Publications

2024 | 2023 | 2022 | 2021 | 2020 | 20192018 | 2017 | 2016 | 2015 | 2014 | 2013 | 2012 | 2011 | 2010 | 2009 | 2008 | 2007 | Earlier

2024


2023

Magnetic Mobile Micro-Gripping MicroRobots (MMuGRs) with Two Independent Magnetic Actuation Modes.
A. Davis, E. Freeman, D. Cappelleri. IEEE International Conference on Robotics and Automation (ICRA). Yokohama, Japan, May 13-17, 2024, Under Review.

Shape-programmable Adaptive Multi-material Microswimmers for Biomedical Applications.
L. Tan, Y. Yang, L. Fang, D.J. Cappelleri. Science Advances. Under Review, Submitted, December 2023.

Responsive Hydrogel-based Modular Microrobots for Multi-functional Micromanipulation.
L. Tan, D.J. Cappelleri. Small. Under Review, Submitted, November 2023.

P-AgSLAM: In-Row and Under-Canopy SLAM for Agricultural Monitoring in Cornfields.
K. Kim, A. Deb, D. Cappelleri. IEEE Robotics & Automation Letters (RA-L). Under Review, Submitted, October 2023.

An Overview of Microrobotic Systems for Microforce Sensing.
G. Adam, M. Boudaoud, V. Reynaud, J. Agnus, D.J. Cappelleri, C. Clevy. Annual Review of Control, Robotics, and Autonomous Systems. 7:1–24, 2024, https://doi.org/10.1146/annurev-control-090623-115925.

Sim-Suction: Learning a Suction Grasp Policy for Cluttered Environments Using a Synthetic Benchmark.
J. Li., D. Cappelleri. IEEE Transactions on Robotics (T-RO). vol. 40, pp. 316-331, 2024, https://doi.org/10.1109/TRO.2023.3331679.

Deep Learning-based Leaf Detection for Robotic Physical Sampling with P-AgBot.
A. Deb, K. Kim, D.J. Cappelleri. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Detroit, MI, October 1-5, 2023. https://doi.org/10.1109/IROS55552.2023.10341516.

Design and Control of Microscale Dual Locomotion Mode Multi-Functional Robots (μDMMFs).
A. Davis, D.J. Cappelleri. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Detroit, MI, October 1-5, 2023, https://doi.org/10.1109/IROS55552.2023.10341659.

3D Printed Vision-Based Micro-Force Sensors for Microrobotic Applications.
G. Adam, G. Ulliac, C. Clevy and D. J. Cappelleri. Journal of Micro-Bio Robotics (JMBR). 18, 15–24, March 2023, https://doi.org/10.1007/s12213-023-00152-x.

Design, Fabrication, and Characterization of a Helical Adaptive Multi-material MicroRobot (HAMMR).
L. Tan, D. Cappelleri. IEEE Robotics & Automation Letters (RA-L). Vol. 8, No. 3, pp. 1723-1730, March 2023, DOI: 10.1109/LRA.2023.3242164.

Neural Network-Based Pose Estimation Approaches for Mobile Manipulation.
A. Chowdhury, J. Li, D. Cappelleri. ASME Journal of Mechanisms and Robotics (JMR). 15(1): 011009, February 2023, DOI: 10.1115/1.4053927.



2022

A Power Compensation Strategy for Achieving Homogeneous Microstructures for 4D Printing Shape-Adaptive PNIPAM Hydrogels: Out-of-Plane Variations.
L. Tan, H. Lee, L. Fang, D.J. Cappelleri. Gels. 8, 828, 2022, DOI: 10.3390/gels8120828.

Design and Characterization of a Fully 3D Printed Vision-Based Micro-Force Sensor for Microrobotic Applications.
G. Adam, G. Ulliac, C. Clevy and D. J. Cappelleri. International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS). pp. 1-8, July 25-29, 2022, DOI: 10.1109/MARSS55884.2022.9870488.

P-AgBot: In-Row & Under-Canopy Agricultural Robot for Monitoring and Physical Sampling.
K. Kim, A. Deb, D. Cappelleri. IEEE Robotics & Automation Letters (RA-L). Vol. 7, No. 3, pp. 7942-7949, July 2022, DOI: 10.1109/LRA.2022.3187275.

The National Science Foundation (NSF) Engineering Research Center (ERC) for the Internet of Things for Precision Agriculture (IoT4Ag).
C. Kagan, D. Arnold, D. Cappelleri, C. Keske, K. Turner. Computers and Electronics in Agriculture. 106742, ISSN 0168-1699, 2022, DOI: 10.1016/ j.compag.2022.106742.

Modular End-Effector System for Autonomous Robotic Maintenance & Repair.
J. Li, C. Teeple, R. Wood, D. Cappelleri. IEEE International Conference on Robotics and Automation (ICRA). Philadelphia, PA USA, May 23-27, 2022, DOI: 10.1109/ICRA46639.2022.9812152.

