Bio

Contact Information:

UIC Department of Mechanical & Industrial Engineering (M/C 251), 2039 ERF, 842 W. Taylor Street, Chicago, Illinois 60607

Office: Room 2023, ERF

Lab Location: Room 1020, ERF

Ph.D., Mechanical Engineering
Stanford University, 1974

M.S., Mechanical Engineering
Case Western Reserve University, 1971

B.T., Mechanical Engineering
Indian Institute of Technology (IIT) at Kanpur, India, 1969

Dr. Gupta’s interests are in developing synthesis techniques for designing planar and spatial mechanisms, and robot arm/wrist structures, and in the efficient manipulation of robotic systems. For mechanisms which are to meet specified motion requirements, the goal is to insure that, in the design stage, certain quality related criteria (e.g., ensuring complete input-link rotatability, elimination of branch- and circuit-defects) can also be satisfied. The methods used are graphical, algebraic-geometrical and numerical (optimization, neural networks). The work on robotics includes kinematics and dynamics utilizing the zero-reference-position method (1981), robot workspace analysis and design, analysis of positioning errors, control and trajectory planning. Other interests are in the design of cam-follower systems, especially cam-profile modifications which can lead to improved performance at higher speeds, and the applications of optimization and neural network techniques to mechanical design. The nature of these investigations is analytical and numerical. Typically, the related software is also developed and it is utilized to conduct extensive parametric studies.

ASME Design Engineering Division Executive Committee 2001 – 2007

ASME Design Engineering Division Chairman 2005 – 2006

Associate Editor, Mechanism and Machine Theory, IFToMM Intlernational Journal, 1998 – 2004

ASME DED Mechanisms & Robotics Award, 2002

ASME Design Engineering Division Editor, Design Newsletter (Issues: Fall, 2000; Spring, 2001)

Editorial Advisory Board, Journal of Applied Mechanisms and Robotics 1993 – 2000

AM&R Conference, Cincinnati: George N. Sandor Award, 1997

Fellow, American Society of Mechanical Engineers (ASME), New York, 1993

Editorial Advisory Board, ASME Applied Mechanics Reviews 1985 – 1992

ASME Computers in Engineering Conference, Santa Clara: Best Paper Award, 1991

ASME Design Engineering Division Mechanisms Committee 1981 – 1986; Chairman 1989 – 1990

AM&R South Pointing Chariot Award, Cincinnati, 1989

Associate Editor, ASME Journal of Mechanical Design, 1981 – 1982

ASME Design Engineering Division Papers Review Chairman, ASME Mechanisms Conference, Washington, D.C., 1982

AM&R Conference, Kansas City: Honorable Mention, 1981

ASME Henry Hess Award, 1979

ASME Mechanisms Conference Minneapolis: Best Paper Award, 1978

National Merit Scholarship, IIT, 1964-69

Books

1. Gupta, K. C., Mechanics and Control of Robots, Mechanical Engineering Series, Springer-Verlag, New York, 1997; ISBN 0-387-94923-2.

2. Gupta, K. C., Solution Manual for Mechanics and Control of Robots, Springer-Verlag, New York, 1997.

Journal Articles

1. Fox, R. L. and Gupta, K. C., “Optimization Technology as Applied to Mechanism Design,” ASME J. Engineering for Industry, 95(2): 657-663, 1973.

2. Sarkisyan, Y. L., Gupta, K. C. and Roth, B., “Kinematic Geometry Associated with the Least-Square Approximation of a Given Motion,” ASME J. Engineering for Industry, 95(2): 503-510, 1973.

3. Gupta, K. C. and Roth, B., “A General Approximation Theory for Mechanism Synthesis,” ASME J. Applied Mechanics, Series E, 42(2): 451-457, 1975.

4. Gupta, K. C. and Roth, B., “A Note on Kinematic Theories Based Upon Approximation,” Theory of Machines and Mechanisms (in Russian), ed. N. I. Levitskii, Academy of Sciences, Moscow, 1976, pp. 166-169.

