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Books

  • Abhinandan Jain, "Robot and Multibody Dynamics: Analysis and Algorithms", Springer, ISBN 978-1-4419-7266-8, Dec. 2010.
    Ebook link.

Journal Papers

  1. Harshavardhan Mylapilli, Abhinandan Jain "Complementarity Techniques for Minimal Coordinate Contact Dynamics", Journal of Computational and Nonlinear Dynamics, 2016 (accepted). DOI

  2. Abhinandan Jain, Calvin Kuo, Paramsothy Jayakumar, Jonathan Cameraon "Constraint Embedding for Vehicle Suspension Dynamics", Archive of Mechanical Engineering, vol 63, no. 2, pp. 193-213, 2016.
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  3. Abhinandan Jain, Calvin Kuo, Ivan Sinkarenko "Feedforward Dynamics for the Control of Articulated Multi-Limb Robots", Multibody System Dynamics, vol. 37, no. 1, pp. 49-68, 2016. DOI

  4. Saugat Kandel, Romelia Salomon-Ferrer, Adrien Larsen, Abhinandan Jain, Nagarajan Vaidehi "Overcoming potential energy distortions in constrained internal coordinate molecular dynamics simulations", The Journal of Chemical Physics, vol 144, number 4, 2016. DOI

  5. Nagarajan Vaidehi, Abhinandan Jain "Internal coordinate molecular dynamics: a foundation for multiscale dynamics", The Journal of Physical Chemistry B, vol 119, number 4, pp. 1233-1242, 2015. DOI
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  6. Adrien Larsen, Jeffrey Wagner, Saugat Kandel, Romelia Salomon-Ferrer, Nagarajan Vaidehi, Abhinandan Jain "GneimoSim: A modular internal coordinates molecular dynamics simulation package", Journal of Computational Chemistry, vol 35, issue 31, pp. 2245-2255, 2014. DOI
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  7. Abhinandan Jain "Contact Dynamics Formulation Using Minimal Coordinates", book chapter in Multibody Dynamics, Terze, Zdravko (Ed.), Computational Methods in Applied Sciences, vol 35, Springer, 2014. Link

  8. Abhinandan Jain "Operational Space Inertia for Closed-Chain Robotic Systems", Journal of Computational and Nonlinear Dynamics, vol. 9, issue 2, 2014. DOI

  9. Adrien Larsen, Jeffrey Wagner, Abhinandan Jain, Nagarajan Vaidehi "Protein Structure Refinement of CASP Target Proteins using GNEIMO Torsional Dynamics method", Journal of Chemical Information and Modeling, vol 54, issue 2, pp. 508-517, 2014. DOI
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  10. Abhinandan Jain, Saugat Kandel , Jeffrey Wagner, Adrien Larsen , Nagarajan Vaidehi "Fixman Compensating Potential for General Branched Molecules", The Journal of Chemical Physics, vol. 139, issue 24, 2013. DOI
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  11. Nicolas Hudson, Jeremy Ma, Paul Hebert, Abhinandan Jain, Max Bajracharya, Thomas Allen, Rangoli Sharan, Matanya Horowitz, Calvin Kuo, Thomas Howard, Larry Matthies, Paul Backes, Joel Burdick "Model-based autonomous system for performing dexterous, human-level manipulation tasks", Autonomous Robots, 2013. DOI.

