay Kumar

A Vision-Based Formation Control Framework, Aveek K. Das, Rafael Fierro, R. Vijay Kumar, James P. Ostrowski, John Spletzer, and Camillo J. Taylor

A Vision-Based Formation Control Framework, Aveek K. Das, Rafael Fierro, Vijay Kumar, James P. Ostrowski, John Spletzer, and Camillo J. Taylor

Ad Hoc Networks for Localization and Control, Aveek K. Das, John R. Spletzer, R. Vijay Kumar, and Camillo J. Taylor

A Method for Modifying Closed-Loop Motion Plans to Satisfy Unpredictable Dynamic Constraints at Runtime, Joel M. Esposito and R. Vijay Kumar

Material Anisotropy Revealed by Phase Contrast in Intermittent Contact Atomic Force Microscopy, Matthew S. Marcus, Robert W. Carpick, Darryl Y. Sasaki, and Mark A. Eriksson

A stirrer for magnetohydrodynamically controlled minute fluidic networks, Shizhi Qian, Jianzhong Zhu, and Haim H. Bau

Human Robot Interaction: Application to Smart Wheelchairs, Rahul Rao, K. Conn, Sang-Hack Jung, J. Katupitiya, Terry L. Kientz, R. Vijay Kumar, James P. Ostrowski, Sarangi Patel, and Camillo J. Taylor

A Potential Field Based Approach to Multi-Robot Manipulation, Peng Song and R. Vijay Kumar

Control of Cooperating Mobile Manipulators, Thomas G. Sugar and R. Vijay Kumar

Design and Control of a Compliant Parallel Manipulator, Thomas G. Sugar and R. Vijay Kumar

Control of Cooperating Mobile Manipulators, Thomas G. Sugar and Vijay Kumar

The Effect of Feedback and Feedforward on Formation ISS, Herbert G. Tanner, R. Vijay Kumar, and George J. Pappas

Input-to-state Stability on Formation Graphs, Herbert G. Tanner, George J. Pappas, and R. Vijay Kumar

Object Closure and Manipulation by Multiple Cooperating Mobile Robots, Zhidong Wang and R. Vijay Kumar

A magnetohydrodynamic chaotic stirrer, Mingqiang Yi, Shizhi Qian, and Haim H. Bau

A Geometric Approach to the Study of the Cartesian Stiffness Matrix, Milos Zefran and R. Vijay Kumar

Magneto hydrodynamic (MHD) pump fabricated with ceramic tapes, Jihua Zhong, Mingqiang Yi, and Haim H. Bau

#### Papers from 2001

A minute magneto hydro dynamic (MHD) mixer, Haim H. Bau, Jihua Zhong, and Mingqiang Yi

Motion generation for formations of robots: a geometric approach, Calin Belta and R. Vijay Kumar

Stability and reachability analysis of a hybrid model of luminescence in the marine bacterium *Vibrio fischeri*, Calin Belta, Jonathan Schug, Thao Dang, R. Vijay Kumar, George J. Pappas, Harvey Rubin, and Paul Dunlap

Directional shear force microscopy, A. R. Burns and Robert W. Carpick

Real-Time Vision-Based Control of a Nonholonomic Mobile Robot, Aveek K. Das, Rafael Fierro, R. Vijay Kumar, B. Southall, John R. Spletzer, and Camillo J. Taylor

Modeling and Control of Formations of Nonholonomic Mobile Robots, Jaydev P. Desai, James P. Ostrowski, and R. Vijay Kumar

Modeling and Control of Formations of Nonholonomic Mobile Robots, Jaydev P. Desai, James P. Ostrowski, and Vijay Kumar

Multi-Agent Hybrid System Simulation, Joel Esposito, R. Vijay Kumar, and George J. Pappas

Efficient dynamic simulation of robotic systems with hierarchy, Joel M. Esposito and R. Vijay Kumar

On Controlling Aircraft Formations, Rafael Fierro, Calin Belta, Jaydev P. Desai, and R. Vijay Kumar

Hybrid Control of Formations of Robots, Rafael Fierro, Aveek K. Das, R. Vijay Kumar, and James P. Ostrowski

Second-order theory for nonlinear dielectric composites incorporating field fluctuations, Pedro Ponte-Castañeda

Dynamics and Control of Whole Arm Grasps, Peng Song, Masahito Yashima, and R. Vijay Kumar

Peristaltically induced motion in a closed cavity with two vibrating walls, Mingqiang Yi, Haim H. Bau, and Howard H. Hu

Thick Film Thermistors Printed on Low Temperature Co-fired Ceramic Tapes, Jihua Zhong and Haim H. Bau

