Publications

Articles in journals/periodicals

[1] R.K. Malhan and S.K. Gupta. The Role of Deep Learning in Manufacturing Applications: Challenges and Opportunities. ASME Journal of Computing and Information Science in Engineering, 23(6): 060816, December 2023.


[2] R.K. Malhan and S.K. Gupta. Planning algorithms for acquiring high fidelity pointclouds using a robot for accurate and fast 3D reconstruction. Robotics and Computer-Integrated Manufacturing (RCIM). 2022.


[3] R.K. Malhan, S. Thakar, A.M. Kabir, P. Rajendran, P.M. Bhatt, and S.K. Gupta. Generation of configuration space trajectories over semi-constrained cartesian paths for robotic manipulators. IEEE Transactions on Automation Science and Engineering. (TASE) 2022.


[4] R.K. Malhan, R.J. Joseph, P.M. Bhatt, B. Shah, and S.K. Gupta. Algorithms for improving speed and accuracy of automated 3D reconstruction with a depth camera mounted on an industrial robot. ASME Journal of Computing and Information Science in Engineering, 22(3): 031012, June 2022.


[5] S. Thakar, S. Srinivasan, S. Al-Hussaini, P.M. Bhatt, P. Rajendran, Y. J. Yoon, N. Dhanaraj, R.K. Malhan, M. Schmid, V.N. Krovi and S.K. Gupta. A survey of wheeled mobile manipulation: A decision making perspective. ASME Journal of Mechanisms and Robotics. 2022.


[6] S Thakar, RK Malhan, PM Bhatt, and S.K. Gupta. Area-coverage planning for spray-based surface disinfection with a mobile manipulator. Robotics and Autonomous Systems, 147: 103920, January 2022. 


[7] P.M. Bhatt, A. Kulkarni, A. Kanyuck, R. K. Malhan, L. S. Santos, S. Thakar, H. A. Bruck, and S.K. Gupta. Automated process planning for conformal wire arc additive manufacturing. International Journal of Advanced Manufacturing Technology. 2022


[8] P.M. Bhatt, A. Kulkarni, R.K. Malhan, B.C. Shah, Y.J. Yoon, and S.K. Gupta. Automated planning for robotic multi-resolution additive manufacturing. ASME Journal of Computing and Information Science in Engineering, 22(2): 021006, April 2022.


[9] Y.W. Chen, R.J. Joseph, A. Kanyuck, S. Khan, R.K. Malhan, O.M. Manyar, Z. McNulty, B. Wang, J. Barbič, S.K. Gupta. A digital twin for automated layup of prepreg composite sheets. ASME Journal of Manufacturing Science and Engineering, 144(4):041010, April 2022. 


[10] A. M. Kabir, S. Thakar, R. K. Malhan, A. V. Shembekar, B. C. Shah, and S. K. Gupta. Generation of Synchronized Configuration Space Trajectories with Workspace Path Constraints for an Ensemble of Robots. The International Journal of Robotics Research (IJRR). 2021.


[11] P.M. Bhatt, R.K. Malhan, P. Rajendran, B.C. Shah, S. Thakar, Y.J. Yoon, and S.K. Gupta. Image-based surface defect detection using deep learning: A review. ASME Journal of Computing and Information Science in Engineering, 21(4):040801 August 2021.


[12] R. K. Malhan, A. V. Shembekar, A. M. Kabir, P. M. Bhatt, B. Shah, S. Zanio, S. Nutt, and S. K. Gupta. Automated Planning for Robotic Layup of Composite Prepreg. Robotics and Computer-Integrated Manufacturing. 2020.


[13] P. M. Bhatt, R. K. Malhan, P. Rajendran, B. C. Shah, S. Thakar, Y. J. Yoon, and S. K. Gupta. Image-based Surface Defect Detection Using Deep Learning: A Review. Journal of Computing and Information Science in Engineering. 2020.


[14] P. M. Bhatt, R. K. Malhan, A. V. Shembekar, Y. J. Yoon, and S.K. Gupta. Expanding capabilities of additive manufacturing through use of robotics: A survey. Additive Manufacturing. 31:100933, 2020.


[15] P. M. Bhatt, R. K. Malhan, P. Rajendran, and S.K. Gupta. Building free-form thin shell parts using supportless extrusion-based additive manufacturing. Additive Manufacturing. 101003, 2020.

FULL PAPER REFEREED PUBLICATIONS IN CONFERENCES

[1] R.K. Malhan and S.K. Gupta. Finding optimal sequence of mobile manipulator placements for automated coverage planning of large complex parts. ASME Computers and Information in Engineering Conference, St. Louis, MO, August 2022.


[2] N. Dhanaraj, R. Malhan, H. Nemlekar, S. Nikolaidis, and S.K. Gupta. Human-Guided Goal Assignment to Effectively Manage Workload for a Smart Robotic Assistant. IEEE International Conference on Robot & Human Interactive Communication, Naples, Italy, August 2022.


[3] R. Malhan, R. J. Joseph, P. M. Bhatt, B. Shah, and S. K. Gupta. Fast, Accurate, and Automated 3D Reconstruction Using a Depth Camera Mounted on an Industrial Robot. ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Online, Virtual, August 2021.


[4] N. Dhanaraj, Y.J. Yoon, R. Malhan, P.M. Bhatt, S. Thakar and S.K. Gupta. A mobile manipulator system for accurate and efficient spraying on large surfaces. 3rd International Conference on Industry 4.0 and Smart Manufacturing, Linz, Austria, November 2021.


