Publications

Journal Articles

• B. Potsaid and J.T.Wen, "High Performance Motion Tracking Control for Electronic Manufacturing,'' ASME Journal on Dynamics, Measurement, & Control, accepted for publication, 2007.
• T.Alpcan, X.Fan, T.Basar, M.Arcak, J.T.Wen, "Power Control for Multicell CDMA Wireless Networks: a Team Optimization Approach," to appear in ACM/Baltzer Wireless Networks (WINET) Journal, 2007.
• B. Potsaid and J.T.Wen, "Active Optics Improve Microscope's Field of View," Microscopy Today, 14(4), July 2006, pp.16-22.
• X. Fan, K. Chandrayana, M. Arcak, S.Kalyanaraman, J.T.Wen, ``A Two-Time-Scale Design for Edge-Based Detection and Rectification of Uncooperative Flows,'' IEEE/ACM Transactions on Networking, 14(6), December, 2006, pp. 1313-1322.
• X. Fan, T. Alpcan, M. Arcak, J.T.Wen, and T. Basar, ``A Passivity Approach to Game-Theoretic {CDMA} Power Control,'' Automatica, 42(11), November, 2006, pp.1837-1847.
• J.F. O'Brien, F. Jafari, and J.T. Wen, ``Determination of Unstable Singularities in Parallel Robots with N-arms,'' IEEE Transaction on Robotics, February, 2006.
• B. Potsaid, Y.Bellouard, J.T.Wen, "Adaptive Scanning Optical Microscope (ASOM): a multidisciplinary optical microscope design for large field and high resolution imaging," Optical Express, 13(17), Aug., 2005, pp.6504-6518.
• W.Gressick, J.T.Wen, J. Fish, ``Order Reduction for Large-Scale Finite Element Models: A Systems Perspective,'' International Journal for Multiscale Computational Engineering, 3(3), 2005.
• B.-H. Kang, J.T. Wen, N.G. Dagalakis, J.J. Gorman, "Analysis and Design of Parallel Mechanisms with Flexure Joints," IEEE Transaction on Robotics, Dec, 2005, pp.1179-1185.
• X. Fan, M. Arcak, J.T. Wen, ``A Robustness Analysis of Game-Theoretic CDMA Power Control,'' Elektrik, Turkish Journal of Electrical Engineering & Computer Sciences, Special Issue on Control of Communication Networks, 12(3), Nov, 2004, pp.139-150.
• X. Fan, M. Arcak, J.T. Wen, “Robustness of Network Flow Control Against Disturbances and Time-Delay,” System and Control Letters, 53(1), 2004, pp.13-29.
• J.T. Wen, M. Arcak, “A Unifying Passivity Framework for Network Flow Control,” IEEE Transaction on Automatic Control, 49 (2), Feb., 2004, pp.162--174.
• S. Jung, J.T. Wen, “Nonlinear Model Predictive Control for the Swing-up of a Rotary Inverted Pendulum,” ASME J. on Dynamics, Measurements, & Control, Sept., 126(3), 2004, pp. 666-673.
• J.T. Wen, J.F. O’Brien, “Singularities in Three-Legged Platform-Type Parallel Mechanisms,” IEEE Transaction on Robotics and Automation, 19(4), Aug. 2003, pp.720--725. Aug., 2003.
• J. O'Brien, J.T. Wen, ``On Kinematic Instability of Parallel Robots,” Electronic Journal of Computational Kinematics, 1(1), February, 2002.
• H. Kang and J.T. Wen, ``Design and Implementation of a Robotic Assistant in Minimally Invasive Surgeries,'' IEEE Magazine Engineering in Medicine and Biology Magazine, January, 2000.
• D. Popa and J.T. Wen, ``Singularity Computation for Iterative Control of Nonlinear Affine Systems,'' Asian Journal of Control, 2(2), June, 2000, pp.57-75. Correction.
• C. Bernard, H. Kang, S.K. Singh, J.T. Wen, ``Robotic System for Collaborative Control in Minimally Invasive Surgery,'' Industrial Robot, 26(6), Nov/Dec, 1999. pp.476-484.
• J.T. Wen, L.S. Wilfinger, ``Kinematic Manipulability of General Constrained Rigid Multibody Systems,'' IEEE Transaction on Robotics and Automation, 15(3), June, 1999. pp.558-567.
• C. Dickinson, J.T. Wen, ``Feedback Control Strategies for Shape Memory Alloy Actuators,'' Journal of Intelligent Material Systems and Structures, 9(4), April, 1998, pp. 242-250.
• B. Tibbetts, J.T. Wen, ``Extrusion Process Control: Modeling, Identification, and Optimization,'' IEEE Transaction on Control System Technology, 3, March, 1998, pp. 134-145.
• R. Beard, G.N. Saridis, J.T. Wen, ``Approximate Solutions to the Time-Invariant Hamilton-Jacobi-Bellman Equation,'' Journal of Optimization Theory and Applications, 96(3), March 1998.
• R. Beard, G.N. Saridis, J.T. Wen, ``Sufficient Conditions for the Convergence of Galerkin Approximations to the Hamilton-Jacobi Equation,'' Automatica, 33(12), December, 1997, pp.2159-2177.
• S.G. Shu, D.C. Lagoudas, D Hughes, J.T. Wen, ``Modeling of a Flexible Beam Actuated by Shape Memory Alloy Wires,'' Journal on Smart Materials and Structures, Journal of Smart Materials and Structures, 6, June, 1997, pp. 265-277.
• D Hughes, J.T. Wen, ``Preisach Modeling of Piezoceramic and Shape Memory Alloy Hysteresis,'' Journal on Smart Materials and Structures, Journal of Smart Materials and Structures, 6, June, 1997, pp. 287-300.
• A. Divelbiss, J.T. Wen, ``Trajectory Tracking Control of a Car-Trailer System,'' IEEE Transaction on Control System Technology, 5(3), May, 1997, pp.269-278.
