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Abhinandan Jain

Address:

4800 Oak Grove Drive
M/S 198-235

Pasadena, CA 91109

Member of:

3471 - Section Staff

Abhinandan Jain

Senior Research Scientist

Education

1986 - Ph.D., Renselaer Polytechnic Institute, NY
1982 - MS, Suny at Buffalo, NY
1978 - B.Tech, Indian Institute of Technology, Kanpur, India.

Professional Experience

1989-now - JPL, Pasadena, CA
1988-89 - Charles River Analytics, Boston, MA.
1979-81 - ACES, IIT, Kanpur, India.

Research Interests

Physics based simulation
Computational multibody dynamics

Publications

2024
  1. T. S. Vaquero, G. Daddi, R. Thakker, M. Paton, A. Jasour, M. Strub, R. M. Swan, R. Royce, M. Gildner, P. Tosi, M. Veismann, P. Gavrilov, E. Marteau, J. Bowkett, D. Loret de Mola Lemus, Y. Kumar Nakka, B. Hockman, A. Orekhov, T. Hasseler, C. Leake, B. Nuernberger, P. Proenca, W. Reid, W. Talbot, N. Georgiev, T. Pailevanian, A. Archanian, E. Ambrose, J. Jasper, R. Etheredge, C. Roman, D. Levine, K. Otsu, S. Yearicks, H. Melikyan, R. Rieber, K. Carpenter, J. Nash, A. Jain, L. Shiraishi, M. Robinson, M. Travers, H. Choset, J. Burdick, A. Gardner, M. Cable, M. Ingham, and M. Ono, "EELS: Autonomous Snake-like Robot with Task and Motion Planning Capabilities for Ice World Exploration," Science Robotics, vol. 9, no. 88, 13 March 2024.
  2. R. Thakker, M. Paton, M. Strub, M. Swan, T. Vaquero, B. Jones, G. Daddi, R. Royce, J. Bowkett, D. Loret de Mola Lemus, D. Pastor Moreno, Y. Kumar Nakka, K. Otsu, T. Hasseler, C. Leake, B. Nuernberger, P. Proenca, W. Talbot, A. Orekhov, A. Jain, M. Robinson, R. Etheredge, M. Travers, H. Choset, M. Ingham, J. Burdick and M. Ono, "To Boldly Go Where No Robots Have Gone Before – Part 4: NEO Autonomy for Robustly Exploring Unknown, Extreme Environments with Versatile Robots," AIAA Scitech 2024 Forum, Orlando, Florida, USA, pp. 1-14, 08 January 2024.
  3. M. Ono, R. Thakker, N. Georgiev, P. Gavrilov, A. Archanian, T. Drevinskas, G. Daddi, M. Paton, H. Melikyan, T. Pailevanian, C. Lopez, E. Ambrose, B. Jones, L. Tosi, M. Gildner, B. Hockman, D. Loret de Mola Lemus, D. Pastor Moreno, T. Hasseler, Y. Kumar Nakka, E. Marteau, B. Nuernberger, M. Peticco, M. Cable, P. Proenca, M. Malaska, J. Bowkett, A. Jasour, M. Ingham, J. Nash, D. Balentine, A. Barchowsky, F. Bevreng, K. Botteon, M. Caballero, K. Carpenter, M. Chodas, A. Daca, J. Feldman, A. Gardner, A. Goddu, A. Jain, C. Jin, M. Khanum, R. Kornfeld, G. Mark, B. Morrell, J. Naish, W. Reid and R. Etheredge, "To Boldly Go Where No Robots Have Gone Before – Part 1: EELS Robot to Spearhead a New One-Shot Exploration Paradigm with In-situ Adaptation," AIAA Scitech 2024 Forum, Orlando, Florida, USA, pp. 1-23, 08 January 2024.
2023
  1. J. Bowkett, D. Kim, J. Nash, D. Moreno, M. Gildner, R. Thakker, K. Wehage, S. Kim, A. Brinkman, B. Emanuel, J. Edlund, B. Ridge, A. Jain, and P. Backes, "Demonstration of Autonomous Sampling Techniques in an Icy Moon Terrestrial Analog," 2023 IEEE Aerospace Conference, pp. 1-5, 04 March 2023.
  2. C. Leake and A. Jain, "FModal: A Flexible Body Dynamics Modeling Pipeline for Guidance and Control," 2023 IEEE Aerospace Conference, Big Sky, MT, USA, pp. 1-14, 04 March 2023.
