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DNA Mechanics and Conformation Theoretical Kinematics and CAD Engineering Applications of Noncommutative Harmonic Analysis. G. S. Chirikjian, A. B. Kyatkin. CRC Press. Oct. 2000 (670 pages) [Buy it from Barns & Nobles]
Torsional Random-Walk Statistics on Lattices using Convolution on Crystallographic Motion Groups. A. Skliros, G. S. Chirikjian. Polymer. 48:2155-2173. 2007 [download] A Unified Approach to Conformational Statistics of Classical Polymer and Polypeptide Models. J. S. Kim, G. S. Chirikjian. Polymer 46:11904-11917. 2005 [download] Analysis of the Conformational Dependence of Mass-Metric Tensor Determinants in Serial Polymers with Constraints. A. Patriciu, G. S. Chirikjian, R. V. Pappu. Journal of Chemical Physics. vol. 121. 2004 [download] Determining the Gaussian Probability Distribution of the Best-Fit Ellipsoid of Revolution for a Polymer Chain from Planar Projections. Y. Zhou, D. Wirtz, G. S. Chirikjian. Inverse Problems. 19:725-738. 2003 [download] Conformational Statistics of Macromolecules using Generalized Convolution. G. S. Chirikjian. Computational and Theoretical Polymer Science. 11:143-153. 2003 [download] DNA MECHANICS AND CONFORMATION Conformational Analysis of Stiff Chiral Polymers with End-Constraints. J. S. Kim, G. S. Chirikjian. Molecular Simulation. 32(14):1139-1154. 2006 [download] Conformational Statistics of Semiflexible Macromolecular Chains with Internal Joints. Y. Zhou, G. S. Chirikjian. Macromolecules. 39:1950-1960. 2006 [download] Conformational Statistics of Bent Semiflexible Polymers. Y. Zhou, G. S. Chirikjian. Journal of Chemical Physics. 119(9). 2003 [download] Conformational Statistics of Stiff Macromolecules as Solutions to PDEs on the Rotation and Motion Groups. G. S. Chirikjian, Y. Wang. Physical Review E. 62(1):880-892. 2000 [download] Structural and Dynamical Classication of RNA Single-Base Bulges for Nanostructure Design. W. Hastings Y. G. Yingling, G. S. Chirikjian, B. A. Shapiro. Journal of Computatioanl and Theoretical Nanoscience. 3:63-77. 2006 [download] Pose Analysis of Alpha-Carbons in Proteins. S. Lee, G. S. Chirikjian. International Journal of Robotics Research. 23(2-3):183-210. 2005 [download] Interhelical Angle and Distance Preferences in Globular Proteins. S. Lee, G. S. Chirikjian. Biophysical Journal. 86:1105-1117. 2004 [download] Efficient determination of Low-Frequency Normal Modes of Large Protein Structures by Cluster-NMA. A. Schuyler, G. S. Chirikjian. Journal of Molecular Graphics and Modeling 24:46-58. 2005 [download] A Method for Finding Candidate Conformations for Molecular Replacement using Relative Rotation between Domains of a Known Structure. J. Jeong, E. E. Lattman, G. S. Chirikjian. Acta Crystallographica Section D. Biological Crystallography 2006 [download] Rigid-Cluster Models of Conformational Transitions in Macromolecular Machines and Assemblies. M. K. Kim, R. L. Jernigan, G. S. Chirikjian. Biophysical Journal. 89:43-55. 2005 [download] A Methodology for Determining Mechanical Properties of Macromolecules from Ensemble Motion Data. G.S. Chirikjian. Trands in Analytical Chemistry. 