  12. Vamshi K. Gangupomu, Jeffrey R. Wagner, In-Hee Park, Abhinandan Jain, Nagarajan Vaidehi "Mapping conformational dynamics of proteins using torsional dynamics simulations", Biophysical Journal, vol. 104, issue 9, pp. 1999-2008, 2013. DOI.
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  13. Jeffrey R. Wagner, Gouthaman S. Balaraman, Michiel J. M. Niesen, Adrien B. Larsen, Abhinandan Jain, Nagarajan Vaidehi "Advanced Techniques for Constrained Internal Coordinate Molecular Dynamics", Journal of Computational Chemistry, vol. 34, issue 11, pp. 904-914, 2013. DOI.
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  14. Abhinandan Jain, In-Hee Park, Nagarajan Vaidehi "Equipartition Principle for Internal Coordinate Molecular Dynamics", Journal of Chemical Theory and Computation, vol. 8, no. 8, pp. 2581-2587, 2012. DOI.
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  15. In-Hee Park, V. Gangupomu, J. Wagner, A. Jain and Nagarajan Vaidehi, "Structure Refinement of Protein Low Resolution Models Using the GNEIMO Constrained Dynamics Method", The Journal of Physical Chemistry B, vol. 116, no. 8, pp. 2365-2375, 2012, PMID: 22260550. DOI.
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  16. Abhinandan Jain, "Multibody graph transformations and analysis Part I. Tree topology systems", Nonlinear Dynamics, vol. 67, no. 4, pp. 2779-2797, 2012. DOI.
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  17. Abhinandan Jain, "Multibody graph transformations and analysis Part II. Closed-chain constraint embedding", Nonlinear Dynamics, vol. 67, no. 3, pp. 2153-2170, 2012. DOI.
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  18. Abhinandan Jain, "Graph Theoretic Foundations of Multibody Dynamics: Part I - Structural Properties", Multibody System Dynamics, vol. 26, no. 3, pp. 307-333, 2011. DOI.
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  19. Abhinandan Jain, "Graph Theoretic Foundations of Multibody Dynamics: Part II - Analysis and Algorithms", Multibody System Dynamics, vol. 26, no. 3, pp. 335-365, 2011. DOI.
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  20. Gouthaman S. Balaraman, In-Hee Park, Abhinandan Jain, and Nagarajan Vaidehi, "Folding of Small Proteins Using Constrained Molecular Dynamics", The Journal of Physical Chemistry B, May 18, 2011. DOI
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  21. A. Jain, G. Rodriguez, "Multibody Mass Matrix Sensitivity Analysis Using Spatial Operators", Int. Journal for Multiscale Computational Engineering, vol.1, Issue 2-3, 2003.
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  22. A. Jain, "Compensating Mass Matrix Potential for Constrained Molecular Dynamics," Journal of Computational Physics, Jul. 1997.
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  23. G. Rodriguez and A. Jain, "2-Way Recursive Decomposition of the Free-Flying Robot mass matrix," Journal of Applied Mathematics and Computer Science, vol. 7, pp. 101-119, June 1997.

  24. N. Vaidehi, A. Jain, and W. Goddard, "Constant Temperature Constrained Molecular Dynamics: The Newton-Euler Inverse Mass Operator Method," J. Phys. Chem., vol. 100, no. 25, pp. 10508-10517, 1996.

  25. A. Jain and G. Rodriguez, "Diagonalized Lagrangian Robot Dynamics," IEEE Transactions on Robotics and Automation, vol. 11, pp. 571-584, Aug. 1995.
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  26. A. Jain and G. Rodriguez, "Base-Invariant Symmetric Dynamics of Free-Flying Space Manipulators," IEEE Transactions on Robotics and Automation, vol. 11, pp. 585-597, Aug. 1995.
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  27. A. M. Mathiowetz, A. Jain, N. Karasawa, and W. A. Goddard III, "Protein Simulations using Techniques Suitable for Very Large Systems: the Cell Multipole Method for Nonbond Interactions and the Newton-Euler Inverse Mass Operator Method for Internal Coordinate Dynamics," Proteins: Structure, Function, and Genetics, vol. 20, pp. 227-247, 1994.
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  28. A. Jain and G. Rodriguez, "Recursive Dynamics Algorithm for Multibody Systems with Prescribed Motion," Journal of Guidance, Control and Dynamics, vol. 16, pp. 830-837, Sept. 1993.

  29. A. Jain and G. Rodriguez, "An Analysis of the Kinematics and Dynamics of Underactuated Manipulators," IEEE Transactions on Robotics and Automation, vol. 9, pp. 411-422, Aug. 1993.
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  30. A. Jain, N. Vaidehi, and G. Rodriguez, "A Fast Recursive Algorithm for Molecular Dynamics Simulations," Journal of Computational Physics, vol. 106, pp. 258-268, June 1993.
    31. Download PostScript

  31. A. Jain and G. Rodriguez, "Linearization of Manipulator Dynamics Using Spatial Operators," IEEE Transactions on Systems, Man and Cybernetics, vol. 23, pp. 239-248, Jan. 1993.