Complementary Kalman Filter vs. SLAM for Collaborative Localization of Heterogeneous Multi-Robot Teams.
B. Abruzzo, D. Cappelleri, P. Mordohai. ASME Journal of Autonomous Vehicles and Systems (JAVS). 2(2): 021001, April 2022, DOI: 10.1115/1.4054817.



2021

Going Hands-Free: MagnetoSuture for Untethered Guided Needle Penetration of Human Tissue Ex Vivo.
L. Mair, S. Chowdhury, X. Liu, O. Erin, O. Udalov, S. Raval, B. Johnson, S. Jafari, D.J. Cappelleri, Y. Diaz-Mercado, A. Krieger, I.N. Weinberg. Robotics. 10, 129, 2021, DOI: 10.3390/robotics10040129.

Modeling of Bilayer Hydrogel Springs for Microrobots with Adaptive Locomotion.
L. Tan, D. Cappelleri. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Prague, Czech Republic, September 27 - October 1, 2021.

Dynamic Simulation-Guided Design of Tumbling Magnetic Microrobots.
C. Bi, J. Xie, G. Adam, N. Chakraborty, D. Cappelleri. ASME Journal of Mechanisms & Robotics (JMR). 13(4): 041005, August 2021, DOI: 10.1115/1.4050098.

Comparison of Neural Network-Based Pose Estimation Approaches for Mobile Manipulation.
A Chowdhury, J. Li, D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC). Online, Virtual, August 17-19, 2021.

AgBug: Agricultural Robotic Platform for In-row and Under Canopy Crop Monitoring and Assessment.
R. Manish, Z. An, A. Habib, M. Tuinstra, D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC). Online, Virtual, August 17-19, 2021.

Soft Capsule Magnetic Millirobots for Region-Specif c Drug Delivery in the Central Nervous System.
L. Mair, G. Adam, S. Chowdhury, A. Davis, D. Ari n, F. Vassoler, H. Engelhard, J. Li, X. Tang, I. Weinberg, B. Evans, J. Bulte, D. Cappelleri. Frontiers in Robotics and AI. 8, 2021, DOI: 10.3389/frobt.2021.702566.

Towards a Comprehensive and Robust Micromanipulation System with Force-Sensing and VR Capabilities.
G. Adam, S. Chidambaram, S. Reddy, K. Ramani, D. Cappelleri. Micromachines. 12, 784, 2021, DOI: 10.3390/mi12070784.

Magnetic Actuation Methods in Bio/Soft Robotics.
N. Ebrahimi, C. Bi, D. J. Cappelleri, Ga. Ciuti, A. T. Conn, D. Faivre, N. Habibi, Al. Hosovsky, V. Iacovacci, I. S. M. Khalil, V. Magdanz, S. Misra, C. Pawashe, R. Rashidifar, P. Soto-Rodriguez, Z. Fekete, A. Jafari. Advanced Functional Materials. 31, 2005137, 2021, DOI: 10.1002/adfm.202005137.

Smart Polymers for Microscale Machines.
L. Tan, A. Davis. D. Cappelleri. Advanced Functional Materials. 31, 2007125, 2021, DOI: 10.1002/adfm.202007125.

4D Printing: Enabling Technology for Microrobotic Applications.
G. Adam, A. Benouhiba, K. Rabenorosoa, C. Clevy, D. Cappelleri. Advanced Intelligent Systems. 3: 2000216, January 2021, DOI: 10.1002/aisy.202000216.



2020

A Tumbling Magnetic Microrobot System for Biomedical Applications.
C. Bi, E. Niedert, G. Adam, E. Lambert, L. Solorio, C. Goergen, D. Cappelleri. Micromachines. 11(9), 861, DOI: 10.3390/mi11090861, 2020.

Design of a Miniaturized Actuation System for Robotic Lumbar Discectomy Tools.
R. Craker, B. Johnson, H. Sakthivel, , D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC). St. Louis, MO, USA, August 16-19, 2020.

Design of the uMAZE Platform and Microrobots for Independent Control and Micromanipulation Tasks.
B. Johnson, N. Esantsi, D. Cappelleri. IEEE Robotics & Automation Letters (RA-L). Vol. 5, No. 4, pp. 5677-5684, DOI: 10.1109/LRA.2020.3010210, October 2020.

Local Magnetic Field Design and Characterization for Independent Closed-Loop Control of Multiple Mobile Microrobots.
B. Johnson, S. Chowdhury, D. Cappelleri. ASME/IEEE Transactions on Mechatronics (TMECH). Vol. 25, No. 2, pp. 526-534, DOI: 10.1109/TMECH. 2020.2969074, April 2020.

