Chirikjian, Gregory S.

Department Of Mechanical Engineering

Hackerman Hall 116
3400 N Charles St
(410) 516-7127

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  • Ph.D. 1992, California Institute of Technology
  • B.A. 1988, The Johns Hopkins University
  • B.S. 1988, The Johns Hopkins University
  • Other Master's Degree (MSE.) 1988, The Johns Hopkins University
  • September 9, 2014 - September 8, 2015:  Program Director, National Science Foundation
Research Areas
  • Applied Mathematics (Applications of Group Theory in Engineering)
  • Computational Structural Biology (in particular, computational mechanics of large proteins)
  • Conformational Statistics of Biological Macromolecules
  • Designs and builds hyper-redundant robotic manipulator arms
  • Developed theory for 'hyper- redundant' (snakelike) robot motion planning
  • Self-replicating robotic systems
  • NASA Certificate of Recognition
  • Outstanding Paper Award IEEE Robotics and Automation Conference
  • 2014:  Selected as Program Director
  • 2014:  A.T. Yang Memorial Award
  • 2014:  ASME Mechanisms and Robotics Award
  • 2010:  IEEE Fellow
  • 2008:  ASME Fellow
  • 2008:  IEEE Senior Member
  • 2000:  ASME Design Engineering Division Certificate of Appreciation
  • 1994:  Presidential Faculty Fellow
  • 1993:  NSF Young Investigator Award
  • 1990:  Best Student Paper Award - Proceedings 2nd International Workshop on Advances in Kinematics
  • 1990:  NASA Fellow
  • 1988:  General Electric Fellow
  • "Robot and Protein Kinematics", ROBIO.  Qingdao, China.  2016
  • "A Modular Manufacturing System", Seminar.  2016
  • "Stochastic Models in Robotics", Seminar.  2016
  • "Quotients of Euclidean Groups by Space Groups", Workshop on Mathematical Structural Biology.  Boston.  2016
  • "Lie Groups and Machine Learning", Workshop on Geometry in Machine Learning.  New York.  2016
  • "Quotients of Euclidean Groups by Space Groups", Workshop on Mathematical Crystallography.  Philadelphia.  2016
  • Stochastic Models in Robotics.  Vanderbilt University, Mechanical Engineering.  November 10, 2014
  • "Applications of Noncommutative Harmonic Analysis", Modern Applications of Representation Theory.  University of Chicago.  July 28, 2014
  • "Configuration Spaces of Symmetry-Constrained Motions in Crystals", Workshop on Computational Structural Biology.  UC Berkeley.  July 12, 2014
  • Kinematics and Calibration.  Tianjin University.  2014
  • Series of two 2-hour lectures.  Beihang University.  2014
  • "Robotic Self-Diagnosis and Self-Repair", Workshop on Modular Robotics.  Hong Kong.  2014
  • Series of Four Lectures.  Harbin Institute of Technology.  February 22, 2014


Journal Articles
  • Huang, X., Chen, S., Guo, S., Xu, T., Ma, Q., Jin, S., Chirikjian, G. (2016).  A 3D localization approach for subsea pipelines using a spherical detector.  IEEE Sensors Journal.
  • Davis, J., Kutzer, M., Chirikjian, G. (2016).  Algorithms for Multilayer Conformal Additive Manufacturing.  ASME Journal of Computing and Information Science in Engineering.  16(2).  021003.
  • Li, X., Ding, X., Chirikjian, G. (2016).  Analysis of a mechanism with redundant drive for antenna pointing.  Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering.  0954410016636157.
  • Chirikjian, G., Shiffman, B. (2016).  Collision-free configuration-spaces in macromolecular crystals.  Robotica.  34(8).  1679-1704.
  • Kim, J., Afsari, B., Chirikjian, G. (2016).  Cross-Validation of Data Compatibility Between SAXS and Cryo-EM.  Journal of Computational Biology.
  • Kim, J., Chirikjian, G. (2016).  Inverse kinematic solutions of 6-DOF biopolymer segments.  Robotica.  34(8).  1734-1753.
