B.S., Mechanical Engineering, Indian Institute of Technology, Kanpur, 1984

Professional Experience:

4/02-present: Professor of Mechanical Engineering, University of Delaware

4/96-4/02: Associate Professor of Mechanical Engineering, University of Delaware

8/96-present: Faculty, Biomechanics & Movement Science Program, Univ. of Delaware

8/05-4/06: Consultant, Bally Ribbon Mills, Bally, PA

6/04-7/04: Visiting Professor, Electrical Engineering, ADFA, Canberra, Australia

1/04-9/04: Guest Researcher, Intelligent Systems Division, NIST

6/03-8/03: Visiting Professor, Technical University Darmstadt, Germany.

1/03-12/03: Guest Researcher, Intelligent Systems Division, NIST

9/02-1/03: Consultant, DLR, Inst. for Robotics and Mechatronics, Wessling, Germany

6/02-8/02: Visiting Professor, Technical University of Darmstadt, Germany.

3/02-6/02: Consultant, DLR, Inst. for Robotics and Mechatronics, Wessling, Germany

3/01-9/01: Senior Scientist (IPA), Munitions Directorate, Eglin AFB, Florida

1/00-12/02: Consultant, Pathway Technologies, Philadelphia

6/15/00-7/5/00: Visiting Fellow, Electrical Engineering, ADFA, Canberra, Australia

3/00 – 4/00: Visiting Researcher, Mechatronics Division, CINVESTAV-IPN, Mexico

3/99-12/00: Consultant, Xerox Palo Alto Research Center, Palo Alto, California

1/98-5/98: Visiting Associate, Control and Dynamic Systems, Caltech, Pasadena, CA

8/95-3/96: Associate Professor of Mech. Eng., Ohio University, Athens, OH

9/90-7/95: Assistant Professor of Mech. Eng., Ohio University, Athens, OH

8/95-12/95: Humboldt Research Fellow, DLR, Oberpfaffenhofen, Germany

8/94-12/94: Humboldt Research Fellow, DLR, Oberpfaffenhofen, Germany

6/94-8/94: AFOSR Summer Faculty Fellow, WPAFB, Dayton

7/88-9/88: General Motors Research Lab Summer Intern, Warren, MI

1/87-8/90: Research Assistant, Robotics Laboratory, Stanford University

9/84-9/86: University Graduate Fellow, Ohio State University, Columbus, OH

External Awards and Honors:

Best All Rounder Student Gold Medal, IIT Kanpur, 1984.

NSF Research Initiation Award, 1991.
NSF Presidential Faculty Fellow Award, White House, 1994.
Alexander von Humboldt Research Fellow, 1994, 1995.

Fritz and Dolores Russ Research Award, Ohio University, 1994.
Keynote Speaker, Workshop on Constraints in Control, CC 1999, Alexandria, VA

Friedrich Wilhelm Bessel Research Award, Alexander von Humboldt Foundation, Germany, 2002, 2003.
Fulbright Scholar Award, Fulbright Foundation, 2002-2003 (declined).

Elected Fellow, American Society of Mechanical Engineers, 2004.
American Society of Mechanical Engineers Distinguished Lecturer, 2004-2007.

Annual Biomimicry Prize, 28^th ASME Mechanisms and Robotics Conference, 2004, for the technical paper entitled “Biologically Inspired Design of Small Flapping Wing Air Vehicles Using 4-Bar Mecahnisms and Quasi-Steady Aerodynamics”.

Keynote Speaker, National Conference on Control and Dynamical Systems, IIT, Bombay, Jan 2005.
Guest Speaker, IDGA Sponsored UAV Summit - Combat and Micro, Washington DC, March 2005.

Panel Member of the Academic Program Review Board of UD Mathematical Sciences Department, 2006.
IEEE/ASME Transactions on Mechatronics, Journal Management Board, 2006-2008.

Technical Editorial Boards:

· International Journal of Robotics Research, Guest Editor for a Special Issue on Machine Systems for Human Augmentation, March 2007.

· Journal of Dynamic Systems Measurement and Control, Transactions of the ASME, Guest Editor for a Special Issue on Novel Robotics and Control, March 2006.

· IEEE/ASME Transactions on Mechatronics, Guest Editor for a Focused Section on Biomimetics and Novel Aspects in Robotics, April 2006.

· Journal of Dynamic Systems Measurement and Control, Transactions of the ASME, Associate Technical Editor, 6/04-6/07.

· IEEE Transactions of Robotics and Automation, Associate Technical Editor, 12/00 – 12/01.

· Journal of Mechanical Design, Transactions of the ASME, Associate Technical Editor, 8/00-8/03.

· IEEE Transactions of Control Systems Technology, Associate Technical Editor, 1/01-12/02.

· Multi-body Systems Dynamics, Editorial Board, Kluwer Academic Publishers, 1996-2003.

· IEEE Control Systems Society Conference Editorial Board, 1/00-12/00.

Professional Activities:

· Chair, Technical Committee on Mechanisms and Robotics, ASME Design Division, 2006

· Conference Chair, ASME Mechanisms and Robotics Conference, 2005.

· Member of Technical Committee, BioRob, 2006, Pisa.

· Program Chair, ASME Mechanisms and Robotics Conference, 2004.

· Co-Chair of International Conference on Mechanical Engineering and Mechanics, 2005, Nanjing

· IUTAM Symposium on Vibration Control of Nonlinear Mechanisms and Structures, 2005.

· Chair of Robotics Technical Panel of ASME Dynamic System and Control Division, 2003-2006.

· IEEE International Conference on Robotics and Automation (ICRA): 2000, 2001, 2002, 2003, 2006.

· ASME Mechanisms and Robotics Conference (Chair, Dynamics Symposium): 2002.

· Workshop on Future Research Directions for Parallel Mechanisms and Manipulators, Quebec 2002.

· IEEE Conference on Control Applications (CCA): 2000.

· IEEE Conference on Intelligent Robots and Systems (IROS): 1999, 2001.

Session Chair at Conferences:

· ASME Mechanisms Conference: 1990, 1992, 1994, 1998, 2000, 2002, 2004, 2005.

· IEEE Conference on Control Applications (CCA): 2000.

· IEEE Conference on Robotics and Automation (ICRA): 1996, 2000, 2001, 2002, 2003, 2004, 2005, 2006.

· American Control Conference (ACC): 1993, 1998, 1999, 2000, 2001, 2002, 2003, 2004, 2005, 2006.

· IEEE Control Decision Conference (CDC): 1999.

· International Federation for Automatic Control (IFAC), 1999, 2002.

· International Federation for Theory of Machines and Mechanisms (IFToMM), 1995.

· International Conference on Advanced Robotics: 1995.

· ASME Winter Annual Meting: 1990.

National Program Review Boards:

· Panelist for NSF Career Awards, Dynamic Systems & Control Program: 1995, 1997.

· Panelist for NSF Awards, Robotics and Human Augmentation Program: 2003.

· Panelist for NSF Awards Dynamic Systems and Control Program: 2001, 2002.

· Panelist for NSF Awards, Mechanics and Materials Program: 1995.

· Proposal Reviewer for NSF, Dynamic Systems and Control Program: 1992-94, 2005.

Books:

· Optimization of Dynamic Systems, Kluwer Academic Publishers, Dordrecht,

Hardbound, ISBN 0-7923-5681-0, April 1999, 240 pp.

Authors: Sunil K. Agrawal, University of Delaware & Prof. Brian C. Fabien, Mechanical Engineering, University of Washington, Seattle.

· Differentially Flat Systems, Marcel Dekker (Control Engineering Series)

(Hardbound, ISBN 0-8247-5470-0, June 2004; Pages: 467)

Authors: Prof. Hebertt Sira-Ramirez, Department of Electrical Engineering, CINVESTAV-IPN, Mexico and Sunil K. Agrawal

· Optimization of Kinematics and Dynamics of Robotic Systems, CRC Press

(Expected Date: December 2006; Pages: 500)

Authors: Sunil K. Agrawal and Prof. K. Kurien Issac, IIT Bombay

Technical Publications:

Archival Journal Papers (95 Published/Accepted listed here)

Refereed Conference Papers (10 out of 130 listed, Detailed list available on request)

Special Issue Journal Editorials

S. K. Agrawal, V. Krovi, and M. O’Malley, “Special Issue on Novel Robotics and Control – Guest Editorial”, IEEE Transactions in Mechatronics, Vol. 11, Number 2, April 2006, 117-118

S. K. Agrawal and V. Krovi, “Guest Editorial – Introduction to the Focused Section on Biomimetics and Novel Aspects Robotics –”, ASME Journal of Dynamic Systems Measurement and Control, Vol. 28, 2006, 1-2.

S. K. Agrawal and A. G. Erdman, “Biomedical Assist Devices and New Biomimetic Machines – A Short Perspective”, Journal of Mechanical Design, Transactions of the ASME, Vol. 127, 2005, 799-801.

Cable Suspended Robots: Systems with Unilateral Inputs

S. Oh and S. K. Agrawal, “Generation of Feasible Set Points and Control of a Cable Suspended Robot”, IEEE Transactions on Robotics, Vol. 22, No. 3, 2006, 551-558.

S. Oh and S. K. Agrawal, “Determination of Reachable Sets for Control of a Cable Suspended Robot with Input Constraints and Disturbances”, IEEE Transactions on Control System Technology, Vol. 14, No. 4, 2006, 735-742.

S. Oh, K. Mankala, S. K. Agrawal, and J. Albus, “Dynamic Modeling and Robust Controller Design of a 2-Stage Parallel Cable Robot”, Multibody System Dynamics, Vol. 13, No. 4, 2005, 385-399.

S. Oh and S. K. Agrawal, “A Reference Governor Based Controller for a Cable Robot Under Input Constraints”, IEEE Transactions on Control Systems Technology, Vol. 13, No. 4, 2005, 639-645.

Fattah and S. K. Agrawal, “On the Optimal Design and Workspace Analysis of Planar Cable-suspended Robots”, Journal of Mechanical Design, Transactions of the ASME, Vol. 127, 2005, 1021-1028.

