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David J. Cappelleri
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Journal Articles

Comparing Complementary Kalman Filters Against SLAM for Collaborative Localization of Heterogeneous Multirobot Teams

Benjamin Abruzzo, David J. Cappelleri, Philippos Mordohai
Journal: Journal of Autonomous Vehicles and Systems
Article Type: Research Papers
J. Auton. Veh. Sys. April 2022, 2(2): 021001.
Paper No: JAVS-21-1042
DOI: https://doi.org/10.1115/1.4054817
Published Online: July 28, 2022
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Topics: Multi-robot systems
Journal Articles

Neural Network-Based Pose Estimation Approaches for Mobile Manipulation

Arindam B. Chowdhury, Juncheng Li, David J. Cappelleri
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011009.
Paper No: JMR-21-1576
DOI: https://doi.org/10.1115/1.4053927
Published Online: April 29, 2022
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Topics: Algorithms, Robots, Artificial neural networks
Proceedings Papers

Comparison of Neural Network-Based Pose Estimation Approaches for Mobile Manipulation

Arindam B. Chowdhury, Juncheng Li, David J. Cappelleri
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A048, August 17–19, 2021
Paper No: DETC2021-69800
DOI: https://doi.org/10.1115/DETC2021-69800
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Topics: Algorithms, Artificial neural networks, Computer-aided design, Dimensions, Pipelines, Robustness
Proceedings Papers

AgBug: Agricultural Robotic Platform for In-Row and Under Canopy Crop Monitoring and Assessment

Raja Manish, Ze An, Ayman Habib, Mitchell R. Tuinstra, David J. Cappelleri
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A017, August 17–19, 2021
Paper No: DETC2021-68143
DOI: https://doi.org/10.1115/DETC2021-68143
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Topics: Robotics, Sensors, Design, Feedback, Resolution (Optics), Robots
Journal Articles

Dynamic Simulation-Guided Design of Tumbling Magnetic Microrobots

Jiayin Xie, Chenghao Bi, David J. Cappelleri, Nilanjan Chakraborty
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 041005.
Paper No: JMR-20-1242
DOI: https://doi.org/10.1115/1.4050098
Published Online: April 9, 2021
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Topics: Design, Dynamic models, Errors, Manufacturing, Robots, Simulation, Geometry, Aluminum, Adhesives, Magnetization
Proceedings Papers

Design of a Miniaturized Actuation System for Robotic Lumbar Discectomy Tools

Ryan Craker, Benjamin V. Johnson, Haripriya Sakthivel, David J. Cappelleri
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A041, August 17–19, 2020
Paper No: DETC2020-22319
DOI: https://doi.org/10.1115/DETC2020-22319
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Topics: Design, Discectomies, Robotics, Instrumentation, Grasping, Integrated systems, Rotation, Servomotors, Shape memory alloys, Size reduction (Materials)
Journal Articles

Autonomous Door Opening With the Interacting-BoomCopter Unmanned Aerial Vehicle

Daniel R. McArthur, Arindam B. Chowdhury, David J. Cappelleri
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2020, 12(2): 021102.
Paper No: JMR-19-1427
DOI: https://doi.org/10.1115/1.4045843
Published Online: January 10, 2020
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Topics: Doors, Grippers, Image processing, Unmanned aerial vehicles
Proceedings Papers

Towards Dynamic Simulation Guided Optimal Design of Tumbling Microrobots

Jiayin Xie, Chenghao Bi, David J. Cappelleri, Nilanjan Chakraborty
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A057, August 18–21, 2019
Paper No: DETC2019-97306
DOI: https://doi.org/10.1115/DETC2019-97306
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Topics: Design, Simulation, Robots, Shapes, Adhesion, Errors, Friction
Proceedings Papers

Autonomous Door Opening With the Interacting-BoomCopter UAV

Daniel R. McArthur, Arindam B. Chowdhury, David J. Cappelleri
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A045, August 18–21, 2019
Paper No: DETC2019-97397
DOI: https://doi.org/10.1115/DETC2019-97397
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Topics: Doors, Unmanned aerial vehicles, End effectors, Image processing, Design, Feedback, Flight, Sensors, Weight (Mass)
Proceedings Papers

Design of a Robotic Cannula for Robotic Lumber Discectomy

Yang Ding, Benjamin V. Johnson, David J. Cappelleri
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A034, August 18–21, 2019
Paper No: DETC2019-97365
DOI: https://doi.org/10.1115/DETC2019-97365
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Topics: Design, Discectomies, Lumber, Robotics, Instrumentation, Rotation, Surgery, Control equipment, Design engineering, Disks
Proceedings Papers

Modeling, Control and Planning for Multiple Mobile Microrobots

Benjamin V. Johnson, David J. Cappelleri
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A071, August 18–21, 2019
Paper No: DETC2019-98392
DOI: https://doi.org/10.1115/DETC2019-98392
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Topics: Modeling, Robots, Biomedicine, Magnetic fields, Micromanufacturing, Path planning
Journal Articles