• A. Divelbiss, J.T. Wen, ``A Path Space Approach to Nonholonomic Motion Planning in the Presence of Obstacles,'' IEEE Transaction on Robotics and Automation, 13(3), June, 1997, pp.443-451.
• X. Chen, J.T. Wen, ``Robustness Analysis for Linear Time Invariant Systems with Structured Incrementally Bounded Feedback Nonlinearities,'' Journal of Applied Mathematics and Computer Science, 6(4), 1996.
• R. Beard, G.N. Saridis, J.T. Wen, ``Improving the Performance of Stabilizing Controls for Nonlinear Systems,'' IEEE Control System Magazine, October, 1996, pp.27-35.
• D. Hughes, J.T. Wen, ``Passivity Motivated Controller Design for Flexible Structures,'' AIAA Journal of Guidance, Control, and Dynamics, May-June, 1996, pp.726-729.
• F. Lizarralde, J.T. Wen, ``Attitude Control without Angular Velocity Measurement: A Passivity Approach,'' IEEE Transaction on Automatic Control, March, 1996, pp.468-472.
• A. Kelkar, S. Joshi, J.T. Wen, ``Robust Attitude Stabilization of Spacecraft Using Nonlinear Quaternion Feedback." IEEE Transaction on Automatic Control, 40(10), October, 1995, pp.1800-1803.
• X. Chen, J.T. Wen, ``Positive Realness Preserving Model Reduction with H-infinity Norm Error Bounds,'' IEEE Transaction on Circuits and Systems - I: Fundamental Theory and Applications, Jan, 1995, pp.23-29.
• P. Akella, X. Chen, W. Cheng, D. Hughes, J.T. Wen, ``Modeling and Control of Smart Structures with Bonded Piezoelectric Sensors and Actuators,'' Journal on Smart Materials and Structures, 3, pp.344-353, 1994.
• W. Cheng, J.T. Wen, ``A Two-Time-Scale Neural Controller for the Tracking Control of Rigid Manipulators,'' IEEE Transaction on Systems, Man, and Cybernetics, 24(7), July, 1994.
• L.S. Wilfinger, J.T. Wen, S. Murphy, ``Integral Force Control with Robustness Enhancement,'' IEEE Control System Magazine, 14(1), February, pp.31-40, 1994.
• S. Murphy, J.T. Wen, ``Analysis of Active Manipulator Elements in Space Manipulation,'' IEEE Transaction on Robotics and Automation, Special Issue on Space Robotics, 9(5), October, pp.544-552, 1993.
• L. Lanari, J.T. Wen, ``Asymptotically Stable Set Point Control Laws for Flexible Robots,'' System and Control Letters, 19, July-Aug, pp.119-129, 1992.
• J.T. Wen, K. Kreutz-Delgado, ``Motion and Force Control of Multiple Robotic Manipulators,'' Automatica, 28(4), pp.729-743, 1992.
• E. Castro, S. Seereeram, J. Singh, A. Desrochers, J.T. Wen, ``A Real-Time Computer Controller for a Robotic Filament Winding System,'' Journal of Intelligent and Robotic Systems, 7(1), February 1992, pp.73-91.
• J.T. Wen, ``Stability of a Class of Interconnected Evolution Systems,'' IEEE Transaction on Automatic Control, March, 1992, pp.342-347.
• J.T. Wen, K. Kreutz-Delgado, D. Bayard, ``Lyapunov Function Based Control Laws for Revolute Robot Arms: Tracking Control, Robustness, and Adaptive Control,'' IEEE Transaction on Automatic Control, 37 (2), February, 1992, pp.231-237.
• S. Seereeram, J.T. Wen, ``An All-Geodesic Algorithm for Filament-Winding of a T-shaped Form,'' IEEE Transaction on Industrial Electronics, December, 1991.
• J.T. Wen, K. Kreutz-Delgado, ``The Attitude Control Problem,'' IEEE Transaction on Automatic Control, 36(10), October, 1991, pp.1148-1162.
• S. Murphy, J.T. Wen, G. Saridis, ``Simulation of Cooperating Robot Manipulators on a Mobile Platform,'' IEEE Transaction on Robotics and Automation, 7(4), August, 1991, pp.468-478.
• J.T. Wen, S. Murphy, ``Stability Analysis of Position and Force Control of Robot Arms,'' IEEE Transaction on Automatic Control, 36(3), March, 1991, pp.365-371.
• J.T. Wen, ``A Unified Perspective on Robot Control: The Energy Lyapunov Function Approach,'' International Journal on Adaptive Control and Signal Processing, 4(6), 1990, pp.487-500.
• J.T. Wen, ``Finite Dimensional Controller Design for Infinite Dimensional Systems: The Circle Criterion Approach,'' Systems and Control Letters, 13, 1989, pp.445-454.
• J.T. Wen, M. Balas, ``Robust Adaptive Control in Hilbert Space,'' Journal of Mathematical Analysis and Applications, 143(1), Oct., 1989, pp.1-26.
• J.T. Wen, ``Time Domain and Frequency Domain Conditions for Strict Positive Realness,'' IEEE Transaction on Automatic Control, 33(10), Oct, 1988, pp.988-992.
• J.T. Wen, D. Bayard, ``A New Class of Stabilizing Control Laws for Robotic Manipulators, Part I: Nonadaptive Case'' International Journal of Control, 47(5), 1988, pp.1361-1385.
• D. Bayard, J.T. Wen, ``A New Class of Stabilizing Control Laws for Robotic Manipulators, Part II: Adaptive Case'' International Journal of Control, 47(5), 1988, pp.1387-1406.
• J.T. Wen, A. Desrochers, ``An Algorithm for Obtaining Bang-Bang Control Laws,'' ASME J. Dynam.  Syst. Meas. & Contr., 109, June, 1987, pp.171-175.