S. Oh, K. Mankala, S. K. Agrawal, and J. Albus, “Dual Stage Planar Cable Robot : Dynamic Modeling and Design of A Robust Controller with Positive Inputs”, Journal of Mechanical Design, Transactions of the ASME, Vol. 127, 2005, 612-620.

S. Oh and S. K. Agrawal, “Cable Suspended Planar Robots with Redundant Cables: Controllers with Positive Tension”, IEEE Transactions of Robotics, Vol. 21, No. 3, 2005, 457-465.

Cable Suspended Robots from a Helicopter

S. Oh., K. Pathak, S. K. Agrawal, H. R. Pota, and M. Garratt, “Autonomous Helicopter Landing on a Moving Platform Using a Tether”, IEEE Transactions on Robotics, Vol. 22, No. 3, 2006, 536-544.

S. Oh, J. Ryu and S. K. Agrawal, “Dynamics and Control of a Helicopter Carrying a Payload using a Cable Suspended Robot”, ASME Journal of Mechanical Design, Vol. 128, September 2006, 1113-1121.

Cable Transporter Systems: High-rise Elevators

Y. Zhang and S. K. Agrawal, “Lyapunov Controller Design for Transverse Vibration of a Cable-Linked Transporter System”, Multibody System Dynamics, Vol. 15, No. 3, 2006, 287-304.

Yuhong Zhang, Sunil Agrawal, and Peter Hagedorn, “Logitudinal Vibration Modeling and Control of Flexible Transporter System with Arbitrarily Varying Cable Lengths”, Journal of Vibration and Control, Vol. 11, 2005, 431-456.

Y. Zhang, H. R. Pota, S. K. Agrawal, I. Peterson, “Minimax Linear Quadratic Gaussian (LQG) Control of Longitudinal Vibration for Cable Transporter Systems with Multiplicative Nonparametric Uncertainties”, International Journal of Acoustics and Vibration, Vol. 10, No. 3, 2005, 137-144.

H. R. Pota, Sunil K. Agrawal and Y. Zhang, “A Flatness Based Approach to Residual Motion Suppression of High-rise Elevators”, Journal of Vibration and Control, Vol. 10, 2004, 1441-1457.

Tethered Satellite Systems: Deployment and Station Keeping

K. Mankala and S. K. Agrawal, “Dynamic Modeling and Simulation of Satellite Tethered Systems”, Journal of Vibration and Acoustics, Transactions of the ASME, Vol. 127, No. 2, 2005, 144-156.

K. K. Mankala and S. K. Agrawal, “Equilibrium-to-Equilibrium Maneuvers of Flexible Electrodynamic Tethers in Equatorial Orbits”, to appear in AIAA Journal of Spacecrafts and Rockets, 2006.

K. K. Mankala and S. K. Agrawal, “Equilibrium-to-Equilibrium Maneuvers of Rigid Electrodynamic Tethers”, Journal of Guidance, Control, and Dynamics, Vol. 28, Number 3, 2005, 541-545.

K. Mankala and S. K. Agrawal, “Dynamic Modeling and Simulation of Impact in Tether Net/Gripper Systems”, Multi-body Systems Dynamics, 2004, Vol. 11, 235-250.

K. Mankala and S. K. Agrawal, “A Boundary Controller based on Linear Infinite Dimensional System for Station Keeping of a Tethered Satellite System”, American Control Conference, 2006.

Planning and Control of Indoor/Outdoor Mobile Robots

K. Pathak and S. K. Agrawal, “Band-Limited Trajectory Planning and Tracking for certain Dynamically-Stabilized Autonomous Robots”, ASME Journal of Dynamic Systems Measurement and Control, Vol. 28, 2006, 106-111.

Pathak and S, K. Agrawal, “An Integrated Path-Planning and Control Approach for Nonholonomic Unicycles using Switched Local Potentials”, IEEE Transactions on Robotics, Vol. 21, No. 6, 2005, 1201-1207.

K. Pathak and S. K. Agrawal, “An Integrated Spatial Path-planning and Controller Design Approach for a Hover-modeHelicopter Model”, In proceedings IEEE International Conference on Robotics and Automation, 2005.

Y. Hao, B. Laxton, E. R. Benson, and S. K. Agrawal, "Differential Flatness Based Formation Following of a Simulated Autonomous Small Grain Harvesting System", Transactions of the ASAE, Vol. 47, No. 3, 2004, 933-941.

Unmanned Ground Robots in Groups

Y. Hao and S. K. Agrawal, “Planning and Control of UGV Formations in a Dynamic Environment: A Practical Framework with Experiments”, Robotics and Autonomous Systems, Vol. 51, 2005, 101-110.

Y. Hao and S. K. Agrawal, "Formation Planning and Control of UGVs with Trailer", Autonomous Robots, Vol. 19, No. 3, 2005, 257-270.

Wheeled Inverted Pendulum (Segway Robots)

K. Pathak and S. K. Agrawal, “Band-Limited Trajectory Planning and Tracking for certain Dynamically-Stabilized Autonomous Robots”, ASME Journal of Dynamic Systems Measurement and Control, Vol. 28, 2006, 106-111.

K. Pathak, J. Franch, and S. K. Agrawal, “Velocity and Position Control of a Wheeled Inverted Pendulum by Partial Feedback Linearization”, IEEE Transactions of Robotics, Vol. 21, No. 3, 2005, 505-513.

Parallel Actuated Robots

J. Pusey, A. Fattah, and S. Agrawal, and E. Messina, “Design and Workspace Analysis of a 6-6 Cable-Suspended Parallel Robot”, Mechanism and Machine Theory, 2004, Vol. 39, 761-778.

Zlatanov, S. K. Agrawal, and C. Gosselin, “Convex Cones in Screw Spaces”, Mechanisms and Machine Theory, Vol. 40, 2005, 710-727.

S. K. Agrawal, “Workspace Boundaries of In-parallel Manipulator Systems”, International Journal of Robotics and Automation, Vol. 7, No. 2, 1992, 94-99.

S. K. Agrawal and B. Roth, “Statics of In-parallel Manipulators”, Journal of Mechanical Design, Transactions of the ASME, Vol. 114, No. 4, 1992, 564-568.

Bipeds and Locomotion

V. Sangwan and S. K. Agrawal, “Generation of Leg-like Motion and Limit Cycles with an Underactuated Two DOF Linkage”, In Proceedings of the BioRob, 2006.

Agrawal and S. K. Agrawal, “An Energy Efficient Manipulator Design Approach: Application To A Leg In Swing Phase”, to appear in ASME Journal of Mechanical Design, 2006.

Agrawal and S. K. Agrawal, “An Approach to Identify Joint Motions for Dynamically Stable Walking”, Journal of Mechanical Design, Transactions of the ASME, Vol. 128, May 2006, 649-653.

S. K. Agrawal and A. Fattah, “Design and Control Approaches for a Novel Planar Biped with Nearly Linear Dynamics”, IEEE Transactions in Mechatronics, Vol. 11, Number 2, April 2006, 162-168.

S. K. Agrawal and V. Sangwan, “Design of Underactuated Open-Chain Planar Robots for Repetitive Cyclic Motions”, to appear in the ASME IDETC 2006 (submitted for publication in IEEE Transactions of Robotics).

Flapping Wing Flying Machines

K. K. Issac and S. K. Agrawal, “Minimum Power Flight of a Mechanical Pigeon and Comparison with its Biological Counterparts”, accepted for publication in ASME Journal of Mechanical Design, 2006.

S. McIntosh, S. K. Agrawal, Z. A. Khan, “Design of a Mechanism for Biaxial Rotation of a Wing for a Hovering Vehicle”, IEEE Transactions in Mechatronics, Vol. 11, Number 2, April 2006, 145-153.

R. Madangopal, Z. A. Khan, and S. K. Agrawal, “Energetics Based Design of Small Flapping Wing Air Vehicles”, IEEE/ASME Transactions on Mechatronics, Vol. 11, No. 4, 2006, 433-438.

R. Madangopal, Z. Khan, and S. K. Agrawal, “Biologically Inspired Design of Small Flapping Wing Air Vehicles Using Four Bar Mechanisms and Quasi-Steady Aerodynamics”, Journal of Mechanical Design, Transactions of the ASME, Vol. 127, 2005, 809-816.

S. Banala and S. K. Agrawal, “Design and Optimization of a Mechanism for Out of Plane Insect Wing Like Motion With Twist”, Journal of Mechanical Design, Transactions of the ASME, Vol. 127, 2005, 841-844.

Z. A. Khan and S. K. Agrawal, “Design of Flapping Mechanism Based on Transverse Bending Phenomena in insects”, In Proceedings IEEE Conference on Robotics and Automation, 2006.

Z. A. Khan and S. K. Agrawal, “Modeling and Simulation of Flapping Wing Micro Air vehicles”, In Proceedings ASME Mechanisms and Robotics Conference, 2005.

Z. A. Khan and S. K. Agrawal, “Wing Force and Moment Characterization of Flapping Wings for Micro Air Vehicle Application”, In proceedings American Control Conference, 2005.

Novel Design of Man-Machine Systems

S. K. Agrawal and J. Ryu, “Design of Dissipative and Stable Assist Robots” , to appear in the ASME IDETC 2006 (submitted for publication in Journal of Mechanical Design, Transactions of the ASME).

J. Ryu, K. Pathak, and S. K. Agrawal, “Control of a Passive Mobility Assistive Robot”, In Proceedings of the ASME IMECE, 2006.

S. K. Agrawal, S. Banala, A. Fattah, V. Krishnamoorthy, W. L. Hsu, J. P. Scholz, “A Gravity Balancing Passive Exoskeleton for the Human Leg”, to appear in Robotic Systems and Science, 2006.

Medical Robotics

S. Banala, S. K. Agrawal, A. Fattah, J. P. Scholz, V. Krishnamoorthy, K. Rudolph, W. L. Hsu, “Gravity Balancing Leg Orthosis and its Performance Evaluation”, accepted for publication in IEEE Trans. in Robotics, 2006.

