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Items where Author is "Saaj, C"

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Article

Comin, FJ and Saaj, Chakravarthini (2017) Models for Slip Estimation and Soft Terrain Characterization with Multi-Legged Wheel-Legs IEEE Transactions on Robotics, 99. pp. 1-15.

Comin, FJ, Lewinger, WA, Saaj, Chakravarthini and Matthews, Marcus (2017) Trafficability Assessment of Deformable Terrain through Hybrid Wheel-Leg Sinkage Detection Journal of Field Robotics, 34 (3). pp. 451-476.

Mustaza, S, Mahdi, D, Saaj, Chakravarthini, Comin, F and Lekakou, Constantina (2017) Development of Tunable Stiffness Control for Soft Continuum Surgical Manipulators International Journal of Humanoid Robotics.

Comin, F and Saaj, Chakravarthini (2017) New Modelling Approaches for Slip Estimation and Soil Sensing with Multi-Legged Wheel-Leg IEEE Transactions on Robotics.

Comin, F, Saaj, Chakravarthini, Mustaza, S M and Saaj, R (2017) Safe Testing of Electrical Diathermy Cutting using a New Generation Soft Manipulator IEEE Transactions on Robotics.

Elsayed, Y, Lekakou, Constantina, Ranzani, T, Cianchetti, M, Morino, M, Arezzo, A, Menciassi, A, Geng, T, Saaj, Chakravarthini and Chirurgia, M (2015) Crimped braided sleeves for soft, actuating arm in robotic abdominal surgery Minimally Invasive Therapy & Allied Technologies, 24 (4). pp. 204-210.

Lekakou, Constantina, Elsayed, Yahya, Geng, Tao and Saaj, Chakravarthini (2015) Skins and Sleeves for Soft Robotics: Inspiration from Nature and Architecture Advanced Engineering Materials, 17 (8). pp. 1180-1188.

Saaj, CM, Lappas, V, Richie, D and Schaub, H (2015) Hybrid propulsion using electrostatic forces for spacecraft swarms 2007 European Control Conference, ECC 2007. pp. 3187-3194.

Lekakou, Constantina, Elsayed, Y, Geng, T and Saaj, Chakravarthini (2015) Skins and Sleeves for Soft Robotics: Inspiration from Nature and Architecture Advanced Engineering Materials, 17 (8). pp. 1180-1188.

Wang, X, Geng, T, Elsayed, Y, Saaj, C and Lekakou, C (2015) A unified system identification approach for a class of pneumatically-driven soft actuators ROBOTICS AND AUTONOMOUS SYSTEMS, 63. pp. 136-149.

Elsayed, Y, Vincensi, A, Lekakou, C, Geng, T, Saaj, CM, Ranazani, T, Cianchetti, M and Menciassi, A (2014) Finite element analysis (FEA) and design optimisation of a pneumatically actuating silicone module for robotic surgery applications Soft Robotics, 1 (4). pp. 255-262.

Wang, X, Geng, T, Elsayed, Y, Saaj, CM and Lekakou, C (2014) A unified system identification approach for a class of pneumatically-driven soft actuators Robotics and Autonomous Systems.

Yeomans, B and Saaj, CM (2014) Towards terrain interaction prediction for bioinspired planetary exploration rovers BIOINSPIRATION & BIOMIMETICS, 9 (1), ARTN 01600.

Ibrahim, HD and Saaj, CM (2014) On New Algorithms for Path Planning and Control of Micro-rover Swarms TOWARDS AUTONOMOUS ROBOTIC SYSTEMS, 8069. pp. 353-362.

Yeomans, B, Saaj, CM and Van Winnendael, M (2013) Walking planetary rovers-Experimental analysis and modelling of leg thrust in loose granular soils Journal of Terramechanics, 50 (2). pp. 107-120.

Smith, B, Saaj, CM and Allouis, E (2012) ANUBIS - Artificial Neuromodulation Using a Bayesian Inference System Neural Computation.

Ogunshile, E, Saaj, C, Chhaniyara, S, Wang, X, Langef, C and Findlay, R (2012) Application of model based systems engineering for an asteroid lander Proceedings of the International Astronautical Congress, IAC, 10. pp. 8445-8453.

