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126 Spencer Lab, U. of D., Newark, DE 19716-3140 ph: 302-831-3140 fax: 302-831-3619
 
 
 
 
 
 
 
 
 

Dr. Sunil Kumar Agrawal

Professor
Department of Mechanical Engineering
University of Delaware
222 Spencer Lab.
Newark, DE 19716
E-mail: agrawal@udel.edu

Dr. Agrawal's personal homepage

 

DEGREES
Ph.D., Mechanical Engineering, Stanford University, Stanford, CA 1990
M.S., Mechanical Engineering, Ohio State University, Columbus, OH 1986
B.S., Mechanical Engineering, Indian Institute of Technology, Kanpur, 1984


SERVICE
4/02-present: Professor of Mechanical Engineering, University of Delaware
4/96-4/02: Associate Professor of Mechanical Engineering, University of Delaware
8/96-present: Faculty, Biomechanics & Movement Science Program, Univ. of Delaware


OTHER RELATED EXPERIENCE
6/04-7/04: Visiting Professor, Electrical Engineering, ADFA, Canberra, Australia
1/03-9/04: Guest Researcher, Intelligent Systems Division, NIST
6/03-8/03: Visiting Professor, Technical University Darmstadt, Germany
6/02-8/02: Visiting Professor, Technical University Darmstadt, Germany.
3/01-9/01: Senior Scientist (IPA), Munitions Directorate, Eglin AFB, Florida
6/00-7/00: Visiting Fellow, Electrical Engineering, ADFA, Canberra, Australia
3/00-4/00: Visiting Researcher, Mechatronics Division, CINVESTAV-IPN, Mexico
1/98-5/98: Visiting Associate, Control and Dynamic Systems, Caltech, Pasadena, CA
8/95-3/96: Associate Professor of Mech. Eng., Ohio University, Athens, OH
9/90-7/95: Assistant Professor of Mech. Eng., Ohio University, Athens, OH
8/95-12/95: Humboldt Research Fellow, DLR, Oberpfaffenhofen, Germany
8/94-12/94: Humboldt Research Fellow, DLR, Oberpfaffenhofen, Germany
6/94-8/94: AFOSR Summer Faculty Fellow, WPAFB, Dayton
7/88-9/88: General Motors Research Lab Summer Intern, Warren, MI
1/87-8/90: Research Assistant, Robotics Laboratory, Stanford University
9/84-9/86: University Graduate Fellow, Ohio State University, Columbus, OH


CONSULTING
9/02-1/03: Consultant, DLR, Inst. for Robotics and Mechatronics, Wessling, Germany
3/02-6/02: Consultant, DLR, Inst. for Robotics and Mechatronics, Wessling, Germany
1/00-12/02: Consultant, Pathway Technologies, Philadelphia
3/99-12/00: Consultant, Xerox Palo Alto Research Center, Palo Alto, California


STATE REGISTERED
NONE


SELECTED PUBLICATIONS
Books Authored

  1. Optimization of Dynamic Systems, Kluwer Academic Publishers, Dordrecht, Hardbound, ISBN 0-7923-5681-0, April 1999, 240 pp. Authors: Sunil K. Agrawal, University of Delaware & Prof. Brian C. Fabien, Mechanical Engineering, University of Washington, Seattle.
  2. Differentially Flat Systems, Marcel Dekker (Control Engineering Series), Hardbound, ISBN 0-8247-5470-0, June 2004, 467 pages, Authors: Prof. Hebertt Sira-Ramirez, Department of Electrical Engineering, CINVESTAV-IPN, Mexico and Sunil K. Agrawal, University of. Delaware.
  3. Optimization of Kinematics and Dynamics of Robotic Systems, CRC Press, expected date: December 2006, 500 pages, Authors: Sunil K. Agrawal, University of Delaware and Prof. K. Kurien Issac, IIT Bombay.