Agrawal, S. Banala, S. K. Agrawal, S.Binder-Macleod, “Design of a Two Degree-of-Freedom Ankle-Foot Orthosis for Robotic Rehabilitation”, accepted for publication in ASME Journal of Mechanical Design, 2006.

Fattah and S. K. Agrawal, “Prototype of a Gravity-Balanced Assist Device for Sit-to-stand Tasks”, ASME Journal of Mechanical Design, Vol. 128, Sept 2006, 1122-1129.

S. Banala and S. K. Agrawal, “Gait Rehabilitation With An Active Leg Orthosis”, In Proceedings ASME Mechanisms and Robotics Conference, 2005.

Abbas Fattah and Sunil K. Agrawal, “On the Design of a Gravity Balanced Human Leg with Passive Orthosis”, Journal of Mechanical Design, Transactions of the ASME, Vol. 127, 2005, 802-808.

Agrawal and S. K. Agrawal, “Design of Gravity Balancing Leg Orthosis Using Non-Zero Free Length Springs”, Mechanisms and Machine Theory, Vol. 40, Issue 6, 2005, 693-709.

S. K. Agrawal and A. Fattah, “Theory and Design of an Orthotic Device for Full or Partial Gravity-Balancing of a Human Leg During Motion”, IEEE Transactions on Neural systems and Rehabilitation Engineering, 2004, Vol. 12, No. 2, 157-165.

Rahul Rao, Sunil K. Agrawal, John P. Scholz, “A Robot Test-bed for Assistance and Assessment in Physical Therapy”, Advanced Robotics, Vol. 14, No. 7, 2000, 565-578.

Stephen Pledgie, Kenneth E. Barner, Sunil K. Agrawal, and Tariq Rahman, “Tremor Suppression Through Impedance Control”, IEEE Transactions on Rehabilitation Engineering, Vol. 8, No. 1, 2000, 53-59.

Design of Reactionless Robots

Fattah and S. K. Agrawal, “On the Design of Planar Reactionless Parallel Mechanisms'”, Mechanisms and Machine Theory, Vol. 41, No. 1 pp 70-82, 2005.

Fattah and S. K. Agrawal, “Design and Simulation of Classes of Spatial Reactionless Manipulators”, Robotica, Vol. 23 , Issue 01, 2005, 75-81.

S. K. Agrawal and A. Fattah, “Reactionless Space and Ground Robots: Novel Designs and Concept Studies”, Mechanisms and Machine Theory, 2004, Vol. 39, 25-40.

Gravity Balancing of Robots and Machines

A. Fattah and S. K. Agrawal, “Gravity-Balancing of Classes of Industrial Robots”, IEEE Conference on Robotics and Automation, 2006.

S. K. Agrawal and A. Fattah, “Gravity-Balancing of Spatial Open-Chain Manipulators”, Mechanisms and Machine Theory, Vol. 39, 2004, 1331-1344.

S. K. Agrawal and A. Fattah, “Design and Prototype of a Gravity-Balanced Leg Orthosis”, International Journal of Human-Friendly Welfare Robotic Systems, Vol. 4, No. 3, 2003, 13-16.

Sunil K. Agrawal, Glenn Gardner, Stephen Pledgie, “Design and Fabrication of a Gravity Balanced Planar Mechanism Using Auxiliary Parallelograms”, Journal of Mechanical Design, Transactions of the ASME, Vol. 123, No. 4, 2001, 525-528.

Gokce and S. K. Agrawal, “Mass Center of Planar Mechanisms Using Auxiliary Parallelograms”, Journal of Mechanical Design, Transactions of ASME, Vol. 121, No. 1, 1999, 166-168.

Robotics for Art and Museums

Sunil K. Agrawal, Saravana Kumar, and Mark Yim, “Single Degree-of-freedom Polyhedral Expanding Structures”, Journal of Mechanical Design, Transactions of the ASME, Vol. 124, No. 2, 2002, 473-478.

F. M. J. Pfister and S. K. Agrawal, “Analytical Dynamics of Unrooted Multibody Systems with Symmetries”, Journal of Mechanical Design, Transactions of the ASME, Vol. 121, No. 3, 1999, 440-447.

Spherical Ball-like Robots

Shourov Bhattacharya and Sunil K. Agrawal, Design, Experiments, and Motion Planning of a Spherical Rolling Robots, IEEE Transactions of Robotics and Automation, Vol. 16, No. 6, 2000, 835-838.

Optimization of Dynamic Systems

Tawiwat Veeraklaew and Sunil K. Agrawal, “Neighboring Optimal Feedback Law for Higher-Order Dynamic Systems”, Journal of Dynamic Systems Measurement and Control, Transactions of the ASME, Vol. 124, No. 3, 2002, 492-497.

Jaume Franch and Sunil K. Agrawal, “Optimal Control of Bolza and Transformed Mayer Problems with Feedback Linearized State Equations”, AIAA Journal of Guidance, Control, and Dynamics, Vol. 24, No. 5, 2001, 1043-1045.

M. Schlemmer and S. K. Agrawal, “A Real-time Computational Approach for Time-Optimal Planning of Linear Systems: Applications to High-rise Elevators”, IEEE Transactions on Control Systems Technology, Vol. 10, No. 1, 2001, 105-111.

S. K. Agrawal, X. Xu, and N. Faiz, “Optimization of Bilinear Systems Using Higher-Order Variational Method”, Journal of Optimization Theory and Applications, Vol. 105, No. 1, April 2000, 55-72.

X. Xu and S. K. Agrawal, “Finite-Time Optimal Control of Polynomial Systems Using Successive Approximation”, Journal of Optimization Theory and Applications, Vol. 105, No. 2, May 2000, 477-489.

Xiaochun Xu and Sunil K. Agrawal, “Linear Time-Varying Dynamic Systems Optimization Via Higher-Order Method: A Sub-Domain Approach”, Journal of Vibration and Acoustics, Transactions of the ASME, Vol. 122, No. 1, 2000, 31-35.

Xiaochun Xu and Sunil K. Agrawal, “Linear Time-Varying Dynamic Systems Optimization Via Higher-Order Method Using Shifted Chebyshev's Polynomials”, Journal of Vibration and Acoustics, Transactions of the ASME, Vol. 121, No. 2, 1999, 258-261.

S. K. Agrawal, T. Veeraklaew, B. C. Fabien, “Direct and Indirect Optimization of Linear Time-Invariant Dynamic Systems Using Transformations”, Optimal Control Applications and Methods, Vol. 19, 1998, 393-410.

S. K. Agrawal and T. Veeraklaew, “A Higher-Order Method for Dynamic Optimization of a Class of Linear Systems”, Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, Vol. 118, Dec. 1996, 786-791.

Differential Flatness: Planning and Optimal Control

Radhakrishna Mahadevan, Sunil K. Agrawal, and Francis J. Doyle III, “Differential Flatness Based Nonlinear Predictive Control of Fed-batch Bioreactors”, Control Engineering Practice, Vol. 9, 2001, 889-899.

Nadeem Faiz, Sunil K. Agrawal, Richard M. Murray, “Trajectory Planning of Differentially Flat Systems with Dynamics and Inequalities”, AIAA Journal of Guidance, Control, and Dynamics, Vol. 24, No. 2, 2001, 219-227.

Tawiwat Veeraklaew and Sunil K. Agrawal, “A New Computation Framework for Optimization of Higher-Order Dynamic Systems”, AIAA Journal of Guidance, Control, and Dynamics, Vol. 24, No. 2, 2001, 228-236.

M. Schlemmer and S. K. Agrawal, “Globally Feedback Linearizable Time-Invariant Systems: Optimal Solution Using Mayer’s Cost”, Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, Vol. 120, No. 2, 2000, 343-347.

S. K. Agrawal and N. Faiz, “A New Efficient Method for Optimization of a Class of Nonlinear Systems Without Lagrange Multipliers”, Journal of Optimization Theory and Applications, Vol. 97, No. 1, 1998, 11-28.

Sunil K. Agrawal, Pana Claewplodtook, and Brian C. Fabien, “Optimal Trajectories of Open-Chain Mechanical Systems: A New Solution Without Lagrange Multipliers”, Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, Vol. 120, No. 1, 1998, 134-136.

Sunil K. Agrawal and Tawiwat Veeraklaew, “Designing Robots for Optimal Performance During Repetitive Motion”, IEEE Transactions on Robotics and Automation, Vol. 14, No. 5, Oct 1998, 771-777.

S. K. Agrawal and X. Xu, “New Procedure for Optimization of a Class of Linear Time-Varying Dynamic Systems”, Journal of Vibrations and Control, Vol. 3, No. 4, 1997, 379-396.

Sunil K. Agrawal, Shi Li, and Brian C. Fabien, “Optimal Trajectories of Open-Chain Mechanical Systems: Explicit Optimality Equations with Multiple Shooting Solution”, Mechanics of Structures and Machines, Vol. 25, No. 2, 1997, 163-177.

Space Robotics: Dynamics and Control

S. K. Agrawal, K. Pathak, J. Franch, R. Lampariello, and G. Hirzinger, “Design of a Differentially Flat Open-Chain Space Robot with Arbitrarily Oriented Joints and Two Momentum Wheels”, IEEE Conference on Robotics and Automation, 2006.

S. K. Agrawal, G. Hirzinger, K. Landzettel, and R. Schwertassek, “A New Laboratory Simulator for Study of Motion of Free-floating Robots Relative to Space Targets”, IEEE Transactions on Robotics and Automation, Vol. 12, No. 4, Aug. 1996, 627-632.

Sunil Kumar Agrawal and Richard Schwertassek, “Efficient Simulation of a Tree-Structured Free-floating Multibody System Using Momentum Integrals”, Mechanics of Structures and Machines, Vol. 24, No. 1, 1996, 89-103.

Sunil Kumar Agrawal and Shravan Shirumalla, “Planning Motions of a Dual-Arm Free-floating Manipulator Keeping the Base Inertially Fixed”, Mechanism and Machine Theory, Vol. 30, No. 1, 1995, 59-70.

