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My Robotics Publications



My Robotics Publications
I do my best to keep this updated . . . I also have more information and downloads posted on my robot fish page.

I also set up a Google Scholar profile to get more information on citations. However, Google doesn't do so well keeping it updated, and so it's missing quite a few citations.

• Jason Geder, John S. Palmisano, Marius Pruessner, Ravi Ramamurti, "Actively Controlled Curvature Robotic Pectoral Fin," US Patent #9,045,211, June 2nd, 2015.
• Jason Geder, John S. Palmisano, Ravi Ramamurti, Marius Pruessner, "Performance of a Four-Fin Bio-Inspired UUV," OCEANS '13 MTS/IEEE, San Diego, CA, USA, September, 2013.
• John S. Palmisano, Jason Geder, Ravi Ramamurti, Marius Pruessner, William C. Sandberg, Banahalli Ratna, "How to Maximize Pectoral Fin Efficiency through Control of Flapping Frequency and Bulk Rotation Amplitude," 18th International Symposium on Unmanned Untethered Submersible Technology (UUST), Portsmouth, NH, USA, August 11-14, 2013.
• John S. Palmisano, Marius Pruessner, Jason Geder, "A Comprehensive Allometric Analysis of Bio-Mimetic MPF-Type UUVs," 18th International Symposium on Unmanned Untethered Submersible Technology (UUST), Portsmouth, NH, USA, August 11-14, 2013.
• John S. Palmisano, Jason Geder, Marius Pruessner, Ravi Ramamurti, "Power and Thrust Comparison of Bio-mimetic Pectoral Fins with Traditional Propeller-based Thrusters," 18th International Symposium on Unmanned Untethered Submersible Technology (UUST), Portsmouth, NH, USA, August 11-14, 2013.
• Jason Geder, Ravi Ramamurti, John S. Palmisano, Marius Pruessner, Banahalli Ratna, William Sandberg, "Scaling Studies for an Actively Controlled Curvature Robotic Pectoral Fin," ICIRA 2012, Montreal, Canada, October 3-5, 2012.
• John S. Palmisano, Jason Geder, Ravi Ramamurti, William C. Sandberg, Banahalli Ratna, "Robotic Pectoral Fin Thrust Vectoring Using Weighted Gait Combinations," Applied Bionics and Biomechanics, vol. 9, pp. 333-345, 2012.
• Jason Geder, John S. Palmisano, Ravi Ramamurti, Marius Pruessner, William Sandberg, Banahalli Ratna, "Four-Fin Bio-Inspired UUV: Modeling and Control Solutions," Proceedings of the ASME 2011 International Mechanical Engineering Congress & Exposition IMECE2011, Denver, Colorado, USA, November 11-17, 2011.
• Jason Geder, John S. Palmisano, Ravi Ramamurti, Marius Pruessner, Banahalli Ratna, William Sandberg, "Bioinspired Design Process for an Underwater Flying and Hovering Vehicle," Marine Technology Society Journal, vol. 45, no. 4, pp. 74-82, July/August 2011.
• Jason Geder, Ravi Ramamurti, John S. Palmisano, Marius Pruessner, Banahalli Ratna, William Sandberg, "Dynamic Performance of a Bio-Inspired UUV: Effects of Fin Gaits and Orientation," 17th International Symposium on Unmanned Untethered Submersible Technology (UUST), Portsmouth, NH, USA, August 21-24, 2011.
• Ravi Ramamurti, Jason Geder, John Palmisano, Marius Preussner, Banahalli Ratna, and William Sandberg, "3-D Unsteady Computational Studies of a Four-Fin Bio-Inspired UUV," 17th International Symposium on Unmanned Untethered Submersible Technology (UUST), Portsmouth, NH, USA, August 21-24, 2011.
• Ravi Ramamurti, Jason Geder, John Palmisano, Banahalli Ratna, and William Sandberg, "Computations of Flapping Flow Propulsion for Unmanned Underwater Vehicle Design," AIAA Journal, vol. 48, no. 1, pp. 188-201, January 2010.
• Jason Geder, Ravi Ramamurti, John S. Palmisano, Marius Pruessner, Banahalli Ratna, William Sandberg, "Sensor Data Fusion and Submerged Test Results of a Pectoral Fin Propelled UUV," International Symposium on Unmanned Untethered Submersible Technology, Durham, NH, USA on August 23rd-26th, 2009.

• Ravi Ramamurti, Jason Geder, John S. Palmisano, Banahalli Ratna, William Sandberg, "Computations of Flapping Fin Propulsion for UUV Design," 47th AIAA Aerospace Sciences Conference, AIAA-2009-0724, Orlando, FL, USA, 2009.
• Jason Geder, John S. Palmisano, Ravi Ramamurti, William Sandberg, Banahalli Ratna, "Fuzzy Logic PID Based Control Design and Performance for a Pectoral Fin Propelled Unmanned Underwater Vehicle," International Conference on Control, Automation and Systems, Seoul, Korea, on Oct. 14-17, 2008.
• John S. Palmisano, Jason Geder, Ravi Ramamurti, Kerr-Jia Liu, Jonah Cohen, Tewodros Mengesha, Jawad Naciri, William Sandberg, Banahalli Ratna, Book Chapter: Design, Development, and Testing of Flapping Fins with Actively Controlled Curvature for an Unmanned Underwater Vehicle, Bio-mechanisms of Swimming and Flying, Springer Japan, pp. 283-294, 2008.
• Jason Geder, John S. Palmisano, Ravi Ramamurti, William Sandberg, Banahalli Ratna, "A New Hybrid Approach to Dynamic Modeling and Control Design for a Pectoral Fin Propelled UUV," 15th International Symposium on Unmanned Untethered Submersible Technology, Durham, NH, USA on August 19th-22nd, 2007.
• John S. Palmisano, Ravi Ramamurti, Kerr-Jia Lu, Jonah Cohen, William Sandberg, Banahalli Ratna, "Design of a Biomimetic Controlled-Curvature Robotic Pectoral Fin," IEEE International Conference on Robotics and Automation, Rome, Italy, 2007.
  Best Conference Paper Award
• Steven Floyd, Terence Keegan, John S. Palmisano, Metin Sitti, "A Novel Water Running Robot Inspired by Basilisk Lizards," Proceedings of the IEEE/RSJ Intelligent Robotic Systems Conference, Beijing, China, October 2006.
  As seen on the Discovery Channel (missing link), Pittsburgh Tribune Review, and Slashdot.

Acknowledged Robotics Publications
Publications which I provided significant support for, but was not immediately involved in.

• Jason Geder, William Sandberg, Ravi Ramamurti, "Multi-Camera, High-Speed Imaging System for Kinematics Data Collection," Naval Research Laboratory Memorandum Report NRL/MR/6401--07-9054, 15 pages, Sep. 21, 2007.
  acknowledged: John Palmisano
• Steven Floyd, Metin Sitti, "Design and Development of the Lifting and Propulsion Mechanism for a Biologically Inspired Water Runner Robot," Naval Research Laboratory Memorandum Report NRL/MR/6401--07-9054, 15 pages, Sep. 21, 2007.
  acknowledged: John Palmisano

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