Recent Technical Reports

• J.T. Wen, S. Jung, “Nonlinear Model Predictive Control based on the Reduction of Predicted State Error,” Technical Report, July, 2003.

Recent Conference Articles

• R. Quintanilla, J.T. Wen, M. Arcak, "Robust Control for Linear Stages in Electronic Manufacturing," American Control Conference, New York, July, 2007.
• H. Bai, J.T. Wen, M. Arcak, "Group Coordination when the Reference Velocity is Available Only to the Leader: An Adaptive Design," American Control Conference, New York, July, 2007.
• B. Potsaid, J.T. Wen, F. Finger, "Living organism imaging with the Adaptive Scanning Optical Microscope (ASOM)," Photonics West, San Jose, Jan, 2007.
• B. Potsaid, J.T. Wen, "Adaptive Scanning Optical Microscope (ASOM): large field of view and high resolution imaging using a MEMS deformable mirror," Photonics West, San Jose, Jan, 2007.
• B. Potsaid, J.T. Wen, F. Finger, "Automation of Challenging Spatial-Temporal Biomedical Observations with the Adaptive Scanning Optical Microscope (ASOM)," IEEE Conference on Automation Science and Engineering, Shanghai, China, Oct. 2006. (Best Conference Paper Award).
• B. Potsaid, J.T. Wen, "A multidisciplinary design and optimization methodology for the Adaptive Scanning Optical Microscope (ASOM)," Novel Optical Systems Design and Optimization IX Conference}, SPIE Symposium on Optics & Photonics, Aug. 13-17, 2006, San Diego, CA.
• B. Potsaid, J.T. Wen, Y. Bellouard, ``Adaptive Scanning Optical Microscope (ASOM) for Large Workspace Micro-robotic Applications,'' IEEE Robotics and Automation Conference, Orlando, 2006.
• X. Fan, K. Chandrayana, M. Arcak, S. Kalyanaraman, J.T. Wen, ``A Two-Time Scale Design for Detection and Rectification of Uncooperative Network Flows,'' Conference on Decision and Control, Dec. 2005, Seville, Spain.
• T. Alpcan, X. Fan, T. Basar, M. Arcak, and J.T. Wen, ``Power Control for Multicell CDMA Wireless Networks: A Team Optimization Approach,'' 3 rd International Symposium on Modeling and Optimization in Mobile, Ad-hoc and Wireless Networks, Trentino, Italy, April, 2005.
• J.L. Hurst, J.T. Wen, ``Computation of Shear Viscosity: A Systems Approach,'' American Control Conference, June, 2005, Portland, OR.
• B. Potsaid, Y. Bellouard, J.T. Wen, ``Design of an Adaptive Scanning Optical Microscope for Simultaneous Large Field of View and HighResolution,'' IEEE Conference on Robotics and Automation, Barcelona, Spain, April 18-22, 2005.
• G. Montemayor, J.T. Wen, ``Decentralized Collaborative Load Transport by Multiple Robots,'' IEEE Conference on Robotics and Automation, Barcelona, Spain, April 18-22, 2005.
• J.F. O'Brien, F. Jafari, J.T. Wen, ``Self-motion in Spatial Parallel Mechanisms with More than Three Legs,'' IEEE Conference on Roboticsand Automation, Barcelona, Spain, April 18-22, 2005.
• B.H. Kang, J.T. Wen, N.G. Dagalakis, J.J. Gorman, ``Design Optimization for a Parallel MEMS Mechanism with Flexure Joints,'' International Design Engineering Technical Conferences, Sept.28-Oct.2, 2004, Salt Lake City, Utah.
