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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
Publisher: ASME
Article Type: Research Papers
J. Auton. Veh. Sys. April 2022, 2(2): 021001.
Paper No: JAVS-21-1042
https://doi.org/10.1115/1.4054817
Published Online: July 28, 2022
View Article titled, Comparing Complementary Kalman Filters Against SLAM for Collaborative Localization of Heterogeneous Multirobot Teams
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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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011009.
Paper No: JMR-21-1576
https://doi.org/10.1115/1.4053927
Published Online: April 29, 2022
View Article titled, Neural Network-Based Pose Estimation Approaches for Mobile Manipulation
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Topics: Algorithms, Robots, Artificial neural networks
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-68143
https://doi.org/10.1115/DETC2021-68143
View Paper titled, AgBug: Agricultural Robotic Platform for In-Row and Under Canopy Crop Monitoring and Assessment
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Topics: Robotics, Sensors, Design, Feedback, Resolution (Optics), Robots
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69800
https://doi.org/10.1115/DETC2021-69800
View Paper titled, Comparison of Neural Network-Based Pose Estimation Approaches for Mobile Manipulation
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Topics: Algorithms, Artificial neural networks, Computer-aided design, Dimensions, Pipelines, Robustness
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 041005.
Paper No: JMR-20-1242
https://doi.org/10.1115/1.4050098
Published Online: April 9, 2021
View Article titled, Dynamic Simulation-Guided Design of Tumbling Magnetic Microrobots
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22319
https://doi.org/10.1115/DETC2020-22319
View Paper titled, Design of a Miniaturized Actuation System for Robotic Lumbar Discectomy Tools
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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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2020, 12(2): 021102.
Paper No: JMR-19-1427
https://doi.org/10.1115/1.4045843
Published Online: January 10, 2020
View Article titled, Autonomous Door Opening With the Interacting-BoomCopter Unmanned Aerial Vehicle
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97306
https://doi.org/10.1115/DETC2019-97306
View Paper titled, Towards Dynamic Simulation Guided Optimal Design of Tumbling Microrobots
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97397
https://doi.org/10.1115/DETC2019-97397
View Paper titled, Autonomous Door Opening With the Interacting-BoomCopter UAV
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97365
https://doi.org/10.1115/DETC2019-97365
View Paper titled, Design of a Robotic Cannula for Robotic Lumber Discectomy
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98392
https://doi.org/10.1115/DETC2019-98392
View Paper titled, Modeling, Control and Planning for Multiple Mobile Microrobots
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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
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020914.
Paper No: JMR-18-1380
https://doi.org/10.1115/1.4042543
Published Online: February 27, 2019
View Article titled, Design of Compliant Three-Dimensional Printed Surgical End-Effectors for Robotic Lumbar Discectomy
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85257
https://doi.org/10.1115/DETC2018-85257
View Paper titled, Design of Disposable 3D Printed Surgical End-Effectors for Robotic Lumbar Discectomy Procedures
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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
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2018, 10(6): 061015.
Paper No: JMR-18-1180
https://doi.org/10.1115/1.4041333
Published Online: October 5, 2018
View Article titled, Micro-Assembly Sequence and Path Planning Using Subassemblies
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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
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2018, 10(2): 025001.
Paper No: JMR-17-1306
https://doi.org/10.1115/1.4038973
Published Online: January 29, 2018
View Article titled, Design of the Interacting-BoomCopter Unmanned Aerial Vehicle for Remote Sensor Mounting
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Topics: Design, End effectors, Sensors, Unmanned aerial vehicles, Flight, Vehicles
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-68107
https://doi.org/10.1115/DETC2017-68107
View Paper titled, Development of an Automated Flexible Micro-Soldering Station
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Topics: Soldering, Solders, Manipulators, Wire, Calibration, Hardware, Manufacturing, Microscale devices, Printed circuit boards
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67913
https://doi.org/10.1115/DETC2017-67913
View Paper titled, Design of the I-BoomCopter UAV for Remote Sensor Mounting
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Topics: Design, Sensors, Unmanned aerial vehicles, End effectors, Engineering prototypes, Flight, Force sensors, Modeling, Propellers, Thrust
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59736
https://doi.org/10.1115/DETC2016-59736
View Paper titled, Automated Microassembly Sequence Planning With Sub-Assemblies
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47313
https://doi.org/10.1115/DETC2015-47313
View Paper titled, Path Planning and Control for Autonomous Navigation of Single and Multiple Magnetic Mobile Microrobots
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34690
https://doi.org/10.1115/DETC2014-34690
View Paper titled, A Novel Micro Aerial Vehicle Design: The Evolution of the Omnicopter MAV
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Topics: Aircraft, Design, Engineering prototypes, Flight, Propellers, Servomotors, Thrust, Yaw, Additive manufacturing, Carbon fibers