Publications

Disclaimer: Please respect the copyrights! Most of the articles available here are in the preprint form, which means that they may not be in the finalized or corrected form. Please consult the corresponding publisher websites to access the published full text.

Patents

S. C. Taylor, R. Hoult, C. Tang, and T. Diekmann, “Automatic Drill Pipe Add and Remove System”, United States Patent No. US 2014/0338973 A1, November 20, 2014. [Link]

R. Hoult, S. C. Taylor, A. Wright, T. Diekmann, C. Tang, M. U. Baehtz and V. J. Varghese, “Automatic Control System and Method for a Drilling Tool Changer Apparatus”, United States Patent No. US 2014/0083765 A1, March 27, 2014. [Link]

C. Tang, T. Diekmann, V. J. Varghese and M. Baethz, “Graphical User Interface of Automated Bit Changer”, United States Provisional Design Patent No. 29/432,894, September 21, 2012.

Book Chapter

X. Zhou, C. P. Tang and V. N. Krovi, “Cooperating Mobile Cable Robots: Screw Theoretic Analysis”, in Redundancy in Robot Manipulators and Multi-Robot Systems, D. Milutinovic & J. Rosen (Eds.), Springer-Verlag Berlin Heidelberg, 2013. [PDF]

Journal Articles

E. Rodriguez-Seda, C. P. Tang, M. W. Spong, and D. Stipanovic, “Trajectory Tracking with Collision Avoidance for Nonholonomic Vehicles with Acceleration Constraints and Limited Sensing,” International Journal of Robotics Research, Vol. 33, No. 12, pp. 1569-1592, October 2014. [Link]

D. B. Doman, C. P. Tang, and S. J. S. Regisford, “Modeling Interactions Between Flexible Flapping-Wing Spars, Mechanisms, and Drive Motors,” AIAA Journal of Guidance, Control and Dynamics, Vol. 34, No. 5, pp. 1457-1473, September-October 2011. [PDF]

C. P. Tang, P. T. Miller, V. N. Krovi, J.-C. Ryu and S. K. Agrawal, “Differential Flatness-based Planning and Control of a Wheeled Mobile Manipulator – Theory and Experiment”, IEEE/ASME Transactions on Mechatronics, Vol. 16, No. 4, pp. 768-773, August 2011.[Preprint]

C. P. Tang, Z. Xue and Y. Wang, “On Teaching CAD/CAE Applications Course”, Journal of Online Engineering Education, Vol. 2, No. 1, Article 2, June 2011. [PDF]

G. D. White, R. M. Bhatt, C. P. Tang and V. N. Krovi, “Experimental Evaluation of Dynamic Redundancy Resolution in a Nonholonomic Wheeled Mobile Manipulator”, IEEE/ASME Transactions on Mechatronics, Vol. 14, No. 3, pp. 349-357, Jun 2009.[Preprint]

R. M. Bhatt, C. P. Tang, L.-F. Lee and V. Krovi, “A Case for Scaffolded Virtual Prototyping Tutorial Case-Studies in Engineering Education,” International Journal of Engineering Education, Vol. 25-1, pp.84-92, January 2009. [Preprint]

R. M. Bhatt, C. P. Tang and V. N. Krovi, “Formation Optimization for a Fleet of Wheeled Mobile Robots – A Geometrical Approach”, Robotics & Autonomous Systems, Vol. 57, No. 1, pp. 102-120, Jan 2009. [PDF]

W. A. Khan, C. P. Tang and V. N. Krovi, “Modular and Distributed Forward Dynamic Simulation of Constrained Mechanical Systems – A Comparative Study”, Mechanism and Machine Theory, Vol. 42, No. 5, pp. 558-579, May 2007. [PDF]

C. P. Tang and V. N. Krovi, “Manipulability-Based Configuration Evaluation of Cooperative Payload Transport by Mobile Manipulator Collectives”, Robotica, Vol. 25, No. 1, pp. 29-42, Jan 2007. [PDF]

M. Abou-Samah, C. P. Tang, R. M. Bhatt and V. N. Krovi, “A Kinematically Compatible Framework for Cooperative Payload Transport by Mobile Manipulator Collectives”, Autonomous Robots, Vol. 21, No. 3, pp. 227-242, Nov 2006. [PDF]

C. P. Tang, R. M. Bhatt, M. Abou-Samah and V. N. Krovi, “Screw-Theoretic Analysis Framework for Payload Transport by Mobile Manipulator Collectives”,IEEE/ASME Transactions on Mechatronics, Vol. 11, No. 2, pp. 169-178, Apr 2006. [PDF]

Refereed Conference Proceedings

A. Sanchez, V. Parra-Vega, C. P. Tang, F. Oliva-Palomo, C. Izaguirre-Espinosa, “Continuous Reactive-based Position-Attitude Control of Quadrotors,” Proceedings of the American Control Conference, Montreal, Quebec, Canada, June 27-29, 2012.[Preprint]

X. Zhou, C. P. Tang and V. N. Krovi, “Analysis Framework for Cooperating Mobile Cable Robots,” Proceedings of the IEEE Conference on Robotics and Automation, St. Paul, Minnesota, USA, May 14-18, 2012. [Preprint]