  32. A. Jain and G. Rodriguez, "Recursive Flexible Multibody System Dynamics Using Spatial Operators," Journal of Guidance, Control and Dynamics, vol. 15, pp. 1453-1466, Nov. 1992.
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  33. K. Kreutz-Delgado, A. Jain, and G. Rodriguez, "Recursive Formulation of Operational Space Control," The International Journal of Robotics Research, vol. 11, pp. 320-328, Aug. 1992.

  34. G. Rodriguez and K. Kreutz-Delgado, "Spatial Operator Factorization and Inversion of the Manipulator Mass Matrix," IEEE Transactions on Robotics and Automation, vol. 8, pp. 65-76, Feb. 1992.
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  35. G. Rodriguez, A. Jain, and K. Kreutz-Delgado, "Spatial Operator Algebra for Multibody System Dynamics," Journal of the Astronautical Sciences, vol. 40, pp. 27-50, Jan.-March 1992.
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  36. G. Rodriguez, K. Kreutz-Delgado, and A. Jain, "A Spatial Operator Algebra for Manipulator Modeling and Control," The International Journal of Robotics Research, vol. 10, pp. 371-381, Aug. 1991.
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  37. A. Jain, "Unified Formulation of Dynamics for Serial Rigid Multibody Systems," Journal of Guidance, Control and Dynamics, vol. 14, pp. 531-542, May-June 1991.
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  38. G. Rodriguez, "Random Field Estimation Approach to Robot Dynamics," IEEE Transactions on Systems, Man and Cybernetics, vol. 20, pp. 1081-1093, Sept. 1990.
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  39. G. Rodriguez, "Recursive Forward Dynamics for Multiple Robot Arms Moving a Common Task Object," IEEE Transactions on Robotics and Automation, vol. 5, pp. 510-521, Aug. 1989..

  40. G. Rodriguez, "Kalman Filtering, Smoothing and Recursive Robot Arm Forward and Inverse Dynamics," IEEE Journal of Robotics and Automation, vol. 3, pp. 624-639, Dec. 1987.
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  41. G. Rodriguez, "Recursive forward dynamics for two robot arms in a closed chain based on Kalman filtering and Bryson-Frazier smoothing," Robotics, M. Jamshidi Ed., Amsterdam, The Netherlands, North-Holland 1986.

Conference Papers

  1. Jonathan Cameron, Abhinandan Jain, Dan Burkhart, Erik Bailey, Bob Balaram, Eugene Bonfiglio, Havard Grip, Mark Ivanov, Evgeniy Sklyanskiy, "DSENDS: Multi-mission Flight Dynamics Simulator for NASA Missions", AIAA SPACE 2016, pp. 5421, Long Beach, CA, Sep, 2016.
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  2. Abhinandan Jain "PyCraft: An Analytical and Computational Workbench for System Level Multibody Dynamics", The 4 th Joint International Conference on Multibody System Dynamics, Montreal, Canada, May, 2016.
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  3. Marco B. Quadrelli1, J. (Bob) Balaram, Abhinandan Jain, Jonathan Cameron, Steven Myint, Avinash Devalla "Modeling and Simulation of Vehicle Dynamics on the Surface of Phobos", AIAA Space 2015 Conference, Pasadena, CA, Aug, 2015.
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  4. Brian Wilcox et al "Testbed for the Capture of a Small, Free-Flying Asteriod in Space", AIAA Space 2015 Conference, Pasadena, CA, Aug, 2015.
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  5. Abhinandan Jain, Calvin Kuo, Paramsothy Jayakumar, Jonathan Cameraon "A Constraint Embedding Approach for Complex Vehicle Suspension Dynamics", ECCOMAS Thematic Conference on Multibody Dynamics, Barcelona, Spain, June 2015.
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  6. Paramsothy Jayakumar, Abhinandan Jain, James Polpawski, Marco B. Quadrelli, Jonathan Cameraon "Advanced Mobility Testbed for Dynamic Semi-Autonomous Un- manned Ground Vehicles", NATO Meeting AVT-241/RSM-022: Technological and Operational Problems Connected with UGV Application for Future Military Operations, Rzeszow, Poland, April 2015. Barcelona, Spain, June 2015.
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  7. Harshavardhan Mylapilli, Abhinandan Jain, "Evaluation of Complementarity Techniques for Minimal Coordinate Contact Dynamics", Proceedings of the ASME 2014 International Design Engineering Technical Conference (IDETC), Buffalo, NY, Aug, 2014.
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  8. Abhinandan Jain, Calvin Kuo, Ivan Sinkarenko, "Dynamics Compensation for the Control of Articulated Multi-Limb Robots", The 3rd International Conference on Multibody System Dynamics (IMSD), Busan, Korea, June, 2014.
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  9. Havard Fjær Grip, Masahiro Ono, J. Balaram, Jonathan Cameron, Abhinandan Jain, Calvin Kuo, Steven Myint, Marco Quadrelli "Modeling and Simulation of Asteroid Retrieval Using a Flexible Capture Mechanism", 2014 IEEE Aerospace Conference, Big Sky, Montana, Mar 1-8, 2014.

