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Atul Thakur
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Proceedings Papers

An Underwater Gliding Robot Using an Origami-Inspired Buoyancy Regulator

Pritam Ojha, Shuchi Saxena, Atul Thakur
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A021, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143664
https://doi.org/10.1115/DETC2024-143664
View Paper titled, An Underwater Gliding Robot Using an Origami-Inspired Buoyancy Regulator
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Topics: Buoyancy, Origami-inspired design, Robots
Proceedings Papers

Improving Climbing Performance Using Passive Tail in Lizard-Inspired Robot

Kodidasu Pranav, Kadali Mani Sankar, Atul Thakur
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A042, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143646
https://doi.org/10.1115/DETC2024-143646
View Paper titled, Improving Climbing Performance Using Passive Tail in Lizard-Inspired Robot
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Topics: Robots
Proceedings Papers

Bio-Inspired Gait Trajectory Design for Lizard-Inspired Wall Climbing Robot

Anugrah A. K., Atul Thakur
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A011, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116421
https://doi.org/10.1115/DETC2023-116421
View Paper titled, Bio-Inspired Gait Trajectory Design for Lizard-Inspired Wall Climbing Robot
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Topics: Biomimetics, Design, Robots, Trajectories (Physics)
Journal Articles

Making Robotic Swarms Trustful: A Blockchain-Based Perspective

Atul Thakur, Swagatika Sahoo, Arnab Mukherjee, Raju Halder
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Review Articles
J. Comput. Inf. Sci. Eng. December 2023, 23(6): 060803.
Paper No: JCISE-23-1022
https://doi.org/10.1115/1.4062326
Published Online: May 5, 2023
View Article titled, Making Robotic Swarms Trustful: A Blockchain-Based Perspective
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Topics: Blockchain technology, Swarm robotics, Robotics, Robots
Journal Articles

Artificial Neural Network-Aided Computational Approach for Mechanophenotyping of Biological Cells Using Atomic Force Microscopy

Yuvaraj Kamble, Abhishek Raj, Atul Thakur
Journal: Journal of Biomechanical Engineering
Publisher: ASME
Article Type: Research-Article
J Biomech Eng. July 2023, 145(7): 071007.
Paper No: BIO-22-1218
https://doi.org/10.1115/1.4056916
Published Online: April 8, 2023
View Article titled, Artificial Neural Network-Aided Computational Approach for Mechanophenotyping of Biological Cells Using Atomic Force Microscopy
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Topics: Artificial neural networks, Atomic force microscopy, Simulation, Nanoindentation, Engineering simulation, Platelets, Finite element methods, Finite element model, Testing
Includes: Supplementary data
Journal Articles

Optimal Sequence Planning for Robotic Sorting of Recyclables From Source-Segregated Municipal Solid Waste

Sathish Paulraj Gundupalli, Rishabh Shukla, Rohit Gupta, Subrata Hait, Atul Thakur
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Technical Briefs
J. Comput. Inf. Sci. Eng. February 2021, 21(1): 014502.
Paper No: JCISE-19-1281
https://doi.org/10.1115/1.4047485
Published Online: July 21, 2020
View Article titled, Optimal Sequence Planning for Robotic Sorting of Recyclables From Source-Segregated Municipal Solid Waste
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Topics: Algorithms, Computation, Genetic algorithms, Municipal solid wastes, Robotics, Robots, Simulation, Optimization, Computer simulation, Encryption
Proceedings Papers

A Robotic Tool for Magnetic Micromanipulation of Cells in the Presence of an Ambient Fluid Flow

Dharmveer Agarwal, Ajay D. Thakur, Atul Thakur
Proc. ASME. IDETC-CIE2019, Volume 4: 24th Design for Manufacturing and the Life Cycle Conference; 13th International Conference on Micro- and Nanosystems, V004T08A017, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97941
https://doi.org/10.1115/DETC2019-97941
View Paper titled, A Robotic Tool for Magnetic Micromanipulation of Cells in the Presence of an Ambient Fluid Flow
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Topics: Feedback, Fluid dynamics, Micromanipulation, Robotics
Proceedings Papers