D. B. Doman, C. P. Tang, and S. J. S. Regisford, “Modeling Interactions between Flexible Flapping Wing Spars, Mechanisms, and Drive Motors,” Paper 2011-6389, Proceedings of the AIAA Guidance, Navigation, and Control Conference, Portland, Oregon, USA, August 8-11, 2011. [PDF]

C. P. Tang, M. Goeckner and M. W. Spong, “Robotic Project-based Pre-training for In-coming Undergraduate Mechanical Engineering Students”, Proceedings of the ASME International Design Engineering and Technical Conference, Montreal, Quebec, Canada, August 15-18, 2010. [PDF]

C. P. Tang, Z. Xue and Y. Wang, “Innovative Approaches and Lesson Learned in Teaching CAD/CAE Applications Course”, Proceedings of the ASME International Design Engineering and Technical Conference, Montreal, Quebec, Canada, August 15-18, 2010.[PDF]

K. Yu, L.-F. Lee, C. P. Tang, and V. N. Krovi, “Enhanced Trajectory Tracking Control with Active Lower Bounded Stiffness Control for Cable Robot”, Proceedings of the IEEE International Conference on Robotics and Automation, Anchorage, Alaska, USA, May 3-8, 2010. [Preprint]

C. P. Tang, “Configuration Optimization for Multiple Nonholonomic Mobile Manipulators with Holonomic Interactions”, Proceedings of the 42nd Southeastern Symposium on System Theory, Tyler, Texas, USA, March 7-9, 2010. [Preprint]

C. P. Tang, “Differential Flatness-based Kinematic and Dynamic Control of a Differentially Driven Wheeled Mobile Robot”, Proceedings of the IEEE International Conference on Robotics and Biomimetics, Guilin, Guangxi, China, December 18-22, 2009. [Preprint]

C. P. Tang, P. T. Miller, V. N. Krovi, J.-C. Ryu and S. K. Agrawal, “Kinematic Control of Wheeled Mobile Manipulator – A Differential Flatness Approach”, Proceedings of the ASME Dynamic Systems and Control Conference, Ann Arbor, Michigan, USA, Oct 20-22, 2008. [Best Session Paper] [PDF]

R. M. Bhatt, C. P. Tang, M. Abou-Samah and V. N. Krovi, “A Screw-Theoretic Analysis Framework for Payload Transport by Mobile Manipulator Collectives”, IMECE2005-81525, Proceedings of the ASME International Mechanical Engineering Congress & Exposition, Orlando, Florida, USA, Nov 5-11, 2005. [PDF]

C. P. Tang and V. N. Krovi, “Manipulability-Based Configuration Evaluation of Cooperative Payload Transport by Mobile Robot Collectives”, DETC2004-57476, Proceedings of the ASME Design Engineering Technical Conferences and Computer and Information in Engineering Conferences, Salt Lake City, Utah, USA, September 28-October 2, 2004. [PDF]

C. P. Tang, R. M. Bhatt and V. N. Krovi, “Decentralized Kinematic Control of Payload Transport by a System of Mobile Manipulators”, Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, Louisiana, USA, April 26-May 1, 2004. [PDF]

R. M. Bhatt, C. P. Tang and V. N. Krovi, “Geometric Motion Planning and Formation Optimization for a Fleet of Nonholonomic Wheeled Mobile Robots”, Proceedings of IEEE International Conference on Robotics and Automation, New Orleans, Louisiana, USA, April 26-May 1, 2004. [PDF]

R. M. Bhatt, C. P. Tang, L.-F. Lee and V. N. Krovi, “Web-Based Self-Paced Virtual Prototyping Tutorials”, DETC2003/CIE48201, Proceedings of the ASME Design Engineering Technical Conferences and Computer and Information in Engineering Conferences, Chicago, Illinois, USA, September 2-6, 2003. [PDF]

Conference Abstract

C. P. Tang, R. M. Bhatt, V. N. Krovi, “Cooperative Payload Transport by Robot Collectives”, Proceedings of the 2009 IEEE Conference on Automation Science and Engineering, Bangalore, India, August 22-25, 2009.

C. P. Tang, “Decoupled Dynamic Control of a Nonholonomic Wheeled Mobile Manipulators”, Presented at the Third Annual New England Manipulation Symposium (NEMS), Jun 1, 2007. [PDF]

Theses

C. P. Tang, “Design and Control Framework for Cooperative Mobile Robot Collectives”, Ph.D. Dissertation, Dept. of Mechanical & Aerospace Engineering, University at Buffalo, Feb 2009. [PDF]

C. P. Tang, “Manipulability-Based Analysis of Payload Transport by Robot Collectives”, M.S. Thesis, Dept. of Mechanical & Aerospace Engineering, University at Buffalo, Jun 2004. [PDF]

Internal Reports

C. P. Tang, P. R. Maheshwari, and M. W. Spong, “Building verdex-based Framework for iRobot Create Using QuaRC”, August 2009. [PDF]

C. P. Tang, “Lagrangian Dynamic Formulation of a Four-Bar Mechanism with Minimal Coordinates”, March 2006. [PDF]