  10. Jonathan M. Cameron, Steven Myint, Calvin Kuo, Abhinandan Jain, Havard Grip, Paramsothy Jayakumar, Jim Overholt "Real-Time and High-Fidelity Simulation Environment for Autonomous Ground Vehicle Dynamics", 2013 NDIA Ground Vehicle Systems Engineering and Technology Symposium, Troy, Michigan, Aug 21-22, 2013.
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  11. Abhinandan Jain, "Operational Space Inertia for Robots with Internal Loops", Multibody Dynamics 2013, ECCOMAS Thematic Conference, Zagreb, Croatia, July, 2013.
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  12. Abhinandan Jain "Minimal Coordinates Formulation of Contact Dynamics", Multibody Dynamics 2013, ECCOMAS Thematic Conference, Zagreb, Croatia, July, 2013.
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  13. Abhinandan Jain, "Structure-Based Computational Modeling Architecture for Robotics", 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May, 2013.
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  14. M.I. Pomerantz, C. Lim, S. Myint, G. Woodward, J. Balaram, and C. Kuo, "Multi-Mission Simulation and Visualization for Real-time Telemetry Display, Playback and EDL Event Reconstruction", 2012 AIAA Space, Pasadena, CA, Sep, 2012.
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  15. Jonathan M. Cameron, J. Balaram, Abhinandan Jain, Calvin Kuo, Christopher Lim, and Steven Myint, "Next Generation Simulation Framework for Robotic and Human Space Missions", 2012 AIAA Space, Pasadena, CA, Sep, 2012.
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  16. Dan Negrut, Hammad Mazhar, Daniel Melanz, David Lamb, Paramsothy Jayakumar, Michael Letherwood, Abhinandan Jain and Marco Quadrelli, "Investigating the Mobility of Light Autonomous Tracked Vehicles Using a High Performance Computing Simulation Capability", 2012 GVSETS, Aug, 2012.
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  17. Abhinandan Jain, Cory Crean, Calvin Kuo, Hubertus von Bremen, Steven Myint, "Minimal Coordinate Formulation of Contact Dynamics in Operational Space", 2012 Robotics: Science and Systems Conference, Sydney, Australia, July, 2012.

  18. Abhinandan Jain, Cory Crean, Calvin Kuo, Marco B. Quadrelli, "Efficient Constraint Modeling for Closed-Chain Dynamics", The Second Joint International Conference on Multibody System Dynamics, Stuttgart, Germany, May, 2012.
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  19. Nicolas Hudson, Thomas Howard, Jeremy Ma, Abhinandan Jain, Max Bajracharya, Steven Myint, Calvin Kuo, Larry Matthies, Paul Backes, Paul Hebert, Thomas Fuchs and Joel Burdick, "End-to-End Dexterous Manipulation with Deliberate Interactive Estimation", IEEE Int. Conf. on Robotics and Automation, May, 2012.

