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Nikhil Chopra
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Proceedings Papers

CARDYNET: Deep Learning Based Navigation for Car-Like Robots in Dynamic Environments

Gurtajbir Herr, Lasitha Weerakoon, Miao Yu, Nikhil Chopra
Proc. ASME. IMECE2022, Volume 5: Dynamics, Vibration, and Control, V005T07A074, October 30–November 3, 2022
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2022-96023
https://doi.org/10.1115/IMECE2022-96023
View Paper titled, CARDYNET: Deep Learning Based Navigation for Car-Like Robots in Dynamic Environments
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Topics: Collisions (Physics), Navigation, Robots
Journal Articles

Decentralized Multisubsystem Co-Design Optimization Using Direct Collocation and Decomposition-Based Methods

Tianchen Liu, Shapour Azarm, Nikhil Chopra
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2020, 142(9): 091704.
Paper No: MD-19-1764
https://doi.org/10.1115/1.4046438
Published Online: May 8, 2020
View Article titled, Decentralized Multisubsystem Co-Design Optimization Using Direct Collocation and Decomposition-Based Methods
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Topics: Design, Optimization, Plant design
Proceedings Papers

Integrating Multi-Vehicle Routing and Control: A Comparison of Three Solution Strategies

Tianchen Liu, Shapour Azarm, Nikhil Chopra
Proc. ASME. IDETC-CIE2018, Volume 3: 20th International Conference on Advanced Vehicle Technologies; 15th International Conference on Design Education, V003T01A015, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85624
https://doi.org/10.1115/DETC2018-85624
View Paper titled, Integrating Multi-Vehicle Routing and Control: A Comparison of Three Solution Strategies
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Topics: Vehicles, Optimal control, Wind, Energy consumption, Equations of motion, Time optimal control
Proceedings Papers

A Decentralized Approach for Multi-Subsystem Co-Design Optimization Using Direct Collocation Method

Tianchen Liu, Shapour Azarm, Nikhil Chopra
Proc. ASME. IDETC-CIE2017, Volume 2A: 43rd Design Automation Conference, V02AT03A004, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67906
https://doi.org/10.1115/DETC2017-67906
View Paper titled, A Decentralized Approach for Multi-Subsystem Co-Design Optimization Using Direct Collocation Method
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Topics: Design, Optimization, Nonlinear programming, Industrial plants, Control equipment, Dampers, Optimal control, Springs
Journal Articles

On Decentralized Optimization for a Class of Multisubsystem Codesign Problems

Tianchen Liu, Shapour Azarm, Nikhil Chopra
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. December 2017, 139(12): 121404.
Paper No: MD-16-1405
https://doi.org/10.1115/1.4037893
Published Online: October 26, 2017
View Article titled, On Decentralized Optimization for a Class of Multisubsystem Codesign Problems
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Topics: Design, Optimization, Springs, Dampers
Journal Articles

A Passivity-Based System Design of Semi-Autonomous Cooperative Robotic Swarm

Takeshi Hatanaka, Nikhil Chopra, Junya Yamauchi, Mamoru Doi, Yasunori Kawai, Masayuki Fujita
Journal: Mechanical Engineering
Publisher: ASME
Article Type: Select Article
Mechanical Engineering. June 2017, 139(06): S14–S18.
Paper No: ME-17-JUN6
https://doi.org/10.1115/1.2017-Jun-6
Published Online: June 1, 2017
View Article titled, A Passivity-Based System Design of Semi-Autonomous Cooperative Robotic Swarm
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Topics: Design, Robotics, Robots, Synchronization, Computers, Modeling
Proceedings Papers

On Decentralized Optimization for a Class of Multi-Subsystem Co-Design Problems

Tianchen Liu, Shapour Azarm, Nikhil Chopra
Proc. ASME. IDETC-CIE2016, Volume 2A: 42nd Design Automation Conference, V02AT03A007, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59905
https://doi.org/10.1115/DETC2016-59905
View Paper titled, On Decentralized Optimization for a Class of Multi-Subsystem Co-Design Problems
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Topics: Design, Optimization, Control equipment, Dampers, Feedback, Springs
Proceedings Papers

Set-Point Control With Gravity Compensation for Robots With Input/Output Delays

Yen-Chen Liu, Nikhil Chopra
Proc. ASME. DSCC2012-MOVIC2012, Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control, 467-474, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8772
https://doi.org/10.1115/DSCC2012-MOVIC2012-8772
View Paper titled, Set-Point Control With Gravity Compensation for Robots With Input/Output Delays
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Topics: Delays, Gravity (Force), Robots, Electromagnetic scattering, Manipulators, Radiation scattering, Scattering (Physics), Algorithms, Closed loop systems, Control algorithms
Journal Articles

Synchronization of Networked Mechanical Systems With Communication Delays and Human Input

Yen-Chen Liu, Nikhil Chopra
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2013, 135(4): 041004.
Paper No: DS-10-1058
https://doi.org/10.1115/1.4023398
Published Online: May 10, 2013
View Article titled, Synchronization of Networked Mechanical Systems With Communication Delays and Human Input
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Topics: Delays, Synchronization, Trajectories (Physics), Topology
Proceedings Papers

A New Architecture for Set-Point Control of Robotic Manipulators With Time-Varying Input/Output Delays

Yen-Chen Liu, Nikhil Chopra
Proc. ASME. DSCC2011, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2, 129-136, October 31–November 2, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2011-6188
https://doi.org/10.1115/DSCC2011-6188
View Paper titled, A New Architecture for Set-Point Control of Robotic Manipulators With Time-Varying Input/Output Delays
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Topics: Delays, Manipulators, Electromagnetic scattering, Radiation scattering, Scattering (Physics), Stability, Algorithms, Closed loop systems, Errors, Feedback
Proceedings Papers

Controlled Synchronization of Robotic Manipulators in the Task Space

YenChen Liu, Nikhil Chopra
Proc. ASME. DSCC2009, ASME 2009 Dynamic Systems and Control Conference, Volume 2, 443-450, October 12–14, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2009-2684
https://doi.org/10.1115/DSCC2009-2684
View Paper titled, Controlled Synchronization of Robotic Manipulators in the Task Space
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Topics: Manipulators, Synchronization, Robots, Algorithms, Control algorithms, Trajectories (Physics), Uncertainty
Proceedings Papers

Controlled Synchronization of Mechanical Systems

Nikhil Chopra, YenChen Liu
Proc. ASME. DSCC2008, ASME 2008 Dynamic Systems and Control Conference, Parts A and B, 1221-1228, October 20–22, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2008-2267
https://doi.org/10.1115/DSCC2008-2267
View Paper titled, Controlled Synchronization of Mechanical Systems
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Topics: Synchronization, Trajectories (Physics), Algorithms, Control algorithms, Delays, Robustness