BOOKS / BOOK CHAPTERS

  1. Awtar, S., "Closed Form Modeling of Flexure Mechanisms in the Intermediate Displacement Range" in Handbook of Compliant Mechanisms  (2013), Edited by L.L. Howell, S.P. Magleby, and B.M. Olsen, Published by John Wiley & Sons.

THESES

  1. Leqing Cui, "On the Complex Non-Minimum Phase Zeros in Flexure Mechanisms", Ph.D. Thesis, University of Michigan, Ann Arbor, MI, 2017
  2. Adrian Adames, "The Optimal Design of a Concentric Coil, Radial Magnet Moving Magnet Actuator", M.S. Thesis, University of Michigan, Ann Arbor, MI, Aug 2015
  3. David Hiemstra, "The Design of Moving Magnet Actuators for Large-range Flexure-based Nanopositioning", M.S. Thesis, University of Michigan, Ann Arbor, MI, July 2014
  4. Gaurav Parmar, "Dynamics and Control of Flexure-based Large Range Nanopositioning Systems", Ph.D. Thesis, University of Michigan, Ann Arbor, MI, January 2014
  5. Siddharth Sood, "Analysis of Single Axis Flexure Bearings Approaching Ideal Bearing Characteristics", M.S. Thesis, University of Michigan, Ann Arbor, MI, August 2013
  6. Shiladitya Sen, "Beam Constraint Model: Generalized Nonlinear Closed-form Modeling of Beam Flexures for Flexure Mechanism Design", Ph.D. Thesis, University of Michigan, Ann Arbor, MI, December 2012
  7. Gaurav Parmar, "Performance Specifications of Nanopositioning Systems: Accuracy, Precision and Resolution", M.S.E Thesis, University of Michigan, Ann Arbor, MI, August 2012
  8. John Ustick, "Design, Fabrication and Experimental Characterization of a Large Range XYZ Parallel Kinematic Flexure Mechanism", M.S.E Thesis, University of Michigan, Ann Arbor, MI, May 2012
  9. Shorya Awtar, "Synthesis and Analysis of Parallel Kinematic XY Flexure Mechanisms", Sc.D Thesis, Massachusetts Institute of Technology, Cambridge MA, December 2003
  10. Shorya Awtar, "Magnetic Coupling Between DC Tachometer and Motor and Its Effect on Motion Control in the Presence of Shaft Compliance", M.S Thesis, Rensselaer Polytechnic Institute, Troy, NY, August 2000