  • Davis, J., Sevimli, Y., Eldridge, B. R., Chirikjian, G. (2016).  Module Design and Functionally Non-Isomorphic Configurations of the Hex-DMR II System.  ASME Journal of Mechanisms and Robotics .  8(5).  051008.
  • Li, H., Ma, Q., Wang, T., Chirikjian, G. (2016).  Simultaneous Hand-Eye and Robot-World Calibration by Solving the AX= YB Problem Without Correspondence.  IEEE Robotics and Automation Letters.  1(1).  145-152.
  • Li, X., Ding, X., Chirikjian, G. (2015).  Analysis of Angular-Error Uncertainty in Planar Multiple- Loop Structures with Joint Clearances.  Mechanism and Machine Theory.  91.  69-85.
  • Yan, Y., Chirikjian, G. (2015).  Closed-form characterization of the Minkowski sum and difference of twoellipsoids.  Geometriae Dedicata.  1-26.
  • Dong, H., Kim, J., Chirikjian, G. (2015).  Computational Analysis of SAXS Data Acquisition.  Journal of Computational Biology.  22(9).  787-805.
  • Chirikjian, G. (2015).  Conformational Modeling of Continuum Structures in Robotics and Struc- tural Biology: A Review.  Advanced Robotics.  29(13).  817 - 829.
  • Chirikjian, G., Ratnayake, K., Sajjadi, S. (2015).  Decomposition of Sohncke Space Groups into Products of Bieberbach and Symmorphic Parts.  Zeitschrift fur Kristallographie.  230(12).  719 - 741.
  • Chirikjian, G. (2015).  Kinematics Meets Crystallography: The Concept of a Motion Space.  ASME Journal of Computing and Information Science in Engineering.  15(1).  Article 011012.
  • Chirikjian, G. (2015).  Partial Bi-Invariance of SE(3) Metrics.  ASME Journal of Computing and Information Science in Engineering.  15(1).  Article 011008.
  • Chirikjian, G., Sajjadi, S., Toptygin, D., Yan, Y. (2015).  Mathematical aspects of molecular replacement. III. Properties of space groupspreferred by proteins in the Protein Data Bank.  Acta Crystallographica Section A.  71(2).
  • Moses, M. S., Ma, H., Wolfe, K. C., Chirikjian, G. (2014).  An Architecture for Universal Construction via Modular Robotic Components.  Robotics and Autonomous Systems.  62(7).  945-965.
  • Park, W., Chirikjian, G. (2014).  An Assembly Automation Approach to Alignment of Non-Circular Projections in Electron Microscopy.  IEEE Transactions on Automation Science and Engineering.  11(3).  668-679.
  • Chirikjian, G. (2013).  Framed curves and knotted DNA..  Biochemical Society transactions.  41(2).  635-8.
  • Wolfe, K. C., Hastings, W. A., Dutta, S., Long, A., Shapiro, B. A., Woolf, T. B., Guthold, M., Chirikjian, G. (2012).  Multiscale modeling of double-helical DNA and RNA: a unification through Lie groups..  The journal of physical chemistry. B.  116(29).  8556-72.
  • Chirikjian, G., Yan, Y. (2012).  Mathematical aspects of molecular replacement. II. Geometry of motion spaces..  Acta crystallographica. Section A, Foundations of crystallography.  68(Pt 2).  208-21.
  • Chirikjian, G. (2011).  Mathematical aspects of molecular replacement. I. Algebraic properties of motion spaces..  Acta crystallographica. Section A, Foundations of crystallography.  67(Pt 5).  435-46.
  • Park, W., Midgett, C. R., Madden, D. R., Chirikjian, G. (2011).  A Stochastic Kinematic Model of Class Averaging in Single-Particle Electron Microscopy..  The International journal of robotics research.  30(6).  730-754.
  • Chirikjian, G. (2011).  Modeling loop entropy..  Methods in enzymology.  487.  99-132.