Stiffness Characterization and Micromanipulation for Biomedical Applications using the Vision-based Force-Sensing Magnetic Mobile Microrobot.
G. Adam, M. Hakim, L. Solorio, D. Cappelleri. IEEE International Conference on Manipulation, Automation and Robotics at Small Scale (MARSS). pp. 1-6, July 13-17, 2020, DOI: 10.1109/MARSS49294.2020.9307874.

Featureless Visual Target Tracking for Human-Guided Remote Sensor Mounting with a UAV.
D. McArthur, Z. An, D. Cappelleri. IEEE International Conference on Robotics and Automation (ICRA). Paris, France, May 31-June 4, 2020.

Automated Complete Blood Cell Count and Malaria Pathogen Detection Using Convolution Neural Network.
A. Chowdhury, J. Roberson, A. Hukkoo, S. Bodapati, D. Cappelleri. IEEE Robotics & Automation Letters (RA-L). vol. 5, no. 2, pp. 1047-1054, DOI: 10.1109/LRA.2020.2967290, April 2020.

Autonomous Door Opening with the Interacting- Boomcopter Unmanned Aerial Vehicle.
D. McArthur, A. Chowdhury, D. Cappelleri. ASME Journal of Mechanisms & Robotics (JMR). 12(2): 021102, DOI: 10.1115/1.4045843, April 2020.

Autonomous Robotic Exploration and Mapping of Smart Indoor Environments With UWB-IoT Devices.
W. Tianyi, K. Huo, M. Han, D. McArthur, Z. An, D. Cappelleri, K. Ramani. AAAI Spring Symposium on AI and Manufacturing. Stanford University, Stanford, CA, USA, March 23-35, 2020.

3D-Printed Microrobots with Integrated Structural Color for Identification and Tracking.
C. Koepele, M. Guix, C. Bi, G. Adam, D. Cappelleri. Advanced Intelligent Systems. 2: 1900147, DOI: 10.1002/aisy.201900147, March 2020.

Towards a Real-Time 3D Vision-based Micro-Force Sensing Probe.
G. Adam, D. Cappelleri. Journal of Micro-Bio Robotics (JMBR). 16, 23-32, DOI: 10.1007/s12213-019-00122-2, 2020.



2019

Modeling, Control, and Planning for Multiple Mobile Microrobots.
B. Johnson, D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC). Anaheim, CA, August 18-21, 2019.

Towards Dynamic Simulation Guided Optimal Design of Tumbling Microrobots.
C. Bi, J. Xie, G. Adam, N. Chakraborty, D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC). Anaheim, CA, August 18-21, 2019.

Design of a Robotic Cannula for Robotic Lumbar Discectomy.
Y. Ding, B. Johnson, D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC). Anaheim, CA, August 18-21, 2019.

A Collaborative Visual Localization Scheme for a Low-Cost Heterogeneous Robotic Team with Non-overlapping Perspectives.
B. Abruzzo, D. Cappelleri, P. Mordohai. ASME International Design Engineering Technical Conferences (IDETC). Anaheim, CA, August 18-21, 2019.

Autonomous Door Opening with the Interacting BoomCopter UAV.
D. McArthur, A. Chowdhury, D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC). Anaheim, CA, August 18-21, 2019.

Towards Functional Mobile Microrobotic Systems.
G. Adam, S. Chowdhury, M. Guix, B. Johnson, C. Bi, D. Cappelleri. Robotics. 8(3), 69; https://doi.org/10.3390/robotics8030069, August 2019.

Design of a 3D Vision-based Micro-Force Sensing Probe.
G. Adam, D. Cappelleri. IEEE International Conference on Robotics, Manipulation, and Automation at Small Scales (MARSS). Helsinki, Finland, July 1-5, 2019.

Tumbling Magnetic Microrobots for Biomedical Applications.
C. Bi, E. Niedert, G. Adam, E. Lambert, L. Solorio, C. Goergen, D. Cappelleri. IEEE International Conference on Robotics, Manipulation, and Automation at Small Scales (MARSS). Helsinki, Finland, July 1-5, 2019.

Microrobot Design for Micromanipulation with Orientation Control using Local Magnetic Fields.
B. Johnson, D. Cappelleri. IEEE International Conference on Manipulation, Automation and Robotics at Small Scale (MARSS). Helsinki, Finland, July 1-5, 2019.

Micro-force Sensing Mobile Microrobots for Automated Micromanipulation Tasks.
W. Jing, S. Chowdhury, M. Guix, J. Wang, Z. An, B. Johnson, D. Cappelleri. IEEE Transactions on Automation Science and Engineering (T-ASE). Vol. 16, No. 2, pp. 518-530, DOI: 10.1109/TASE.2018.2833810, April 2019.

