Mark A. Minor - Assistant Professor
Publications
Journal Publications
Minor, M., Mukherjee, R., "Underactuated Kinematic Structures for Miniature Climbing Robots," ASME Journal of Mechanical Design, Vol.125, No.2, pp.281-91, 2003.
Mukherjee, R, Minor, M., Pukrushpan, J., “Motion Planning for a Spherical Mobile Robot: Revisiting the Classical Ball-Plate Problem,” ASME Journal of Dynamic Systems Measurement and Control, Vol. 124, No.4, pp 502-511, 2002.
Mukherjee, R., Minor, M., Song, G., Satava, R. "Optimization of an Articulated Instrument for Enhanced Dexterity in Minimally Invasive Therapy", Journal of Minimally Invasive Therapy and Allied Technologies, Vol.7, No.4, pp.335-42, 1998.
Minor, M., Mukherjee, R. "A Mechanism for Dexterous End-Effector Placement During Minimally Invasive Surgery," ASME Journal of Mechanical Design, Vol.124, No.4, pp. 472-479, 1999.\
Minor, M.A., Albiston, B.W., Swensen, C.L., “Facilitating Efficient Motion Planning for Compliant Framed Wheeled Mobile Robots,” Submitted to the IEEE Transactions on Robotics and Automation, 11 pages, September 2003.
Refereed Conference Publications
Albiston, B.W., Minor, M.A., “Curvature Based Point Stabilization for Compliant Framed Wheeled Modular Mobile Robots,” Proc. 2003 IEEE International Conference on Robotics and Automation, Sept 14-19, Taipei, Taiwan, pp. 81-89, 2003.
Krosuri, S., Minor, M.A., “A Multifunctional Hybrid Hip Joint for Improved Adaptability in Miniature Climbing Robots,” Proc. 2003 IEEE International Conference on Robotics and Automation, Sept 14-19, Taipei, Taiwan, pp. 312-317, 2003.
Merrell, R., Minor, M.A., “Internal Posture Sensing for a Flexible Frame Modular Mobile Robot,” Proc. 2003 IEEE International Conference on Robotics and Automation, Sept 14-19, Taipei, Taiwan, pp. 452-457, 2003.
Minor, M. A., Hirschi, C. R., Ambrose, R. O., “An Automated Tether Management System for Microgravity Extravehicular Activities,” 2002 IEEE Conference on Robotics and Automation, Washington DC, Vol.3, pp. 2289-95, 2002.
Minor, M. A., Jensen, K., Kim, Y., “Design and control of a three-link serial manipulator for lessons in particle dynamics,” 2002 IEEE Conference on Robotics and Automation, Washington DC, Vol. 4, pp. 3435-41, 2002.
Xiao, J., Minor, M., Dulimarta, H., Ning Xi, Mukherjee, R.; Tummala, R.L., “Modeling and control of an under-actuated miniature crawler robot,” Proceedings. 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol.3, pp. 1545-51, 2001.
Minor, M., Dulimarta, H., Dangi, G., Tummala, L., Mukherjee, R., Aslam, D., “Design and Implementation of a Miniature Under-Actuated Wall Climbing Robot,” 2000 IEEE/RSJ International Symposium on Intelligent Robots and Systems (IROS), Takamatsu, Japan, October 2000, Vol. 3, pp. 1999-2005, 2000.
Yue, M., Xi, N., Minor, M., Mukherjee, R., "Dynamic workspace analysis and motion planning for a micro biped walking robot," Proc. 2000 IEEE/RSJ Conference on Intelligent Robots and Systems, v3, pp. 1900-05, 2000.
Minor, M., Mukherjee, R. "A Dexterous Manipulator for Minimally Invasive Surgery", Proc. 1999 IEEE Conference on Robotics and Automation, May 10-15, Detroit, Mi, Vol. 3, pp. 2057-64, 1999.
Mukherjee, R., Minor, M., Pukrushpan, J., "Simple Motion Planning Strategies for sphereobot: a spherical mobile robot," Proc. of the 38th IEEE Conference on Decision and Control, December 7-10, Phoenix, Az., pp. 2132-37, 1999.
Yue, M., Minor, M., Xi, N., Mukherjee, R., "Kinematics Workspace Analyses of a Miniature Walking Robot," Proc. 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. October 17-21, Kyongju, Korea. pp. 1798-1803, 1999.
Mukherjee, R., Minor, M., "A Simple Motion Planner for a Spherical Robot," Proc. 1999 ASME/IEEE Conference on Advanced Intelligent Mechatronics, Sept 19-23, Atlanta, GA, pp. 896-901, 1999.
Rosenberg, R.C., Hales, M.K., Minor, M. "Engineering Icons for Multidisciplinary Systems", 1996 International Mech. Eng. Congress and Exposition, Atlanta, Georgia, Proc. of the ASME Dynamic Systems and Control Division, Vol.58, pp.665-673, 1996.
Conference Proceedings
Minor, M.A., Meek, S.G., “Structured and integrated project environment in Mechatronics Education,” Proc. 2002 ASEE Annual Meeting and Exposition, Montreal, CA, 16 p., 2002.
Meek, S., Roemer, R., Minor, M., "Graduate Mechatronics Education In the Department of Mechanical Engineering at the University of Utah," 2001 IEEE/ASME Int'l Conference on Advanced Intelligent Mechatronics, July 8-12, Como, Italy, pp. 1099-1103, 2001.
Jensen, K., Minor, M., "An Interactive Robot for Educating Pre-College Students About Engineering Disciplines," ASEE Rocky Mountain Chapter Proceedings, April 2001.
Publications in Preparation
Krosuri, S., Minor, M.A., Scott, J., “Testing and Evaluation of a Hybrid Hip Miniature Climbing Robot,” to be submitted to the ASME Journal of Mechanical Design..
Merrell, R., Minor, M.A., “Sensor Fusion Techniques for a Compliant Frame Wheeled Modular Mobile Robot,” to be submitted to the IEEE Transactions on Robotics and Automation.
Park, S., Minor , M.A., “Dynamic Stabilization of a Compliant Frame Wheeled Modular Mobile Robot,” to be submitted to the 2004 IEEE International Conference on Robotics and Automation.
Hirschi, C.R., Minor, M.A., “Automated Tether Management Systems”, to be submitted to the ASME Journal of Mechanical Design.
Patents
Minor, M.A., Mukherjee, R.M., “Dexterous articulated linkage for surgical applications,” US Patent No. 6,309,403. October 30, 2001.F.
Invited Publications
Tummala, R.L., Mukherjee, M., Xi, N., Aslam, D., Dulimarta, H., Xiao, J., Minor, M., Dangi, G., "Climbing the Walls," IEEE Robotics and Automation Magazine, Vol.9, No.4, pp.10-20, December 2002.
Invited Lectures and Presentations
“Reconfigurable Adaptable Micro-Robots,” ICRA 2002 Workshop on Distributed Micro-Robotics, IEEE Conference on Robotics and Automation, Washington, DC. Organizer: R.Lal Tummala, Michigan State University, 2002.
“Automated Tether Management System,” NASA Johnson Space Center, Automation, Robotics, and Simulation Division, Robotic Systems Technology Branch, 2001.
Theses
Minor, Mark A. Design and Control of Constrained Robotic Systems for Enhanced Dexterity and Mobility, Doctoral Dissertation, Michigan State University, 2000.
Minor,Mark A. Using Top Down Multiport Modeling for Automotive Applications, Masters Thesis, Michigan State University, 1996.