  • Rucker, D. C., Webster, III, R. J., Chirikjian, G., Cowan, N. (2010).  Equilibrium Conformations of Concentric-Tube Continuum Robots.  Int J Robot Res.  29.  1263–1280.
  • Chirikjian, G. (2010).  Group theory and biomolecular conformation: I. Mathematical and computational models..  Journal of physics. Condensed matter : an Institute of Physics journal.  22(32).  323103.
  • Chirikjian, G. (2010).  INFORMATION-THEORETIC INEQUALITIES ON UNIMODULAR LIE GROUPS..  Journal of geometric mechanics.  2(2).  119-158.
  • Park, W., Wang, Y., Chirikjian, G. (2010).  The Path-of-Probability Algorithm for Steering and Feedback Control of Flexible Needles..  The International journal of robotics research.  29(7).  813-830.
  • Park, W., Madden, D. R., Rockmore, D. N., Chirikjian, G. (2010).  Deblurring of Class-Averaged Images in Single-Particle Electron Microscopy..  Inverse problems.  26(3).  3500521-35005229.
  • Park, W., Reed, K. B., Okamura, A. M., Chirikjian, G. (2010).  Estimation of Model Parameters for Steerable Needles..  IEEE International Conference on Robotics and Automation : ICRA : [proceedings] IEEE International Conference on Robotics and Automation.  3703-3708.
  • Skliros, A., Park, W., Chirikjian, G. (2010).  Position and Orientation Distributions for Non-Reversal Random Walks using Space-Group Fourier Transforms..  Journal of algebraic statistics.  1(1).  27-46.
  • Park, W., Leibon, G., Rockmore, D. N., Chirikjian, G. (2009).  Accurate image rotation using hermite expansions..  IEEE transactions on image processing : a publication of the IEEE Signal Processing Society.  18(9).  1988-2003.
  • Schuyler, A. D., Jernigan, R. L., Qasba, P. K., Ramakrishnan, B., Chirikjian, G. (2009).  Iterative cluster-NMA: A tool for generating conformational transitions in proteins..  Proteins.  74(3).  760-76.
  • Leibon, G., Rockmore, D. N., Park, W., Taintor, R., Chirikjian, G. (2008).  A Fast Hermite Transform..  Theoretical computer science.  409(2).  211-228.
  • Chirikjian, G. (2008).  The Stochastic Elastica and Excluded-Volume Perturbations of DNA Conformational Ensembles..  International journal of non-linear mechanics.  43(10).  1108-1120.
  • Park, W., Liu, Y., Zhou, Y., Moses, M., Chirikjian, G. (2008).  Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map..  Robotica.  26.  419-434.
  • Park, W., Chirikjian, G. (2008).  Tomographic Reconstruction of Band-limited Hermite Expansions..  Proceedings - Society of Photo-Optical Instrumentation Engineers.  6913.
  • Skliros, A., Chirikjian, G. (2008).  Position and Orientation Distributions for Locally Self-Avoiding Walks in the Presence of Obstacles..  Polymer.  49(6).  1701-1715.
  • Wang, Y., Chirikjian, G. (2008).  Nonparametric Second-Order Theory of Error Propagation on Motion Groups..  The International journal of robotics research.  27(11-12).  1258-1273.
  • Lee, K., Wang, Y., Chirikjian, G. (2007).  A Lie-Theoretic Perspective on O(n) Mass Matrix Inversion for Serial Manipulators and Polypeptide Chains..  Robotica.  25(6).  739.
  • Park, W., Chirikjian, G. (2007).  Interconversion between truncated Cartesian and polar expansions of images..  IEEE transactions on image processing : a publication of the IEEE Signal Processing Society.  16(8).  1946-55.
  • Skliros, A., Chirikjian, G. (2007).  Torsional random walk statistics on lattices using convolution on crystallographic motion groups..  Polymer.  48(7).  2155-2173.
  • Webster, III, R. J., Kim, J., Cowan, N., Chirikjian, G., Okamura, A. M. (2006).  Nonholonomic Modeling of Needle Steering.  Int J Robot Res.  25(5/6).  509–526.