22(9) 2003 [download] A Comparison between Elastic Network Interpolation and MD Simulation of 16S Ribosomal RNA. M. K. Kim, W. Li, B. A. Shapiro, G. S. Chirikjian. Journal of Biomolecular Structure & Dynamics. ISSN 0739-1102. 21(3) 2003 [download] Normal Mode Analysis of Proteins: A Comparison of Rigid Cluster Modes with Ca Coarse Graing. A. Schuyler, G. S. Chirikjian. Journal of Molecular Graphics and Modeling. 22(3): 183-193. November 2003 [download] An Elastic Network Model of HK97 Capsid Maturation. M. K. Kim, R. L. Jernigan, G. S. Chirikjian. Journal of Structural Biology. 143: 107-117. 2003 [download] Elastic Models of Conformational Transitions in Macromolecules. M. K. Kim, G. S. Chirikjian, R. L. Jernigan. Journal of Molecular Graphics and Modelling. 21:151-160. 2002 [download] Efficient Generation of Feasible Pathways for Protein Conformational Transitions. M. K. Kim, R. L. Jernigan, G. S. Chirikjian. Biophysical Journal. 83:1620-1630. 2002 [download] Robotic Self-Replication in Structured Environments: Physical Demonstrations and Complexity Measures. K. Lee, M. Moses and G. S. Chirikjian. IJRR 2007 (in press) [download] Robotic Self-Replication: a descriptive framework and a physical demonstration from low complexity parts. K. Lee and G. S. Chirikjian. IEEE Robotics & Automation Magazine. 14(4): 34-43. December 2007 [download] Robotic Self-Replication in a Structured Environment without Computer Control. S. Eno, L. Mace, J. Liu, B. Benson, K. Raman, K. Lee, M. Moses and G. S. Chirikjian. Proceedings of the 2007 IEEE ICRA. 2007 [download] A Memoryless Robot that Assembles Seven Subsystmes to Copy Itself. A. Liu, M. Sterling, D. Kim, A. Pierpont, A. Schlothauer, M. Moses, K. Lee and G. S. Chirikjian. Proceedings of the 2007 IEEE ISAM. 2007 [download] Measures of Reliability and Task Comlexity for Self-Replicating Systems. K. Lee and G. S. Chirikjian. Proceedings of ICAR 2007, Jeju, Korea, Aug. 2007 [download] Robotic Self-Replication in Structured and Adaptable Environment (extended abstract). K. Lee, M. Moses and G. S. Chirikjian. Proceedings of Robotics: Science and Systems Workshop on Self-Reconfigurable. Aug. 2006 [download] Robotic Self-Repair in a Semi-Structured Environment. W. Park, D. Albright, C. Addleston, W. K. Won, K. Lee and G. S. Chirikjian. Proceedings of Robosphere 2004. NASA Ames. Nov. 2004 [download] A Minimalist Parts Manipulation System for a Self-Replicating Electromechanical Circuit. W. Hastings, M. Labarre, A. Viswanathan, et al. Proceedings of IMG 04'. Jul. 2004 [download] An Autonomous Self-Replicating Robotic System. J. Suthakorn, A. Cushing, G. S. Chirikjian. Proceedings of the 2003 IEEE/ASME Intl. Conf. on Advanced Intelligent Mechatronics [download] A Semi-Autonomous Replicating Robotic System. J. Suthakorn, Y. Kwon, G. S. Chirikjian. Proceedings of 2003 IEEE CIRA. Jul. 2003 [download] Self-Replicating Robots for Lunar Development. G. S. Chirikjian, Y. Zhou, J. Suthakorn. ASME/IEEE Trans. on Mechatronics. 7(4) Dec. 2002 [download] Self-Replicating Robots for Space Utilization. J. Suthakorn, Y. Zhou, G. S. Chirikjian. Proceedings of the 2002 Roboshpere. NASA Ames. 2002 [download] Toward Self-Replicating Robots. G. S. Chirikjian and J. Suthakorn. Proceedings of the 8th ISER. Jul. 2002 [download]