#### Papers from 2000

Charged Particle Distributions and Heat Transfer in a Discharge Between Geometrically Dissimilar Electrodes: From Breakdown to Steady State, Wei Qin, Ira M. Cohen, and Portonovo S. Ayyaswamy

#### Papers from 1999

Friction and Molecular Deformation in the Tensile Regime , A. R. Burns, Robert W. Carpick, and T. A. Michalske

Ceramic Microchips for Capillary Electrophoresis-electrochemistry, Charles S. Henry, Min Zhong, Susan M. Lunte, Moon Kim, Haim Bau, and Jorge J. Santiago

Optimal and adaptive control of chaotic convection — Theory and experiments, Po Ki Yuen and Haim H. Bau

#### Papers from 1998

Atomic Force Microscopy Study of an Ideally Hard Contact: The Diamond(111)/Tungsten Carbide Interface, M. Enachescu, R.J. A. van den Oetelaar, Robert W. Carpick, D. F. Ogletree, C. F. J. Flipse, and Miguel Salmeron

Three-point bounds and other estimates for strongly nonlinear composites, Pedro Ponte-Castañeda

Numerical investigation of the stabilization of the no-motion state of a fluid layer heated from below and cooled from above, Jie Tang and Haim H. Bau

On the Generation of Smooth Three-Dimensional Rigid Body Motions, Miloš Žefran, Vijay Kumar, and Christopher Croke

#### Papers from 1997

Lateral stiffness: A new nanomechanical measurement for the determination of shear strengths with friction force microscopy, Robert W. Carpick, D. F. Ogletree, and Miguel Salmeron

Two-arm manipulation tasks with friction assisted grasping, Jaydev P. Desai, Milos Zefran, and R. Vijay Kumar

Direct Simulation of the Motion of Solid Particles in Couette and Poiseuille Flows of Viscoelastic Fluids, P. Y. Huang, James J. Feng, Howard H. Hu, and Daniel D. Joseph

Direct Simulation of the Sedimentation of Elliptic Particles in Oldroyd-B Fluids, P. Y. Huang, Howard H. Hu, and Daniel D. Joseph

Motion Planning in Humans and Robots, R. Vijay Kumar, Milos Zefran, and James P. Ostrowski

Dynamic Control of 3-D Rolling Contacts in Two-Arm Manipulation, Nilanjan Sarkar, Xiaoping Yun, and Vijay Kumar

Experiments on the stabilization of the no-motion state of a fluid layer heated from below and cooled from above, Jie Tang and Haim H. Bau

Oscillatory enhancement of the squeezing flow of yield stress fluids: A novel experimental result, K. J. Zwick, Portonovo S. Ayyaswamy, and Ira M. Cohen

#### Papers from 1996

Measurement of interfacial shear (friction) with an ultrahigh vacuum atomic force microscope, Robert W. Carpick, N. Agraït, D. F. Ogletree, and Miguel Salmeron

Imaging and manipulation of nanometer-size liquid droplets by scanning polarization force microscopy, Jun Hu, Robert W. Carpick, Miquel Salmeron, and Xu-dong Xiao

Evaporation and Combustion of a Slowly Moving Liquid Fuel Droplet: Higher-Order Theory, Milind A. Jog, Portonovo S. Ayyaswamy, and Ira M. Cohen

Calibration of frictional forces in atomic force microscopy, D. F. Ogletree, Robert W. Carpick, and Miguel Salmeron

Rendering a Subcritical Hopf Bifurcation Supercritical, Po Ki Yuen and Haim H. Bau

#### Papers from 1995

A variable temperature ultrahigh vacuum atomic force microscope, Q. Dai, R. Vollmer, Robert W. Carpick, D. F. Ogletree, and Miguel Salmeron

Non-Axisymmetric Instability of Core-Annular Flow, Howard H. Hu and Neelesh Patankar

Design of a Wheelchair with Legs for People with Motor Disabilities, Parris Wellman, Venkat Krovi, Vijay Kumar, and William Harwin

#### Papers from 1994

Direct Simulation of Initial Value Problems for the Motion of Solid Bodies in a Newtonian Fluid Part 1. Sedimentation, James Feng, Howard H. Hu, and Daniel D. Joseph

Direct Simulation of Initial Value Problems for the Motion of Solid Bodies in a Newtonian Fluid. Part 2. Couette adn Poiseuille Flows., James Feng, Howard H. Hu, and Daniel D. Joseph

Gas Flow in Micr-Channels, John C. Harley, Yufend Huang, Haim H. Bau, and Jay N. Zemel

