Manuscripts in Preparation:

  1. R. Chhabra, M. R. Emami and Y. Karshon, “Lie Groupoids for General Kinematic Chains,'” To be submitted to Arnold Mathematical Journal.

Refereed Journal Publications:

  1. R. Chhabra, M. R. Emami and Y. Karshon, “Reduction of Hamiltonian Mechanical Systems with Affine Constraints: A Geometric Unification,” ASME Journal of Computational and Nonlinear Dynamics, doi:10.1115/1.4034729, 2016.
  2. L. M. Bates, R. Chhabra and J. Sniatycki, “Elastica as a Dynamical System,” Journal of Geometry and Physics, vol. 110, pp. 348-381, 2016.
  3. R. Chhabra and M. R. Emami, “Symplectic Reduction of Holonomic Open-chain Multi-body Systems with Constant Momentum,” Journal of Geometry and Physics, vol. 89, pp. 82-110, 2015.
  4. R. Chhabra and M. R. Emami, “A Unified Approach to Input-output Linearization and Concurrent Control of Underactuated Open-chain Multi-body Systems with Holonomic and Nonholonomic Constraints,” Journal of Dynamical and Control Systems, vol. 22(1), pp. 129-168, 2016.
  5. R. Chhabra and M. R. Emami, “Nonholonomic Dynamical Reduction of Open-chain Multi-body Systems: A Geometric Approach,” Mechanism and Machine Theory, vol. 82, pp. 231-255, 2014.
  6. R. Chhabra and M. R. Emami, “A Linguistic Approach to Concurrent Design,” Journal of Intelligent and Fuzzy Systems, vol. 28, no. 5, pp. 1985-2001, 2015.
  7. R. Chhabra and M. R. Emami, “A Holistic Approach to Concurrent Engineering and Its Application to Robotics,” Concurrent Engineering: Research and Applications, vol. 22, no. 1, pp. 48-61, 2014.
  8. R. Chhabra and M. R. Emami, “A Generalized Exponential Formula for Forward and Differential Kinematics of Open-chain Multi-body Systems,” Mechanism and Machine Theory, vol. 73, pp. 61-75, 2014.
  9. R. Chhabra and M. R. Emami, “A Holistic Concurrent Design Approach to Robotics using Hardware-in-the-loop Simulation,” Mechatronics, vol. 23, no. 3, pp. 335-345, April 2013.
  10. R. Chhabra and M. R. Emami, “Holistic System Modeling in Mechatronics,” Mechatronics, vol. 21, no. 1, pp. 166-175, February 2011.

Peer-reviewed Conference Proceedings:

  1. ┬áR. Chhabra, “Dynamical Reduction and Output-tracking Control of the Lunar Exploration Light Rover (LELR),” IEEE Aerospace Conference, Big Sky, Montana, USA, March 5-12, 2016.
  2. R. Chhabra, M.R. Emami, “A Mechatronic Approach to Robot Manipulator Design using Hardware-in-the-loop Simulation,” RSI/ISM International Conference on Robotics and Mechatronics (ICRoM2013), Tehran, Iran, February 13-15, 2013.
  3. R. Chhabra and M. R. Emami, “Concurrent Synthesis of Robot Manipulators using Hardware-in-the-loop Simulation,” IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12-17, 2009.
  4. R. Chhabra and M. R. Emami, “Linguistic Mechatronics,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Xian, China, July 2-5, 2008.

Book Chapters:

  1. M. R. Emami and R. Chhabra, “Concurrent Engineering of Robot Manipulators,” In: Robot Manipulators New Achievements, A. Lazinica and h. Kawai (Ed.), ISBN: 978-953-307-090-2, InTech, pp. 211-240, April 2010.

Dissertations:

  1. R. Chhabra, “A Unified Geometric Framework for Kinematics, Dynamics and Concurrent Control of Free-base, Open-chain Multi-body Systems with Holonomic and Nonholonomic Constraints,” PhD Thesis, University of Toronto Institute for Aerospace Studies, Canada, December 2013.
  2. R. Chhabra, “Concurrent Design of Reconfigurable Robots using a Robotic Hardware-in-the-loop Simulation,” MASc Thesis, University of Toronto Institute for Aerospace Studies, Canada, September 2008.
  3. R. Chhabra, “A Fuzzy Control Strategy for Tail-sitters,” BASc Thesis, Sharif University of Technology, Iran, June 2006.

Invited Talks:

  1. From Geometric Modelling and Control to Concurrent Design of Mechatronic Multi-bodies, Maplesoft Company, Waterloo, ON, Canada.
  2. Dynamical Reduction and Control of Holonomic and Nonholonomic Open-chain Multi-body Systems, in the 8th International Young Researchers Workshop on Geometry, Mechanics and Control, Barcelona, Spain.
  3. A Three-step Dynamical Reduction of Nonholonomic Open-chain Multi-body Systems, in the Symplectic Seminar, Department of Mathematics, University of Toronto, Toronto, ON, Canada.