  20. S. Myint, A. Jain, J. Cameron, C. Lim, "Scalable Large, Multi-Resolution Terrain Real-Time Modeling and Visualization for Surface System Simulations", IROS, San Francisco, CA, Sep, 2011.
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  21. J. (Bob) Balaram, J. Cameron, A. Jain, H. Kline, C. Lim, H. Mazhar, S. Myint, H. Nayar, R. Patton, M. Pomerantz, M. Quadrelli, P. Shakkotai, K.Tso, "Physics-Based Simulator for NEO Exploration Analysis & Modeling", AIAA SpaceOps Long Beach, CA, Sep, 2011.
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  22. Steven Myint, Abhinandan Jain, Jonathan Cameron, Christopher Lim, "Large Terrain Modeling and Visualization for Planets", Fourth IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT 2011), San Francisco, CA, August, 2011.
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  23. Abhinandan Jain, "Partitioning and sub-structuring of multibody dynamics algorithms using graph techniques", Multibody Dynamics 2011, ECCOMAS Thematic Conference, Brussels, Belgium, July 2011.

  24. Thomas M. Howard, Jonathan Cameron, Steven Myint, Hari Nayar, and Abhi Jain, "A KML Interface for Dynamics Simulation of Robotic Planetary Exploration", 2011 IEEE Aerospace Conference, Big Sky, Montana, Mar. 2011.
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  25. Hari D. Nayar, Bob Balaram, Jonathan Cameron, Matthew DiCicco, Thomas Howard, Abhinandan Jain, Yoshiaki Kuwata, Christopher Lim, Rudranarayan Mukherjee, Steven Myint, Alex Palkovic, Marc Pomerantz, Stephen Wall, "Surface Operations Analysis for Lunar Missions", AIAA SPACE 2010 Conference and Exposition, Anaheim, CA, Sep, 2010.
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  26. A. Jain, "Graph Theoretic Structure of Multibody System Spatial Operators", The 1st Joint International Conference on Multibody System Dynamics, Lappeenranta, Finland, May, 2010.

  27. A. Jain, "Graph Theory Roots of Spatial Operators for Kinematics and Dynamics", 2010 IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 3-8, 2010.

  28. H. Nayar, A. Jain, J. Balaram, J. Cameron, C. Lim, R. Mukherjee, M. Pomerantz, L. Reder, S. Myint, N. Serrano, S. Wall, "Recent Developments on a Simulator for Lunar Surface Operations", AIAA SPACE 2009 Conference & Exposition, Pasadena, CA, September 14-17, 2009.
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  29. A. Jain, "Recursive Algorithms using Local Constraint Embedding for Multibody System Dynamics", ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2009) , San Diego, CA, August 30-September 2, 2009.
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  30. Jonathan Cameron, Abhi Jain, Terry Hunstberger, Garett Sohl, Rudranarayan Mukherjee, "Vehicle-Terrain Interaction Modeling and Validation for Planetary Rovers," JPL Publication 10-15, Pasadena, CA, August 2009.

  31. C. Lim, A. Jain, "Dshell++: A Component Based, Reusable Space System Simulation Framework", Third IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT 2009), Pasadena, CA, July 19-23, 2009.
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  32. M. Pomerantz, A. Jain, S. Myint, "Dspace: Real-time Visualization System for Spacecraft Dynamics Simulation", Third IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT 2009), Pasadena, CA, July 19-23, 2009.
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  33. H. Nayar, J. Balaram, J. Cameron, A. Jain, C. Lim, R. Mukherjee, S. Peters, M. Pomerantz, L. Reder, P. Shakkottai, S. Wall, "A Lunar Surface Operations Simulator", Proc. International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2008), Venice Italy, Nov. 3-7, 2008.
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  34. Terry Huntsberger, Abhi Jain, Jonathan Cameron, Gail Woodward, David Myers and Garett Sohl, "Characterization of the ROAMS Simulation Environment for Testing Rover Mobility on Sloped Terrain ," i-SAIRAS 2008, Pasadena, CA, January 2008.
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  35. A. Jain, J. Ziegler, "PyCraft: An Algorithm Workbench for Computational Multibody Dynamics," 7th World Congress on Computational Mechanics, Los Angeles, CA, July 16-22, 2006.