  • Jeong, J. I., Lattman, E. E., Chirikjian, G. (2006).  A method for finding candidate conformations for molecular replacement using relative rotation between domains of a known structure..  Acta crystallographica. Section D, Biological crystallography.  62(Pt 4).  398-409.
  • Zhou, Y., Chirikjian, G. (2006).  Conformational Statistics of Semi-Flexible Macromolecular Chains with Internal Joints..  Macromolecules.  39(5).  1950-1960.
  • Kim, J., Chirikjian, G. (2006).  Conformational Analysis of Stiff Chiral Polymers with End-Constraints..  Molecular simulation.  32(14).  1139-1154.
  • Kim, J., Chirikjian, G. (2005).  A Unified Approach to Conformational Statistics of Classical Polymer and Polypeptide Models..  Polymer.  46(25).  11904.
  • Jain, A., Zhou, Y., Mustufa, T., Burdette, E. C., Chirikjian, G., Fichtinger, G. (2005).  Matching and reconstruction of brachytherapy seeds using the Hungarian algorithm (MARSHAL)..  Medical physics.  32(11).  3475-92.
  • Jain, A., Mustafa, T., Zhou, Y., Burdette, C., Chirikjian, G., Fichtinger, G. (2005).  FTRAC--a robust fluoroscope tracking fiducial..  Medical physics.  32(10).  3185-98.
  • Schuyler, A. D., Chirikjian, G. (2005).  Efficient determination of low-frequency normal modes of large protein structures by cluster-NMA..  Journal of molecular graphics & modelling.  24(1).  46-58.
  • Kim, M. K., Jernigan, R. L., Chirikjian, G. (2005).  Rigid-cluster models of conformational transitions in macromolecular machines and assemblies..  Biophysical journal.  89(1).  43-55.
  • Schuyler, A. D., Chirikjian, G., Lu, J. Q., Johnson, H. T. (2005).  Random-walk statistics in moment-based O(N) tight binding and applications in carbon nanotubes..  Physical review. E, Statistical, nonlinear, and soft matter physics.  71(4 Pt 2).  046701.
  • Patriciu, A., Chirikjian, G., Pappu, R. V. (2004).  Analysis of the conformational dependence of mass-metric tensor determinants in serial polymers with constraints..  The Journal of chemical physics.  121(24).  12708-20.
  • Lee, S., Chirikjian, G. (2004).  Interhelical angle and distance preferences in globular proteins..  Biophysical journal.  86(2).  1105-17.
  • Schuyler, A. D., Chirikjian, G. (2004).  Normal mode analysis of proteins: a comparison of rigid cluster modes with C(alpha) coarse graining..  Journal of molecular graphics & modelling.  22(3).  183-93.
  • Kim, M. K., Li , W., Shapiro, B. A., Chirikjian, G. (2003).  A comparison between elastic network interpolation and MD simulation of 16S ribosomal RNA..  Journal of biomolecular structure & dynamics.  21(3).  395-405.
  • Kim, M. K., Jernigan, R. L., Chirikjian, G. (2003).  An elastic network model of HK97 capsid maturation..  Journal of structural biology.  143(2).  107-17.
  • Kim, M. K., Chirikjian, G., Jernigan, R. L. (2002).  Elastic models of conformational transitions in macromolecules..  Journal of molecular graphics & modelling.  21(2).  151-60.
  • Kim, M. K., Jernigan, R. L., Chirikjian, G. (2002).  Efficient generation of feasible pathways for protein conformational transitions..  Biophysical journal.  83(3).  1620-30.
  • Lee, S., Fichtinger, G., Chirikjian, G. (2002).  Numerical algorithms for spatial registration of line fiducials from cross-sectional images..  Medical physics.  29(8).  1881-91.
  • Chirikjian, G., Wang, Y. (2000).  Conformational statistics of stiff macromolecules as solutions to partial differential equations on the rotation and motion groups.  Physical review. E, Statistical physics, plasmas, fluids, and related interdisciplinary topics.  62(1 Pt B).  880-92.