Effect of Negative Ions on Electrical Breakdown in a Nonuniform Air Gap Between a Wire and a Plane, K. Ramakrishna, Ira M. Cohen, and Portonovo S. Ayyaswamy

#### Papers from 1993

Torsional Sensor Applications in Two-Phase Fluids, Jin O. Kim, Haim H. Bau, Yi Liu, Lawrence C. Lynnworth, Steven A. Lynnworth, Kimberly A. Hall, Saul A. Jacobson, James. A. Korba, Robert J. Murphy, Michael A. Strauch, and Kyle G. King

Stabilization of the no-motion state in Rayleigh-Bénard convection through the use of feedback control, Jie Tang and Haim H. Bau

Feedback Control Stabilization of the No-Motion State of a Fluid Confined in a Horizontal Porous Layer Heated From Below, Jie Tang and Haim H. Bau

#### Papers from 1992

Electrode Heating in a Wire-to-Plane Arc, Milind A. Jog, Ira M. Cohen, and Portonovo S. Ayyaswamy

Effective properties of nonlinear inhomogeneous dielectrics, Pedro Ponte-Castañeda, G. deBotton, and G. Li

Controlling Chaos in a Thermal Convection Loop, Yuzhou Wang, Jonathan Singer, and Haim H. Bau

#### Papers from 1991

Breakdown of a Wire-to-Plane Discharge: Transient Effects, Milind A. Jog, Ira M. Cohen, and Portonovo S. Ayyaswamy

The Effect of an Adjacent Viscous Fluid on the Transmission of Torsional Stress Waves in a Submerged Waveguide, Jin O. Kim, Yuzhou Wang, and Haim H. Bau

Laser heating of a sintered oxide superconductor, Y. H. Shi, M.J. G. Lee, M. Moskovits, A. Hsu, and Robert W. Carpick

Active Control of Convection, Jonathan Singer and Haim H. Bau

Controlling a Chaotic System, Jonathan Singer, Y-Z Wang, and Haim H. Bau

An Approach to Simultaneous Control of Trajectory and Interaction Forces in Dual-Arm Configurations, Xiaoping Yun and Vijay R. Kumar

#### Papers from 1990

Stability of Core-Annular Flow with Very Small Viscosity Ratio, Howard H. Hu, Thomas S. Lundgren, and Daniel D. Joseph

Kinematics of Redundantly Actuated Closed Chains, Vijay Kumar and John F. Gardner

#### Papers from 1989

Lubricated Pipelining: Stability of Core-Annular Flow. Part 2, Howard H. Hu and Daniel D. Joseph

Stability of a Core-Annular Flow in a Rotating Pipe, Howard H. Hu and Daniel D. Joseph

Instrument for Simultaneous Measurement of Density and Viscosity, Jin O. Kim and Haim H. Bau

Two-Dimenslonal Analysis of Electrical Breakdown in a Nonuniform Gap Between a Wire and a Plane, K. Ramakrishna, Ira M. Cohen, and Portonovo S. Ayyaswamy

#### Papers from 1988

On line, Real-Time Densimeter-Theory and Optimization, Jin O. Kim and Haim H. Bau

Force Distribution in Closed Kinematic Chains, Vijay R. Kumar and Kenneth J. Waldron

#### Papers from 1987

Sub-Optimal Algorithms for Force Distribution in Multifingered Grippers, Vijay Kumar and Kenneth J. Waldron

#### Papers from 1986

Thin-Flame Theory for the Combustion of a Moving Liquid Drop: Effects Due to Variable Density, George Gogos, Satwindar S. Sadhal, Portonovo S. Ayyaswamy, and T. Sundararajan

#### Papers from 1985

Linear Stability of a Viscous-Inviscid Interface, J. M. Hogan and Portonovo S. Ayyaswamy

#### Papers from 1984

Laminar Condensation on a Moving Drop. Part 1. Singular Perturbation Technique, J. N. Chung, Portonovo S. Ayyaswamy, and Satwindar S. Sadhal

Laminar Condensation on a Moving Drop. Part 2. Numerical Solutions, J. N. Chung, Portonovo S. Ayyaswamy, and Satwindar S. Sadhal

Hydrodynamics and Heat Transfer Associated with Condensation on a Moving Drop: Solutions for Intermediate Reynolds Numbers, T. Sundararajan and Portonovo S. Ayyaswamy

#### Papers from 1983

Flow Past a Liquid Drop with a Large Non-uniform Radial Velocity, Satwindar S. Sadhal and Portonovo S. Ayyaswamy