5. Gupta, K. C., “Design of Four-Bar Function Generators with Mini-Max Transmission Angle,” ASME J. Engineering for Industry, 99(2): 360-366, 1977; includes discussions and author’s closure.

6. Gupta, K. C., “A Note on the Optimum Design of Four-Bar Crank Rocker Mechanisms,” Mechanism and Machine Theory, 12: 247-254, 1977.

7. Gupta, K. C., “A Direct Method for the Evaluation of Instantaneous Invariants of a Given Motion,”Mechanism and Machine Theory, 13: 567-576, 1978.

8. Gupta, K. C., “A General Theory for Synthesizing Crank Type Four-Bar Function Generators with Transmission Angle Control,” ASME J. Applied Mechanics, Series E, 45(2): 415-421, 1978.

9. Sarkisyan, Y. L., Gupta, K. C. and Roth, B., “Chebychev Approximations of Finite Point Sets with Application to Planar Kinematic Synthesis,” ASME J. Mechanical Design, 101(1): 32-40, 1979.

10. Sarkisyan, Y. L., Gupta, K. C. and Roth, B., “Chebychev Approximations of Spatial Point Sets Using Spheres and Planes,” ASME J. Mechanical Design, 101(3): 499-503, 1979.

11. Gupta, K. C., “Synthesis of Position, Path and Function Generating Four-Bar Mechanisms with Completely Rotatable Driving Links,” Mechanism and Machine Theory, 15: 93-101, 1980.

12. Kwong, C. W., Gupta, K. C. and Wiederrich, J. L., “Design and Evaluation of Drag-Link Driven Cams,” ASME J. Mechanical Design, 103(3): 592-601, 1981.

13. Gupta, K. C., “Sixteenth ASME Mechanisms Conf., ” ASME J. Mechanical Design, 103(3): 550-553, 1981.

14. Gupta, K. C., “A Note on Position Analysis of Manipulators,” Mechanism and Machine Theory, 19(1): 5-8, 1984.

15. Kazerounian, S. M. K. and Gupta, K. C., “Synthesis of Position Generating Crank-Rocker or Drag-Link Mechanisms,” Mechanism and Machine Theory, 17: 243-247, 1982.

16. Gupta, K. C. and Roth, B., “Design Considerations for Manipulator Workspace,” ASME J. Mechanical Design, 104(4): 704-711, 1982.

17. Gupta, K. C. and Tinubu, S. O., “Synthesis of Bimodal Function Generating Mechanisms Without Branch Defect,” ASME J. Mechanisms, Transmissions and Automation in Design, 105(4): 641-647, 1983.

18. Gupta, K. C. and Wiederrich, J. L., “Development of Cam Profiles Using the Convolution Operator,”ASME J. Mechanisms, Transmissions and Automation in Design, 105(4): 654-657, 1983.

19. Gupta, K. C. and Kazerounian, S. M. K., “Synthesis of Fully Rotatable R-S-S-R Linkages,”Mechanism and Machine Theory, 18: 199-205, 1983.

20. Gupta, K. C. and Wiederrich, J. L., “On the Modification of Cam-Type Profiles,” Mechanism and Machine Theory, 21(5): 439-444, 1986.

21. Hansen, J. A., Gupta, K. C. and Kazerounian, S. M. K., “Generation and Evaluation of the Workspace of a Manipulator,” Intl. J. Robotics Research, 2(3): 22-31, 1983.

22. Sarkisyan, Y. L., Shahparonyan, S., Gupta, K. C. and Roth, B., “Some Geometric Problems of Chebychev Approximation with Application to the Synthesis of Spherical Mechanisms,” Mechanica Machine (in Russian), 60: 57-66, 1983.

23. Tinubu, S. O. and Gupta, K. C., “Optimal Synthesis of Function Generators without Branch Defect,”ASME J. Mechanisms, Transmissions and Automation in Design, 106(3): 348-354, 1984.