  36. A Jain, J. Cameron, C. Lim, J. Guineau, "SimScape Terrain Modeling Toolkit," Second International Conference on Space Mission Challenges for Information Technology (SMC-IT 2006), Pasadena, CA, July 2006.
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  37. A Jain and J. Biesiadecki, "YaM - A Framework for Rapid Software Development," Second International Conference on Space Mission Challenges for Information Technology (SMC-IT 2006), Pasadena, CA, July 2006.
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  38. G. Sohl and A Jain, "Wheel-Terrain Contact Modeling in the Roams Planetary Rover Simulation," Fifth ASME International Conference on Multibody Systems, Nonlinear Dynamics and Control, Long Beach, CA, September 2005.
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  39. R Madison, M Pomerantz, and A Jain, "Camera Response Modeling and Verification in ROAMS," i-SAIRAS 2005, Munich, Germany, September 2005.
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  40. A. Jain, J. Balaram, J. Cameron, J. Guineau, C. Lim, M. Pomerantz, G. Sohl, "Recent Developments in the ROAMS Planetary Rover Simulation Environment", IEEE 2004 Aerospace Conf., Big Sky, Montana, March 6-13, 2004.
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  41. A. Jain, J. Guineau, C. Lim, W. Lincoln, M. Pomerantz, G. Sohl, R. Steele, "Roams: Planetary Surface Rover Simulation Environment", To be presented at the International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2003), (Nara, Japan), May 19-23, 2003. Download PDF

  42. S. Striepe, J. Balaram, "Mars Smart Lander Simulations for Entry, Descent, and Landing", AIAA Atmospheric Flight Mechanics Conf., Monetery, California, 5-8 August, 2002.
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  43. B. Martin, J. Balaram, D. Henriquez, G. Sohl, C. Miller, M. Pomerantz, "System Engineering Challenges of Real-Time Simulation for Mars Smart Lander Entry, Descent, and Landing", AIAA Atmospheric Flight Mechanics Conf., Monterery, California, 5-8 August, 2002.
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  44. J. Balaram, R. Austin, P. Banerjee, T. Bentley, D. Henriquez, B. Martin, E. McMahon, G. Sohl, "DSENDS - A High-Fidelity Dynamics and Spacecraft Simulator for Entry, Descent and Surface Landing", IEEE 2002 Aerospace Conf., Big Sky, Montana, March 9-16, 2002.
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  45. A. Jain and G. Rodriguez, "Sensitivity Analysis for Multibody Systems Using Spatial Operators", Sixth Int. Conf. on Methods and Models in Automation and Robotics (Miedzyzdroje, Poland), Aug. 38-31 2000.
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  46. A. Jain and G. Rodriguez, "Sensitivity Analysis for Multibody Systems Using Spatial Operators," in International Conference on Scientific Computation and Differential Equations (SciCADE'99), (Fraser Island, Queensland, Australia), Aug. 1999.

  47. J. Yen and A. Jain, "ROAMS: Rover Analysis Modeling and Simulation Software," in International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS'99), (Noordwijk, Netherlands), June 1999.

  48. J. Biesiadecki, D. Henriquez and A. Jain, "A Reusable, Real-Time Spacecraft Dynamics Simulator," in 6th Digital Avionics Systems Conference, (Irvine, CA), Oct 1997.
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  49. A. Jain and G. Rodriguez, "A Spatial Operator Algebra for Computational Multibody Dynamics," in International Conference on Scientific Computation and Differential Equations (SciCADE'97), (Grado, Italy), Sep. 1997.

  50. J. Biesiadecki, A. Jain, and M.L. James, "Advanced Simulation Environment for Autonomous Spacecraft," in International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS'97), (Tokyo, Japan), Jul. 1997.
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  51. J. Biesiadecki and A. Jain, "A Reconfigurable Testbed Environment for Spacecraft Autonomy," in Simulators for European Space Programmes, 4th Workshop, (Noordwijk, The Netherlands), ESTEC, Oct. 1996.
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  52. G. Rodriguez, "Spatially Random Models, Estimation Theory, and Robot Dynamics," Proceeding of Workshop on Telerobotics, JPL Publication 87-13, Pasadena, CA, 1987.

  53. G. Rodriguez, "Recursive multirigid body topological tree dynamics via Kalman filtering and Bryson-Frazier smoothing," presented at the 6th VPI/SU Symp. Control of Large Structures, Balcksburg, VA, June 1987.

  54. G. Rodriguez, "Kalman Filtering, Smoothing and Recursive Robot Arm Forward and Inverse Dynamics," JPL Publication 86-48, 1986.