Journal Articles & Proceedings

  1. S. Oh and S.K. Agrawal, "FeasibleSet Points with Positive Tensions for a Cable Robot Subject to Input Constraints", revision submitted fvor publication in IEEE Transactions on Robotics and Automation, 2005.
  2. K. Pathak and S.K. Agrawal, "An Integrated Path-Planning and Control Approach for Nonholonomic Unicycles using Switched Local Potentials", revision submitted for publicatio in IEEE Transactions on Robotics and Automation, 2005.
  3. A Agrawal and S.K. Agrawal, "Effects of Leg Rehabilitation Devices on the Performance of Walking Bipeds", revision submitted for publication in IEEE Transactions on Robotics and Automation, 2005.
  4. Z.A. Khan and S.K. Agrawal, "Wing Force and Moment Characterization of Flapping Wings for Micro Air vehicle Applications", submitted to Journal of Experimental Biology, 2004.
  5. A. Fattah and S.K. Agrawal, "Design and Simulation of Classes of Spatial Reactionless Manipulators", Robotica, Vol. 23, Issue 01, 75-81, 2005.
  6. S. Banala and S. K. Agrawal, “Design and Optimization of a Mechanism for Out of Plane Insect Wing Like Motion with Twist”, accepted for publication, Journal of Mechanical Design, Transactions of the ASME, 2005.
  7. S.K. Agrawal and A. Fattah, “Theory and Design of an Orthotic Device for Full or Partial Gravity-Balancing of a Human Leg During Motion”, IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 12, No. 2, 157-165, 2004.
  8. S.K. Agrawal and A. Fattah, “Reactionless Space and Ground Robots” Noel Designs and Concept Studies”, Mechanisms and Machine Theory, Vol. 39, 25-40. 2004.
  9. J. Pusey, A. Fattah, and S. Agrawal, and E. Messina, “Design and Workspace Analysis of a 6-6 Cable-Suspended Parallel Robot”, Mechanism and Machine Theory, Vol. 39, 761-778, 2004.
  10. K. Mankala and S.K. Agrawal, “Dynamic Modeling and Simulation of Impact in Tether Net/Gripper Systems”, Multi-Body Dynamics, Vol. 11, 235-250, 2004.
  11. S.K. Agrawal and A. Fattah, “Gravity-Balancing of Spatial Open-Chain Manipulators”, Mechanisms and Machine Theory, Vol. 39, 1331-1344, 2004.
  12. H.R. Pota, S.K. Agrawal and Y. Zhang, “A Flatness Based Approach to Residual Motion Suppression of High-Rise Elevators”, Journal of Vibration and Control, Vol. 10, 1441-1457, 2004.
  13. Y. Hao, B. Laxton, E.R. Benson, and S.K. Agrawal, “Differential Flatness Based Formation Following of a Simulated Autonomous Small Grain Harvesting System”, Transactions of the ASAE, Vol. 47, No. 3, 933-941, 2004.
  14. K. Pathak, J. Franch, and S.K. Agrawal, “Velocity and Position Control of a Wheeled Inverted Pendulum by Partial Feedback Linearization”, accepted for publication, IEEE Transactions of Robotics and Automation, 2004.
  15. S. Oh and S.K. Agrawal, “Cable Suspended Planar Robots with Redundant Cables: Controllers with Positive Tension”, accepted for publication, IEEE Transactions of Robotics and Automation, 2004.
  16. S. Oh and S.K. Agrawal, “A Reference Governor Based Controller for a Cable Robot Under Input Constraints”, accepted for publication, IEEE Transactions on Control Systems Technology, 2004.
  17. A. Fattah and S.K. Agrawal, “On the Optimal Design and Workspace Analysis of Planar Cable-Suspended Robots”, accepted for publication, Journal of Mechanical Design, Transactions of the ASME, 2004.
  18. R. Madangopal, Z. Khan, and S.K. Agrawal, “Biologically Inspired Design of Small Flapping Wing Air Vehicles Using Four Bar Mechanisms and Quasi-Steady Aerodynamics”, accepted for publication, Journal of Mechanical Design, Transactions of the ASME, 2004.
  19. S. Oh, K. Mankala, S.K. Agrawal, and J. Albus, “Dual Stage Planar Cable Robot: Dynamic Modeling and Design of a Robust Controller with Positive Inputs”, accepted for publication, Journal of Mechanical Design, Transactions of the ASME, 2004.
  20. K. Mankala and S.K. Agrawal, “Dynamic Modeling and Simulation of Satellite Tethered Systems”, accepted for publication, Journal of Vibration and Acoustics, Transactions of the ASME, 2004.