Magnetically actuated alginate surface tumblers as tools for manipulation and drug delivery tasks.
L. Mair, S. Chowdhury, G. A. Paredes-Juarez, M. Guix, C. Bi, B. Johnson, B. English, S. Jafari, O. Hale, J. Baker-McKee, J.Watson-Daniels, P. Stepanov, D. Sun, C. Ropp, S. Raval, D. Arifin, J. Bulte, I. Weinberg, B. Evans, D. Cappelleri. Micromachines. 10(4), 230; https://doi.org/10.3390/mi10040230, 2019.

Design of Compliant 3D Printed Surgical End- Effectors for Robotic Lumbar Discectomy.
B. Johnson, Z. Gong, B. Cole, D. Cappelleri. ASME Journal of Mechanisms & Robotics (JMR). 11(2):020914-020914-9, DOI:10.1115/1.4042543, 2019.



2018

Design of Disposable 3D Printed Surgical End-Effectors for Robotic Lumbar Discectomy Procedures.
B. Johnson, Z. Gong, B. Cole, D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC). Quebec City, Canada, August 26-29, 2018.

Real-time Force-feedback Micromanipulation using Mobile Microrobots with Colored Fiducials.
M. Guix, J. Wang, Z. An, G. Adam, D. Cappelleri. IEEE Robotics & Automation Letters (RA-L). Volume 3, Issue 4, pp. 3591-3597, DOI: 10.1109/LRA.2018.2854909, October 2018.

Path Planning and Micromanipulation using a Learned Model.
V. Venkatesan, D. Cappelleri. IEEE Robotics & Automation Letters (RA-L). Volume 3, No. 4, pp. 3089 - 3096, DOI:10.1109/LRA.2018.2849568, October 2018.

Tumbling Microrobots for Future Medicine.
D. Cappelleri, C. Bi, M. Guix. American Scientist. Volume 106, pp.210-213, July-August 2018.

Microassembly Sequence and Path Planning using Sub-Assemblies.
V. Venkatesan, J. Seymour, D. Cappelleri. ASME Journal of Mechanisms and Robotics (JMR). 10(6):061015- 061015-12, DOI:10.1115/1.4041333., 2018.

Control of Magnetic Microrobot Teams for Temporal Micromanipulation Tasks.
Y. Kantaros, B. Johnson, S. Chowdhury, D. Cappelleri, M. Zavlanos. IEEE Transactions on Robotics (T-RO). Vol. 34, No. 6, pp. 1472-1489, DOI: 10.1109/TRO.2018.2861901, December 2018.

Planar Aerial Manipulation for Inspection and Maintenance.
D. McArthur, A. Chowdhury, D. Cappelleri. Workshop on Aerial Monitoring & Maintenance. IEEE International Conference on Robotics and Automation (ICRA), Brisbane Queensland, Australia, May 25, 2018.

Autonomous Control of the Interacting-BoomCopter UAV for Remote Sensor Mounting.
D. McArthur, A. Chowdhury, D. Cappelleri. IEEE Conference on Robotics and Automation (ICRA). Brisbane Queensland, Australia, May 21-25, 2018.

Design of Microscale Magnetic Tumbling Robots for Locomotion in Multiple Environments and Complex Terrains.
C. Bi, M. Guix, B. Johnson, W. Jing, D. Cappelleri. Micromachines. Special Issue: Micro/Nano Robotics II, 9(2),68, February 3, 2018.

Design of the I-BoomCopter Unmanned Aerial Vehicle for Remote Sensor Mounting.
D. McArthur, A. Chowdhury, D. Cappelleri. ASME Journal of Mechanisms and Robotics (JMR). 10(2):025001-025001-8, January, 2018.



2017

Designing Local Magnetic Fields and Path Planning for Independent Actuation of Multiple Mobile Microrobots.
S.Chowdhury, B. Johnson, W. Jing, D. Cappelleri. Journal of Micro-Bio Robotics (JMBR). Volume 12, Issue 1, pp. 21-31, DOI: 10.1007/s12213-017-0094-6, June 2017.

Vision-based Micro-Force Sensing Mobile Microrobots for Intelligent Micromanipulation.
M. Guix, Z. An, J. Wang, B. Johnson, D. Cappelleri. IEEE International Conference on Robotics, Manipulation, and Automation at Small Scales (MARSS). Montreal, Canada, July 17-21, 2017.

Design of the I-BoomCopter UAV for Remote Sensor Mounting.
D. McArthur, A. Chowdhury, D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC). Cleveland, OH, August 6-9, 2017.

Design of an Automated Flexible Micro-Soldering Station.
V. Venkatesan, D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC). Cleveland, OH, August 6-9, 2017.

Design of the I-BoomCopter UAV for Environmental Interaction.
D. McArthur, A. Chowdhury, D. Cappelleri. IEEE International Conference on Robotics and Automation (ICRA). Marina Bay Sands, Singapore, May 29 - June 3, 2017.