Interconversion between Truncated Cartesian and Polar Expansions of Images. W. Park and G. S. Chirikjian. IEEE Transactions on Image Processing. 2007 [download] Pattern Matching as a Correlation on the Discrete Motion Group. A. B. Kyatkin and G. S. Chirikjian. Conputer vision and Image Understanding. 74(1):22-35. 1999 [download] Probabilistic Models of Dead-Reckoning Error in Nonholonomic Mobile Robots. Y. Zhou, G. S. Chirikjian. Proceedings of the 2003 IEEE ICRA [download] A Diffusion-based Algorithm for Workspace Generation of Highly Articulated Manipulators. Y. Wang, G. S. Chirikjian. Proceedings of the 2002 IEEE ICRA [download] A New Potential Field Method for Robot Path Planning. Y. Wang, G. S. Chirikjian. Proceedings of the 2000 IEEE ICRA [download] Computation of Robot Configuration and Workspaces via the Fourier Transform on the Discrete Motion Group. A. B. Kyatkin, G. S. Chirikjian. International Journal of Robotics Research. 18(6):601-615. 1999 [download] Random-Walk Statistics in Moment-based O(N) Tight Binding and Applications in Carbon Nauotubes. A. Schuyler, G. S. Chirikjian, J. Lu, H. T. Johnson, Physical Review E. 71: 046701. 2005 [download] Analysis and Design of Protein Based Nanodevices: Challenges and Opportunities in Mechanical Design. G. S. Chirikjian, K. Kazerounian, C. Mavroidis. Journal of Mechanical Design. 127(4):695-698. Jul 2005. [download] Solving Phase-Noise Fokker-Planck Equations Using the Motion-Group Fourier Transform. Y. Wang, Y. Zhou, D. K. Maslen, G. S. Chirikjian. IEEE Trans. on Communications. 54(5):868-877. 2006 [download] Rotational Matching Problems. G. S. Chirikjian, T. Peter, J. Koo, C. H. Lee. Intl. Journal of Computational Intelligence and Applications. 4(4). 2004 [download] Sampling and Convolution on Motion Groups Using Generalized Gaussian Functions. G. S. Chirikjian, O. Chetelat. Computational Kinematics Conference. 2001 Seoul, Korea. [download] An Operational Calculus for the Euclidean Motion Group: Applications in Robotics and Polymer Science. G. S. Chirikjian, A. B. Kyatkin. Journal of Fourier Analysis and Applications. 6(6):583-606. 2000 [download] Fourier Analysis on Motion Using Screw Parameters. G. S. Chirikjian. Proceedings of a Symposium Commemorating the Legacy, Works and Life of Sir Robert Stawell Ball, July 2000 [download] Algorithms for Fast Convolutions on Motion Groups. A. B. Kyatkin and G. S. Chirikjian. Applied and Computational Harmonic Analysis. 9:220-241. Sep 2000 [download] Regularized Solutions of a Nonlinear Convolution Equation on the Euclidean Group. A. B. Kyatkin, G. S. Chirikjian, Acta Applicandae Mathematicae. 53:89-123. 1998 [download] Numerical Synthesis of Binary Manipulator Workspaces using the Fourier Transform on the Euclidean Motion Group. A. B. Kyatkin, G. S. Chirikjian. Proceedings of DETC'98. Sep. 1998 [download] Fredhom Integral Equations on the Euclidean Motion Group. G. S. Chirikjian. Inverse Problems. 12:579-599. 1996 [download] Nonholonomic Model of Needle Steering. R. J. Webster, J. S. Kim, N. J. Cowan, G. S. Chirikjian, A. M. Okamura, International Journal of Robotics Research. 25(5-6):509-525. May-Jun 2006 [download] Numerical Algorithms for Spatial Registration of Line Fiducials from Cross-Sectional Images. S. Lee, G. Fichtinger, G. S. Chirikjian. Medical Physics. 29(8):1881-1891. 