N. Batsios, M. Annapragada, and Sunil Kumar Agrawal, “Quadri-directional Thrusters for Free-floating Robot Applications”, Journal of Mechanical Design, Transactions of the ASME, Vol. 117, No. 4, 1995, 651-653.

Sunil Kumar Agrawal and R. Garimella, “Kinematics, Workspace, and Design of a Dual-Arm Spatial Robot in Zero Gravity”, Journal of Mechanical Design, Transactions of the ASME, Vol. 116, No. 3, 1994, 901-907.

Sunil Kumar Agrawal and S. Shirumalla, “Kinematics, Motion Planning, and Design of a Free-floating Dual-Arm Manipulator”, Mechanism and Machine Theory, Vol. 29, No. 5, 1993, 691-700.

Free-floating Ground Robots

Madhu Annapragada and Sunil K. Agrawal, “Design and Experiments on a Free-Floating Planar Robot for Optimal Chase and Capture Operations in Space”, Robotics and Autonomous Systems, Vol. 26, No. 4, 1999, 281-297.

Saurabh Pandey and Sunil K. Agrawal, “Free-floating Prismatic-Jointed Manipulator: Planning and Control”, Multibody Systems Dynamics, Vol. 1, No. 1, 1997, 127-140.

S. K. Agrawal and Lingchen Sun, “Regional Structures of Free-floating Robots: A Comparative Study of the Workspace”, International Journal of Robotics and Automation, Vol. 12, No. 2, 1997, 58-64.

S. K. Agrawal, R. Garimella, and G. Desmier, “Free-floating Closed-Chain Planar Robots: Kinematics and Path Planning”, Nonlinear Dynamics, Vol. 9, 1996, 1-19.

S. K. Agrawal, M. Y. Chen, and M. Annapragada, “Modeling and Simulation of Assembly in a Free-floating Work Environment by a Free-floating Robot”, Journal of Mechanical Design, Transactions of the ASME, Vol. 118, No. 1, 1996, 115-120.

Sunil Kumar Agrawal and Rao Garimella, “Workspace Boundaries of Free-floating Open and Closed-Chain Planar Manipulators”, Journal of Mechanical Design, Transactions of the ASME, Vol. 116, No. 1, 1994, 105-110.

Sunil Kumar Agrawal and Michael P. Shelly, “Dynamic Simulation and Choice of Generalized Coordinates for a Free-floating Closed-Chain Manipulator”, Mechanism and Machine Theory, Vol. 28, No. 5, 1993, 615-624.

Piezo-actuators Embedded Plates

Daqun Tong, Robert L. Williams II, Sunil K. Agrawal, “Optimal Shape Control of Composite Thin Plates with Piezoelectric Actuators”, Journal of Intelligent Material Systems and Structures, Vol. 9, 1998, 458-467.

Sunil Kumar Agrawal, Daqun Tong, and K. Nagaraja, “Modeling and Control of Piezoelectric Embedded Elastic Plates”, Journal of Intelligent Material Systems and Structures, Vol. 5, No. 4, 1994, 514-521.

Interval Methods in Robotics

R. Rao, A. Asaithambi, and S. K. Agrawal, “Inverse Kinematic Solution of Robot Manipulators Using Interval Analysis”, Journal of Mechanical Design, Transactions of the ASME, Vol. 120, No. 1, 1998, 147-150.

Multi-Segmented Robots

Sunil Kumar Agrawal and Song Chang, “Trajectory Following by a Multi-Segment Wheeled Robotic Vehicle”, Mechanics of Structures and Machines, Vol. 24, No. 3, 1996, 389-404.

S. K. Agrawal, Glen Desmier, and Siyan Li, “Fabrication and Analysis of a Novel 3-dof Parallel Wrist Mechanism”, Journal of Mechanical Design, Transactions of the ASME, Vol. 117, 1995, 343-345.

Aspects of Dynamics of Robots

Sunil K. Agrawal, “Inertia Matrix Singularities of Series-Chain Spatial Manipulators with Point Masses”, Journal of Dynamic Systems Measurement and Control, Transactions of the ASME, Vol. 115, No. 4, Dec. 1993, 723-725.

S. K. Agrawal, “Series-Chain Planar Manipulator: Inertial Singularities”, Journal of Mechanical Design, Transactions of the ASME, Vol. 115, No. 4, Dec. 1993, 941-945.

S. K. Agrawal, “Multi-Rigid Body Dynamics: A Formulation Using Kane’s Method and Dual Vectors”, Journal of Mechanical Design, Transactions of the ASME, Vol. 115, No. 4, 1993, 833-838.

Patents:

· Autonmous Rolling Robot, US Patent No. 6,414,457 B1; Issued July 2, 2002.

· Apparatus for Gravity Balancing Orthosis, Provisional Application No. 11/113,729, April 25, 2005. (Final patent pending)

· Passive Gravity Balancing Assistive Device for Sit-to-stand Tasks, Provisional Patent filed, May, 2005.

· Two degree-of-freedom Ankle Foot Orthosis Device, Provisional Patent Application No. 60/690,857, June 15, 2005.

· Design of a Mechanism for Biaxial Rotation of a Wing for a Hovering Vehicle, Provisional Patent Application Submitted, November 9, 2005.

· Single Degree-of-freedom Polyhedral Expanding Structures, Provisional Application No. 60/250,662, Feb. 2001.

Selected Media Clips:

· Math is key for Robots: OU Researcher Says: The Columbus Dispatch, 04/09/95.

· Free-floating Robots: TV Channel 6, Philadelphia – 2 minute news clip on research at University of Delaware, first aired on 2/17/97 and periodic repeats for 3 months.

· UD Improving Space Robots: The News Journal, Wilmington, Del., 2/12/97, Pages B1, B12; focus on robotics research at UD.

· Go With the Flow: The Herald, Section: Frontier, Page 42, 2/25/97; focus on robotics research at University of Delaware.

· Executive Robots? Programming May help Machines Think Better: Update, Vol. 16, No. 16, 1997.

· Cover Story: Using Math to Tell Robots Where to Go and How to Get There: techne, UD College of Eng. News, Vol. 3, No. 1, 1997.

· Seeking Relief for Parkinson's Sufferers - NSF-supported research aims to give tremor sufferers a steadier hand: NSF Engineering Online News, 2/2000, Web add:

http://www.eng.nsf.gov/engnews/2000/00-03_Parkinsons/00-03_parkinsons.htm

· UD professor wins award to do research in Germany: UDaily, Feb. 25, 2002, http://www.udel.edu/PR/UDaily/01-02/agrawal022502.html

· UD robot inventor wins prestigious Humboldt Award, UDaily, Feb. 28, 2002, http://www.udel.edu/PR/NewsReleases/2002/feb/2-28-02/sunil.html

· Small robotic devices fly like birds”, University of Delaware News Release, Jan 2004. http://www.udel.edu/PR/NewsReleases/2004/jan/1-8-04/birds.html (The article got circulated throughout the world in many news items, Please search on Google with keywords Agrawal and Robotic Birds)

· UD engineers building flying robot Military could use Micro Air Vehicles for reconnaissance, The News Journal, Jan 2004

http://www2.delawareonline.com/newsjournal/local/2004/01/24udengineersbuil.html

· Flapping Wing Flying Robots, The Science Channel from Discovery Networks, Series “Tech-knowledge”, aired on March 10, 2004 (To upload the clip, type on your browser http://mechsys4.me.udel.edu/website/research/birdproject/ and save/play the file).

Post-Doctoral Scholars & Visitors

· Dr. Abbas Fattah, 10/15/01-9/15/06, Visiting Professor, Department of Mechanical Engineering, Isfahan University of Technology, Iran. (Research Topic: Rehabilitation Robots)

· Prof. Kurien Issac, 6/04-5/05, Visiting scholar, Department of Mechanical Engineering, Indian Institute of Technology, Bombay, India. (Research Topic: Energy Efficient Designs of Legged Vehicles).

· Dr. J. Franch, 9/05-10/05, Visiting Scholar, Dept. of Applied Mathematics and Telematics, UPC, Spain. (Research Topic: Differential Flat Designs of Underactuated Space Robots).

· Dr. Jay Katupitiya, 1/05-2-05, Visiting Scholar, Dept. of Mechatronics, University of New South Wales. (Research Topic: Robotic Wheelchair Navigation and Control).

· Dr. Himanshu Pota, 12/04-1-05, Visiting Scholar, Dept. of Electrical Engineering, University of New South Wales. (Research Topic: Tethered Helicopter Landing and Control).

· Dr. J. Franch, 9/04-10/04, Visiting Scholar, Dept. of Applied Mathematics and Telematics, UPC, Spain. (Research Topic: Differential Flat Designs of Spatial Space Robots).

· Eduardo Rocon de Lima, 11/03-12/03, Visiting Scholar, Dept. of Industrial Automation, UPM, Spain. (Research Topic: Tremor Suppression using Robotic Aids).

· Dr. J. Franch, 10/03-11/03, Visiting Scholar, Dept. of Applied Mathematics and Telematics, UPC, Spain. (Research Topic: Differential Flat Designs of Planar Space Robots).

· Dr. A. Ferreira, 11/03-12/03, Visiting Scholar, Institute of Military Engineering, Department of Mechanics, Rio de Janeiro, Brazil. (Research Topic: Dynamics and Control of Partial Feedback Linearizable Systems).

· Dr. J. Franch, 9/1/02-9/31/02, Visiting Scholar, Dept. of Applied Mathematics and Telematics, UPC, Spain. (Research Topic: Differential Flatness and Mechanical Systems).

· Dr. T. Veeraklaew, 10/1/02-11/1/02, Visiting Scholar, Dept. of Mechanical Engineering, Royal Thai Military Academy, Bangkok. (Research Topic: Dynamic Optimization).

· Dr. D. Zlatanov, 12/7/02 – 1/15/03, Visiting Scholar, Dept. of Mechanical Engineering, Laval University, Canda. (Research Topic: Classification of Convex Screw Sets).