24. Gupta, K. C., “On the Nature of Robot Workspace,” Israel J. Technology, 22: 71-79, 1984/85; reprinted with permission in Intl. J. Robotics Research, 5(2): 112-121, 1986.

25. Kazerounian, K. and Gupta, K. C., “A Target Tracking Manipulation Theory for Robots,” IASTED Intl. J. Robotics and Automation, 1(3), 1986.

26. Gupta, K. C. and Kazerounian, K., “An Investigation of Time Efficiency and Near Singular Behavior of Numerical Robot Kinematics,” Mechanism and Machine Theory, 22(4): 371-381, 1987.

27. Gupta, K. C., “Kinematic Analysis of Robotic Bevel Gear Trains – Discussion,” ASME J. Mechanisms, Transmissions and Automation in Design, 107: 142-143, 1985.

28. Gupta, K. C., “A Study of the Jacobian Matrix of Serial Manipulators – Discussion,” ASME J. Mechanisms, Transmissions and Automation in Design, 107: 237-238, 1985.

29. Gupta, K. C., “Mobility Conditions for Planar Linkages Using Triangle Inequality and Graphical Interpretation – Discussion,” ASME J. Mechanisms, Transmissions and Automation in Design, 107: 399-400, 1985.

30. Gupta, K. C., “Kinematic Analysis of Manipulators Using the Zero Reference Position Description,”Intl. J. Robotics Research, 5(2): 5-13, 1986.

31. Kazerounian, K. and Gupta, K. C., “Manipulator Dynamics Using the Extended Zero Reference Position Description,” (revised), IEEE J. Robotics and Automation, 2(4): 221-224, 1986.

32. Gupta, K. C. and Carlson, G. J., “On Certain Aspects of the Zero Reference Position Method and its Applications to an Industrial Manipulator,” J. Robotic Systems, 3(1): 41-57, 1986.

33. Gupta, K. C., “Rotatability Considerations for Spherical Four Bar Linkages with Applications to Robot Wrist Design,” ASME J. Mechanisms, Transmissions and Automation in Design, 108(3): 387-391, 1986; see discussion and author’s closure, 110: 56-57, 1988.

34. Gupta, K. C., “Kinematics of a Robot with Continuous Roll Wrist,” IEEE J. Robotics and Automation, 4(4): 440-443, 1988.

35. Gupta, K. C. and Singh, V. K., “A Numerical Algorithm for Solving Robot Inverse Kinematics,”Robotica, 7: 159-164, 1989.

36. Mirman, C. R. and Gupta, K. C., “Robot Trajectory Planning using the Convolution Operator,” J. Robotic Systems, 4(5): 605-617, 1987.

37. Suareo, F. O. and Gupta, K. C., “Design of Quick-Returning RSSR Mechanisms,” ASME J. Mechanisms, Transmissions and Automation in Design, 110: 423-428, 1988.

38. Cheng, H. and Gupta, K. C., “Design of Mechanisms via Constrained Least-Squares Method and its Variants,” (revised), ASME J. Mechanisms, Transmissions and Automation in Design, 110: 429-434, 1988.

39. Cheng, H. and Gupta, K. C., “An Historical Note on Finite Rotations,” ASME J. Applied Mechanics, 56: 139-145, 1989.

40. Ma, R. and Gupta, K. C., “On the Motion of Oblique Bevel Geared Robot Wrists,” J. Robotic Systems, 6(5): 509-520, 1989.

41. Gupta, K. C. and Ma, R., “Formulation of Manipulator Jacobian using the Velocity Similarity Principle,” Robotica, 8: 81-84, 1990.

42. Stanisic, M. M. and Gupta, K. C., “Closed-Form Solutions to the Spherical Joint Attachment Problem,” ASME J. Mechanical Design, 114(2): 269-273, 1992.

43. Cheng, H. and Gupta, K. C., “A Study of Robot Inverse Kinematics based upon the Solution of Differential Equations,” J. Robotic Systems, 8(2): 159-175, 1991.