2002 [download] Maching and Reconstruction of Brachytherapy Seeds using the Hungarian Algorithm (MARSHAL). A. K. Jain, Y. Zhou, M. T, et al. Medical Physics. 32(11):3475-3492. Nov. 2005 [download] FTRAC-A Robust Fluoroscope Tracking Fiducial. A. K. Jain, T. Mustafa, Y. Zhou, et al. Medical Physics. 32(10):3185-3198. Oct. 2005 [download] Error Propagation on the Euclidean Group with Applications to Manipulator Kinematics. Y. Wang, G. S. Chirikjian. IEEE Trans. on Robotics. 22(4). Aug. 2006 [download] Large Kinematic Error Propagation in Revolute Manipulators. Y. Wang, G. S. Chirikjian. Proceedings of ARK 2006 [download] Second-Order Theory of Error Propagation on Motion Groups. Y. Wang, G. S. Chirikjian. Workshop on Algorithmic Foundations of Robotics (WAFR). New York City, August 2006 [download] A Robotic Library System for an Off-Site Shelving Facility. J. Suthakorn, S. Lee, Y. Zhou, R. Thomas, S. Choudhury, G. S. Chirikjian. Proceedings of the 2002 IEEE ICRA. 4:3589-3594 [download] An Enhanced Robotic Library System for an Off-Site Shelving Facility. J. Suthakorn, S. Lee, Y. Zhou, S. Choudhury, G. S. Chirikjian. Proceedings of the 2003 FSR [download] Modular Self-Reconfigurable Robot Systems: Challenges and Opportunities for the Future. M. Yim, W. Shen, B. Salemi, D. Rus, M. Mall, H. Lipson, E. Klavins and G. S. Chirikjian. IEEE RAM. 14(1):43-52 Mar. 2007 [download] Similarity Metric with Applications in Modular Robot Motion Planning. C.-J. Chiang, G. S. Chirikjian. Autonomous Robots. 10(1):91-106 2001. [download] Useful Metrics for Modular Robot Motion Planing. A. Pamecha. I. Ebert-Uphoff, G. S. Chirikjian. IEEE Trans. on Robotics and Automation. 13(4):531-545. 1997 [download] A Useful Metric for Modular Robot Motion Planning. A. Pamecha, G. S. Chirikjian. Proceedings of the 1996 IEEE ICRA, Minneapolis, Minnesota. April 1996 [download] Evaluating Efficiency of Self-Reconfiguration in a Class of Modular Robots. G. S. Chirikjian, A. Pamecha, I. Ebert-Uphoff. Journal of Robotic Systems. 13(5):317-338. 1996 [download] Design and Implimentation of Metamorphic Robots. A. Pamecha, C. Chiang, D. Stein, G. S. Chirikjian. Proceedings of the 1996 ASME Design Engineering Technical Conference and Computers in Engineering Conference. Aug. 1996 [download] Bounds for Self-Reconfiguration of Metamorphic Robots. G. S. Chirikjian, A. Pamecha. Proceedings of the 1996 IEEE ICRA. [download] Design of Error Tolerant Coupling Mechanisms for Metamorphic Robots. A. Pamecha, Y. Kohaya, G. S. Chirikjian. Proceedings of the 3rd IASTED International Conference. Jun 14-16, 1995, Cancun, Mexico [download] Kinematics of a Metamorphic Robotic System. G. S. Chirikjian. Proceedings of the 1994 IEEE ICRA [download] Metamorphic Hyper-redundant Manipulators. G. S. Chirikjian. Proceedings of the 1993 JSME International Conference on Advanced Mechatronics. Tokyo, Japan. August 1993 [download] Mathematical Models of Binary Spherical-Motion Encoders. D. Stein, E. R. Scheinerman, G. S. Chirikjian. IEEE/ASME Trans. on Mechatronics. 