2022
  1. J. Delaune, J. Izraelevitz, S. Sirlin, D. Sternberg, L. Giersch, L. Tosi, E. Skyliyanskiy, L. Young, M. Mischna, S. Withrow-Maser, J. Mueller, J. Bowman, M. Wallance, H. Grip, L. Matthies, W. Johnson, M. Keennon, B. Pipenberg, H. Patel, C. Lim, M. Veismann, H. Cummings, S. Conley, T. Tzanetos, R. Brockers, A, Jain, D. Bayard, A. Chmielewski, O. Toupet, J. Burdick, M. Gharib, J. B. Balaram, "Mid-Air Helicopter Delivery at Mars Using a Jetpack," 2022 IEEE Aerospace Conference (AERO), Big Sky, MT, USA, pp. 1-20, 05 March 2022.
  2. K. Hand, C. Phillips, A. Murray, et al., "Science Goals and Mission Architecture of the Europa Lander Mission Concept," The Planetary Science Journal, vol. 3, iss. 1, 26 January 2022.
2021
  1. J. Bowkett, J. Nash, D. Inkyu Kim, S. Kim, R. Thakker, A. Brinkman, Y. Cheng, R. Wilson, C. Lim, A. Gaut, A. Jain, M. Gildner, B. Emanuel, P. Backes, "Functional Autonomy Challenges in Sampling for an Europa Lander Mission," 2021 IEEE Aerospace Conference (50100), Big Sky, MT, USA, pp. 1-8, 06 March 2021.
2020
  1. A. Jain, J. Ziegler, "PyCraft: An Algorithm Workbench for Computational Multibody Dynamics," 7th World Congress on Computational Mechanics, Los Angeles, CA, July 16-22, 2006, 17 September 2020.
  2. A Jain and J. Biesiadecki, "YaM - A Framework for Rapid Software Development," Second International Conference on Space Mission Challenges for Information Technology (SMC-IT 2006), Pasadena, CA, July 2006, 17 September 2020.
  3. G. Sohl and A Jain, "Wheel-Terrain Contact Modeling in the Roams Planetary Rover Simulation," Fifth ASME International Conference on Multibody Systems, Nonlinear Dynamics and Control, Long Beach, CA, September 2005, 17 September 2020.
2019
  1. H. Grip, J. Lam, D. Bayard, D. Conway, G. Singh, R. Brockers, J. Delaune, L. Matthies, C. Malpica, T. Brown, A. Jain, A. San Martin, and G. Merewether, "Flight Control System for NASA's Mars Helicopter," AIAA Scitech 2019 Forum, pp. 1-20, 07 January 2019.
2010
  1. M. Pomerantz, A. Jain, S. Myint,, "Dspace: Real-time Visualization System for Spacecraft Dynamics Simulation," Third IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT 2009), Pasadena, CA, July 19-23, 2009, 26 March 2010.
  2. A. Jain, "Recursive Algorithms using Local Constraint Embedding for Multibody System Dynamics," ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2009) , San Diego, CA, August 30-September 2, 2009., 26 March 2010.
  3. A. Jain, "Graph Theory Roots of Spatial Operators for Kinematics and Dynamics," 2010 IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 3-8, 2010., 26 March 2010.
2009
  1. H. Nayar, A. Jain, J. Balaram, J. Cameron, C. Lim, R. Mukherjee, M. Pomerantz, L. Reder, S. Myint, N. Serrano, S. Wall, "Recent Developments on a Simulator for Lunar Surface Operations," AIAA SPACE 2009 Conference & Exposition, 01 September 2009.
  2. C. Lim, A. Jain, "Dshell++: A Component Based, Reusable Space System Simulation Framework," Third IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT 2009), 01 July 2009.
2008