Purpose-Built UAVs for Physical Sampling of Trace Contamination at the Portsmouth Gaseous Diffusion Plant.
G. Jiang, R. Voyles, D. Cappelleri, S. Mou, D. McArthur, A. Chowdhury, Y. Alibek, R. Bean, P. Abbaraju. Waste Management Conference (WMS). Phoenix, AZ, March 5-9, 2017.

Ch. 10: Magnetic Mobile Microrobots for Mechanobiology and Automated Biomanipulation.
W. Jing, S. Chowdhury, D. Cappelleri. Microbiorobotics: Biologically Inspired Microscale Robotic Systems, Version 2. M. Kim, J. Agung, UK Cheang (Eds), ISBN: 9780323429931, 2017.

High-accuracy, High-speed 3D Structured Light Imaging Techniques and Potential Applications to Intelligent Robotics.
S. Zhang, D. Cappelleri, J. Xu, B. Li, Y. An. International Journal of Intelligent Robotics and Applications (JIRA). pp. 1- 18, DOI: 10.1007/s41315- 016-0001-7, January 2017.



2016

Automated Microassembly Sequence Planning with Sub-Assemblies.
J. Seymour, D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC), Charlotte, NC USA. August 21-24, 2016.

Independent actuation of multiple microrobots using localized magnetic fields.
S. Chowdhury, W. Jing, D. Cappelleri. IEEE International Conference on Robotics, Manipulation, and Automation at Small Scales (MARSS), Paris, France. July 18-22, 2016.

Bibtex
@INPROCEEDINGS{ChowdhuryMARSS16, author={S. Chowdhury and W. Jing and D. J. Cappelleri}, booktitle={2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)}, title={Independent actuation of multiple microrobots using localized magnetic fields}, year={2016}, pages={1-6}, keywords={magnetic fields;manipulators;microrobots;localized magnetic fields;magnetic properties;microscale objects;multiple microrobot independent actuation;planar microcoil array;Coils;Force;Magnetic levitation;Magnetic resonance;Planning;Robot kinematics}, doi={10.1109/MARSS.2016.7561741}, month={July},}

Novel, Low-Cost Robotic Surgical End-Effectors for Lumbar Discectomy Procedures.
B. Johnson, B. Cole, D. Cappelleri. ASME Journal of Mechanisms and Robotics. Submitted, June 2016.

Towards Independent Control of Multiple Magnetic Mobile Microrobots.
S. Chowdhury, W. Jing, D. Cappelleri. Micromachines, Special Issue: Micro/Nano Robotics. 7(1), 3, 2016 January. [ PDF ]

Bibtex
@Article{ChowdhuryMicromachines16, AUTHOR = {Chowdhury, Sagar and Jing, Wuming and Cappelleri, David J.}, TITLE = {Towards Independent Control of Multiple Magnetic Mobile Microrobots}, JOURNAL = {Micromachines}, VOLUME = {7}, YEAR = {2016}, NUMBER = {1}, ARTICLE NUMBER = {3}, URL = {http://www.mdpi.com/2072-666X/7/1/3}, ISSN = {2072-666X}, DOI = {10.3390/mi7010003} }



2015

Controlling Multiple Microrobots: Recent Progress and Future Challenges.
S. Chowdhury, W. Jing, D.Cappelleri. Journal of Micro-Bio Robotics. First online: 08 October, 2015. [ PDF ]

Bibtex
@article{ChowdhuryJMBR2015 year={2015}, issn={2194-6418}, journal={Journal of Micro-Bio Robotics}, doi={10.1007/s12213-015-0083-6}, title={Controlling multiple microrobots: recent progress and future challenges}, url={http://dx.doi.org/10.1007/s12213-015-0083-6}, publisher={Springer Berlin Heidelberg}, keywords={Microrobot; Multiple microrobots; Control; Microrobot teams; Microrobot swarms}, author={Chowdhury, Sagar and Jing, Wuming and Cappelleri, DavidJ.}, pages={1-11}, language={English} }

3D Printed Surgical Manipulator for Minimally Invasive Lumbar Discectomy Surgery.
B. Johnson, B. Cole, D. Cappelleri. ASME Additive Manufacturing + 3D Printing Conference & Expo (AM3D). Boston, MA USA, August 2-5, 2015.

Path Planning and Control for Autonomous Navigation of Single and Multiple Magnetic Mobile Microrobots.
S. Chowdhury, W. Jing, P. Jaron, D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC). Boston, MA USA, August 2-5, 2015. [ PDF ]

Micro-force Sensing Mobile Microrobots.
W. Jing, D. Cappelleri. SPIE Sensors and Technology Application Conference, Sensors for Next-Generation Robotics II. Baltimore, MD USA, April 22, 2015.



2014

Towards Mobile Microrobot Swarms for Additive Manufacturing.
D. Cappelleri, D. Efthymiou, A. Goswami, N. Vitoroulis, M. Zavlanos. International Journal of Advanced Robotic Systems. 11:150, doi: 10.5772/58985, September 2014.