Bayesian Optimization Based Terrestrial Gait Tuning for a 12-DOF Alligator-Inspired Robot With Active Body Undulation

Krishna Agrawal, Kushagra Jain, Dhawal Gupta, Raunak Srivastav, Abhijeet Agnihotri, Atul Thakur
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A076, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86033
https://doi.org/10.1115/DETC2018-86033
View Paper titled, Bayesian Optimization Based Terrestrial Gait Tuning for a 12-DOF Alligator-Inspired Robot With Active Body Undulation
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Topics: Optimization, Robots, Degrees of freedom, Design, Manufacturing, Oscillations, Stability
Proceedings Papers

Optimal and Dynamically Feasible Path Planning for an Anguilliform Fish-Inspired Robot in Presence of Obstacles

Santhosh Kumar Thati, Aditi Raj, Atul Thakur
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A024, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86120
https://doi.org/10.1115/DETC2018-86120
View Paper titled, Optimal and Dynamically Feasible Path Planning for an Anguilliform Fish-Inspired Robot in Presence of Obstacles
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Topics: Path planning, Robots, Simulation, Collisions (Physics), Computation, Dynamics (Mechanics), Algorithms, Emergency management, Fluids, Inspection
Proceedings Papers

Automated Municipal Solid Waste Sorting for Recycling Using a Mobile Manipulator

Sathish Gundupalli Paulraj, Subrata Hait, Atul Thakur
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A045, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59842
https://doi.org/10.1115/DETC2016-59842
View Paper titled, Automated Municipal Solid Waste Sorting for Recycling Using a Mobile Manipulator
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Topics: Manipulators, Municipal solid wastes, Recycling, Algorithms, Doors, Robotics, Support vector machines, Aluminum, Developing nations, Imaging
Proceedings Papers

Automated Non-Prehensile Magnetic Micromanipulation in Presence of Spatially Varying Flow Field

Pranav Kulkarni, Aditya Kumar, Ajay D. Thakur, Atul Thakur
Proc. ASME. IDETC-CIE2016, Volume 4: 21st Design for Manufacturing and the Life Cycle Conference; 10th International Conference on Micro- and Nanosystems, V004T08A024, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-60568
https://doi.org/10.1115/DETC2016-60568
View Paper titled, Automated Non-Prehensile Magnetic Micromanipulation in Presence of Spatially Varying Flow Field
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Topics: Flow (Dynamics), Micromanipulation, Feedback, Noise (Sound), Biomedical engineering, Drag (Fluid dynamics), Drug delivery systems, Engineering simulation, Image processing, Magnetic fields
Proceedings Papers

Image Guided Automated Non-Prehensile Magnetic Micromanipulation of Cells

Akash Das, Ajay D. Thakur, Atul Thakur
Proc. ASME. IDETC-CIE2015, Volume 4: 20th Design for Manufacturing and the Life Cycle Conference; 9th International Conference on Micro- and Nanosystems, V004T09A038, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46569
https://doi.org/10.1115/DETC2015-46569
View Paper titled, Image Guided Automated Non-Prehensile Magnetic Micromanipulation of Cells
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Topics: Micromanipulation, Biomedicine, Currents, Design, Drug delivery systems, Feedback, Magnetic fields, Manufacturing, Particulate matter, Solenoids
Proceedings Papers

Enhancing Range of Transport in Optical Tweezers Assisted Microfluidic Chambers Using Automated Stage Motion

Sagar Chowdhury, Petr Švec, Atul Thakur, Chenlu Wang, Wolfgang Losert, Satyandra K. Gupta
Proc. ASME. IDETC-CIE2013, Volume 1: 15th International Conference on Advanced Vehicle Technologies; 10th International Conference on Design Education; 7th International Conference on Micro- and Nanosystems, V001T09A031, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13308
https://doi.org/10.1115/DETC2013-13308
View Paper titled, Enhancing Range of Transport in Optical Tweezers Assisted Microfluidic Chambers Using Automated Stage Motion
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Topics: Microfluidics, Geometry, Modeling, Particulate matter
Proceedings Papers