44. Mirman, C. R. and Gupta, K. C., “Compensation of Robot Joint Variables using Special Jacobian Matrices,” J. Robotic Systems, 9(1): 113-137, 1992.

45. Chen, X. and Gupta, K. C., “The Geometry, Structure and Visualization of Manipulator Workspace,”J. Lab Robotics and Automation, 4: 127-135, 1992.

46. Mirman, C. R. and Gupta, K. C., “Identification of Position Independent Robot Parameter Errors Using Special Jacobian Matrices,” Intl. J. Robotics Research, 12(3): 288-298, 1993.

47. Gupta, K. C., Kazerounian, K., Roth, B., Singh, V. K. and Yih, T. C., “Computational Kinematics,” Chapter 10 in Modern Kinematics – Developments in the Last Forty Years, ed. A. G. Erdman, J. Wiley, 1993, pp. 451-470.

48. Cheng, H. and Gupta, K. C., “Vectorization of Robot Dynamics on a Pipelined Vector Processor,” (revised), IEEE J. Robotics and Automation, 9(6): 858-863, 1993..

49. Ma, R. and Gupta, K. C., “Signal Flow Graphs for Spatial Gear Trains,” (revised), ASME J. Mechanical Design, 116(1): 326-331, 1994.

50. Ma, R. and Gupta, K. C., “A Direct Rotatability Criterion for Spherical Four-Bar Linkages,” (revised),ASME J. Mechanical Design, 117(4): 597-600, 1995.

51. Ma, R. and Gupta, K. C., “Kinematics of Joy-Stick Type Robot Wrists,” J. Applied Mechanisms and Robotics, 4(1): 26-32, 1997.

52. Beloiu, A. S. and Gupta, K. C., “A Unified Approach for the Investigation of Branch and Circuit Defects,” Mechanism and Machine Theory, 32(5): 539-557, 1997.

53. Gupta, K. C., “Measures of Positional Error for a Rigid Body,” ASME J. Mechanical Design, 119(3): 346-348, 1997.

54. Gupta, K. C. and Beloiu, A. S., “Branch and Circuit Defect Elimination in Spherical Four-Bar Linkages,” Mechanism and Machine Theory, 33(5): 491-504, 1998.
-Li, J. and Gupta, K. C., “Mechanism Design with MP-Neural Networks,” ASME J. Mechanical Design, 120(4): 527-532, 1998.
-Gupta, K. C. and Chutakanonta, P., “Accurate Determination of Object Position from Imprecise Data,” ASME J. Mechanical Design, 120(4): 559-564, 1998.
-Samak, S. M. and Gupta, K. C., “Parametric Uncertainty on Manipulator Dynamics,” Mechanism and Machine Theory, 33(7): 945-956, 1998.
-Gupta, K. C. and Li, J., “Robust Design Optimization with Mathematical Programming Neural Networks,” Computers and Structures, 76(4): 507-516, 2000.

59. Vithani, A. R. and Gupta, K. C., “Estimation of Object Kinematics from Point Data,” ASME J. Mechanical Design, 126(1): 16-21, 2004.

Conference Publications/Presentations

1. Gupta, K. C., Banerjee, A. and Fox, R. L., “Automated Kinematic Analysis of Planar Mechanisms,” ASME Paper 72-Mech-90, 12th ASME Mechanisms Conf., San Francisco, October 9-11, 1972, 15 pp.

2. Sarkisyan, Y. L., Gupta, K. C. and Roth, B., “Kinematic Geometry Associated with the Least-Square Approximation of a Given Motion,” ASME Paper 72-Mech-14, 12th ASME Mechanisms Conf., San Francisco, October 9-11, 1972, 7 pp.

3. Sarkisyan, Y. L., Gupta, K. C. and Roth, B., “Spatial Least-Square Approximations of a Given Motion,” Proc. IFToMM Intl. Symp. Linkages and Computer Design Methods, Bucharest, Romania, June 7-13, 1973, B: 512-521.