Incorporating In-situ Force Sensing Capabilities in a Magnetic Microrobot.
W. Jing, D. Cappelleri. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Chicago, IL USA, September 14-18, 2014.

A Novel Micro Aerial Vehicle Design: The Evolution of the Omnicopter MAV.
Y. Long, A. Gelardos, D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC). Buffalo, NY USA, August 17 - 20, 2014.

Technical Brief: Automated Microassembly with Caging Micromanipulation.
D. Cappelleri, Z. Fu. ASME International Design Engineering Technical Conferences (IDETC). Buffalo, NY USA, August 17 - 20, 2014.

A Magnetic Microrobot with In-situ Force Sensing Capabilities.
W. Jing, D. Cappelleri. Special Issue: The Frontiers of Micro and Nanorobotic Systems, Robotics. Vol. 3, Issue 2, pp. 106-119, 2014.

Towards Functional Mobile Magnetic Microrobotics.
W. Jing, D. Cappelleri. Small Scale Robotics: From Nano-to-Millimeter-Sized Robotic Systems and Applications, Lecture Notes in Computer Science, I. Proprotny, S. Bergbreiter (Eds.). Volume 8336, pp 81-100, 2014.

Modeling and Global Trajectory Tracking Control for an Over-actuated MAV.
Y. Long, D. Cappelleri. Advanced Robotics. Vol. 28, Issue 4, February 2014.



2013

Complete Dynamic Modeling, Control and Optimization for an Over-Actuated MAV.
Y. Long, D. Cappelleri. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Tokyo Big Sight, Japan, November 3-7, 2013.

Design and Development of Robotic Surgical Unit to Provide Force Feedback to the Surgeon.
J. Desai, D. Cappelleri, A. Valdevit, A. Ritter. Biomedical Engineering Society (BMES) Annual Meeting, Seattle, WA, USA. Seattle, WA, USA, September 25-28, 2013.

Technical Brief: Microcoil Design and Analysis for Actuation of Microstructures and Devices.
N. Vitoroulis, D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC). Portland, OR USA, August 4 - 7, 2013. [ PDF ]

Towards the Design of a Fully Actuated Invertible Flying Quadrotor MAV.
A. Gelardos, D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC). Portland, OR, August 4 - 7, 2013.

Towards Flexible, Automated Microassembly with Caging Micromanipulation.
D. Cappelleri, Z. Fu. IEEE International Conference on Robotics and Automation (ICRA). Karlsruhe, Germany, May 6 - 10, 2013.

Linear Control Design, Allocation, and Implementation for the Omnicopter MAV.
Y. Long, D. Cappelleri. IEEE International Conference on Robotics and Automation (ICRA). Karlsruhe, Germany, May 6 - 10, 2013.

A Tumbling Magnetic Microrobot with Flexible Operating Modes.
W. Jing, N. Pagano, D. Cappelleri. IEEE International Conference on Robotics and Automation (ICRA). Karlsruhe, Germany, May 6 - 10, 2013.

The Robotic Decathlon: Project-Based Learning Labs and Curriculum Design for an Introductory Robotics Course.
D. Cappelleri, N. Vitoroulis. Special Issue on Robotics Education, IEEE Transactions on Education. Vol. 56, Issue 1, pp. 73-81, February 2013.

A Novel Micro-Scale Magnetic Tumbling Microrobot.
W. Jing, N. Pagano, D. Cappelleri. Journal of Micro-Bio Robotics. Vol. 8, Issue 1, pp. 1-12, 2013, DOI: 10.1007/s12213-012-0053-1, February 2013.

Bibtex
@article{jing2013novel, title={A novel micro-scale magnetic tumbling microrobot}, author={Jing, Wuming and Pagano, Nicholas and Cappelleri, David J}, journal={Journal of Micro-Bio Robotics}, volume={8}, number={1}, pages={1--12}, year={2013}, publisher={Springer-Verlag} }

Ch. 16. Omnicopter: A Novel Overactuated Micro Aerial Vehicle.
Y. Long, D. Cappelleri. V. Kumar et al. (Eds.) Advances in Mechanisms, Robotics and Design Education and Research, Mechanisms and Machine Science. Vol. 14, pp 215-226, 2013, DOI: 10.1007/978-3-319-00398-6, January 2014.



2012

Caging for 2D and 3D Micromanipulation.
D.Cappelleri, Z. Fu. M. Fatovic, U. Shah. Journal of Micro-Nano Mechatronics. Vol. 7, Issue 4, pp.115-129, December 2012.

Design and Build Methods for a Variable Radius Wheel Mechanism.
Y. Chen, D. Cappelleri. ASME International Mechanical Engineering Congress & Exposition (IMECE). Houston, TX, USA, November 9-15, 2012.