Design of Compliant Three-Dimensional Printed Surgical End-Effectors for Robotic Lumbar Discectomy

Benjamin V. Johnson, Zekun Gong, Brian A. Cole, David J. Cappelleri
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020914.
Paper No: JMR-18-1380
DOI: https://doi.org/10.1115/1.4042543
Published Online: February 27, 2019
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Topics: Cables, Design, End effectors, Instrumentation, Robotics, Surgery, Discectomies, Testing, Kinematics, Grasping
Proceedings Papers

Design of Disposable 3D Printed Surgical End-Effectors for Robotic Lumbar Discectomy Procedures

Benjamin V. Johnson, Zekun Gong, Brian A. Cole, David J. Cappelleri
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A055, August 26–29, 2018
Paper No: DETC2018-85257
DOI: https://doi.org/10.1115/DETC2018-85257
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Topics: Additive manufacturing, Design, Discectomies, End effectors, Robotics, Surgery, Instrumentation, Cables, Disks, Fatigue testing
Journal Articles

Micro-Assembly Sequence and Path Planning Using Subassemblies

Vinoth Venkatesan, Joseph Seymour, David J. Cappelleri
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. December 2018, 10(6): 061015.
Paper No: JMR-18-1180
DOI: https://doi.org/10.1115/1.4041333
Published Online: October 5, 2018
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Topics: Manufacturing, Path planning, Algorithms
Journal Articles

Design of the Interacting-BoomCopter Unmanned Aerial Vehicle for Remote Sensor Mounting

Daniel R. McArthur, Arindam B. Chowdhury, David J. Cappelleri
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2018, 10(2): 025001.
Paper No: JMR-17-1306
DOI: https://doi.org/10.1115/1.4038973
Published Online: January 29, 2018
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Topics: Design, End effectors, Sensors, Unmanned aerial vehicles, Flight, Vehicles
Proceedings Papers

Design of the I-BoomCopter UAV for Remote Sensor Mounting

Daniel R. McArthur, Arindam B. Chowdhury, David J. Cappelleri
Proc. ASME. IDETC-CIE2017, Volume 5B: 41st Mechanisms and Robotics Conference, V05BT08A018, August 6–9, 2017
Paper No: DETC2017-67913
DOI: https://doi.org/10.1115/DETC2017-67913
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Topics: Design, Sensors, Unmanned aerial vehicles, End effectors, Engineering prototypes, Flight, Force sensors, Modeling, Propellers, Thrust
Proceedings Papers

Development of an Automated Flexible Micro-Soldering Station

Vinoth Venkatesan, David J. Cappelleri
Proc. ASME. IDETC-CIE2017, Volume 4: 22nd Design for Manufacturing and the Life Cycle Conference; 11th International Conference on Micro- and Nanosystems, V004T09A023, August 6–9, 2017
Paper No: DETC2017-68107
DOI: https://doi.org/10.1115/DETC2017-68107
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Topics: Soldering, Solders, Manipulators, Wire, Calibration, Hardware, Manufacturing, Microscale devices, Printed circuit boards
Proceedings Papers

Automated Microassembly Sequence Planning With Sub-Assemblies

Joseph Seymour, David J. Cappelleri
Proc. ASME. IDETC-CIE2016, Volume 4: 21st Design for Manufacturing and the Life Cycle Conference; 10th International Conference on Micro- and Nanosystems, V004T08A018, August 21–24, 2016
Paper No: DETC2016-59736
DOI: https://doi.org/10.1115/DETC2016-59736
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Topics: Microassembling, Algorithms, Manufacturing, Degrees of freedom, Micromanipulation, Optimization
Proceedings Papers

Path Planning and Control for Autonomous Navigation of Single and Multiple Magnetic Mobile Microrobots

Sagar Chowdhury, Wuming Jing, Peter Jaron, David J. Cappelleri
Proc. ASME. IDETC-CIE2015, Volume 4: 20th Design for Manufacturing and the Life Cycle Conference; 9th International Conference on Micro- and Nanosystems, V004T09A040, August 2–5, 2015
Paper No: DETC2015-47313
DOI: https://doi.org/10.1115/DETC2015-47313
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Topics: Navigation, Path planning, Magnetic fields, Control equipment, Robots, Algorithms, Collisions (Physics), Currents, Dynamics (Mechanics), Electromagnets
Proceedings Papers

A Novel Micro Aerial Vehicle Design: The Evolution of the Omnicopter MAV

Yangbo Long, Andreas Gelardos, David J. Cappelleri
Proc. ASME. IDETC-CIE2014, Volume 5A: 38th Mechanisms and Robotics Conference, V05AT08A092, August 17–20, 2014
Paper No: DETC2014-34690
DOI: https://doi.org/10.1115/DETC2014-34690
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Topics: Aircraft, Design, Engineering prototypes, Flight, Propellers, Servomotors, Thrust, Yaw, Additive manufacturing, Carbon fibers