JOURNAL PAPERS

  1. Bai, R., Awtar, S., and Chen, G., 2019, "A Closed-form Model for Nonlinear Spatial Deflections of Rectangular Beams in Intermediate Range", International Journal of Mechanical Sciences 160, pp. 229-240, DOI: 10.1016/j.ijmecsci.2019.06.042
  2. Cui, L. and Awtar, S., 2019, "Experimental Validation of Complex Non-Minimum Phase Zeros in a Flexure Mechanism", Precision Engineering, 60, pp. 167-177, DOI: 10.1016/j.precisioneng.2019.08.002
  3. Hao, G., He, X., and Awtar, S., 2019, "Design and Analytical Model of a Compact Flexure Mechanism for Translational Motion", Mechanism and Machine Theory, DOI: 10.1016/j.mechmachtheory.2019.103593
  4. Criss, C.N., Ralls, M.W., Johnson, K.N., Awtar, S., Jarboe, M.D., Geiger, J.D., 2017, "A Novel Intuitively Controlled Articulating Instrument for Reoperative Foregut Surgery: A Case Report", Journal of Laparoendoscopic & Advanced Surgical Techniques, 27 (9), pp. 983-986, DOI: 10.1089/lap.2017.0107
  5. Cui, L., Okwudire, C., and Awtar, S., 2017, "Modeling Complex Non-Minimum Phase Zeros in Flexure Mechanisms", ASME Journal of Dynamic Systems, Measurement, and Control, 139 (10), 101001 (9 pages), DOI: 10.1115/1.4036032
  6. Awtar, S., and Mariappan, D., 2017, "Experimental Measurement of the Bearing Characteristics of Straight-line Flexure Mechanisms", Precision Engineering, 49, pp. 1-14, DOI: 10.1016/j.precisioneng.2016.12.014
  7. Nijenhuis, M., Meijaard, J.P., Mariappan, D., Herder, J.L., Brouwer, D.M., and Awtar, S., 2016, "An Analytical Formulation for the Lateral Support Stiffness of a Spatial Flexure Strip", ASME Journal of Mechanical Design, 139 (5), 051401 (11 pages), DOI: 10.1115/1.4035861
  8. Cao, K., Pinon, R., Sachachar, I., Jayasundera, T., and Awtar, S., 2014, "Automatic Instrument Tracking Endo-illuminator for Intraocular Surgeries", ASME Journal of Mechanical Design, 8 (3), 030932 (3 pages), DOI: 10.1115/1.4027077
  9. Beroz, J., Awtar, S., and Hart, A.J., 2014, "Extensible-link Kinematic Model for Characterizing Compliant Mechanism Motion", ASME Journal of Mechanical Design, 136 (3), 031008 (11 pages), DOI: 10.1115/1.4026269
  10. Moeenfard, H. and Awtar, S.,"Modeling Geometric Non-linearities in the Free Vibration of a Planar Beam with a Tip Mass", ASME Journal of Mechanical Design, accepted: Nov 2013, in press, DOI: 10.1115/1.4026147
  11. Olfatnia, M., Cui, L., Chopra, P., and Awtar, S., 2013,"Large Range Dual-axis Micro-stage driven by Electrostatic Comb-drive Actuators", Journal of Micromechanics and Microengineering, 23, 105008, DOI: 10.1088/0960-1317/23/10/105008
  12. Parmar, G., Barton, K., and Awtar, S., 2014, "Large Dynamic Range Nanopositioning Using Iterative Learning Control", Precision Engineering, DOI: 10.1016/j.precisioneng.2013.07.003
  13. Sen, S. and Awtar, S., 2013, "Non-Linear Strain Energy Formulation of a Generalized Spatial Beam for Flexure Mechanism Analysis", ASME Journal of Mechanical Design, 136 (2), 021002 (11 pages), DOI: doi:10.1115/1.4025705
  14. Olfatnia, M., Sood, S., Gorman, J., and Awtar, S., 2013, "Large Stroke Electrostatic Comb-Drive Actuators Enabled by a Novel Flexure Mechanism", IEEE/ASME Journal of Micro Electro Mechanical Systems, 22 (2), pp. 483-494, DOI: 10.1109/JMEMS.2012.2227458
  15. Hiemstra, D.B., Parmar, G., and Awtar, S., 2014, "Performance Tradeoffs Posed by Moving Magnet Actuators in Flexure-Based Nanopositioning", ASME/IEEE Transactions on Mechatronics, 19(1), 201-212, DOI: 10.1109/TMECH.2012.2226738