Chhaniyara, S, Brunskill, C, Yeomans, B, Matthews, M, Saaj, CM, Richter, L and Ransom, S (2012) Terrain trafficability analysis and soil mechanical property identification for planetary rovers: A survey Journal of Terramechanics, 49 (2). pp. 115-128.

Saaj, CM and Scott, G (2012) The development of a soil trafficability model for legged vehicles on granular soils Journal of Terramechanics, 49 (3-4). pp. 133-146.

Brunskill, C, Patel, N, Gouache, TP, Scott, GP, Saaj, CM, Matthews, M and Cui, L (2011) Characterisation of martian soil simulants for the ExoMars rover testbed Journal of Terramechanics, 48 (6). pp. 419-438.

Saaj, CM, Gouache, TP, Patel, N, Brunskill, C, Scott, G, Matthews, M and Cui, L (2011) Soil simulant sourcing for the ExoMars rover testbed Journal of Planetary and Space Science, 59 (8). pp. 779-787.

Gouache, TP, Brunskill, C, Scott, G, Saaj, CM, Matthews, M, Cui, L and Patel, N (2011) Soil simulant sourcing for the ExoMars rover testbed Journal of Planetary and Space Science, 59 (8). pp. 779-787.

Saaj, CM, Lappas, V, Schaub, H and Izzo, D (2010) Hybrid propulsion system for formation flying using electrostatic forces Aerospace Science and Technology, 14 (5). pp. 348-355.

Scott, GP and Saaj, CM (2009) BIOLOGICALLY INSPIRED ROBOTS TO ASSIST AREONAUTS ON THE MARTIAN SURFACE JBIS-J BRIT INTERPLA, 62 (5). pp. 175-186.

Saaj, CM, Underwood, C, Noakes, C, Park, WG and Moore, T (2008) The Science and Technology behind Galileo- Europe’s GPS’ Journal of the British Interplanetary Society, 61 (3). pp. 91-98.

Peck, MA, Streetman, B, Saaj, CM and Lappas, V (2007) Spacecraft formation flying using Lorentz forces JBIS-JOURNAL OF THE BRITISH INTERPLANETARY SOCIETY, 60 (7). pp. 263-267.

Saaj, CM, Lappas, V, Richie, D, Schaub, H and Izzo, D (2007) Hybrid propulsion system for spacecraft swarm aggregation using Coulomb force JBIS-J BRIT INTERPLA, 60 (7). pp. 268-274.

Lappas, V, Saaj, C, Richie, D, Peck, M, Streetman, B and Schaub, H (2007) Spacecraft formation flying and reconfiguration with electrostatic forces SPACE FLIGHT MECHANICS 2007, VOL 127, PTS 1 AND 2, 127. pp. 217-225.

Saaj, CM, Lappas, V and Gazi, V (2006) Spacecraft swarm navigation and control using artificial potential field and sliding mode control 2006 IEEE International Conference on Industrial Technology, Vols 1-6. pp. 2809-2814.

Saaj, CM, Bandyopadhyay, B and Unbehauen, H (2004) A minor correction to "A new algorithm for discrete-time sliding mode control using fast output sampling feedback" IEEE T IND ELECTRON, 51 (1). pp. 244-247.

Saaj, CM and Bandyopadhyay, B (2003) Variable structure model following controller using non-dynamic multirate output feedback INTERNATIONAL JOURNAL OF CONTROL, 76 (13). pp. 1263-1271.

Bandyopadhyay, B and Saaj, CM (2002) Algorithm on robust sliding mode control for discrete-time system using fast output sampling feedback IEE P-CONTR THEOR AP, 149 (6). pp. 497-503.

Saaj, CM, Bandyopadhyay, B and Unbehauen, H (2002) A New Algorithm For Discrete-Time Sliding Mode Control Using Fast Output Sampling Feedback IEEE Transactions on Industrial Electronics, 51 (1). pp. 244-247.

Saaj, CM and Bandyopadhyay, B (2001) Output Feedback Sliding Mode Control of Linear Second Order Systems-A Moving Switching Line Approach Systems Science Journal, 27 (3). pp. 5-22.