  21. Yuhong Zhang, Sunil Agrawal, and Peter Hagerdorn, “Modeling and Control of Flexible Transporter System with Arbitrarily Time-Varying Cable Lengths”, accepted for publication, Journal of Vibration and Control, 2004.
  22. Y. Hao, B. Laxton, S.K. Agrawal, “Formation Planning and Control of UGVs with Trailer”, accepted for publication, Autonomous Robots, 2004.
  23. D. Zlatanov, S.K. Agrawal, and C. Gosselin, “Convex Cones in Screw Spaces”, accepted for publication, Mechanisms and Machine Theory, 2004.
  24. S. Oh, K. Mankala, S.K. Agrawal, and J. Albus, “Dynamic Modeling and Robust Controller Design of a 2-Stage Parallel Cable Robot”, accepted for publication, Multibody Dynamics, 2004.
  25. Abbas Fattah and Sunil K. Agrawal, “On the Design of a Gravity Balanced Human Leg with Passive Orthosis”, accepted for publication, Journal of Mechanical Design, Transactions of the ASME, 2004.
  26. A. Agrawal and S.K. Agrawal, “Design of Gravity Balancing Leg Orthosis Using Non-Zero Free Length Springs”, accepted for publication, Mechanisms and Machine Theory, 2004.
  27. A. Fattah and S.K. Agrawal, “On the Design of Planar Reactionless Parallel Mechanisms”, accepted for publication, Mechanisms and Machine Theory, 2004.
  28. A. Agrawal and S.K. Agrawal, “Identifying Gait Patterns for Dynamically Stable Walking”, under revision for publication, Journal of Mechanical Design, Transactions of the ASME, 2004.
  29. Y. Hao and S.K. Agrawal, “Planning and Control of UGV Formations in a Dynamic Environment: A Practical Framework with Experiments”, accepted for publication, Robotics and Autonomous Systems, 2004.
  30. S.K. Agrawal and A. Fattah, “Design and Prototype of a Gravity-Balanced Leg Orthosis”, International Journal of Human-Friendly Welfare Robotic Systems, Vol. 4, No. 3, 13-16, 2003.
  31. Sunil K. Agrawal, Sarvana Kumar, and Mark Yim, “Single Degree-of-Freedom Polyhedral Expanding Structures”, Journal of Mechanical Design, Transactions of the ASME, Vol. 124, No. 2, 473-478, 2002.
  32. Tawiwat Veeraklaew and Sunil K. Agrawal, “Neighboring Optimal Feedback Law for Higher-Order Dynamic Systems”, Journal of Dynamic Systems Measurement and Control, Transactions of the ASME, Vol. 124, No. 3, 492-497, 2002.
  33. Sunil K. Agrawal, Glenn Gardner, Stephen Pledgie, “Design and Fabrication of a Gravity Balanced Planar Mechanism Using Auxiliary Parallelograms”, Journal of Mechanical Design, Transactions of the ASME, Vol. 123, No. 4, 525-528, 2001.
  34. Jaume Franch and Sunil K. Agrawal, “Optimal Control of Bolza and Transformed Mayer problems with Feedback Linearized State Equations”, AIAA Journal of Guidance, Control, and Dynamics, Vol. 24, No. 5, 1043-1045, 2001.
  35. M. Schlemmer and S.K. Agrawal, “A Real-Time Computational Approach for Time-Optimal Planning of Linear Systems: Applications to High-Rise Elevators”, IEEE Transactions on Control Systems Technology, Vol. 10, No. 1, 105-111, 2001.
  36. Radhakrishna Mahadevan, Sunil K. Agrawal, and Francis J. Doyle III, “Differential Flatness Based Nonlinear Predictive Control of Fed-batch Bioreactors”, Control Engineering Practice, Vol. 9, 889-899, 2001.
  37. Nadeem Faiz, Sunil K. Agrawal, Richard M. Murray, “Trajectory Planning of Differentially Flat Systems with Dynamics and Inequalities”, AIAA Journal of Guidance, Control, and Dynamics, Vol. 24, No. 2, 219-227, 2001.
  38. Tawiwat Veeraklaew and Sunil K. Agrawal, “A New Computation Framework for Optimization of Higher-Order Dynamic Systems”, AIAA Journal of Guidance, Control, and Dynamics, Vol. 24, No. 2, 228-236, 2001.
  39. Shourov Bhattacharya and Sunil K. Agrawal, “Design, Experiments, and Motion Planning of a Spherical Rolling Robots”, IEEE Transactions of Robotics and Automation, Vol. 16, No. 6, 835-838, 2000.
  40. Rahul Rao, Sunil K. Agrawal, John P. Scholz, “A Robot Test-bed for Assistance and Assessment in Physical Therapy”, Advanced Robotics, Vol. 14, No. 7, 565-578, 2000.