4. Gupta, K. C. and Roth, B., “A General Approximation Theory for Mechanism Synthesis,” ASME Paper 75-APMW-35, Applied Mechanics Western Conf., Honolulu, March 25-27, 1975, 7 pp.

5. Gupta, K. C. and Roth, B., “Measures of Error in Linkage Synthesis,” Proc. 4th World Congress on the Theory of Machines and Mechanisms, New Castle upon Tyne, England, September 8-13, 1975, 4: 861-865.

6. Gupta, K. C., “Design of Four-Bar Function Generators with Mini-Max Transmission Angle,” ASME Paper 76-DET-8, 14th ASME Mechanisms Conf., Montreal, Canada, September 26-29, 1976, 6 pp.

7. Gupta, K. C., “A Direct Method for the Evaluation of Instantaneous Invariants of a Given Motion,”Proc. 5th Applied Mechanisms Conf., Oklahoma City, November 6-9, 1977, pp.3.1-3.9.

8. Sarkisyan, Y. L., Gupta, K. C. and Roth, B., “Chebychev Approximations of Finite Point Sets with Application to Planar Kinematic Synthesis,” ASME Paper 78-DET-25, 15th ASME Mechanisms Conf., Minneapolis, September 24-27, 1978, 9 pp.

9. Sarkisyan, Y. L., Gupta, K. C. and Roth, B., “Chebychev Approximations of Spatial Point Sets Using Spheres and Planes,” ASME Paper 78-DET-4, 15th ASME Mechanisms Conf., Minneapolis, September 24-27, 1978, 5 pp.

10. Sarkisyan, Y. L., Roth, B. and Gupta, B., “Chebychev Approximations on Finite Sets of Lines as a Tool in Kinematic Synthesis,” Proc. 5th World Congress on the Theory of Machines and Mechanisms, Montreal, Canada, July 8-13, 1979, pp. 13-16.

11. Kwong, C. W., Wiederrich, J. L. and Gupta, K. C., “Design and Evaluation of Drag-Link Driven Cams,” ASME Paper 80-DET-38, 16th ASME Mechanisms Conf., Beverly Hills, September 28-October 1, 1980, 10 pp.

12. Gupta, K. C., “A Note on Position Analysis of Manipulators,” Proc. 7th Applied Mechanisms Conf., Kansas City, December 7-9, 1981, pp. 3.1-3.3.

13. Gupta, K. C. and Roth, B., “Design Considerations for Manipulator Workspace,” ASME Paper 81-DET-79, 8th ASME Vibrations Conf., Hartford, September 20-23, 1981, 8 pp.

14. Gupta, K. C. and Tinubu, S. O., “Synthesis of Bimodal Function Generating Mechanisms Without Branch Defect,” ASME Paper 82-DET-85, 17th ASME Mechanisms Conf., Washington, D.C., September 12-15, 1982, 7 pp.

15. Gupta, K. C. and Wiederrich, J. L., “Development of Cam Profiles Using the Convolution Operator,” ASME Paper 82-DET-87, 17th ASME Mechanisms Conf., Washington, D.C., September 12-15, 1982, 4 pp.

16. Gupta, K. C. and Wiederrich, J. L., “On the Modification of Cam-Type Profiles,” Proc. 8th Applied Mechanisms Conf., St. Louis, September 19-21, 1983, pp. 20.1-6.

17. Gupta, K. C., “Normed Linear Approximations for Spatial Motions,” Proc. 6th IFToMM Congress on Theory of Machines and Mechanisms, New Delhi, India, December 15-20, 1983, I: 258-262.

18. Hansen, J. A., Gupta, K. C. and Kazerounian, S. M. K., “Generation and Evaluation of the Workspace of a Manipulator,” Proc. 6th IFToMM Congress on Theory of Machines and Mechanisms, New Delhi, India, December 15-20, 1983, II: 955-959.