Automated Indirect Optical Micromanipulation of Biological Cells Using Indirect Pushing for Minimizing Photo-Damage

Atul Thakur, Sagar Chowdhury, Petr Svec, Chenlu Wang, Wolfgang Losert, Satyandra K. Gupta
Proc. ASME. IDETC-CIE2012, Volume 5: 6th International Conference on Micro- and Nanosystems; 17th Design for Manufacturing and the Life Cycle Conference, 221-229, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-71214
https://doi.org/10.1115/DETC2012-71214
View Paper titled, Automated Indirect Optical Micromanipulation of Biological Cells Using Indirect Pushing for Minimizing Photo-Damage
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Topics: Biological cells, Damage, Micromanipulation, Feedback, Dynamics (Mechanics), Mechanical properties, Noise (Sound), Optimization, Robustness, Simulation
Proceedings Papers

USV Trajectory Planning for Time Varying Motion Goals in an Environment With Obstacles

Petr Svec, Atul Thakur, Brual C. Shah, Satyandra K. Gupta
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1297-1306, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-71239
https://doi.org/10.1115/DETC2012-71239
View Paper titled, USV Trajectory Planning for Time Varying Motion Goals in an Environment With Obstacles
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Topics: Trajectories (Physics), Vehicles, Collisions (Physics), Control equipment, Dynamics (Mechanics), Resolution (Optics), Safety, Seas, System architecture
Proceedings Papers

Generation of State Transition Models Using Simulations for Unmanned Sea Surface Vehicle Trajectory Planning

Atul Thakur, Petr Svec, Satyandra K. Gupta
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 835-845, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-48624
https://doi.org/10.1115/DETC2011-48624
View Paper titled, Generation of State Transition Models Using Simulations for Unmanned Sea Surface Vehicle Trajectory Planning
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Topics: Seas, Simulation, Trajectories (Physics), Vehicles, Algorithms, Collisions (Physics), Control equipment, Dynamic programming, Dynamics (Mechanics), Flow (Dynamics)
Journal Articles

Real-Time Dynamics Simulation of Unmanned Sea Surface Vehicle for Virtual Environments

Atul Thakur, Satyandra K. Gupta
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Research Papers
J. Comput. Inf. Sci. Eng. September 2011, 11(3): 031005.
https://doi.org/10.1115/1.3617443
Published Online: August 10, 2011
View Article titled, Real-Time Dynamics Simulation of Unmanned Sea Surface Vehicle for Virtual Environments
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Topics: Boats, Computation, Dynamics (Mechanics), Errors, Ocean waves, Simulation, Algorithms, Seas, Virtual reality, Hull
Proceedings Papers

A Computational Framework for Real-Time Unmanned Sea Surface Vehicle Motion Simulation

Atul Thakur, Satyandra K. Gupta
Proc. ASME. IDETC-CIE2010, Volume 3: 30th Computers and Information in Engineering Conference, Parts A and B, 51-61, August 15–18, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DETC2010-28526
https://doi.org/10.1115/DETC2010-28526
View Paper titled, A Computational Framework for Real-Time Unmanned Sea Surface Vehicle Motion Simulation
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Topics: Seas, Simulation, Vehicles, Flow (Dynamics), Geometry, Hull, Computational fluid dynamics, Computation, Design, Ocean waves
Proceedings Papers

A Simulation Based Framework for Discovering Planning Logic for Autonomous Unmanned Surface Vehicles

Petr Svec, Max Schwartz, Atul Thakur, Davinder K. Anand, Satyandra K. Gupta
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 711-720, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-24894
https://doi.org/10.1115/ESDA2010-24894
View Paper titled, A Simulation Based Framework for Discovering Planning Logic for Autonomous Unmanned Surface Vehicles
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Topics: Simulation, Vehicles, Boats, Virtual reality, Blocks (Building materials), Computer programming, Computers, Control equipment