8(2) Jun. 2003 [download] Experiments in the Commutation and Motion Planning of a Spherical Stepper Motor. D. Stein, G. S. Chirikjian. Proceedings of DETC'00 ASME 2000 [download] Encoders for Spherical Motion Using Discrete Sensors. E. R. Scheinerman, G. S. Chirikjian and D. Stein. Fourth International Workshop on Algorithmic Foundations on Robotics. Mar. 2000 Kinematic Design and Communication of a Spherical Stepper Motor. G. S. Chirikjian, D. Stein. IEEE/ASME Trans. on Mechatronics. 4(4):342-353. Dec. 1999 [download] O(n) Mass-Matrix Inversion for Serial Manipulators and Polypeptide Chains using Lie Derivatives. K. Lee, Y. Wang and G. S. Chirikjian. Robotica. 25(6). pp. 729-750[download] A New O(n) Method for Inverting the Mass Matrix for Serial Chains Composed of Rigid Bodies. Y. Wang and G. S. Chirikjian. Proceedings of IDETC/CIE 2005 [download] A New Perspective on O(n) Mass-Matrix Inversion for Serial Revolute Manipulators. K. Lee and G. S. Chirikjian. Proceedings of ICRA 2005 [download] Workspace Generation of Hyper-Redundant Manipulators as a Diffusion Process on SE(N). Y. Wang and G. S. Chirikjian. IEEE Transaction on Robotics and Automation. 20(3): 399-408. June 2004 [download] Design and Analysis of Some Nonanthropomorphic, Biologically Inspired Robots: An Overview. G. S. Chirikjian. Journal of Robotic Systems, 18(12):710-713. December 2001 [download] Workspace Generation as a Diffusion Process. Y. Wang, G. S. Chirikjian. Proceedings of DETC/ASME 2000 [download] Hyper-Redundant Manipulator Dynamics: A Continuum Approximation. G. S. Chirikjian. Advanced Robotics (Invited, Special Issue on Highly Redundant Manipulators). 9(3):217-243. 1995 [download] The Kinematics of Hyper-Redundant Robot Locomotion. G. S. Chirikjian and J. W. Burdick. IEEE Transactions on Robotics and Automation. 11:781-793. 1995 [download] Kinematically Optimal Hyper-Redundant Manipulator Configurations. G. S. Chirikjian and J. W. Burdick. IEEE Transactions on Robotics and Automation. 11(6): 794-806. December 1995 [download] Kinematically Optimal Hyper-Redundant Manipulator Configurations. G. S. Chirikjian and J. W. Burdick. Proceedings of IEEE ICRA 1992 [download] A 'Sidewinding' Locomotion Gait for Hyper-Redundant Robots. J. W. Burdick, J. Radford and G. S. Chirikjian. Advanced Robotics. 9(3):195-216. 1995 [download] A Hyper-Redundant Manipulator. G. S. Chirikjian and J. W. Burdick. IEEE RAM. pp. 22-29. Dec. 1994 [download] A Modal Approach to Hyper-Redundant Manipulator Kinematics. G. S. Chirikjian. IEEE Transactions on Robotics and Automation, pp. 343-354, Vol. 10, 1994. [download] General Method for Computing Hyper-Redundant Manipulator Inverse Kinematics. G. S. Chirikjian. Proceedings of the 1993 IEEE/RSJ Intl. Conf. Intelligent Robots and Systems. [download] A Continuum Approach to Hyper-Redundant Manipulator Dyanmics. G. S. Chirikjian. Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robotos and Systems. Yokohama, Japan. July 26-30. 1993 [download] A Geometric Approach to Hyper-Redundant Manipulator Obstacle Avoidance. G. S. Chirikjian and J. W. Burdick. ASME Journal of Mechanical Design. 114: 580-585. Dec. 1992 [download] An Obstacle Avoidance Algorithm for Hyper-Redundant Manipulators. G. S. Chirikjian and J. W. Burdick. IEEE Trans. on Robotics and Automations. 