Publications

2017 | 2016 | 2015 | 2014 | 2013 | 2012 | 2011 | 2010 | 2009 | 2008 | 2007 | Earlier


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.

Characterization of Heterogeneous Collaborative Robot Teams.
B. Abruzzo, D. Cappelleri, P. Mordohai. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vancouver, Canada, September 24-28, 2017, Submitted.

Vision-based Micro-Force Sensing Mobile Microrobots for Intelligent Micromanipulation.
M. Guix, A. 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, to appear.

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, to appear.

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, to appear.

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.

Micro-coil Design for Independent Control of Multiple Magnetic Microrobots.
S. Chowdhury, W. Jing, D. Cappelleri. IEEE International Conference on Robotics, Manipulation, and Automation at Small Scales (MARSS), Paris, France. July 18-22, 2016.

Micro-force Sensing Mobile Microrobots for Mechanobiology and Automated Biomanipulation.
W. Jing, S. Chowdhury, D. Cappelleri. IEEE Transactions on Robotics (T-RO). Submitted, April 2016.

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.



2015

Towards Independent Control of Multiple Magnetic Mobile Microrobots.
S. Chowdhury, W. Jing, D. Cappelleri. Micromachines, Special Issue: Micro/Nano Robotics. 7(1), 3, 2015 December. [ PDF ]

Bibtex
@Article{mi7010003, AUTHOR = {Chowdhury, Sagar and Jing, Wuming and Cappelleri, David J.}, TITLE = {Towards Independent Control of Multiple Magnetic Mobile Microrobots}, JOURNAL = {Micromachines}, VOLUME = {7}, YEAR = {2015}, NUMBER = {1}, PAGES = {3}, URL = {http://www.mdpi.com/2072-666X/7/1/3}, ISSN = {2072-666X}, DOI = {10.3390/mi7010003} }

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.


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