Conference or Workshop Item

Lewinger, W, Comin, F and Saaj, Chakravarthini (2017) Earth Analogue Testing and Analysis of Martian Duricrust Properties In: 14th Symposium on Advanced Space Technologies in Robotics and Automation, 20-22 June 2017, Leiden, the Netherlands.

Lekakou, Constantina, Mustaza, S, Crisp, T, Elsayed, Y and Saaj, Chakravarthini (2017) A Material-based Model for the Simulation and Control of Soft Robot Actuator In: TAROS 2017 Proc. 18th Towards Autonomous Robotics Systems Conference, 19-21 July, 2017, Guildford, UK.

Seddaoui, A and Saaj, Chakravarthini (2017) Optimised collision-free trajectory and controller design for robotic manipulators In: Proc. 14th Symposium on Advanced Space Technologies in Robotics and Automation, 20-22 June 2017, Leiden, the Netherlands.

Saaj, Chakravarthini and Ibrahim, H (2017) Robust Traction Control and Path Planning Algorithms for Planetary Micro-rover Swarms In: Proc. 14th Symposium on Advanced Space Technologies in Robotics and Automation, 20-22 June 2017, Leiden, the Netherlands,.

Mustaza, S, Mahdi, D, Saaj, CM, Albukhanajer, W, Lekakou, C, Elsayed, Y and Fras, J (2015) Tuneable Stiffness Design of Soft Continuum Manipulator In: 8th International Conference on Intelligent Robotics and Applications, 2015-08-24 - 2015-08-27, Portsmouth, UK.

Allouis, E, Comin, F, Lewinger, W, Yeomans, B, Saaj, CM, Gao, Y, Delfa, J and et al., (2015) FP7 FASTER Project - Demonstration of Multi-platform Operation for Safer Planetary Traverses In: 14th Symposium on Advanced Space Technologies in Robotics and Automation, 2015-05-11 - 2015-05-13, Noordwijk, The Netherlands.

Chhaniyara, S, Saaj, CM, Gineste, P and Coipeau, V (2015) SysML-MOTIVE: SysML Based Spacecraft Power Management Function Modeling, Testing, Integration, Verification and Execution In: 14th Symposium on Advanced Space Technologies in Robotics and Automation, 2015-05-11 - 2015-05-13, Noordwijk, The Netherlands.

Comin, F and Saaj, Chakravarthini (2015) Planetary Soil Classification based on the Analysis of the Interaction with Deformable Terrain of a Wheel-Legged Robot In: International Conference on Intelligent Robots and Systems (IROS), 28 Sept.-2 Oct. 2015, Congress Centre, Hamburg, Germany.

Richter, L, Eder, V, Hoheneder, W, Imhof, B, Lewinger, W, Ransom, S, Saaj, CM, Weclewski, P and Waclavicek, R (2014) Development of a Wheeled Bevameter as a Real-Time Terrain Sensing Instrument for Robotic Vehicles In: Proceedings of the 18th International ISTVS Conference, 2014-09-22 - 2014-09-25, Seoul, Korea.

Wang, X, Geng, T, Elsayed, Y, Ranzani, T, Saaj, CM and Lekakou, T (2014) A new coefficient-adaptive orthonormal basis function model structure for identifying a class of pneumatic soft actuators In: Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, 2014-09-14 - 2014-09-18, Chicago, IL, USA.

Richter, L, Eder, V, Hoheneder, W, Imhof, B, Lewinger, W, Ransom, S, Saaj, CM, Weclewski, P and Waclavicek, R (2014) Development of the FASTER Wheeled Bevameter In: European Planetary Science Congress EPSC2014-818, 2014-09-07 - 2014-09-12, Cascais, Portugal.

Elsayed, Y, Lekakou, T, Geng, T and Saaj, CM (2014) Design optimisation of soft silicone pneumatic actuators using finite element analysis In: 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2014-07-08 - 2014-07-11, Besançon, France,.

Lewinger, W, Comin, F, Al-Milli, S, Spiteri, C, Gao, Y, Matthews, M and Saaj, C (2013) Soil Interaction Analysis for a Mars Rover Wheel-Leg In: International Conference and Exposition on Robotics and Mechatronics (RoboMech 2013), 2013-08-12 - 2013-08-13, Raleigh (NC), USA.