  16. Olfatnia, M., Sood, S., and Awtar, S., 2012, "An Asymmetric Flexure Mechanism Design for Electrostatic Comb-Drive actuators", Review of Scientific Instruments, 83, 116105 (3 pages), DOI: 10.1063/1.4767242
  17. Awtar, S., and Parmar, G., 2013, "Design of a Large Range XY Nanopositioning System", ASME Journal of Mechanisms and Robotics, 5 (2), 021008 (10 pages), DOI: 10.1115/1.4023874
  18. Sen, S. and Awtar, S., 2013, "A Closed-Form Non-linear Model for the Constraint Characteristics of Symmetric Spatial Beams", ASME Journal of Mechanical Design, 135 (3), 031003 (11 pages), DOI: 10.1115/1.4023157
  19. Awtar, S., Ustick, J., and Sen, S., 2012, "An XYZ Parallel Kinematic Flexure Mechanism with Geometrically Decoupled Degrees of Freedom", ASME Journal of Mechanisms and Robotics, 5 (1), 015001 (7 pages), DOI: 10.1115/1.4007768
  20. Awtar, S., and Quint, J.M., 2012, "In-Plane Flexure-based Clamp", Precision Engineering, 36.4, pp. 658-667, DOI: 10.1016/j.precisioneng.2012.04.003
  21. Beroz, J., Bedewy, M., Reinker, M., Chhajer, V., Awtar, S., and Hart, A.J., 2012, "Four Degree of Freedom Liquid Dispenser for Direct Write Capillary Self-Assembly with Sub-Nanoliter Precision", Review of Scientific Instruments, 83 (1), 015104, DOI: 10.1063/1.3673680
  22. Gillespie, R.B., Yu, B., Grijalva, R., and Awtar, S., 2011, "Characterizing the Feel of the Piano Action", Computer Music Journal, MIT Press, 35 (1), DOI: 10.1162/COMJ_a_00039
    Cover-page article in the Spring 2011 issue
  23. Awtar, S., Trutna, T.T., Nielsen, J.M., Abani, R., and Geiger, J.D., 2010, " FlexDex: A Minimally Invasive Surgical Tool with Enhanced Dexterity and Intuitive Control", ASME Journal of Medical Devices, 4 (3), DOI:10.1115/1.4002234
    Most downloaded article from ASME Journal of Medical Devices website in September 2010
  1. Awtar, S., Shimotsu, K., and Sen, S., 2010, " Elastic Averaging in Flexure Mechanisms: A Three-Beam Parallelogram Flexure Case Study", ASME Journal of Mechanisms and Robotics, 2 (4), 041006 (12 pages) DOI: 10.1115/1.4002204
  2. Awtar, S., and Sen, S., 2010," A Generalized Constraint Model for Two-dimensional Beam Flexures: Non-linear Load-Displacement Formulation", ASME Journal of Mechanical Design, 132 (8), 081008 (11 pages), DOI:10.1115/1.4002005
  3. Awtar, S., and Sen, S., 2010," A Generalized Constraint Model for Two-dimensional Beam Flexures: Non-linear Strain Energy Formulation", ASME Journal of Mechanical Design, 132 (8), 081009 (11 pages) DOI:10.1115/1.4002006
  4. Awtar, S., Slocum, A.H., and Sevincer E., 2006, "Characteristics of Beam-based Flexure Modules", ASME Journal of Mechanical Design, 129 (6), pp. 625-639, DOI:10.1115/1.2717231 Errata
  5. Awtar, S. and Slocum, A.H., 2006, "Constraint-based Design of Parallel Kinematic XY Flexure Mechanisms", ASME Journal of Mechanical Design, 129 (8), pp. 816-830, DOI: 10.1115/1.2735342
  6. Awtar, S. and Slocum, A.H., 2007, "Target Block Alignment Error in XY Stage Metrology", Precision Engineering, 31 (3), pp. 185-187, DOI: 10.1016/j.precisioneng.2006.06.002
  7. Awtar, S. and Craig, K.C., 2004, "Electromagnetic Coupling in a DC Motor and Tachometer Assembly", ASME Journal of Dynamic Systems, Measurement and Controls, 126 (3), pp. 684-691, DOI: 10.1115/1.1789543
  8. Awtar, S., Craig, K.C., et al., 2002, "Mechatronic Design of a Ball on Plate Balancing System", Mechatronics, 12 (2), pp. 217-228, DOI: 10.1016/S0957-4158(01)00062-9
  9. Craig, K.C., Awtar, S., et al., 2002, "Inverted Pendulum Systems: Rotary and Arm-driven, A Mechatronics System Design Case Study", Mechatronics, 12 (2), pp. 357-370, DOI: 10.1016/S0957-4158(01)00075-7