· Dr. J. Franch, 01/01-02/01, Visiting Scholar, Dept. of Applied Mathematics and Telematics, UPC, Spain. (Research Topic: Feedback Linearization of Interconnected Systems).

· Prof. H. Sira-Ramirez, 10/01-11/01, Visiting Professor, Department of Electrical Engineering, CINVESTAV, Mexico City, Mexico (Research Topic: Flatness, Coordination, and Control)

· Prof. Y. Caya, 10/01-11/01, Visiting Scholar, Department of Applied Mathematics, University of South Western Australia, Adelaide, Australia. (Research Topic: Optimal Control in Biological Systems)

· Dr. H. Pota, 12/00 –1/01, Visiting Professor, Department of Electrical Engineering, University of New South Wales, University College, Canberra, Australia. (Research topic: Planning and Optimization of Cable-actuated Systems).

· Dr. J. Franch, 8/00-9/00, Visiting Scholar, Dept. of Applied Mathematics and Telematics, UPC, Spain. (Research Topic: Transformation of Optimal Control Lagrange Problems to Mayer Problems with Feedback Linearized State Equations).

· M. A. Kroeger, 10/00-12/00, Visiting scholar, Department of Systems and Control Engineering, Universidad Politechnica de Cartagena, Spain. (Research Topic: Climbing Parallel Robots).

· Dr. M. Schlemmer, 6/98-5/99, Feodor Lynen Scholar, Alexander von Humboldt Foundation, Germany. (Research Topic: Optimal Planning of Dynamic Systems under Constraints).

· H. Burkhardt, Visiting Scholar, 12/98 – 5/99, University of Stuttgart, Germany. (Research Topic: Trajectory Optimization of Arianne Rockets).

· Dr. F. Pfister, 3/97-2/98, Feodor Lynen Scholar, Alexander von Humboldt Foundation, Germany. (Research Topic: Study of Spatial Mechanisms with Symmetry).

Ph.D. Dissertations Supervised:

· Annapragada, M., Optimal N-body Operations in a Free-floating Work Environment, College of Engineering, Ohio University, June 1999.

· Hao, Y., A Practical Framework for Formation Panning and Control of Multiple Unmanned Ground Vehicles, Dept. of Mechanical Engineering, University of Delaware, June 2004.

· Faiz, N., Real-time and Optimal Trajectory Generation for Nonlinear Systems, Dept. of Mechanical Engineering, University of Delaware, Feb 1999.

· Ferreira, A., Aspects of Flatness Based Optimal Planning and Control of Dynamic Systems, Dept. of Mechanical Eng., University of Delaware, Aug 2001.

· Mankala, K., Satellite Tethered Systems: Dynamics and Control, Dept. of Mechanical Engineering, University of Delaware, May 2006.

· Oh, S., Cable Suspended Robots: Control Approaches and Applications, Dept. of Mechanical Engineering, University of Delaware, April 2006.

· Pathak, K., Switched Potential Fields for Navigation and Control of Nonholonomic and Underactuated Autonomous Mobile Robots, Dept. of Mechanical Engineering, University of Delaware, Dec 2005.

· Pledgie, S., An Integrated Approach to the Design of Linear Dynamic Network based Systems, Biomechanics and Movement Science, University of Delaware, Sept 2002.

· Veeraklaew, T., Extensions of Optimization Theory and New Computational Approaches for Higher-Order Dynamic Systems, Dept. of Mechanical Engineering, University of Delaware, Dec. 1999. (Nominated by Mechanical Engineering for Outstanding dissertation in Science and Engineering,1999-2000).

· Xu, X., New Approaches to Optimization of Linear Time-Varying Systems and Classes of Nonlinear Systems, Dept. of Mechanical Engineering, University of Delaware, Feb 1999.

· Zhang, Y., Modeling and Control of a Flexible Cable Transporter System with Arbitrary Axial Velocity, Dept. of Mechanical Engineering, University of Delaware, June 2004.

Current Ph.D. Theses:

· Banala, S. (9/02-12/06), Gravity Balancing Robotic Rehabilitation for Stroke Victims, Ph.D. Thesis, Dept. of Mechanical Engineering, University of Delaware.

· Khan, Z. (9/04-12/07), Design of Flapping Wing Micro Vehicles, Ph.D. Thesis, Dept. of Mechanical Engineering, University of Delaware.

· Ryu, J. (9/05- 9/08), Design of Mobility Assist Robots, Ph.D. Thesis, Dept. of Mechanical Engineering, University of Delaware.

· Sangwan, V. (9/05- 9/08), Design of Bipeds Using Differential Flatness and Limit Cycles, Ph.D. Thesis, Dept. of Mechanical Engineering, University of Delaware.

Current M.S. Theses:

· Fader, J. (6/03-08/06), Novel Design of Counter-Rotation Propelled Micro Helicopters, M. S. Thesis, Dept. of Mechanical Engineering, University of Delaware.

· Schmalz, A. (6/05-6/06), Novel Design and Control of Tensegrity Structures, M. S. Thesis, Dept. of Mechanical Engineering, University of Delaware.

M.S. Thesis Supervised (1996-date):

· Agrawal, A., Exoskeletal Orthosis: Design and Rehabilitation, Dept. of Mechanical Engineering, University of Delaware, May 2005

· Alp, A. Basar, Cable-suspended Parallel Robots, Department of Mechanical Engineering, University of Delaware, June 2001.

· Bhattacharya, S., Design, Experiment, and Motion Planning of Spherical Rolling Robots, Dept. of Mechanical Eng., University of Delaware, August 1999.

· Gokce, A., Center of Mass of Linkages Using Auxiliary Parallelograms, Dept. of Mechanical Engineering, University of Delaware, Dec. 1998.

· King, B., Towards Improvements in Physical Damping For Haptic Interfaces, Dept. of Mechanical Engineering, University of Delaware, June 1999.

· Khan, Z., Experimental Investigation and Modeling of Flapping Wing Aerodynamics, M.S. Thesis, Dept. of Mechanical Engineering, University of Delaware, Jan 2005.

· Kumar, S., Study of Single Degree-of-freedom Polyhedral Structures, Dept. of Mechanical Engineering, University of Delaware, September 2001.

· Madangopal, R., Energetics Based Design of Flapping Wing Micro Air Vehicles, Dept. of Mechanical Engineering, University of Delaware, October 2004.

· McIntosh, S., Design of Flapping Mechanisms for Biaxial Rotation of the Wings for Micro Air Vehicles, M. S. Thesis, Dept. of Mechanical Engineering, University of Delaware, September 2005.

· Patel, S., Dynamic Scheduling of Robotic Work Cells, Dept. of Mechanical Engineering, University of Delaware, January 2001.

· Pledgie, S., Tremor Suppression Through Force Feedback, Biomechanics and Movement Science Program, University of Delaware, May 1998.

· Pusey, J., Design of Cable Suspended Robots, Dept. of Mechanical Engineering, University of Delaware, Dec 2003.

· Rao, R., A Robotic Test-bed for Physical Therapy, Dept. of Mechanical Engineering, University of Delaware, Dec. 1998.

· Sleight, R., Modeling and Control of an Autonomous HMMwV, Dept. of Mechanical Engineering, University of Delaware, August 2004.

M.S. Theses Supervised at Ohio University: (14, Details Available on Request)

Research Grants:

· Planning, Simulation, and Control of a Rear-steered Mobile Vehicle: RoboChair, National Institute of Standards and Technology, 2006-2007, PI: Agrawal, $48,750.

· Passive Exoskeleton Designs for Swing Assistance of Spinal Cord Injury Patients, National Institute of Disability Research (Team Member of Rehab Institute of Chicago), 2006-2011, UD PI: Agrawal, $380,000.

· Development of an Exoskeletons for Passive Swing Assistance of Subjects with Stroke, National Institute of Health (Rehab Institute of Chicago), 2006-2008, PI: Agrawal, $90,000.

· Aerodynamic Characterization and Design of Flapping Wing Micro Air Vehicles, ARO, 2005-2008, PI: Agrawal, $213,000.

· Tether Deployed Systems in Orbit: Dynamics, Simulation, and Control, NASA (subcontract through Tennessee Tech. Univ.), 2004-2005, PI: Agrawal, $46,000.

· Study of Effects of Wing Kinematics on Dynamics pf Flapping Wing Micro Air Vehicles, Short term Innovative Research Grant Award, Army Research Office, 2004-2005, PI, $30,000.

· Trajectory Planning of Indoor and Outdoor Vehicles, National Institute of Standards and Technology, 2003-2005, PI, $67,500.

· Neutralization of Underground Buried Facilities, Air Force Research laboratory (Munitions Directorate), Winner of National Campus Challenge Competition, 2003-2004, PI, 2 other investigators from UD, $150,000.

· Cable Suspended Robots - Coordination, Control, and Configuration Design, National Science Foundation, 2001-2006, PI: Agrawal, Co-PI: Elena Messina: NIST Intelligent Systems Division, $310,000 (+$6,000 undergraduate supplement + $19,000 supplement for travel to Germany and Canada).

· Cooperative Unmanned Aerial Vehicles: Planning, Coordination, and Control, National Science Foundation, 2000-2005, PI: Agrawal, Single Investigator project, $220,000.

· Cooperative Munitions: Planning, Coordination, and Optimization, Air Force Research Laboratory, 2000-2003, PI: Agrawal, Single Investigator Project, (IPA Year 1: $114,419; Student Support Years 1-3: $84,171).

· FES and Biomechanics: Treating Movement Disorders, National Institute of Health Biomechanics Research Partnership Program, 2002-2007, Co-PI, One of 6 investigators from UD, $3,105,867.

· Metrics for Intelligent Systems Design: Long Reach Material Handling Using Cable Cranes, NIST/MEL, 2002-2005, PI: Agrawal, Single Investigator Project, $75,000

· Intelligent Software & Animation Tools for RCS Architecture Based Development, SBIR Phase 2 Subcontract to UD from Pathways Technology, NIST, PI: Agrawal, 2002-2004, Single Investigator Project, $75,000.