Yeomans, B, Saaj, CM and van Winnedael, M (2013) Modelling Leg / Terrain Interaction for a Legged Planetary Micro-Rover In: 12th Symposium on Advanced Space Technologies in Robotics and Automation, 2013-05-15 - 2013-05-17, ESA/ESTEC, Noordwijk, the Netherlands.

Lewinger, WA, Comin, F, Ransom, S, Richter, L, Al-Milli, S, Spiteri, C, Gao, Y and Saaj, CM (2013) Multi-Level Soil Sensing Systems to Identify Safe Trafficability Areas for Extra-Planetary Rovers In: 12th Symposium on Advanced Space Technologies in Robotics and Automation, 2013-05-15 - 2013-05-17, ESA/ESTEC, Noordwijk, the Netherlands.

Nevatia, Y, Bulens, F, Gancet, J, Gao, Y, Al-Milli, S, Sonsalla, RU, Kaupisch, TP, Fritsche, M, Vögele, T, Allouis, E, Skocki, K, Ransom, S, Saaj, C, Matthews, M, Yeomans, B and Richter, L (2013) Safe Long‐RangeTravel for Planetary Rovers through Forward Sensing In: 12th Symposium on Advanced Space Technologies in Robotics and automation, 2013-05-15 - 2013-05-17, ESA/ESTEC, Noordwijk, the Netherlands.

Smith, B, Saaj, CM and Allouis, E (2011) Evolving legged robots using biologically inspired optimization strategies In: IEEE International Conference on Robotics and Biomimetics, 2010-12-14 - 2010-12-18, Tianjin, China.

Chhaniyara, S, Saaj, CM, Maediger, B, Althoff-Kotzias, M and Ahrns, I (2011) Model based system engineering for space robotic systems In: ASTRA 2011, 2011-04-12 - 2011-04-14, Noordwijk, Netherlands.

Yeomans, B and Saaj, CM (2011) Progress Towards Robust Mobility Analysis for a Legged Planetary Fetch Rover In: ASTRA 2011, 2011-04-12 - 2011-04-14, Noordwijk, Netherlands.

Saaj, CM, Bandyopadhyay, S and Bandyopadhyay, B (2010) Robust Control and Path Planning Algorithms for Small Satellite Formation Flying Missions In: IAC 2009: 60th International Astronautical Congress, 2009-10-12 - 2009-10-16, Daejeon, Republic of Korea.

Mahmood, W, Ali Shah, S and Saaj, CM (2009) Vision Based Hazard Detection and Obstacle Avoidance for Planetary Landing In: International Bhurban Conference on Applied Science and Technology, 2011-01-10 - 2011-01-13, Islamabad, Pakistan.

Smith, BGR, Scott, GP and Saaj, CM (2009) Biorobotics: Innovative and Low Cost Technologies for Next Generation Planetary Rovers In: 4th International Conference on Recent Advances in Space Technologies, 2009-06-11 - 2009-06-13, Istanbul, TURKEY.

Saaj, CM, Underwood, CI, Noakes, C, Park, DWG and Moore, T (2008) The science and technology behind Galileo - Europe's GPS In: US/European/Asian Symposium of the British-Interplanetary-Society, 2007-11-03 - ?, London, ENGLAND.

Smith, B and Saaj, CM Biologically Inspired Nano-rovers: Innovative and Low Cost Technologies using Shape Memory Alloys In: 60th International Astronautical Congress, 2009-10-12 - 2009-10-16, Daejeon, Republic of Korea.

Yeomans, B, Smith, B, Murton, S and Saaj, CM Biologically inspired nanorovers-Sample return using lightweight hybrid actuation In: 61st International Astronautical Congress, 2010-09-27 - 2010-10-01, Prague, Czech Republic.

Saaj, CM, Bandyopadhyay, S and Bandyopadhyay, B Stability Analysis of Small Satellite Formation Flying and Reconfiguration Missions in Deep Space In: 12th Int. Workshop on Variable Structure Systems, 2012-01-12 - 2012-01-14, Mumbai, India.

Chhaniyara, S, Saaj, CM, Meadiger, B, Althoff-Kotzias, M and Ahrns, I SysML based system engineering: A case study for Space Robotic Systems In: 62nd International Astronautical Congress, 2011-10-03 - 2011-10-07, Cape Town, South Africa.