19. Tinubu, S. O. and Gupta, K. C., “Optimal Synthesis of Function Generators without Branch Defect,” ASME Paper 84-DET-27, 18th ASME Mechanisms Conf., Boston, October 7-10, 1984, 7 pp.

20. Gupta, K. C., “Applications of Inequality Manipulation in Defect Free Mechanism Synthesis,” Proc. 1st JSPE/IFToMM Intl. Symp. Design and Synthesis, Tokyo, Japan, July 11-13, 1984, pp. 649-656.

21. Gupta, K. C., “On the Nature of Robot Workspace,” 18th Conf. on Mechanical Engineering, Haifa, Israel, June 27-28, 1984, pp. 3.6.4 (Abstracts).

22. Gupta, K. C. and Kazerounian, K., “Improved Numerical Solutions of Inverse Kinematics of Robots,”Proc. IEEE Intl. Conf. on Robotics and Automation, St. Louis, March 25-27, 1985, pp. 743-748.

23. Kazerounian, K. and Gupta, K. C., “A Target Tracking Manipulation Theory for Robots,” Proc. 6th IASTED Symp. Robotics and Automation, Santa Barbara, May 29-31, 1985.

24. Kazerounian, K. and Gupta, K. C., “Manipulator Dynamics Using the Extended Zero Reference Position Description,” Proc. 9th Applied Mechanisms Conf., Kansas City, October 28-30, 1985, Vol. 2, pp. 12A/6.1-11.

25. Gupta, K. C. and Carlson, G. J., “On Certain Aspects of the Zero Reference Position Method and its Applications to an Industrial Manipulator,” Proc. IEEE Conf. Robotics and Automation, San Francisco, April 7-10, 1986, 2: 728-33

26. Carlson, G. J. and Gupta, K. C., “A Strategy for Approximate Manipulation of Robots,” ASME Computers in Engineering Conf., Chicago, July 20-24, 1986, pp. 87-94.

27. Gupta, K. C., “Rotatability Considerations for Spherical Four Bar Linkages with Applications to Robot Wrist Design,” ASME Paper 86-DET-18, 19th ASME Mechanisms Conf., Columbus, October 5-8, 1986, 5 pp.

28. Gupta, K. C., “Kinematic Solutions of Robots with Continuous Three-Roll Wrists using the Zero Reference Position Method,” Proc. IEEE Intl. Conf. Robotics and Automation, Raleigh, March 31-April 3, 1987, I: 50-55.

29. Gupta, K. C. and Singh, V. K., “A Numerical Algorithm for Solving Robot Inverse Kinematics,” Proc. 7th World Congress on Theory of Machines and Mechanisms, Spain, September 17-22, 1987, 2: 1203-1206.

30. Mirman, C. R. and Gupta, K. C., “Robot Trajectory Planning using the Convolution Operator,” Proc. 10th Applied Mechanisms Conf., New Orleans, December 6-9, 1987, Vol. 1, pp. 3C.1-3C.7.

31. Suareo, F. O. and Gupta, K. C., “Design of Quick-Returning RSSR Mechanisms,” Proc. 20th ASME Mechanisms Conf., Orlando, September 25-28, 1988, 1: 399-405.

32. Cheng, H. and Gupta, K. C., “Design of Mechanisms via Constrained Least-Squares Method and its Variants,” Proc. 20th ASME Mechanisms Conf., Orlando, September 25-28, 1988, 1: 305-315.

33. Ma, R. and Gupta, K. C., “On the Motion of Oblique Bevel Geared Robot Wrists,” Proc. IEEE Intl. Conf. on Robotics and Automation, Arizona, May 14-19, 1989, pp. 908-913.

34. Singh, V. K. and Gupta, K. C., “A Manipulator Jacobian based Modified Newton Raphson Algorithm (JMNR) for Robot Inverse Kinematics,” Proc. ASME Design Automation Conf., Montreal, September 17-20, 1989, 3: 327-332.

