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Harish J. Palanthandalam-Madapusi
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Journal Articles

Some Results on the Properties of Discrete-Time LTI State-Space Systems

Sujay D. Kadam, Harish J. Palanthandalam-Madapusi
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2024, 4(3): 031004.
Paper No: ALDSC-24-1004
https://doi.org/10.1115/1.4065590
Published Online: June 12, 2024
View Article titled, Some Results on the Properties of Discrete-Time LTI State-Space Systems
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Topics: Discrete time systems, Linear algebra, Linear systems
Journal Articles

Kinematic Performance of a Customizable Single Degree-of-Freedom Gait Trainer for Cost-Effective Therapy Aimed at Neuromuscular Impairments

Shail Jadav, Karthik Subramanya Karvaje, Sujay D. Kadam, Vineet Vashista, James Sulzer, Ashish Deshpande, Harish J. Palanthandalam-Madapusi
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research-Article
J. Med. Devices. March 2024, 18(1): 011003.
Paper No: MED-23-1119
https://doi.org/10.1115/1.4065120
Published Online: April 3, 2024
View Article titled, Kinematic Performance of a Customizable Single Degree-of-Freedom Gait Trainer for Cost-Effective Therapy Aimed at Neuromuscular Impairments
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Topics: Kinematics, Patient treatment, Trajectories (Physics), Degrees of freedom, Design, End effectors, Engines, Motors
Journal Articles

Utilization of Manipulator Redundancy for Torque Reduction During Force Interaction

Shail Jadav, Harish J. Palanthandalam-Madapusi
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2024, 4(2): 021005.
Paper No: ALDSC-23-1073
https://doi.org/10.1115/1.4064654
Published Online: February 26, 2024
View Article titled, Utilization of Manipulator Redundancy for Torque Reduction During Force Interaction
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Topics: Manipulators, Redundancy (Engineering), Robots, Torque, Trajectories (Physics), Robotics, Kinematics, End effectors, Optimization
Journal Articles

Impact of Added Passive Compliance on the Performance of Tip-Actuated Flexible Manipulators

Barat S., Sushrut Surve, Rwik Rana, Madhu Vadali, Harish J. Palanthandalam-Madapusi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2023, 145(12): 121003.
Paper No: DS-23-1062
https://doi.org/10.1115/1.4063488
Published Online: October 9, 2023
View Article titled, Impact of Added Passive Compliance on the Performance of Tip-Actuated Flexible Manipulators
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Topics: Actuators, Engines, Flexible manipulators, Frequency response, Manipulators, Motors, Springs, Stability, Stiffness, Torque
Journal Articles

Trackability for Discrete-Time Linear Time-Invariant Systems: A Brief Review and New Insights

Sujay D. Kadam, Harish J. Palanthandalam-Madapusi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2022, 144(3): 031007.
Paper No: DS-21-1215
https://doi.org/10.1115/1.4052918
Published Online: December 27, 2021
View Article titled, Trackability for Discrete-Time Linear Time-Invariant Systems: A Brief Review and New Insights
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Topics: Control equipment, Discrete time systems, Theorems (Mathematics), Time-invariant systems, Delays, Tracking control, Algebra, Errors
Proceedings Papers

The Swirling Pendulum: Conceptualization, Modeling, Equilibria and Control Synthesis

Sujay D. Kadam, Utsav Shah, Alrick D’Souza, Prajwal Gowdru Shanthamurthy, Nidhish Raj, Ravi N. Banavar, Harish J. Palanthandalam-Madapusi
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T16A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3140
https://doi.org/10.1115/DSCC2020-3140
View Paper titled, The Swirling Pendulum: Conceptualization, Modeling, Equilibria and Control Synthesis
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Topics: Modeling, Pendulums, Swirling flow, Dynamics (Mechanics), Equilibrium (Physics), Control theory, Degrees of freedom, Engineering simulation, Hardware, Rotation
Journal Articles

Computational Rod Model With User-Defined Nonlinear Constitutive Laws

Soheil Fatehiboroujeni, Harish J. Palanthandalam-Madapusi, Sachin Goyal
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. October 2018, 13(10): 101006.
Paper No: CND-17-1525
https://doi.org/10.1115/1.4041028
Published Online: August 22, 2018
View Article titled, Computational Rod Model With User-Defined Nonlinear Constitutive Laws
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Topics: Constitutive equations
Journal Articles

Clinical Facts Along With a Feedback Control Perspective Suggest That Increased Response Time Might Be the Cause of Parkinsonian Rest Tremor

Vrutangkumar V. Shah, Sachin Goyal, Harish J. Palanthandalam-Madapusi
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. January 2017, 12(1): 011007.
Paper No: CND-15-1396
https://doi.org/10.1115/1.4034050
Published Online: September 1, 2016
View Article titled, Clinical Facts Along With a Feedback Control Perspective Suggest That Increased Response Time Might Be the Cause of Parkinsonian Rest Tremor
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Topics: Delays, Diseases, Feedback, Pendulums, Limit cycles
Journal Articles

Constitutive-Law Modeling of Microfilaments From Their Discrete-Structure Simulations—A Method Based on an Inverse Approach Applied to a Static Rod Model

Adam R. Hinkle, Sachin Goyal, Harish J. Palanthandalam-Madapusi
Journal: Journal of Applied Mechanics
Publisher: ASME
Article Type: Research Papers
J. Appl. Mech. September 2012, 79(5): 051005.
https://doi.org/10.1115/1.4006449
Published Online: June 22, 2012
View Article titled, Constitutive-Law Modeling of Microfilaments From Their Discrete-Structure Simulations—A Method Based on an Inverse Approach Applied to a Static Rod Model
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Topics: Constitutive equations, Simulation
Proceedings Papers

An Estimation Method of a Constitutive-Law for the Rod Model of DNA Using Discrete-Structure Simulations

Adam R. Hinkle, Sachin Goyal, Harish J. Palanthandalam-Madapusi
Proc. ASME. IDETC-CIE2009, Volume 4: 7th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B and C, 1487-1493, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-87763
https://doi.org/10.1115/DETC2009-87763
View Paper titled, An Estimation Method of a Constitutive-Law for the Rod Model of DNA Using Discrete-Structure Simulations
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Topics: Constitutive equations, DNA, Engineering simulation, Simulation, Deformation, Cantilevers, Atoms, Modeling, Molecular dynamics, Simulation results