Haptic Feedback System Integration for a Prototype Robotic Surgical Unit.
J. Desai, D. Cappelleri, A. Valdevit, A. Ritter. World Wide Congress on Clinical Robotics and Surgical Innovation. Chicago, IL, USA, September 27-29, 2012.

Cooperative Micromanipulators for 3D Micromanipulation and Assembly.
D. Cappelleri, Z. Fu. ASME International Design Engineering Technical Conferences (IDETC). Chicago, IL, USA, August 12-15, 2012. [ PDF ]

Exploration of Mobility Modes Arising from the Breakdown of a Basic Regular Tetrahedron.
Y. Chen, D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC). Chicago, IL, USA, August 12-15, 2012. [ PDF ]

A Micro-scale Magnetic Tumbling Microrobot.
W. Jing, N. Pagano, D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC). Chicago, IL, USA, August 12-15, 2012. [ PDF ]

Linear Control Techniques Applied to the Omnicopter MAV in Fixed Vertical Ducted Fan Angle Configuration.
Y. Long, S. Lyttle, D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC). Chicago, IL, USA, August 12-15, 2012. [ PDF ]

Design and Quaternion-based Attitude Control of the Omnicopter MAV using Feedback Linearization.
Y. Long, S. Lyttle, N. Pagano, D. Cappelleri. ASME International Design Engineering Technical Conferences (IDETC). Chicago, IL, USA, August 12-15, 2012. [ PDF ]



2011

A Two Dimensional Vision-Based Force Sensor for Microrobotic Applications.
D. Cappelleri, G. Piazza, V. Kumar. Sensors & Actuators: A. Physical. Vol. 171 Issue 2 pp. 340-351, 2011. [ PDF ]

Caging Grasps for Micromanipulation & Microassembly.
D. Cappelleri, M. Fatovic, Z. Fu. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). San Francisco, CA, USA, September 25-30, 2011. [ PDF ]

A Low Cost Attitude and Heading Reference System Based on a MEMS IMU for a T-Quadrotor.
Y. Long, S. Bai, P. Patel, D. Cappelleri. Proceedings of the ASME IDETC/CIE 2011. Washington, DC, USA, August 28-31, 2011.

Automated Assembly for Meso-Scale Parts.
D. Cappelleri, P. Cheng, J. Fink, G. Gavrea, V. Kumar. IEEE Transactions on Automation Science and Engineering. Vol.8, No.3, pp.598-613, July 2011. [ PDF ]

Caging Micromanipulation for Automated Microassembly.
D. Cappelleri, M. Fatovic, U. Shah. IEEE International Conference on Robotics and Automation (ICRA). Shanghai, China, May 9-13, 2011. [ PDF ]

A Magnetic Thin Film Microrobot with Two Operating Modes.
Jing, W., Chen, X., Lyttle, S., Fu, Z., Shi, Y., and Cappelleri, D.. IEEE International Conference on Robotics and Automation (ICRA). Shanghai, China, May 9-13, 2011. [ PDF ]



2010

Design of a magnetostrictive thin film microrobot.
Jing, W., Chen, X., Lyttle, S., Fu, Z., Shi, Y., and Cappelleri, D.. Proceedings of the ASME International Mechanical Engineering Congress & Exposition. November, 2010. [ PDF ]

Towards A Fully Automated High-Throughput Phototransfection System.
D. Cappelleri, A. Halasz, J-Y. Sul, T. Kim, J. Eberwine, and V. Kumar. Journal of the Association for Laboratory Automation (JALA). Vol. 15, pp. 329-341, DOI: 10.1016/j.jala.2010.03.003, August 2010. [ PDF ]

Development of a Successful Open-ended Robotics Design Course at the High School Level.
N. Ayanian, J. Keller, D. Cappelleri, V. Kumar. Special Issue on Novel Approaches to Robotics Education, Computers in Education Journal. Vol. 1, No. 3, July-Sept 2010.

A novel lab and project-based learning introductory robotics course.
D. Cappelleri. Special Issue on Novel Approaches to Robotics Education, Computers in Education Journal. Vol. 1, No. 3, July-Sept 2010. [ PDF ]

Towards the Design of a Decoupled, Two-Dimensional, Vision-Based µN Force Sensor.
D. Cappelleri, G. Krishnan, C. Kim, V. Kumar, S. Kota. ASME Journal of Mechanisms and Robotics. Vol 2, Issue 2, May 2010.

Towards Fully Automated Phototransfection.
D. Cappelleri, A. Halasz, J-Y. Sul, T. Kim, J. Eberwine, and V. Kumar. Lab Automation 2010. Palm Springs, CA USA, January 23-27, 2010.