  41. S.K. Agrawal, X. Xu and N. Faiz, “Optimization of Bilinear Systems Using Higher-Order Variational Method”, Journal of Optimization Theory and Applications, Vol. 105, No. 1, 55-72, April 2000.
  42. Stephen Pledgie, Kenneth E. Barner, Sunil K. Agrawal, and Tariq Rahman, “Tremor Suppression Through Impedance Control”, IEEE Transactions on Rehabilitation Engineering, Vol. 8, No. 1, 53-59, 2000.
  43. X. Xu and S.K. Agrawal, “Finite-Time Optimal Control of Polynomial Systems Using Successive Approximation”, Journal of Optimization Theory and Applications, Vol. 105, No. 2, 477-489, May 2000.
  44. Xiaochun Xu and Sunil K. Agrawal, “Linear Time-Varying Dynamic Systems Optimization via Higher-Order Method: A Sub-Domain Approach”, Journal of Vibration and Acoustics, Transactions of the ASME, Vol. 122, No. 1, 31-35, 2000.
  45. M. Schlemmer and S.K. Agrawal, “Globally Feedback Linearizable Time-Invariant Systems: Optimal Solution Using Mayer’s Cost”, Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, Vol. 120, No. 2, 343-347, 2000.
  46. F.M.J. Pfister and S. K. Agrawal, “Analytical Dynamics of Unrooted Mutibody Systems and Symmetries”, Journal of Mechanical Design, Transactions of the ASME, Vol. 121, No. 3, 440-447, 1999.
  47. Xiaochun Xu and Sunil K. Agrawal, “Linear Time-Varying Dynamic Systems Optimization via Higher-Order Method Using Shifted Chebyshev’s Polynomials”, Journal of Vibration and Acoustics, Transactions of the ASME, Vol. 121, No. 2, 258-261, 1999.
  48. Madhu Annapragada and Sunil K. Agrawal, “Design and Experiments on a Free-Floating Planar Robot for Optimal Chase and Capture Operations in Space”, Robotics and Autonomous Systems, Vol. 26, No. 4, 281-297, 1999.
  49. A. Gokce and S.K. Agrawal, “ Mass Center of Planar Mechanisms Using Auxiliary Parallelograms”, Journal of Mechanical Design, Transactions of ASME, Vol. 121, No. 1, 166-168, 1999.
  50. Daqun Tong, Robert L. Williams II, Sunil K. Agrawal, “Optimal Shape Control of Composite Thin Plated with Piezoelectric Actuators”, Journal of Intelligent Materials Systems and Structures, Vol. 9, 458-467, 1998.
  51. S.K. Agrawal, T. Veeraklaew, B.C. Fabien, “Direct and Indirect Optimization of Linear Time-Invariant Dynamic Systems Using Transformations”, Optimal Control Applications and Methods, Vol. 19, 393-410, 1998.
  52. S.K. Agrawal and N. Faiz, “A New Efficient Method for Optimization of a Class of Nonlinear Systems Without Lagrange Multipliers”, Journal of Optimization Theory and Applications, Vol. 97, No. 1, 11-28, 1998.
  53. R. Rao, A. Asaithambi, and S.K. Agrawal, “Inverse Kinematic Solution of Robot Manipulators Using Interval Analysis”, Journal of Mechanical Design, Transactions of the ASME, Vol. 120, No. 1, 147-150, 1998.
  54. Sunil K. Agrawal, Pana Claewplodtook, and Brian C. Fabien, “Optimal Trajectories of Open-Chain Mechanical Systems: A New Solution Without Lagrange Multipliers”, Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, Vol. 120, No. 1, 134-136, 1998.
  55. Sunil K. Agrawal and Tawiwat Veeraklaew, “Designing Robots for Optimal Performance During Repetitive Motion”, IEEE Transactions on Robotics and Automation, Vol. 14, No. 5, 771-777, Oct. 1998.
  56. S.K. Agrawal and X. Xu, “New Procedure for Optimization of a Class of Linear Time-Varying Dynamic Systems”, Journal of Vibrations and Control, Vol. 3, No. 4, 379-396, 1997.
  57. Sunil K. Agrawal, Shi Li, and Brian C. Fabien, “Optimal Trajectories of Open-Chain Mechanical Systems: Explicit Optimality Equations with Multiple Shooting Solution”, Mechanics of Structures and Machines, Vol. 25, No. 2, 163-177, 1997.
  58. Saurabh Pandey and Sunil K. Agrawal, “Free-Floating Prismatic-Jointed Manipulator: Planning and Control”, Multibody Systems Dynamics, Vol. 1, No. 1, 127-140, 1997.