  • Chirikjian, G. (2016).  Mathematical Stereochemistry. By Shinsaku Fujita. De Gruyter, 2015. .  Acta Crystallographica Section A: Foundations and Advances .  72(5).  588-588.
  • Chirikjian, G., Kyatkin, A. (2016).  Harmonic Analysis for Engineers and Applied Scientists.  Dover.  850 pages.
  • Hsieh, M. A., Chirikjian, G. (2014).  Distributed Autonomous Robotic Systems: The 11th International Symposium.  Springer Publishing Company, Incorporated.
Book Chapters
  • Davis, J., Sevimli, Y., Ackerman, M. K., Chirikjian, G. (2016).  A Robot Capable of Autonomous Robotic Team Repair: The Hex-DMR II System.  Advances in Reconfigurable Mechanisms and Robots II.  Springer.  619-631.
  • Dong, H., Fan, T., Du, Z., Chirikjian, G. (2016).  Inverse kinematics of active rotation ball joint manipulators using workspaces density functions.  Advances in Reconfigurable Mechanisms and Robots II.  Springer.  633-644.
  • Li, X., Chirikjian, G. (2016).  Lie-Theoretic Multi-Robot Localization.  Riemannian Computing in Computer Vision.  165-186.
  • Li, H., Wang, T., Chirikjian, G. (2016).  Self-assembly Planning of a Shape by Regular Modular Robots.  Advances in Reconfigurable Mechanisms and Robots II.  Springer.  867-877.
  • Ma, Q., Chirikjian, G. (2016).  Sensor Calibration, Modeling and Simulation.  Humanoid Robotics: A Reference.  Springer.
  • Walker, I. D., Choset, H., Chirikjian, G. (2016).  Snake-Like and Continuum Robots.  Springer Handbook of Robotics.  Springer.  481-498.
  • Afsari, B., Chirikjian, G. (2015).  A Methodology for Deblurring and Recovering Conformational States of Biomolecular Complexes from Single Particle Electron Microscopy.  Geometric Science of Information.  643-653.
  • Wolfe, K. C., Chirikjian, G. (2014).  Error-Tolerant Cyclic Sequences for Vision-Based Absolute Encoders.  Distributed Autonomous Robotic Systems.  Springer Berlin Heidelberg.  104.  233-245.
  • Chirikjian, G., Yan, Y. (2014).  The Kinematics of Containment.  Advances in Robot Kinematics.  Springer International Publishing.  355-364.
  • Cowan, N., Goldberg, K., Chirikjian, G., Fichtinger, G., Alterovitz, R., Reed, K. B., Kallem, V., Park, W., Misra, S., Okamura, A. M. (2011).  Robotic Needle Steering: Design, Modeling, Planning, and Image Guidance..  Surgical Robotics – Systems, Applications, and Visions.  Springer.  557–582.
Conference Proceedings
  • Ruan, S., Kim, J., Chirikjian, G. (2016).  Symmetrical Rigid Body Parameterizations For Humanoid Robots.  Proceedings of ROBIO.  6.
  • Ma, Q., Davis, J., Cheng, A., Kim, Y., Chirikjian, G., Boctor, E. (2016).  A New Robotic Ultrasound System for Tracking a Catheter with an Active Piezoelectric Element.  Proceedings of IEEE IROS.  6.
  • Ma, Q., Li, H., Chirikjian, G. (2016).  New probabilistic approaches to the AX= XB hand-eye calibration without correspondence.   IEEE International Conference on Robotics and Automation (ICRA).  4365-4371.
  • Yan, Y., Ma, Q., Chirikjian, G. (2016).  Path Planning Based on Closed-Form Characterization of Collision-Free Configuration-Spaces for Ellipsoidal Bodies, Obstacles, and Environments.  RSS Workshop on Robot Learning and Planning (RLP 2016),.
  • Kim, J., Chirikjian, G. (2016).  Symmetrical Rigid Body Parameterizations For Biomolecular Complexes.  Proceedings of IEEE BIBM.  6.
  • Ma, Q., Go, Z., Chirikjian, G. (2016).  Probabilistic Approaches to the AXB = YCZ Calibration Problem in Multi-Robot Systems.  Robotics: Science and Systems.