Yeomans, B and Saaj, CM Walking Rover Trafficability - Presenting a Comprehensive Analysis and Prediction Tool In: TAROS 2011: 12th Conference Towards Autonomous Robotic Systems, 2011-08-31 - 2011-09-02, Sheffield, UK.

Saaj, CM and Sancho, D Assessment of Artificial Potential Field Methods for Navigation of Planetary Rovers In: European Control Conference, 2009-08-23 - 2009-08-26, Budapest.

Saaj, CM and Ibrahim, H Collision Avoidance and Control of Multi-Agent Systems In: International Conference on Control, Communication and Computing, 2010-02-18 - ?, Trivandrum, India.

Scott, G, Meirion-Griffith, C, Saaj, CM and Moxey, E A Comparative Study of the deformation of Planetary Soils under Tracked and Legged Rovers In: AIAA Space 2008 Conference, 2008-09-09 - 2008-09-11, San Diego.

Saaj, CM, Bandyopadhyay, B and Bandyopadhyay, S Development of Sliding Mode Controller for Small Satellite in Planetary Orbital Environment Formation Flying Missions In: 61st International Astronautical Congress, 2010-09-27 - ?, Prague.

Saaj, CM and Bandyopadhyay, B Discrete Sliding Mode Control by Non-Dynamic Multirate Output Feedback In: Proc. 7th IEEE International Workshop on Variable Structure Systems, 2002-07-15 - ?, Sarajevo, Bosnia & Herzegovina.

Saaj, CM and Bandyopadhyay, B Discrete Time Sliding Mode Control Using Output Samples In: Proc. 8th IEEE International Workshop on Variable Structure Systems, 2004-09-24 - ?, Vilanova I la Geltru, Spain,.

Saaj, CM and Bandyopadhyay, B Discrete-Time Sliding Mode Control Using Fast Output Sampling Feedback In: Proc. 7th European Control Conference, 2003-09-02 - ?, Cambridge, UK.

Saaj, CM How to Control a Surgical Robot? In: 14th World Congress of Endoscopic Surgery and 22nd Congress of the European Association of Endoscopic Surgery, 2014-06-25 - 2014-06-28, Paris.

Saaj, CM, Lappas, V, Richie, D and Schuab, H Hybrid Propulsion using Coulomb Force for Spacecraft Swarm Aggregation In: 10th European Control Conference, 2007-07-25 - ?, Kos, Greece.

Nevatia, YH, Gancet, J, Bulens, F, Vögele, T, Sonsalla, RU, Saaj, CM, Lewinger, WA, Matthews, M, Cabrera, FJC, Gao, Y, Allouis, E, Imhof, B, Ransom, S, Richter, L and Skocki, K Improved Traversal for Planetary Rovers through Forward Acquisition of Terrain Trafficability In: 2013 IEEE International Conference on Robotics and Automation Planetary Rovers Workshop, 2013-05-06 - 2013-05-10, Karlsruhe, Germany.

Scott, G and Saaj, CM The Interaction between Walking Robot Footprint Shapes and Planetary Soil Deformation In: Proceedings of the AIAA Space 2008 Conference, 2008-09-21 - ?, San Diego, USA.

Scott, G and Saaj, CM Measuring and Simulating Soil Deformation of a Legged Microrover on Planetary Surfaces In: AIAA Space 2009 Conference, 2010-09-14 - ?.

Chhaniyara, S, Saaj, C, Althoff-Kotzias, M, Ahrns, I and Maediger, B Model based system engineering for space robotics systems In: ESA ASTRA 2011 - 11th Symposium on Advanced Space Technologies in Robotics and Automation, 2011-04-12 - 2011-04-14, ESTEC, Noordwijk, the Netherlands.

Scott, G, Saaj, CM and Moxey, E Modelling Soil Traction for more Effective Control of Walking Planetary Rovers In: Towards Autonomous Robotic Systems Conference, 2008-09-18 - ?, Edinburgh, UK.

Saaj, CM and Bandyopadhyay, B A New Three Level Output Feedback Sliding Mode Control For Discrete System In: Proc. Int. Conf. on Control, Instrumentation and Information Communication,, 2001-12-15 - ?, Kolkata, India.