[5] P.M. Bhatt, A. Kulkarni, R.K. Malhan, and S.K. Gupta. Optimizing Part placement for improving accuracy of robot-based additive manufacturing. IEEE International Conference on Robotics and Automation, Xi’an, China, May 2021.


[6] O. M. Manyar, J. A. Desai, N. Deogaonkar, R. J. Joseph, R. K. Malhan, Z. McNulty, B. Wang, J. Barbič, S. K. Gupta. A simulation-based grasp planner for enabling robotic grasping during composite sheet layup. IEEE International Conference on Robotics and Automation, Xi'an, China, May 2021.


[7] P. M. Bhatt, R. K. Malhan, P. Rajendran, A. V. Shembekar, and S. K. Gupta. Trajectory dependent compensation scheme to reduce manipulator execution errors for manufacturing applications. ASME Manufacturing Science and Engineering Conference, June 2021.


[8] R.K. Malhan, R. Jomy Joseph, A.V. Shembekar, A.M. Kabir, P.M. Bhatt, and S.K. Gupta. Online Grasp Plan Refinement for Reducing Defects During Robotic Layup of Composite Prepreg Sheets. IEEE International Conference on Robotics and Automation (ICRA), Paris, France, May 31-June 4, 2020.


[9] A.M. Kabir, S. Thakar, P.M. Bhatt, R.K. Malhan, P. Rajendran, B.C. Shah, and S.K. Gupta. Incorporating motion planning feasibility considerations during task-agent assignment to perform complex tasks using mobile-manipulators. IEEE International Conference on Robotics and Automation, Paris, France, June 2020. 

 

[10] P. M. Bhatt, C. Gong, A. M. Kabir, R. K. Malhan, B. C. Shah, and S. K. Gupta. Incorporating Tool Contact Considerations in Tool-Path Planning for Robotic Operations. ASME Manufacturing Science and Engineering Conference, Cincinnati, OH, June 2020.


[11] R.K. Malhan, A.V. Shembekar, R.J. Joseph, A.M. Kabir, P.M. Bhatt, B.C. Shah, W. Zhao, S. Nutt, and S.K. Gupta. A smart robotic cell for automating composite prepreg layup. North 19 America Society for the Advancement of Material and Process Engineering (SAMPE), Seattle, WA, USA, May 2020.

[12] R.K. Malhan, A.M. Kabir, B.C. Shah, and S.K. Gupta. Identifying Feasible Workpiece Placement with Respect to Redundant Manipulator for Complex Manufacturing Tasks. IEEE International Conference on Robotics and Automation (ICRA 2019), Montreal, Canada, May 20 - May 24, 2019.

[13] P.M. Bhatt, A.M. Kabir, R.K. Malhan, B.C. Shah, A.V. Shembekar, Y.J. Yoon, and S.K. Gupta. A Robotic Cell for Multi-Resolution Additive Manufacturing. IEEE International Conference on Robotics and Automation (ICRA 2019), Montreal, Canada, May 20 - May 24, 2019.

[14] A.M. Kabir, A. Kanyuck, R.K. Malhan, A.V. Shembekar, S. Thakar, B.C. Shah, and S.K. Gupta. Generation of Synchronized Configuration Space Trajectories of Multi-Robot Systems. IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada May 20 - May 24, 2019.

[15] R.K. Malhan, A.M. Kabir, B. Shah, T. Centea, and S.K. Gupta. Determining Feasible Robot Placements in Robotic Cells for Composite Prepreg Sheet Layup. ASME Manufacturing Science and Engineering Conference, Erie, PA, June 2019.

[16] P.M. Bhatt, R.K. Malhan, and S.K. Gupta. Computational foundations for using three degrees of freedom build platforms to enable supportless extrusion-based additive manufacturing. ASME Manufacturing Science and Engineering Conference, Erie, PA, June 2019.

[17] P.M. Bhatt, A.M. Kabir, R.K. Malhan, A.V. Shembekar, B.C. Shah, and S.K. Gupta. Concurrent Design of Tool-Paths and Impedance Controllers for Performing Area Coverage Operations in Manufacturing Applications under Uncertainty. IEEE International Conference on Automation Science and Engineering (CASE), Vancouver, Canada, August 2019.

[18] S. Thakar, A. Kabir, P.M. Bhatt, R.K. Malhan, P. Rajendran, B.C. Shah, and S.K. Gupta. Task Assignment and Motion Planning for Bi Manual Mobile Manipulation. IEEE International Conference on Automation Science and Engineering (CASE), Vancouver, Canada, August 2019.

[19] R.K. Malhan, A.M. Kabir, A.V. Shembekar, B. Shah, T. Centea, and S.K. Gupta. Hybrid Cells for Multi-Layer Prepreg Composite Sheet Layup. IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, August 2018.

[20] R.K. Malhan, Y. Shahapurkar, A.M. Kabir, B. Shah, and S.K. Gupta. Integrating impedance control and learning based search scheme for robotic assemblies under uncertainty. ASMEs 13th Manufacturing Science and Engineering Conference, College Station, Texas, USA, June 2018.

[21] R.K. Malhan, A.M. Kabir, B. Shah, T. Centea, and S.K. Gupta. Automated Prepreg Sheet Placement Using Collaborative Robotics. Society for the Advancement of Material and Process Engineering (SAMPE) Technical Conference and Exhibition, Long Beach, CA, May 2018. 

[22] A.M. Kabir, A.V. Shembekar, R.K. Malhan, R.S. Aggarwal, J.D. Langsfeld, B.C. Shah, and S.K. Gupta. Robotic finishing of interior regions of geometrically complex parts. ASMEs 13th Manufacturing Science and Engineering Conference, College Station, Texas, USA, June 2018.