  1. H. Nayar, J. Balaram, J. Cameron, A. Jain, C. Lim, R. Mukherjee, S. Peters, M. Pomerantz, L. Reder, P. Shakkottai, S. Wall, "A Lunar Surface Operations Simulator," Proc. International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2008), 01 November 2008.
2006
  1. A Jain, J. Cameron, C. Lim, J. Guineau, "SimScape Terrain Modeling Toolkit," Second International Conference on Space Mission Challenges for Information Technology (SMC-IT 2006), Pasadena, CA, July 2006, 01 July 2006.
2005
  1. R Madison, M Pomerantz, and A Jain, "Camera Response Modeling and Verification in ROAMS," i-SAIRAS 2005, Munich, Germany, September 2005, 01 September 2005.
  2. J. Yen and A. Jain, "ROAMS: Rover Analysis Modeling and Simulation Software," International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS'99), (Noordwijk, Netherlands), 19 June 2005.
2004
  1. A. Jain, J. Balaram, J. Cameron, J. Guineau, C. Lim, M. Pomerantz, G. Sohl, "Recent Developments in the ROAMS Planetary Rover Simulation Environment," IEEE 2004 Aerospace Conf., Big Sky, Montana, March 6-13, 2004, 06 March 2004.
2003
  1. A. Jain, J. Guineau, C. Lim, W. Lincoln, M. Pomerantz, G. Sohl, R. Steele, "Roams: Planetary Surface Rover Simulation Environment," International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2003), (Nara, Japan), May 19-23, 2003, 01 May 2003.
  2. A. Jain, G. Rodriguez, "Multibody Mass Matrix Sensitivity Analysis Using Spatial Operators," Int. Journal for Multiscale Computational Engineering, vol.1, Issue 2-3, 2003, 01 January 2003.
2002
  1. S. Striepe, J. Balaram, "Mars Smart Lander Simulations for Entry, Descent, and Landing," AIAA Atmospheric Flight Mechanics Conf., Monetery, California, 5-8 August, 2002., 01 May 2002.
  2. B. Martin, J. Balaram, D. Henriquez, G. Sohl, C. Miller, M. Pomerantz, "System Engineering Challenges of Real-Time Simulation for Mars Smart Lander Entry, Descent, and Landing," AIAA Atmospheric Flight Mechanics Conf., Monterery, California, 5-8 August, 2002., 01 May 2002.
  3. J. Balaram, R. Austin, P. Banerjee, T. Bentley, D. Henriquez, B. Martin, E. McMahon, G. Sohl, "DSENDS - A High-Fidelity Dynamics and Spacecraft Simulator for Entry, Descent and Surface Landing," IEEE 2002 Aerospace Conf., Big Sky, Montana, 09 March 2002.
1999
  1. A. Jain and G. Rodriguez, "Sensitivity Analysis for Multibody Systems Using Spatial Operators," Sixth Int. Conf. on Methods and Models in Automation and Robotics (Miedzyzdroje, Poland), Aug. 38-31 2000., 01 August 1999.
1997
  1. J. Biesiadecki, D. Henriquez, and A. Jain, "A Reusable, Real-Time Spacecraft Dynamics Simulator," 6th Digital Avionics Systems Conference, (Irvine, CA), 01 October 1997.
  2. A. Jain and G. Rodriguez, "A Spatial Operator Algebra for Computational Multibody Dynamics," International Conference on Scientific Computation and Differential Equations (SciCADE'97), (Grado, Italy), 01 September 1997.
  3. A. Jain, "Compensating Mass Matrix Potential for Constrained Molecular Dynamics," Journal of Computational Physics, 01 July 1997.