H. Ibrahim, and Saaj, CM On New Algorithms for Path Planning and Control of Micro-Rover Swarms In: Proc. 14th Annual Towards Autonomous Robotics Systems Conference, 28-30 August, 2013, 2013-08-28 - 2013-08-30, Oxford UK.

Parsa, S and Saaj, CM On-Orbit Servicing: Novel Algorithms for Motion Control of Robot Manipulators In: 10th ESA Workshop on Advanced Space Technologies for Robotics and Automation, 2008-11-11 - 2008-11-13, Noordwijk, The Netherlands.

Saaj, CM Output Feedback Sliding Mode Control for MIMO Discrete Time Systems In: Proc. 15th IFAC World Congress on Automatic Control, 2002-07-20 - ?, Barcelona, Spain.

Saaj, CM and Bandyopadhyay, B Output Feedback Variable Structure Control of Non-linear Systems by Feedback Linearization In: Proc. 6th IFAC Symposium on Nonlinear Control Systems, 2004-09-20 - ?, Stuttgart, Germany.

Mahmood, W and Saaj, CM Pinpoint Planetary Landers: Vision Based Hazard Detection and Obstacle Avoidance In: European Control Conference, 2010-08-23 - ?, Budapest, Hungary.

Parsa, S and Saaj, CM Robot Assisted Satellite Servicing: Novel Motion Control Algorithm using Sliding Mode Control In: International Conference on Space Technology, 2009-08-24 - ?, Thessaloniki, Greece.

Saaj, CM Robotic uterine manipulator: A novel concept inspired by octopus,” invited presentation In: 14th World Congress of Endoscopic Surgery and 22nd Congress of the European Association of Endoscopic Surgery, 2014-06-25 - 2014-06-28, Paris, France.

Nevatia, Y, Bulens, F, Gancet, J, Gao, Y, Al-Mili, S, Sonsalla, RU, Kaupisch, TP, Fritsche, M, Vögele, T, Allouis, E, Skocki, K, Ransom, S, Saaj, CM, Matthews, M, Yeomans, B and Richter, L Safe Long-Range Travel for Planetary Rovers through Forward Sensing In: 12th Symposium on Advanced Space Technologies in Robotics and Automation, 2013-05-15 - 2013-05-17, ESA/ESTEC, Noordwijk, the Netherlands.

Saaj, CM, Lappas, V, Richie, D, Schaub, H and Gazi, V Satellite Formation Flying: Robust Algorithms for Propulsion, Path Planning and Control In: European Control Conference, 2009-08-23 - 2009-08-26, Budapest.

Saaj, CM, Lappas, V, Richie, D, Peck, M, Streetman, B and Schaub, H Spacecraft Formation Flying and Aggregation using Electrostatic Forces In: Advanced Space Vehicle Control Workshop, 2006-09-10 - ?, Guildford.

Saaj, CM, Lappas, V, Richie, D, Peck, M, Streetman, B and Schuab, H Spacecraft Formation Flying and Reconfiguration with Electrostatic Forces In: 30th Annual AAS Guidance and Control Conference, 2007-02-03 - 2007-02-07, Colorado.

Saaj, CM, Lappas, V and Gazi, V Spacecraft Swarm Navigation and Control using Artificial Potential Field and Sliding Mode Control In: IEEE International Conference on Industrial Technology, 2006-12-05 - ?, Mumbai, India.

Chhaniyara, S, Saaj, C, Maediger, B, Althoff-Kotzias, M and Ahrns, I SysML based system engineering: A case study for Space Robotic Systems In: 62nd International Astronautical Congress, 2011-10-03 - 2011-10-07, Cape Town International Convention Centre.

Khorram, A, Parsa, S and Saaj, CM Trajectory Planning and Control of Robot Arm for Planetary Surface Sample Missions In: 60th International Astronautical Congress, 2009-10-12 - ?, Daejeon, Republic of Korea.

Scott, G and Saaj, CM Walking Micro-rovers for Planetary Exploration: Investigation into the Mechanics of Soil-Footprint Interaction In: Society of Terrain Vehicles Systems Conference, 2008-11-05 - ?, Turin, Italy.

This list was generated on Tue Sep 19 15:40:45 2017 UTC.

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