· Dynamic Schedulers for Automated Processing in Robot Work Cells, Dynamic Devices Inc. and Delaware Research Partnership Program, 1999-2002, PI: Agrawal, Single Investigator Project, $120,000.

· New Technologies for Sub-Microliter Fluid Handling in Biotech Applications, Dynamic Devices Inc. and Delaware Research Partnership, 2001-2002, PI: Agrawal, Single Investigator Project, $60,000.

· Intelligent Software for Animation Tools for RCS Architecture Based Developments, SBIR Phase 1 Subcontract to UD from Pathways Technology, NIST, 2000, PI: Agrawal, Single Investigator Project, $25,000.

· USA-Australia Program (Travel Supplement to collaborate with University of New South Wales, University College, Canberra, Host: Dr. Hemanshu Pota), Control of Cable Actuated Systems with Flexibility, National Science Foundation, PI: Agrawal, 2001-2003, Single Investigator Project, $21,680.

· Presidential Faculty Fellows, National Science Foundation award from WHITE HOUSE, 1994-2002, PI: Agrawal, Single Investigator Project, $500,000. ($378,000 transferred to University of Delaware in 1996)

· USA-Germany Program (Travel Supplement to collaborate with German Aerospace Agency, Munich, Host: Dr. Richard Schwertassek), Laboratory Simulator for Space Robots, National Science Foundation, 1998-2002, PI: Agrawal, Single Investigator Project, $15,200.

· Automated Optimal Trajectory Planner, SBIR Phase I Subcontract to UD from Analytical Mechanics Associates, National Science Foundation, 1997, PI: Agrawal, Single Investigator Project, $25,000.

· A Study of Robots in a Free-floating Work Environment, Dynamic Systems and Control Division, National Science Foundation, 1994 -1997, PI: Agrawal, Single Investigator Project, $140,000. ($61,400 was transferred to University of Delaware in 1996)

· A Study of Free-floating Closed-Chain Planar Manipulators, Research Initiation Award, Dynamic Systems and Control Division, National Science Foundation, 1991-1993, PI: Agrawal, Single Investigator Project, $80,000.

Refereed Conference Papers (Additional List):

1. S. K. Agrawal and J. Ryu, “Design of Dissipative and Stable Assist Robots” , accepted for the DETC 2006.

2. J. Ryu, K. Pathak, and S. K. Agrawal, “Control of a Passive Mobility Assistive Robot”, accepted for ASME IMECE, 2006.

3. S. K. Agrawal, S. Banala, A. Fattah, V. Krishnamoorthy, W. L. Hsu, J. P. Scholz, “A Gravity Balancing Passive Exoskeleton for the Human Leg”, accepted for Robotic Systems and Science, 2006.

4. S. K. Agrawal and V. Sangwan, “Design of Underactuated Open-Chain Planar Robots for Repetitive Cyclic Motions”, accepted for the DETC 2006.

5. Z. A. Khan and S. K. Agrawal, “Design of Flapping Mechanism Based on Transverse Bending Phenomena in insects”, to appear at the IEEE Conference on Robotics and Automation, 2006.

6. S. K. Agrawal, K. Pathak, J. Franch, R. Lampariello, and G. Hirzinger, “Design of a Differentially Flat Open-Chain Space Robot with Arbitrarily Oriented Joints and Two Momentum Wheels”, to appear at the IEEE Conference on Robotics and Automation, 2006.

7. A. Fattah and S. K. Agrawal, “Gravity-Balancing of Classes of Industrial Robots”, to appear at the IEEE Conference on Robotics and Automation, 2006.

8. V. Sangwan and S. K. Agrawal, “Leg-Like Motion With an Under-Actuated Two DOF Linkage Using Differential Flatness”, to appear at the American Control Conference, 2006.

9. K. Mankala and S. K. Agrawal, “A Boundary Controller based on Linear Infinite Dimensional System for Station Keeping of a Tethered Satellite System”, to appear at the American Control Conference, 2006.

10. S. McIntosh, S. K. Agrawal, Z. A. Khan, “Design of a Mechanism for Biaxial Rotation of a Wing for a Hovering Vehicle”, In Proceedings of the BioRob 2006.

11. V. Sangwan and S. K. Agrawal, “Generation of Leg-like Motion and Limit Cycles with an Underactuated Two DOF Linkage”, In Proceedings of the BioRob 2006.

12. S. K. Agrawal, A. Fattah, and S. Oh, “Design and Control Approaches for a Novel Planar Biped with nearly Linear Dynamics”, In Proceedings of the ASME IMECE 2005.

13. A. Agrawal, S. Banala, S. K. Agrawal, S. Binder-Macleod, “Design of a Two Degree-of-freedom Ankle Foot Orthosis for Robotic Rehabilitation”, International Conference on Rehabilitation Robotics, 2005.

14. K. K. Issac and S. K. Agrawal, “Minimum Power Flight of a Mechanical pigeon and Comparison with its Biological Counterparts”, ASME Mechanisms and Robotics Conference, 2005.

15. Z. A. Khan and S. K. Agrawal, “Modeling and Simulation of Flapping Wing Micro Air vehicles”, ASME Mechanisms and Robotics Conference, 2005.

16. A. Agrawal and S. K. Agrawal, “An Energy Efficient Manipulator Design Approach: Application To A Leg In Swing Phase”, ASME Mechanisms and Robotics Conference, 2005.

17. S. Oh, J. Ryu and S. K. Agrawal, “Dynamics and Control of Helicopters with a Six-Cables Suspended Robot”, ASME Mechanisms and Robotics Conference, 2005.

18. S. Banala and S. K. Agrawal, “Gait Rehabilitation With An Active Leg Orthosis”, ASME Mechanisms and Robotics Conference, 2005.

19. K. Pathak and S. K. Agrawal, “An Integrated Path Planning and Control Framework for Nonholonomic Unicycles”, In Proceedings IEEE International Conference on Robotics and Automation, 2005.

20. K. Pathak and S. K. Agrawal, “An Integrated Spatial Path-planning and Controller Design Approach for a Hover-modeHelicopter Model”, In proceedings IEEE International Conference on Robotics and Automation, 2005.

21. S. Oh and S. K. Agrawal, “Autonomous Helicopter Landing on a Moving Platform Using a Tether”, In proceedings IEEE International Conference on Robotics and Automation, 2005.

22. S. Oh and S. K. Agrawal, “Guaranteed Reachable Domain and Control Design for a Cable Robot Subject to Input Constraints”, In Proceedings American Control Conference, 2005.

23. Z. A. Khan and S. K. Agrawal, “Wing Force and Moment Characterization of Flapping Wings for Micro Air Vehicle Application”, In proceedings American Control Conference, 2005.

24. K. Pathak and S. K. Agrawal, “Velocity Control of a Wheeled Inverted Pendulum by Partial Feedback Linearization”, In proceedings IEEE International Conference on Decision and Control, 2004.

25. K. Pathak and S. K. Agrawal, “Optimal Band-Limited Trjectory Planning and Control for an Inverted Wheeled Pendulum”, In proceedings ASME IMECE, 2004.

26. S-R. Oh, S. K. Agrawal, “Feasible Set Points with Positive Tensionsfor a Cable Suspended Robot with a Lyapunov Controller”, In proceedings ASME IMECE, 2004.

27. S-R. Oh, S. K. Agrawal, “Robust Control of Dual-Stage Cable Suspended Robots with Input Constraints for Cargo Handling”, In proceedings ASME IMECE, 2004.

28. Y. Zhang and S. K. Agrawal, “Lyapunov Controller Design for Transverse Vibration of Arbitrarily Varying Length Flexible Cable Systems”, In proceedings ASME IMECE, 2004.

29. J. Yan and S. K. Agrawal, “Rimless Wheel with radially Expanding Spokes: Dynamics, Impact, and Stable Gait”, In Proceedings IEEE International Conference on Robotics and Automation, 2004.

30. S. Oh, K. Mankala, S. K. Agrawal, and J. Albus, “Dynamic Modeling and Robust Controller Design of a 2-Stage Parallel Cable Robot”, IEEE International Conference on Robotics and Automation, 2004.

31. R. Madangopal, Z. A. Khan, and S. K. Agrawal, “Energetics Based Design of Small Flapping Wing Air Vehicles”, IEEE International Conference on Robotics and Automation, 2004.

32. J. Franch and S. K. Agrawal, “Planar Space Robots with Coupled Joints: Differentially Flat Designs”, IEEE International Conference on Robotics and Automation, 2004.

33. S. Banala, S. K. Agrawal, A. Fattah, K. Rudolph, and J. P. Scholz, “A Gravity Balancing Leg Orthosis for Robotic Rehabilitation”, IEEE International Conference on Robotics and Automation, 2004.

34. A. Agrawal and S. K. Agrawal, “Effect of Gravity Balancing on Biped Stability”, IEEE International Conference on Robotics and Automation, 2004.

35. K. Mankala, S. K. Agrawal, and P. Hagedorn, “Equilibrium to Equilibrium of Rigid Electrodynamic Tethers”, In proceedings, 14th AAS/AIAA Space Flight Mechanics Conference, Maui, 2004.

36. Y. Zhang and S. K. Agrawal, “Coupled Vibrations of a Varying Length Flexible Cable Transporter System with Arbitrary Axial Velocity”, American Control Conference, 2004.

37. S. Oh and S. K. Agrawal, “Nonlinear Sliding Mode Control and Feasible Workspace Analysis for a Cable Suspended Robot with Input Constraints and Disturbances”, American Control Conference, 2004.

38. K. Pathak and S. K. Agrawal, “Planning and Control of Nonholonomic Unicycle Using Ring Shaped Local Potential Fields”, American Control Conference, 2004.

39. S. Oh, K. Mankala, S. K. Agrawal, J. Albus, “A Dual Stage Planar Cable Robot : Dynamic Modeling and Design of a Robust Controller with Positive Inputs”, ASME Mechanisms and Robotics Conference, 2004.