  59. S.K. Agrawal and Lingchen Sun, “Regional Structures of Free-Floating Robots: A Comparative Study of the Workspace”, International Journal of Robotics and Automation, Vol. 12, No. 2, 58-64, 1997.
  60. S.K. Agrawal and T. Veeraklaew, “A Higher-Order Method for Dynamic Optimization of a Class of Linear Systems”, Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, Vol. 118, 786-791, Dec. 1996.
  61. S.K. Agrawal, G. Hirzinger, K. Landzettel, and R. Schwertassek, “A New Laboratory Simulator for Study of Motion of Free-Floating Robots Relative to Space Targets”, IEEE Transactions on Robotics and Automation, Vol. 12, No. 4, 627-632, Aug. 1996.
  62. Sunil Kumar Agrawal and Song Chang, “Trajectory Following by a Multi-Segment Wheeled Robotic Vehicle”, Mechanics of Structures and Machines, Vol. 24, No. 3, 389-404, 1996.
  63. S.K. Agrawal, R. Garimella, and G. Desmier, “Free-Floating Closed-Chain Planar Robots: Kinematics and Path Planning”, Nonlinear Dynamics, Vol. 9, 1-19, 1996.
  64. S.K. Agrawal, M.Y. Chen, and M. Annapragada, “Modeling and Simulation of Assembly in a Free-Floating Work Environment by a Free-Floating Robot”, Journal of Mechanical Design, Transactions of the ASME, Vol. 118, No. 1, 115-120, 1996.
  65. Sunil Kumar Agrawal and Richard Schwertassek, “Efficient Simulation of a Tree-Structured Free-Floating Multibody System Using Momentum Integrals”, Mechanics of Structures and Machines, Vol. 24, No. 1, 89-103, 1996.
  66. S.K. Agrawal, Glen Desmier, and Siyan Li, “Fabrication and Analysis of a Novel 3-D Parallel Wrist Mechanism”, Journal of Mechanical Design, Transactions of the ASME, Vol. 117, 343-345, 1995.
  67. Sunil Kumar Agrawal and Shravan Shirumalla, “Planning Motions of a Dual-Arm Free-Floating Manipulator Keeping the Base Inertially Fixed”, Mechanism and Machine Theory, Vol. 30, No. 1, 59-70, 1995.
  68. N. Batsios, M. Annapragada, and Sunil Kumar Agrawal, “Quadri-Directional Thrusters for Free-Floating Robot Applications”, Journal of Mechanical Design, Transactions of the ASME, Vol. 117, No. 4, 651-653, 1995.
  69. Sunil Kumar Agrawal and R. Garimella, “Kinematics, Workspace, and Design of a Dual-Arm Spatial Robot in Zero Gravity”, Journal of Mechanical Design, Transactions of the ASME, Vol. 116, No. 3, 901-907, 1994.
  70. Sunil Kumar Agrawal and Rao Garimella, “Workspace Boundaries of Free-Floating Open and Closed-Chain Planar Manipulators”, Journal of Mechanical Design, Transactions of the ASME, Vol. 116, No. 1, 105-110, 1994.
  71. Sunil Kumar Agrawal, Daqun Tong, and K. Nagaraja, “Modeling and Control of Piezoelectric Embedded Elastic Plates”, Journal of Intelligent Materials Systems and Structures, Vol. 5, No. 4, 514-521, 1994.
  72. Sunil K. Agrawal, “Inertia Matrix Singularities of Series-Chain Spatial Manipulators with Point Masses”, Journal of Dynamic Systems Measurement and Control, Transactions of the ASME, Vol. 115, No. 4, 723-725, 1993.
  73. Sunil Kumar Agrawal and S. Shirumalla, “Kinematics, Motion Planning, and Design of a Free-Floating Dual-Arm Manipulator”, Mechanism and Machine Theory, Vol. 29, No. 5, 691-700, 1993.
  74. S.K. Agrawal, “Series-Chain Planar Manipulator: Inertial Singularities”, Journal of Mechanical Design, Transactions of the ASME, Vol. 115, No. 4, 941-945, Dec. 1993.
  75. S.K. Agrawal, “Multi-Rigid Body Dynamics: A Formulation Using Kane’s Method and Dual Vectors”, Journal of Mechanical Design, Transactions of the ASME, Vol. 115, No. 4, 833-838, 1993.
  76. Sunil Kumar Agrawal and Michael P. Shelly, “Dynamic Simulation and Choice of Generalized Coordinates for a Free-Floating Closed-Chain Manipulator”, Mechanism and Machine Theory, Vol. 28, No. 5, 615-624, 1993.
  77. S.K. Agrawal, “Workspace Boundaries of In-Parallel Manipulator Systems”, International Journal of Robotics and Automation, Vol. 7, No. 2, 94-99, 1992.
  78. S.K. Agrawal and B. Roth, “Statics of In-Parallel Manipulators”, Journal of Mechanical Design, Transactions of the ASME, Vol. 114, No. 4, 564-568, 1992.