CONFERENCE PAPERS

  1. Cui, L., Okwudire, C., and Awtar, S., 2016, "Complex Non-Minimum Phase Zeros in the Dynamics of Double Parallelogram Flexure Module based Flexure Mechanisms", Proc. ASME Dynamic Systems and Controls Conference, Minneapolis, MN, Paper # DSCC2016-9658
    Best Student Paper Award at the ASME Dynamic Systems and Control Conference (DSCC) 2016
    2017 Best Conference Paper on Mechatronics presented in 2016 at the American Controls Conference (ACC), the Dynamic Systems and Control Conference (DSCC), and the International Conference on Advanced Intelligent Mechatronics (AIM)
  2. Cui, L, Mariappan, D., and Awtar, S., 2016, "Experimental Validation of Complex Non-Minimum Phase Zeros in Flexure Mechanism Dynamics", 31st ASPE Annual Meeting, Portland, OR, Paper # 4792
  3. Cao, K., Pinon, R., Sachachar, I., Jayasundera, T., and Awtar, S., 2014, "Automatic Instrument Tracking Endo-illuminator for Intraocular Surgeries", ASME Design of Medical Devices Conference, Minneapolis, MN, Paper #DMD2014-3631
  4. Awtar, S., 2013, "Novel Single-axis Flexure Mechanism Designs with Improved Bearing Stiffness", Proc. 28th ASPE Annual Meeting, St. Paul, MN, Paper #3851
  5. Beroz, J., Awtar, S., Hart, A.J., 2013, "Extensible-Link Kinematic Model for Determining Motion Characteristics of Compliant Mechanisms", Proc. ASME International Design Engineering Technical Conferences 2013, Portland, OR, Paper No. 12582
    Best Paper Award in Compliant Mechanisms at the 37th Mechanisms and Robotics Conference, ASME IDETC 2013
  6. Olfatnia, M., Cui, L., Chopra, P., and Awtar, S., 2013, "MEMS Based XY Stage with Large Displacement", Proc. ASME International Design Engineering Technical Conferences 2013, Portland, OR, Paper # IDETC2013-13038
    Best Paper Award in Micro and Nano Systems at the 7th International Conference on Micro and Nano Systems, ASME IDETC 2013
  7. Parmar, G., Hiemstra, D.B., and Awtar, S., 2012, "Large Dynamic Range Nanopositioning Using Iterative Learning Control", Proc. ASME Dynamic Systems and Controls Conference, Ft. Lauderdale, FL
  8. Oppenhiemer, M.W., Awtar, S., Sigthorsson, D.O., and Weintraub, I.E., 2012,"Computation of Inertial Forces and Torques associated with Flapping Wings", Proc. AIAA Guidance, Navigation, and Control Conference, Minneapolis, MN
  9. Olfatnia, M., Sood, S., Gorman, J., and Awtar, S., 2012, "Large Stroke Electrostatic Comb-Drive Actuators based on a Novel Flexure Mechanism", Hilton Head 2012: A Solid-State Sensors, Actuators and Microsystems Workshop, Hilton Head Island, SC
  10. Olfatnia, M., Sood, S., Gorman, J., and Awtar, S., 2012, "Large Stroke Comb-Drive Actuators using Reinforced, Clamped, Paired Double Parallelogram (C-DP-DP) Flexure", Proc. ASME International Design Engineering Technical Conferences, Chicago, IL, Paper No. 71294
  11. Moeenfard, H. and Awtar, S., 2012, "Modeling Geometric Non-linearities in the Free Vibration of a Planar Beam with a Tip Mass", Proc. ASME International Design Engineering Technical Conferences, Chicago, IL, Paper No. 71498
  12. Beroz, J.D., Awtar, S., Bedewy, M., and Hart, A.J., 2011, "Compliant Microgripper with Parallel Straight-Line Jaw Trajectory for Nanostructure Manipulation", 26th ASPE Annual Meeting, Denver, CO
  13. Hiemstra, D.B., Parmar, G., Chen, Y., and Awtar, S., 2011, "Design, Fabrication and Testing of a Moving Magnet Actuator for Large Range Nanopositioning", 26th ASPE Annual Meeting, Denver, CO
  14. Parmar, G., Hiemstra, D.B., Chen, Y., and Awtar, S., 2011, "A moving Magnet Actuator For Large Range Nanopositioning", Proc. ASME Dynamic Systems and Controls Conference 2011, Arlington, VA
  15. Awtar, S., and Ustick, J., 2011, "Design and Experimental Characterization of a Large Range XYZ Parallel Kinematic Flexure Mechanism", 26th ASPE Annual Meeting, Denver, CO
  16. Sen, S., and Awtar, S., 2011, "Nonlinear Strain Energy Formulation to Capture the Constraint Characteristics of a Spatial Symmetric Beam", Proc. IDETC/CIE 2011, Washington DC, Paper No. 47716
  17. Awtar, S., Ustick, J., and Sen, S., 2011, "An XYZ Parallel Kinematic Flexure Mechanism with Geometrically Decoupled Degrees of Freedom", Proc. ASME International Design Engineering Technical Conferences, Washington, DC, Paper No. 47713
    Best Paper:Freudenstein / General Motors Young Investigator Award for significant original contribution to the theory of mechanisms and the potential to enhance the public good, 35th Mechanisms and Robotics Conference, ASME IDETC 2011