  4. J. Biesiadecki, A. Jain, and M.L. James, "Advanced Simulation Environment for Autonomous Spacecraft," International Symposium on Artificial Intelligence, Robotics and Automation in Space i-SAIRAS'97, (Tokyo, Japan), 01 July 1997.
  5. G. Rodriguez and A. Jain, "2-Way Recursive Decomposition of the Free-Flying Robot mass matrix," Journal of Applied Mathematics and Computer Science, vol. 7, pp. 101-119, 01 June 1997.
1996
  1. J. Biesiadecki and A. Jain, "A Reconfigurable Testbed Environment for Spacecraft Autonomy," Simulators for European Space Programmes, 4th Workshop, (Noordwijk, The Netherlands), ESTEC, 01 October 1996.
  2. N. Vaidehi, A. Jain, and W. Goddard, "Constant Temperature Constrained Molecular Dynamics: The Newton-Euler Inverse Mass Operator Method," Journal of Physical Chemistry, vol. 100, no. 25, pp. 10508-10517, 01 January 1996.
1995
  1. A. Jain and G. Rodriguez, "Diagonalized Lagrangian Robot Dynamics," IEEE Transactions on Robotics and Automation, vol. 11, pp. 571-584, 01 August 1995.
  2. A. Jain and G. Rodriguez, "Base-Invariant Symmetric Dynamics of Free-Flying Space Manipulators," IEEE Transactions on Robotics and Automation, vol. 11, pp. 585-597, 01 August 1995.
1994
  1. A. M. Mathiowetz, A. Jain, N. Karasawa, and W. A. Goddard III, "Protein Simulations using Techniques Suitable for Very Large Systems: the Cell Multipole Method for Nonbond Interactions and the Newton-Euler Inverse Mass Operator Method for Internal Coordinate Dynamics," Proteins: Structure, Function, and Genetics, vol. 20, pp. 227-247, 01 January 1994.
1993
  1. A. Jain and G. Rodriguez, "Recursive Dynamics Algorithm for Multibody Systems with Prescribed Motion," Journal of Guidance, Control and Dynamics, vol. 16, pp. 830-837, 01 September 1993.
  2. A. Jain and G. Rodrig, "An Analysis of the Kinematics and Dynamics of Underactuated Manipulators," Transactions on Robotics and Automation, vol. 9, pp. 411-422, 01 August 1993.
  3. A. Jain, N. Vaidehi, and G. Rodriguez, "A Fast Recursive Algorithm for Molecular Dynamics Simulations," Journal of Computational Physics, vol. 106, pp. 258-268, 01 June 1993.
  4. A. Jain and G. Rodriguez, "Linearization of Manipulator Dynamics Using Spatial Operators," IEEE Transactions on Systems, Man and Cybernetics, vol. 23, pp. 239-248, 01 January 1993.
1992
  1. A. Jain and G. Rodriguez, "Recursive Flexible Multibody System Dynamics Using Spatial Operat," of Guidance, Control and Dynamics, vol. 15, pp. 1453-1466, 01 November 1992.
  2. K. Kreutz-Delgado, A. Jain, and G. Rodriguez, "Recursive Formulation of Operational Space Control," The International Journal of Robotics Research, vol. 11, pp. 320-328, 01 August 1992.
  3. G. Rodriguez, A. Jain, and K. Kreutz-Delgado, "Spatial Operator Algebra for Multibody System Dynamics," of the Astronautical Sciences, vol. 40, pp. 27-50, 01 January 1992.
1991
  1. G. Rodriguez, K. Kreutz-Delgado, and A. Jain, "A Spatial Operator Algebra for Manipulator Modeling and Control," The International Journal of Robotics Research, vol. 10, pp. 371-381, 01 August 1991.
  2. A. Jain, "Unified Formulation of Dynamics for Serial Rigid Multibody Systems," Journal of Guidance, Control and Dynamics, vol. 14, pp. 531-542, 01 May 1991.