SOCIETIES

  1. IEEE Transactions of Robotics and Automation, Associate Technical Editor, 12/00-12/01.
  2. Journal of Mechanical Design, Transactions of the ASME, Associate Technical Editor, 8/00-8/03.
  3. IEEE Transactions of Control Systems Technology, Associate Technical Editor, 1/01-12/02.
  4. Multi-body Systems Dynamics, Editorial Board, Kluwer Academic Publishers, 1996-2003.
  5. Conference Chair, ASME Mechanisms and Robotics Conference, 2005.
  6. Program Chair, ASME Mechanics


HONORS & AWARDS
NSF Presidential Faculty Fellow Award from White House, 1994.
Alexander von Humboldt Research Fellow, 1994, 1995.
Fritz and Dolores Russ Research Award, Ohio University, 1994.
NSF Research Initiation Award, 1991.
Best All Rounder Student Gold Medal, IIT Kanpur, 1984.
Keynote Speaker, Workshop on Constraints in Control, CC 1999, Alexandria, VA
Friedrich Wilhelm Bessel Research Award, Alexander von Humboldt Foundation, Germany, 2002, 2003.
Fulbright Scholar Award, Fulbright Foundation, 2002-2003 (declined).
Elected Fellow, American Society of Mechanical Engineers, 2004.
Elected American Society of Mechanical Engineers Distinguished Lecturer, 2004-2007.
Biomimicry Prize, 28th ASME Mechanisms and Robotics Conference, 2004.
Keynote Speaker, National Conference on Control and Dynamical Systems, IIT, Bombay, Jan. 2005.
Guest Speaker, IDGA Sponsored UAV Summit-Combat and Micro, Washington, DC, March 2005.


COURSES TAUGHT
MEEG867: Differential Flatness: Planning, Optimization, and Control
MEEG621: Optimization of Dynamic Systems
MEEG 671: Introduction to Robotics : 2000S, 2001S
MEEG 427: Systems Analysis and Control: 1996, 1997, 1999
MEEG 311: Vibration and Control: 2001

OTHER INFORMATION