  18. Awtar, S., and Parmar, G., 2010, "Physical and Control Systems Design Challenges in Large Range Nanopositioning", 5th IFAC Symposium on Mechatronic Systems, Cambridge, MA
    2010 Best Conference Paper on Mechatronics presented at the American Controls Conference, the Dynamic Systems and Control Conference, the IFAC Symposium on Mechatronics, and Advanced Intelligent Mechatronics
  19. Awtar, S., and Sen, S., 2010, "Beam Constraint Model: A Non-Linear Strain Energy Formulation for Generalized Two-dimensional Beams ", Proc. IDETC/CIE 2010, Montreal, Canada, Paper No. 28184
  20. Sen, S., and Awtar, S., 2010, "Nonlinear Constraint Model for Symmetric Three-Dimensional Beams ", Proc. IDETC/CIE 2010, Montreal, Canada, Paper No. 28953
  21. Awtar, S., and Trutna, T., 2010, "An Enhanced Stability Model for Electrostatic Comb-Drive Actuator Design", Proc. IDETC/CIE 2010, Montreal, Canada, Paper No. 28943
  22. Awtar, S., and Parmar, G.., 2010,"Design of a Large Range XY Nanopositioning System", Proc. IDETC/CIE 2010, Montreal, Canada, Paper No. 28185
  23. Awtar, S. and Sen, S., 2009,"A Generalized Constraint Model for Two-Dimensional Beam Flexures", Proc. ASME IDETC/CIE 2009, San Diego, CA, Paper No. 87808
  24. Awtar, S., Trutna, T., Nielsen, J., Mansfield, A., and Abani, R., 2009, "Flex-Dex: A Minimally Invasive Surgical Tool with Enhanced Dexterity and Intuitive Actuation", Proc. ASME IDETC/CIE 2009, San Diego, CA, Paper No. 87824
  25. Awtar, S., and Parmar, G., 2008, “Extending the SPM Operating Range from 100 microns to 10 mm: XY Nanopositioner Design Challenges and Potential Solutions”, Society of Engineering Science, 45th Annual Technical Meeting, Urbana IL, Oct 2008
  26. Awtar, S., and Sevincer, E, 2006, "Elastic Averaging in Flexure Mechanisms: A Multi-Parallelogram Flexure Case-study", Proc. ASME IDETC/CIE 2006, Philadelphia, PA, Paper No. 99752
  27. Awtar, S. and Slocum, A.H., 2005, "Design of Parallel Kinematic XY Flexure Mechanisms", Proc. ASME IDETC/CIE 2005, Long Beach, CA, Paper No. 85413
  28. Awtar, S. and Slocum, A.H., 2005, "Closed-form Nonlinear Analysis of Beam-based Flexure Modules", Proc. ASME IDETC/CIE 2005, Long Beach, CA, Paper No. 85440
  29. Awtar, S. and Slocum, A.H., 2005, "Alignment Errors in XY Stage Metrology", Proc. ASPE 2005 Annual Meeting, Norfolk, VA, Paper No. 1799
  30. Awtar, S., Rose, K. and Tham, H.- P., 2005, "Two-axis Optical MEMS Scanner", Proc. ASPE 2005 Annual Meeting, Norfolk, VA, Paper No. 1800
  31. Awtar, S. and Slocum, A.H., 2005, "Topology Evolution of High Performance XY Flexure Stages", Proc. ASPE 2005 Annual Meeting, Norfolk, VA, Paper No. 1802
  32. Awtar, S. and Slocum, A.H., 2005, "Flexure Systems based on a Symmetric Diaphragm Flexure", Proc. ASPE 2005 Annual Meeting, Norfolk, VA, Paper No. 1803
  1. Sutin J., Awtar S. et al, 2005, "Improving the Optical Performance of the Optical Microscope via Modern Opto and Optomechanical Design", Focus on Microscopy 2005 Conference, Jena, Germany
  2. Awtar, S., and Slocum, A.H., 2005, "A Large Range XY Flexure Stage for Nanopositioning", Proc. 5th EUSPEN International Conference, Montpellier, France
  3. Ibrahim, F. A., Awtar, S., et al., 2004, "Low-Cost Flexure Alignment Features", Proc. ASPE 2004 Annual Meeting, Orlando, FL
  4. Slocum, A.H., Awtar, S., et al., 2004 "Magnetically Preloaded Wheels", Proc. 4th EUSPEN International Conference, Glasgow, Scotland, pp. 368-369
  5. Slocum, A.H., Awtar, S. and Hart, A.J., 2002, "Magnebots - A Magnetic Wheels based Overhead Transportation Concept", Proc. 2nd IFAC Conference on Mechatronic Systems, Berkeley, CA
  6. Slocum, A. H., Awtar, S. et al., 2002, "Paths to Peace - A New Method for Teaching Design and Manufacturing", DYD02: The 2nd International Conference on Open Collaborative Design for Sustainable Innovation, Bangalore, India
  7. Awtar, S. and Craig, K.C., 2000, "Magnetic Coupling between DC Tachometer and Motor and its Effect on Motion Control", Proc. 7th Mechatronics Forum International Conference, Atlanta, GA
  8. Awtar, S. and Craig, K.C., 2000, "Mechatronic Design of a Ball on Plate Balancing System", Proc. 7th Mechatronics Forum International Conference, Atlanta, GA
  9. Craig, K.C., Awtar, S. et al., 2000, "Inverted Pendulum Systems: Rotary and Arm-driven, A Mechatronics System Design Case Study", Proc. 7th Mechatronics Forum International Conference, Atlanta, GA