40. R. Madangopal, Z. Khan, and S. K. Agrawal, “Biologically Inspired Design of Small Flapping Wing Air Vehicles Using Four Bar Mechanisms and Quasi-Steady Aerodynamics”, ASME Mechanisms and Robotics Conference, 2004.

41. A. Agrawal and S. K. Agrawal, “Identifying Gait Patterns For Dynamically Stable Walking”, ASME Mechanisms and Robotics Conference, 2004.

42. S. Banala, Z. Khan, S. McIntosh, Y. Karakaya, S. K. Agrawal, “Design and Optimization of a Mechanism for Out of Plane Insect Wing Like Motion With Twist”, ASME Mechanisms and Robotics Conference, 2004.

43. R. Sleight and S. K. Agrawal, “Dynamic Model of a Four-Wheel-Drive HMMWV”, ASME Mechanisms and Robotics Conference, 2004.

44. A. Fattah, J. Fitzgibbons, and S. K. Agrawal, “Design of a Gravity-Balanced Assistive Device for Sit-to-stand Tasks”, ASME Mechanisms and Robotics Conference, 2004.

45. A. Fattah and S. K. Agrawal, “On the Design of Planar Reactionless Parallel Mechanisms”, ASME Mechanisms and Robotics Conference, 2004.

46. D. Zlatanov, S. K. Agrawal, and C. Gosselin, “Convex Cones in Screw Spaces”, Special Celebratory Symposium for Prof. B. Roth – Machines, Mechanisms, and Robotics Research Conference, 2003.

47. Y. Hao, B. Laxton, E. Benson, and S. K. Agrawal, “Robotic Simulation of the Docking and Path Following of an Autonomous Small Grain Harvesting System”, ASAE Annual Meeting, 2003, Paper No. 033109. St. Joseph, MI: ASAE.

48. S. Oh and S. K. Agrawal, “Controller Design for a Non-redundant Cable Under Input Constraints”, In Proceedings, International Mechanical Engineering Congress - ASME Dynamic Systems and Control Division, 2003.

49. S. K. Agrawal, A. Fattah, “Design of an Orthotic Device for Full or Partial Gravity-Balancing of a Human Upper Arm During Motion”, In Proceedings, IEEE/RSJ International Conference on Intelligent Robotics and Systems, 2003.

50. J. Pusey, A. Fattah, S. K. Agrawal, E. Messina, and A. Jacoff, “Design and Workspace Analysis of a 6-6 Cable-Suspended Parallel Robot”, In Proceedings, IEEE/RSJ International Conference on Intelligent Robotics and Systems, 2003.

51. J. Franch, S. K. Agrawal, S. Oh, and A. Fattah, "Design of Differentially Flat Planar Space Robots: A Step Forward in their Planning and Control'', In Proceedings, IEEE/RSJ International Conference on Intelligent Robotics and Systems, 2003.

52. A. Fattah, S. K. Agrawal, J. Fitzgibbons, “Design of a Passive Leg Orthosis for Gait Correction of Human Subjects”, In Proceedings, International Mechanical Engineering Congress - Division of Bioengineering, 2003.

53. Kaustubh Pathak and Sunil K. Agrawal, “A Computationally Efficient Scheme for Hierarchical Predictive Control”, In proceedings, NIST Workshop PERMIS, 2003.

54. Sunil K. Agrawal and Jin Yan, “A Three-Wheel Vehicle with Expanding Wheels: Differential Flatness, Trajectory Planning, and Control, In proceedings, IEEE/RSJ International Conference on Intelligent Robotics and Systems, 2003.

55. Y. Zhang, S. K. Agrawal, and P. Hagedorn, “Modeling and Control of Flexible Transporter Systems with Arbitrarily Time-Varying Cable Lengths”, In Proceedings, ASME Conference on Vibration and Noise, 2003.

56. K. Mankala and S. K. Agrawal, “Dynamic Modeling and Simulation of Satellite Tethered Systems”, In proceedings, ASME Conference on Vibration and Noise, DETC, 2003.

57. K. Mankala and S. K. Agrawal, “Dynamic Modeling and Simulation of Impact in Tether Net/Gripper Systems”, In Proceedings, ASME Conference on Vibration and Noise, DETC 2003.

58. S. K. Agrawal, A. Fattah, J. Pusey, S. Banala, K. Mankala, J. Fitzgibbons, “Design and Prototype of a Gravity-balanced Leg Orthosis”, In Proceedings, 8^th International Conference on Rehabilitation Robotics, Korea, 2003.

59. S. Oh and S. K. Agrawal, “Cable-Suspended Planar Parallel Robots with Redundant Cables: Controllers with Positive Cable Tensions”, In proceedings, IEEE Conference on Robotics and Automation, Taipei, 2003.

60. S. K. Agrawal and A. Fattah, “Design and Modeling of Classes of Spatial Reactionless Manipulators”, In proceedings, IEEE Conference on Robotics and Automation, Taipei, 2003.

61. Y. Hao, B. Laxton, S. K. Agrawal, E. Lee, and E. Benson, “Planning and Control of UGV Formations I n a Dynamic Environment: A Practical Framework with Experiments”, In proceedings, IEEE Conference on Robotics and Automation, Taipei, 2003.

62. R. Lampariello, S. K. Agrawal, and G. Hirzinger, “Optimal Motion Planning of Free-Flying Robots”, In proceedings IEEE Conference on Robotics and Automation, Taipei, 2003.

63. H. R. Pota, S. K. Agrawal, Y. Zhang, and I. R. Petersen, “Robust Control of Residual Motion of Cable Transporter Systems”, In proceedings, American Control Conference, 2003.

64. S. K. Agrawal, A. Fattah, “Gravity-Balancing of Spatial Open-Chain Manipulators”, In proceedings, NACoMM, 2003.

65. Y. Zhang, S. K. Agrawal, S. K., and H. R. Pota, “Suppression of Residual Vibration in High-rise Elevators with Time-Varying Cable Lengths”, Proceedings of the American Control Conference, 2002.

66. S. K. Agrawal, J. Yan, and J. Franch, “Dynamics and Control of an Expanding Wheel Using Differential Flatness”, In Proceedings, NATO ASI on Virtual Nonlinear Multi-body Systems, Prague, 2002.

67. Abdullah Basar Alp and Sunil K. Agrawal, “Cable Suspended Robots: Feedback Controllers with Positive Inputs”, Proceedings of the American Control Conference, 2002.

68. K. Pathak, R. Mahadevan, S. K. Agrawal, “Model Reformulation Schemes in Dynamic Optimization”, In Proceedings, NATO ASI on Virtual Nonlinear Multi-body Systems, Prague, 2002.

69. Abdullah Basar Alp and Sunil K. Agrawal, “Cable Suspended Robots: Design, Motion Planning, and Control”, Proceedings of the IEEE Conference on Robotics and Automation, 2002.

70. Stephen Pledgie, Yongxing Hao, Armando Ferreira, Sunil K. Agrawal, and Robert Murphey, “Groups of Unmanned Vehicles: Differential Flatness, Trajectory Planning, and Control”, In Proceedings of the IEEE Conference on Robotics and Automation, 2002.

71. Armando Morado Ferreira and Sunil K. Agrawal, “Flatness Based Planning of a Group of Unmanned Vehicles”, Proceedings of IFAC World Congress, 2002.

72. Agrawal, S. K. and Fattah, A., “Design and Motion Planning of Classes of Planar Reaction-less Manipulators”, Proceedings of ICARCV, 2002.

73. Agrawal, S. K., Yan, J., and Franch, J., “Motion planning and control of a four-wheel vehicle with expanding wheels using differential flatness”, Proceedings of ICARCV, 2002.

74. Abbas Fattah and Sunil K. Agrawal, "Workspace and Design Analysis of Cable-Suspended Planar Parallel Robots", Proceedings of 27^th Biennial Mechanisms Conference, 2002.

75. Agrawal, S. K., Yan, J., and Rochester, J., “Analytics and motion planning of a novel four-wheel vehicle with expanding wheels”, Proceedings of the ASME Design Engineering Technical Conference, v 5 B, 2002, p 1225-1231.

76. Abbas Fattah and Sunil K. Agrawal, "Design of Cable-Suspended Planar Parallel Robots for an Optimal Workspace", to appear in the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec 2002.

77. So-Ryeok Oh and Sunil K. Agrawal, "Control of Position and Grasping Force with Cooperating Arms; A Feedback Linearization Approach", Proceedings of the 2002 ASME Dynamic Systems and Control Division : IMECE, New Orleans, DSC-Vol. 71, 297-301.

78. Sunil K. Agrawal, S. Kumar, M. Yim, and J. Suh, “Polyhedral Single Degree-of-freedom Expanding Structures”, In Proceedings, IEEE International Conference on Robotics and Automation, 2001.

79. Sunil K. Agrawal, L. Kissner, and M. Yim, “Joint Solutions of many Degree-of-freedom Systems Using Dextrous Workspaces”, In Proceedings IEEE International Conference on Robotics and Automation, 2001.

80. Sunil K. Agrawal, H. Pota, Y. Zhang, “A Flatness Based Approach to Residual Motion Suppression of High-rise Elevators”, In Proceedings American Control Conference, 2001.

81. J. Franch and Sunil K. Agrawal, “Transformation of Optimal Control Lagrange Problems to Mayer Problems with Feedback Linearized State Equations”, In Proceedings European Control Conference, 2001.

82. M. Almonacid, S. K. Agrawal, R. Aracil, R. J. Saltaren, “Multi-body Dynamic Analysis of a 6-DOF Parallel Robot”, In Proceedings of ASME International Symposium on Advances in Robot Dynamics and Control, 2001.

83. Sunil K. Agrawal, G. Gardner, S. Pledgie, “Design and Fabrication of a Gravity Balanced Planar Mechanism Using Auxiliary Parallelograms”, In Proceedings, ASME Mechanisms Conference, 2000.

84. M. Schlemmer and Sunil K. Agrawal, “A Real-time Computational Approach for Time-Optimal Planning of Linear Systems: Applications to High-rise Elevators”, In Proceedings, IEEE Conference on Control Applications, 2000.