35. Cheng, H. and Gupta, K. C., “Parametric Studies of a New MPC Algorithm for Robot Inverse Kinematics,” Proc. 1st Natl. Conf. on Applied Mechanisms and Robotics, Cincinnati, November 5-9, 1989, Vol. 1, pp. 4A1-6.

36. Stanisic, M. M. and Gupta, K. C., “Closed-Form Solutions to the Spherical Joint Attachment Problem,” Proc. 1990 ASME Mechanisms Conf. – Mechanism Synthesis and Analysis, DE25: 177-182.

37. Cheng, H. and Gupta, K. C., “A Study of Numerical Robot Inverse Kinematics based upon the ODE Solution Method,” Proc. 1990 ASME Mechanisms Conf. – Mechanism Synthesis and Analysis, DE25: 243-247.

38. Samak, S. M. and Gupta, K. C., “Effect of Dynamic Model Errors on Robot Precision,” Proc. 1990 ASME Mechanisms Conf. – Flexible Mechanism, Dynamics, and Robot Trajectories, DE24: 73-77.

39. Cheng, H. and Gupta, K. C., “Vectorization of Robot Dynamics on a Pipelined Vector Processor,”Proc. IEEE Intl. Conf. on Robotics and Automation, Sacramento, April 7-12, 1991, pp. 96-101.

40. Mirman, C. R. and Gupta, K. C., “Robot Parameter Identification and Compensation Using Sets of Jacobian Matrices,” Proc. IFToMM World Congress, Prague, Czechoslovakia, August 26-31, 1991, 2: 483-486.

41. Mirman, C. R. and Gupta, K. C., “Compensation of Robot Joint Variables using Special Jacobian Matrices,” Proc. ASME Computers in Engineering Conf., Santa Clara, July 28-August 1, 1991, 1: 475-480.

42. Chen, X. and Gupta, K. C., “Geometric Modelling and Visualization of Manipulator Workspace,”Proc. ASME Computers in Engineering Conf., Santa Clara, July 28-August 1, 1991, 1: 469-474.

43. Mirman, C. R. and Gupta, K. C., “Identification of Position Independent Robot Parameters Using Special Jacobian Matrices,” Proc. Applied Mechanisms and Robotics Conf., Cincinnati, November 3-6, 1991, Vol. 1, pp. VI C 3-1/6

44. Singh, V. K. and Gupta, K. C., “Alterations of Active and Inactive Joint Subsets in Redundant Manipulators,” Proc. Applied Mechanisms and Robotics Conf., Cincinnati, November 3-6, 1991,Vol. 1, pp. IIIC 3-1/8.

45. Gupta, K. C., Kazerounian, K., Roth, B., Singh, V. K. and Yih, T. C., “Computational Kinematics,”Proc. Forty Years of Modern Kinematics – Tribute to F. Freudenstein, Brainerd, MN, July 20-23, 1991.

46. Cheng, H. and Gupta, K. C., “An Efficient Manipulator Dynamics Formulation Based upon Newton-Euler Equations and the ZRP Method,” Proc. 1992 ASME Mechanisms Conf. – Flexible Mechanisms, Dynamics and Analysis, DE47: 81-87, 1992.

47. Ma, R. and Gupta, K. C., “Signal Flow Graphs for Spatial Gear Trains,” Proc. 1992 ASME Mechanisms Conf. – Flexible Mechanisms, Dynamics and Analysis, DE47: 489-495, 1992.

48. Ma, R. and Gupta, K. C., “A Direct Rotatability Criterion for Spherical Four-Bar Linkages,” Proc. 1994 ASME Mechanisms Conf. – Mechanism Synthesis and Analysis, DE70: 289-292, 1994.

49. Gupta, K. C. and Ma, R., “Kinematics of Robot Wrists and Related Linkages,” Proc. 9th World Congress on the Theory of Machines and Mechanisms, Italy, August 30-September 2, 1995, 3: 1930-34.

50. Ma, R. and Gupta, K. C., “Kinematics of Joy-Stick Type Robot Wrists,” Proc. 4th National Applied Mechanisms and Robotics Conf., Cincinnati, December 10-13, 1995, AMR95-088-1/7 (Vol. 2).