PATENTS

Pending/Provisional

  1. Preemptively Controlled Active Seating, Restraint, And Wearable Technology To Mitigate Passenger Motion Sickness, US 62/916,406, 2019
  2. Medical Devices having Smoothly Articulating Multi-Cluster Joints, US 15/286,489, 2016
  3. Tension Management Apparatus for Cable-driven Transmission, PCT/US2016/025926, 2016

Granted

  1. Parallel Kinematic Mechanisms with Decoupled Rotational Motions, US 10405936B2, Sep 2016
  2. End-Effector Jaw Closure Transmission Systems for Remote Access Tools, US 9,869,339, Jan 2018
  3. Skin Tissue Biopsy Device, US 9,861,345, Jan 2018
  4. Handle Mechanism Providing Unlimited Roll, US 9,814,451, Nov 2017
  5. Electromagnetic Actuators and Component Designs Therefor, US20140265644A1, Oct 2017
  6. Minimal Access Tool, US 9,675,370, Jun 2017
  7. Attachment Apparatus for Remote Access Tools, US 9,629,689, Apr 2017
  8. Single Axis Flexure Bearing Configurations, US9200689B2, Dec 2015
  9. Minimal Access Tool, US 8,668,702, Mar 2014
  10. Active Retractable Seal for Turbo-machinery and Related Method, US 8,540,479, Sep 2013
  11. Compliant Plate Seals for Turbomachinery, US 8,382,119, Feb 2013
  12. Fluidic Actuator for Application inside Turbomachinery, US 8,327,752, Dec 2012
  13. Compliant Plate Seal with an Annular Ring for Turbomachinery and Methods of Assembling the Same, US 8,162,324, Apr 2012
  14. Spring System Designs for Active and Passive Retractable Seals, US 8,113,771, Feb 2012
  15. Multiple Degrees of Freedom Motion System, US 8,072,120, Dec 2011
  16. Methods and apparatus to facilitate sealing in rotary machines, US 7,976,026, Jul 2011
  17. Retractable Compliant Plate Seals, US 7,909,335, Mar 2011
  18. Shaft Seal using Shingle Members, US, 7,703,774, Apr 2010
  19. Compliant Plate Seals for Turbomachinery, US 7,651,101, Jan 2010
  20. Actuation Pressure Control for Adjustable Seals in Turbomachinery, US 7,549,834, Jun 2009
  21. Compliant Plate Seals for Turbomachinery, US 7,419,164, Sep 2008
  22. Compliant Seal and System and Method Thereof, US 7,229,246 B2, Jun 2007
  23. Material Transportation System, US 6,886,651 B1, May 2005
  24. Apparatus Having Motion with Pre-Determined Degrees of Freedom, US 6,688,183 B2, Feb 2004

MAGAZINE ARTICLES

  1. Awtar, S., and Slocum, A.H., 2002, "Backend Automation in the Semiconductor Industry", Testing Assembly & Packaging, Future Fab International, 12