85. Sunil K. Agrawal and A. M. Ferreira, “Flatness Based Optimal Planning of Multiple Autonomous Air Vehicles”, Workshop on Cooperative Control and Optimization, University of Florida, Gainesville, Dec 2000.

86. R. Mahadevan, Sunil K. Agrawal, and F.J. Doyle III, “A Flatness Based Approach to Optimization of Fed-batch Bioreactors”, In Proceedings, IFAC Symposium on Advanced Control of Chemical Processes, Pisa, Italy, 2000.

87. A. M. Ferreira and Sunil K. Agrawal, “On Discrete-time Trajectory Planning for State Space Exact Linearizable Systems”, In Proceedings, American Control Conference, Chicago, IL, 2000.

88. A. M. Ferreira and Sunil K. Agrawal, “Trajectory Planning of a Platoon of autonomous Vehicles Using Differential Flatness”, In Proceedings, Advanced Vehicle Control, Ann Arbor, MI, 2000.

89. N. Faiz, and Sunil K. Agrawal, R. M. Murray, “Trajectory planning of Robots with Dynamics and Inequalities”, In Proceedings, IEEE International Conference on Robotics and Automation, 2000.

90. S. Bhattacharya and Sunil K. Agrawal, “Design, Experiments and motion planning of a Spherical Rolling Robot”, In Proceedings, IEEE International Conference on Robotics and Automation, 2000.

91. E. Fossas, J. Franch, and Sunil K. Agrawal, “Linearization by Prolongations of Two-input Driftless Systems”, In Proceedings, IEEE Control Decision Conference, 2000.

92. Sunil K. Agrawal, X. Xu, and N. Faiz, “Optimization of Bilinear Systems Using Higher-Order Variational Method”, In Proceedings, American Control Conference, 1999.

93. S. Pledgie, K. Barner, Sunil K. Agrawal, and T. Rahman, “Tremor Suppression Through Impedance Control”, In Proceedings, International Conference on Rehabilitation Robotics, 1999 .

94. R. Rao and Sunil K. Agrawal, J. P. Scholz, “A Robot Test-bed for Assistance and Assessment in Physical Therapy”, In Proceedings, International Conference on Rehabilitation Robotics, 1999.

95. Sunil K. Agrawal and S. Bhattacharya, “Optimal Control of Driftless Nilpotent Systems: Some New Results”, In Proceedings, IEEE Conference on Robots and Systems, 1999.

96. Sunil K. Agrawal, “Undergraduate control education: An ME perspective”, In Proceedings, American Control Conference, Proceedings,1999.

97. A. Ferreira and Sunil K. Agrawal, “Planning and Optimization of Dynamic Systems via Decomposition and Partial Feedback Linearization”, In Proceedings, IEEE Control Decision Conference, 1999.

98. Sunil K. Agrawal and T. Veeraklaew, “Optimization of Higher-order Systems and Extensions of Minimum Principle”, In Proceedings, 38th IEEE Conference on Decision and Control, 1999.

99. T. Veeraklaew and Sunil K. Agrawal, “Optimization of Higher-Order Systems and Extensions of Minimum Principle”, In Proceedings, IEEE Control Decision Conference, 1999.

100. Sunil K. Agrawal and X. Xu, “Dynamic Optimization of a Class of Time-Periodic Linear Systems Using Floquet-Lyapunov Theory”, In Proceedings, American Control Conference, 1998.

101. N. Faiz and Sunil K. Agrawal, “Optimal Trajectory Planning and Tracking of a PVTOL Aircraft Using Higher-Order Method”, In Proceedings, AIAA Guidance and Navigation Conference, 1998.

102. N. Faiz and Sunil K. Agrawal, “Optimal Planning of an Underactuated Planar Rigid Body with a Single Thruster Using Higher-Order Method”, In Proceedings, IEEE International Conference on Robotics and Automation Conference, 1998.

103. N. Faiz and Sunil K. Agrawal, “Optimal Control of Two Input Chained Systems Using Higher-Order Method”, In Proceedings, American Control Conference, 1998.

104. Sunil K. Agrawal and T. Veeraklaew, “Designing robots for optimal performance during Repetitive Motion”, In Proceedings, IEEE International Conference on Robotics and Automation, 1997, 1207-1212.

105. Sunil K. Agrawal, Shi Li, and Brian C. Fabien, “Optimal trajectories of open-chain mechanical systems: explicit optimality equation with multiple shooting solution”, In Proceedings, IEEE International Conference on Robotics and Automation, 1996, 2450-2455.

106. Sunil K. Agrawal and X. Xu, “A New Higher-Order Method for Parameter Optimization of Time-Varying Linear Dynamic Systems”, In Proceedings, IEEE International Conference on Systems, Man and Cybernetics, 1996.

107. Sunil K. Agrawal and T. Veeraklaew, “Higher-order method for dynamic optimization of a class of linear systems”, In Proceedings, ASME International Mechanical Engineering, DSC Proceedings v 58, 1996.

108. Sunil K. Agrawal and T. Veeraklaew, “A New Procedure for Dynamic Optimization of a Class of Linear Systems with Boundary Constrains”, In Proceedings, 3rd International Conference on Motion and Vibration control,1996.

109. Sunil K. Agrawal, G. Desmier, S. Li, “Fabrication and analysis of a novel 3 DOF parallel Wrist Mechanism”, In Proceedings, 23rd ASME Biennial Mechanisms Conference, 1994.

110. Sunil K. Agrawal and M.Y. Chen, “Free-Floating Dual-Arm Robots for Space Assembly”, NASA Proceedings of the Conference on Intelligent Robotics in Field, Factory, Service and Space, 1994.

111. Sunil K. Agrawal, M.Y.Chen, M. Annapragada, “Robotic Assembly in a Free-floating Work Environment”, In Proceedings, IEEE International Conference on Robotics and Automation, 1994.

112. Sunil K. Agrawal, S. Li, and M. Annapragada, “Hyper-Redundant Planar Manipulators: Motion Planning with Discrete Modal Summation Procedure”, In Proceedings, IEEE International Conference on Robotics and Automation, 1994, 1581-1586.

113. Sunil K. Agrawal, S. Li, and B. C. Fabien, “Optimal trajectories of open-chain mechanical systems: Explicit optimality equation with multiple shooting solution”, In Proceedings, IEEE International Conference on Robotics and Automation, 1993, 2450-2455.

114. Sunil K. Agrawal and G. Desmier, “Kinematic models of assembly primitives for free-floating Robots”, In Proceedings, IEEE/RSJ International Conference on Intelligent Robots and Systems, 1993.

115. Sunil K. Agrawal and R. Pandravada, “Kinematic and Workspace of a Rolling Disk between Planar Manipulators”, In Proceedings, American Control Conference, 1993.

116. Sunil K. Agrawal and R. Garimella, “Path Planning Algorithms for a Free-Floating Closed-Chain Planar Manipulators”, In Proceedings, ASME 22^nd Biennial Mechanisms Conference, 1992.

117. Sunil K. Agrawal and J. Rambhaskar, “Kinematics Singularities of Free-Floating Open-Chain Planar Manipulators”, In Proceedings, ASME 22^nd Biennial Mechanisms Conference, 1992.

118. Sunil K. Agrawal, G. Desmier, “Model of the Human Spine: Forward and Inverse Kinematics”, In Proceedings, ASME 22^nd Biennial Mechanisms Conference, 1992.

119. Sunil K. Agrawal, J. Gunasekera and J. C. Malas, “Optimization of Microstructure Evolution : Application to Extrusion”, In Proceedings, ASME Winter Annual Meeting and Exposition, 1992.

120. Sunil K. Agrawal and S. Li, “Kinematics of the Human Spine: A Solid Model and Reachability Studies”, In Proceedings, Advances in Bioengineering ASME Winter Annual Meeting, 1992.

121. Sunil Kumar Agrawal and R. Pandravada, “Inverse kinematic solutions of a rolling disk between two planar manipulators”, In Proceedings, ASME 22^nd Biennial Mechanisms Conference, 1992.

122. Sunil K. Agrawal, “Workspace Boundaries of In-parallel Manipulator Systems”, In Proceedings, International Conference on Advanced Robotics, 1991.

123. Sunil K. Agrawal and R. Garimella, “Inverse kinematic solutions of free-floating closed-chain planar manipulators”, In Proceedings, 17th ASME Design Automation Conference, 1991.

124. Sunil Kumar Agrawal, Rao Garimella, Glenn Desmier, “Optimal workspace designs of free-floating planar manipulators”, NASA Technical Memorandum, N. 103274, 1990, p 1653-1658.

125. Sunil K. Agrawal, “Inertia matrix singularity of planar series-chain Manipulators”, In Proceddings, IEEE International Conference on Robotics and Automation, 1991, 102-107.

126. Sunil K. Agrawal, “Equations of Motion of In-Parallel Manipulator Systems”, In Proceedings, Dynamic Systems and Control Division, ASME Winter Annual Meeting, 1990.

127. Sunil K. Agrawal, “Rate Kinematics of In-Parallel Manipulator Systems”, In Proceedings, IEEE International Conference on Robotics and Automation, 1990.

128. Sunil K. Agrawal and B. Roth, “Statics of in-parallel manipulator systems”, In Proceedings, 21st ASME Biennial Mechanism Conference, 1990.

129. C. W. Wampler and S.K. Agrawal, “An Implementation of Inverse Kinematic Functions for Control of A Redundant Wrist”, In Proceedings, IEEE International Conference on Robotics and Automation, 1988.

130. K.J. Waldron and S.K. Agrawal, “Impulsive Model for a Quadruped Running Machine”, In Proceedings, Dynamic System and Control Division, ASME Winter Annual Meeting, 1988.

131. O. Khatib and S. K. Agrawal, “Isotropic and Uniform Inertial and Acceleration Characteristics: Issues in the Design of Redundant Manipulators”, In Proceedings, IUTAM/IFAC Symposium, 1988.