• B.H. Kang, J.T. Wen, A. Messac, ''Structural Optimization of a Parallel MEMS Manipulator with a New Performance Measure,'' 10th AIAA/ISSMO Multidisciplinary Analysis and Optimization, Albany, NY, Aug.30--Sept.1, 2004.
• J.T. Wen, F. Lizarralde, ``Nonlinear Model Predictive Control based on the Best-step Newton Algorithm,'' Conference on Control Applications, Taipei, Taiwan, Aug. 31--Sept. 2, 2004.
• G. Montemayor, J.T. Wen, ``Multiple Robot Force Control with Delayed Force Measurements,'' Conference on Control Applications, Taipei, Taiwan, Aug.~31--Sept.~2, 2004.
• B. Potsaid, J.T. Wen, ``High Performance Motion Tracking Control,'' Conference on Control Applications,'' Taipei, Taiwan, Aug. 31--Sept. 2, 2004. (Best student paper)
• X. Fan, M. Arcak, J.T. Wen, “Passivation Designs for CDMA Uplink Power Control,” American Control Conference 2004.
• X. Fan, M. Arcak, J.T. Wen, “Robustness of CDMA Power Control against Disturbances and Time-Delays,” American Control Conference 2004.
• B.H. Kang, J.T. Wen, N.G. Dagalakis, J.J. Gorman, ``Analysis and Design of Parallel Mechanisms with Flexure Joints,'' IEEE Conference on Robotics and Automation, New Orleans, April 30-May 2, 2004.
• X. Fan, M. Arcak, J.T. Wen, L_p stability and delay robustness of network flow control, Conference on Decision and Control, Maui, HI, Dec, 2003.
• J.T. Wen, M. Arcak, ``A Unifying Passivity Framework for Network Flow Control,'' 2003 INFOCOM, San Francisco, March, 2003.
• B. Potsaid, Y. Bellouard, J.T. Wen, ``Scanning Optical Mosaic Scope for Micro-Manipulation,'' International Workshop on Micro-Factory (IWMF), Minneapolis, Sept 2002.
• H. Kang, J.T. Wen, ``Robotic Knot Tying for Minimally Invasive Surgeries,'' International Robotics and Systems (IRoS) Conference, Lausanne, Switzerland, Sept 2002.
• B. Potsaid, J.T. Wen, ``Optimal mechanical design of a rotary inverted pendulum,'' International Robotics and Systems (IRoS) Conference, Lausanne, Switzerland, Sept 2002.
• J.T. Wen, D. Popa, G. Montemayor, P.L. Liu, ``Human Assisted Impedance Control of Overhead Cranes,'' 2001 Conference on Control Applications, Mexico City, Mexico, Sept. 2001.
• D.A. Miele, B. Potsaid, J.T. Wen, ``An Internet-based Remote Laboratory for Control Education,'' 2001 American Control Conference, Arlington, VA, June, 2001.
• J. O'Brien, J.T. Wen, ``On Kinematic Instability of Parallel Robots,'' Second Workshop on Computational Kinematics, Seoul, Korea, May 2001.
• H. Kang, J.T. Wen, ``EndoBot: a Robotic Assistant in Minimally Invasive Surgeries,'' 2001 IEEE Conference on Robotics and Automation, Seoul, Korea, May 2001.

Trade Magazine Coverage

• ``Deformable Mirror Improves Microscope's Field of View'' Photonics Spectra, May 2006 (by Hank Hogan)
• ``Adaptive microscope defies tradition,'' Opto & Laser Europe, August 31, 2005 (by Jacqueline Hewett).
• ``Curved field aids scanning design,'' Laser Focus World, Nov 2005 (by John Wallace).

Press Release

• RPI press release of the licensing of ASOM to Thorlabs (November 2006).