1990 [download] Kinematics of Hyper-redundant Manipulators. G. S. Chirikjian and J. W. Burdick. DE-Vol. 25. ASME. 1990 [download] Uniformly Distributed Elements of SE(3) and Their Application on Manipulator Design. K. Miyahara and G. S. Chirikjian. Proceedings of ICARCV 2006 [download] General Kinematic Synthesis Method for a Discretely Actuated Robotic Manipulator (D-Arm). K. Miyahara and G. S. Chirkijian. Proceedings of IROS 2006 [download] A New Inverse Kinematics Algorithm for Binary Manipulators with Many Actuators. J. Suthakorn and G. S. Chirikjian. Advanced Robotics. 15(2):225-244. 2001 [download] Design and Implementation of a New Discretely-Actuated Manipulator. J. Suthakorn, G. S. Chirikjian. 2000 ISER. Dec. 2000 [download] Discretely Actuated Manipulator Workspace Generation Using Numerical Convolution on the Euclidean Group. I. Ebert-Uphoff, G. S. Chirikjian. Proceedings of DETC 2000 [download] Synthesis of Binary Manipulators Using the Fourier Transform on the Euclidean Group. A. B. Kyatkin and G. S. Chirikjian. ASME Journal of Mechatronics Design. 121:9-14 Mar. 1999 [download] Numerical Convolution on the Euclidean Group with Applications to Workspace Generation. G. S. Chirikjian, I. Ebert-Uphoff. IEEE Trans. on Robotics and Automation. 14(1): 123-136. Feb. 1998 [download] Inverse Kinematics of Binary Manipulators Using a Continuum Model. G. S. Chirikjian. Journal of Intelligence and Robotic Systems. 19:5-22. 1997 [download] Discretely Actuated Manipulator Workspace Generation By Closed-Form Convolution. I. Ebert-Uphoff, G. S. Chirikjian. ASME DETC Aug. 1996 [download] Inverse Kinematics of Discretely Actuated Hyper-Redundant Manipulators Using Workspace Densities. I. Ebert-Uphoff, G. S. Chirikjian. IEEE ICRA 1996 [download] An Efficient Method for Computing the Forward Kinematics of Binary Manipulators. D. Lees, G. S. Chirikjian. Proceedings of the 1996 IEEE ICRA [download] A Combinatorial Approach to Trajectory Planning for Binary Manipulators. D. Lees, G. S. Chirikjian. Proceedings of the 1996 IEEE ICRA [download] Efficient Workspace Generation for Binary Manipulators with Many Actuators. I. Ebert-Uphoff, G. S. Chirikjian. Journal of Robotic Systems, 12(6):383-400. 1995 [download] Generation of Binary Manipulator Workspace and Work Envelopes. I. Ebert-Uphoff, G. S. Chirikjian. Proceedings of the 3rd IASTED 1995 [download] Kinematic Synthesis of Mechanisms and Robotic Manipulators with Binary Actuators. G. S. Chirikjian. Journal of Mechanical Design. 117:573-580. 1995 [download] A Binary Paradigm for Robotic Manipulators. G. S. Chirikjian. IEEE ICRA 1994 [download] A Comparison of Continuum and Lumped-Mass Models for Hyper-Redundant Manipulator Mechanics. G. S. Chirikjian. Vibrations and Dynamics of Robotic and Multibody Structures, ASME DE-Vol. 57, pp. 1-6, 1993 [download] THEORETICAL KINEMATICS AND CAD Convolution Metrics for Rigid Body Motion. A. B. Kyatkin, G. S. Chirikjian. Proceedings of ASME DETC'98. Sep. 1998 Metrics on Motion and Deformation of Solid Models. G. S. Chirikjian, S. Zhou. Journal of Mechanical Design. 120:252-261. 1998 [download] Closed-Form Primitives for Generating Locally Volume Preserving Deformations. G. S. Chirikjian. Journal of Mechanical Design. 117:347-354. 1995 [download] Closed-Form Primitives for Generating Volume Preserving Deformations. G. S. Chirikjian. DE-Vol. 65-2, Advances in Design Automation. Vol 2. pp. 397-402, ASME 1993 [download] | |