  • Ma, Q., Chirikjian, G. (2015).  A Closed-Form Lower Bound on the Allowable Motion for an Ellipsoidal Body and Environment.  ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference.  8 pages.
  • Dong, H., Chirikjian, G. (2015).  A Comparison of Gaussian and Fourier Methods for Degenerate Diffusions on SE(2).  Proc. 2015 IEEE Conference on Decision and Control.  8 pages.
  • Davis, J., Kutzer, M., Chirikjian, G. (2015).  Algorithms for Multilayer Conformal Additive Manufacturing.  ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference.
  • Kim, J., Chirikjian, G. (2015).  Bayesian Filtering for Orientational Distributions: A Fourier Approach.  Proceedings of the 18th International Conference on Information Fusion: Fusion 2015.  748 - 753.
  • Afsari, B., Kim, J., Chirikjian, G. (2015).  Cross-validation of data in SAXS and cryo-EM.  Proceedings 2015 IEEE International Conference on Bioinformatics and Biomedicine.  1224-1230.
  • Davis, J., Sevimli, Y., Eldridge, B., Chirikjian, G. (2015).  Module Design and Functionally Non-Isomorphic Configurations of the Hex-DMR II System.  ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference.  8 pages.
  • Kim, J., Chirikjian, G. (2015).  Principles of Transference in Theoretical Kinematics.  ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference.  8 pages.
  • Chirikjian, G., Kobilarov, M. (2014).  Gaussian Approximation of Non-linear Measurement Models on Lie Groups.  53rd IEEE Conference on Decision and Control.  6401–6407.
  • Dong, H., Chirikjian, G. (2014).  A computational model for data acquisition in SAXS.  5th ACM Conference on Bioinformatics, Computational Biology, and Health Informatics.  695-702.
  • Kutzer, M. D., Brown, C. Y., Armand, M., Chirikjian, G. (2014).  Buckybot: A Robot Based on the Geometry of a Truncated Icosahedron.  ASME Design Technical Meetings.  DETC2014- 35537.
  • Chirikjian, G. (2014).  Kinematics Meets Crystallography: The Concept of a Motion Space.  ASME Design Technical Meetings.  DETC2014-34243.
  • Chirikjian, G. (2014).  Partial Bi-Invariance of SE(3) Metrics.  ASME Design Technical Meetings.  DETC2014-34276.
  • Ackerman, M., Cheng, A., Chirikjian, G. (2014).  An information-theoretic approach to the correspondence-free AX #x003D;XB sensor calibration problem.  Robotics and Automation (ICRA), 2014 IEEE International Conference on.  4893-4899.
  • Ackerman, M., Cheng, A., Boctor, E., Chirikjian, G. (2014).  Online ultrasound sensor calibration using gradient descent on the Euclidean Group.  Robotics and Automation (ICRA), 2014 IEEE International Conference on.  4900-4905.
  • Webster, III, R. J., Cowan, N., Chirikjian, G., Okamura, A. M. (2006).  Nonholonomic Models for Needle Steering.  Experimental Robotics IX.  21.  35–44.
  • Park, W., Kim, J., Zhou, Y., Cowan, N., Okamura, A. M., Chirikjian, G. (2005).  Diffusion-Based Motion Planning for a Nonholonomic Flexible Needle Model.  Proc IEEE Int Conf Robot Autom.  4600–4605.
  • Chirikjian, G., Chirikjian, J., Chirikjian, B., Davis, J., Taylor, R.  "Mosquito Salivary Gland Extraction Device and Methods of Use"
  • Chirikjian, G., Fictinger, G., Jain, A., Zhou, Y., Burdette, E., Mustufa, T.  "Image registration of multiple medical imaging modalities using a multiple degree-of-freedom-encoded fiducial device ", 2015.
  • Chirikjian, G., Webster, R., Okamura, A., Cowan, N., Goldberg, K.  "Distal Bevel-Tip Needle Control Device and Algorithm", 2010.
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