2009

Towards the Design of an Optimized, Decoupled, Two-Dimensional, Vision-Based µN Force Sensor for Microrobotics.
D. Cappelleri, G. Krishnan, C. Kim, V. Kumar. Proceedings of the ASME International Design Engineering Technical Conference (IDETC). San Diego, CA USA, August 29 - September 2, 2009. [ PDF ]

Towards Fully Automated Phototransfection.
D. Cappelleri, A. Halasz, J-Y. Sul, T. Kim, J. Eberwine, and V. Kumar. Proceedings of the IEEE Conference on Robotics, Automation, and Science (CASE). Bangalore, India, August 22-25, 2009. [ PDF ]

Two-Dimensional, Vision-Based µN Force Sensor for Microrobotics.
D. Cappelleri, G. Piazza, V. Kumar. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Kobe, Japan, May 12-17, 2009. [ PDF ]

Transcriptome Transfer Produces a Predictable Cellular Phenotype.
J-Y Sul, C. K. Wu, F. Zeng, J. Jochems, M. T. Lee, T. K. Kim, T. Peritz, P. Buckley, D. Cappelleri, M. Maronski, M. Kim, V. Kumar, D. Meaney, J. Kim and J. Eberwine. Proceedings of the National Academy of Science. 106(18):7624-9. Epub 2009 Apr 20. PMCID: PMC2670883, May 5, 2009. [ PDF ]



2008

Capturing the Interest of Future Engineers: The Development of an Intensive Three-week Summer Academy in Robotics for High School Students.
J. Keller, D. Cappelleri, T. Kientz, N. Ayanian, P. White, and V. Kumar. Proceedings of the Fall 2008 ASEE Mid-Atlantic Section Conference. Stevens Institute of Technology, Hoboken, NJ, September 2008. [ PDF ]

Meso-manipulation: System, Modeling, Planning and Control, Video.
D.Cappelleri, P.Cheng, B. Gavrea, and V. Kumar. IEEE International Conference on Robotic and Automation (ICRA). Pasadena, CA USA, May 19-23, 2008.



2007

SAAST Robotics – An Intensive Three Week Robotics Program for High School Students.
D.Cappelleri, J. Keller, T. Kientz, P. Szczesniak, and V. Kumar. Proceedings of the ASME International Design Engineering Technical Conference (IDETC). Las Vegas, NV USA, September 4-7, 2007. [ PDF ]

Planning and Control of Meso-scale Manipulation Tasks with Uncertainties.
P. Cheng, D. Cappelleri, B. Gavrea and V. Kumar. Proceedings of Robotics: Science and Systems (RSS). Atlanta, GA USA, June 27-30, 2007. [ PDF ]



Earlier

Modeling Uncertainty for Planar Meso-scale Manipulation and Assembly.
D.Cappelleri, J. Fink, V. Kumar. Proceedings of the ASME International Design Engineering Technical Conference (IDETC). Philadelphia, PA USA, September 10–13, 2006. [ PDF ]

Designing Open Loop Plans for Planar Micro Manipulation.
D. Cappelleri, J. Fink, B. Mukundakrishnan, V. Kumar and J. Trinkle. Proceedings of the IEEE International Conference on Robotic and Automation (ICRA). Orlando, FL USA, May 15-19, 2006. [ PDF ]

A Metamodel-Based Approach for Optimal Design of a PZT Bimorph Actuator for Minimally Invasive Surgery.
D. Cappelleri, M. Frecker, T. Simpson, and A. Snyder. ASME Journal of Mechanical Design. 124:2 (354-357), 2002. [ PDF ]

Efficient Pareto Frontier Exploration Using Surrogate Approximations.
B. Wilson, D. Cappelleri, M. Frecker, and T. Simpson. Optimization and Engineering. 2:1 (31-50), 2001. [ PDF ]

Efficient Pareto Frontier Exploration Using Surrogate Approximations.
B. Wilson, D. Cappelleri, M. Frecker, and T. Simpson. 8th AIAA/NASA/USAF/ISSMO Symposium on Multidisciplinary Analysis and Optimization, Long Beach, CA USA. (AIAA-2000-4895), 2000. [ PDF ]

Optimal Design of a PZT Bimorph Actuator for Minimally Invasive Surgery.
D. Cappelleri, M. Frecker, and T. Simpson. 7th International Symposium on Smart Structures and Materials, Newport Beach, CA USA. SPIE, 3984 (321-335), March 5-9, 2000. [ PDF ]

Optimal Design of Smart Tools for Minimally Invasive Surgery.
D. Cappelleri and M. Frecker. Optimization in Industry II, ASME. Banff, Alberta, Canada, June 6-11, 1999. [ PDF ]

Turbulator Geometry Influence on Tripping Effectiveness Based on Low-Speed Wind-Tunnel Data.
M. Torres, D. Cappelleri, D. Anes, M. Reiter, and A. DeGuilio. Technical Soaring. Vol.23, No.1, pp.23-27, January 1999.


Copyright Notice
Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the publishers.