51. Beloiu, A. S. and Gupta, K. C., “A Graphical Method for the Elimination of Circuit Defects,” Proc. 4th National Applied Mechanisms and Robotics Conf., Cincinnati, December 10-13, 1995, AMR95-056-1/5 (Vol. 2).

52. Beloiu, A. S. and Gupta, K. C., “An Algebraic-Geometrical Method for the Identification and Elimination of Circuit Defects,” 96-DETC/MECH-1658, Proc. (CD-ROM) 1996 ASME Mechanisms Conf., , Irvine, August 18-21, 1996.

53. Beloiu, A. S. and Gupta, K. C., “Circuit Defect Elimination in Function Generating Mechanisms,”Proc. 5th National Applied Mechanisms and Robotics Conf., Cincinnati, October 12-15, 1997, AMR97- 005-1/12 (Vol. 1).

54. Li, J. and Gupta, K. C., “Mathematical Programming Neural Networks (MPNN) for Mechanism Design,” DETC97/DAC-3755, Proc. (CD-ROM) 1997 ASME Design Automation Conf., Sacramento, September 14-17, 1997.

55. Gupta, K. C. and Chutakanonta, P., “Accurate Determination of Object Position from Imprecise Data,” DETC98/MECH-5898, Proc. (CD-ROM) 1998 ASME Mechanisms Conf., Atlanta, September 13-16, 1998.

  • Gupta, K. C., “Sensitivity Analysis of the SVD-QS Method for Object Position Determination,”Proc. 6th National Applied Mechanisms and Robotics Conf., Cincinnati, December 12-15, 1999, AMR99- 044-1/6.
  • Gupta, K. C., “Rigid Body Dynamical Equations with Lie Algebra,” DETC’00/MECH-14163, Proc. (CD-ROM) 2000 ASME Mechanisms Conf., Baltimore, September 10-13, 2000.
  • Vithani, A. R. and Gupta, K. C., “Estimation of Object Kinematics from the Point Data,” DETC’02/MECH-34244, Proc. (CD-ROM) 2002 ASME Mechanisms Conf., Montreal, Canada, September 29 – October 2, 2002.
  • Gupta, K.C., “Design Considerations for Manipulator Workspace,” Invited Presentation, Roth Symposium on Advanced Kinematics, Stanford, June 20-21, 2003.

Collaborators: A.S. Beloiu, A. Banerjee, G.J. Carlson, X. Chen, H. Cheng, P. Chutatakanonta, R.L. Fox, J.A. Hansen, S.M.K. Kazerounian (now K. Kazerounian), C.W. Kwong, J. Li, R. Ma, C.R. Mirman, B. Roth, S. Samak, Y.L. Sarkisyan, V.K. Singh, M.M. Stanisic, F.O. Suareo, S.O. Tinubu, A. Vithani, J.L. Wiederrich, T.C. Yih.

Lecture Notes

1. Gupta, K. C., Mechanism Synthesis I, (planar mechanisms), ©1985, 113 pp.

2. Gupta, K. C., Robot Manipulators, ©1986, 100 pp.

3. Gupta, K. C., Spatial Kinematics, ©1989, 128 pp.

4. Gupta, K. C., Mechanics and Control of Robots, 2 nd edition, ©1995, 124 pp.

Newsletters

ASME Design Division Newsletter, Fall, 2000 issue (contributor/editor)

ASME Design Division Newsletter, Spring, 2001 issue (contributor/editor)

Letters to the Editors in Popular Magazines

1. Barron’s, January 1, 1990, pp. 25 (regarding an article on real estate crisis).

2. Barron’s, March 20, 1995 (regarding an article on federal funding at the universities).

3. Mutual Funds, September, 1995, pp. 12 (regarding an article on dual-purpose closed-end mutual funds).

4. TIAA-CREF Advance (formerly, Participants), Fall 2004 (regarding new look and content).