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Rudranarayan Mukherjee

Address:

4800 Oak Grove Drive
M/S 82-105

Pasadena, CA 91109

Member of:

3471 - Section Staff

Rudranarayan M Mukherjee, Ph.D.

Member of Technical Staff

Biography

Dr. Rudranarayan Mukherjee is a Research Technologist and Group Leader in the Robotics Modeling and Simulation group at the Robotics and Mobility Systems section at JPL. His primary role at JPL is to develop new technologies and find opportunities to apply them in flight missions. He was a two-term, elected member of the ASME International Technical Committee on Multibody Systems and Nonlinear Dynamics (TC-MSND) where he has been Program Chair for ASME IDETC 2015 and organizer of various symposia over the last 10 years. He enjoys, among other things, leading cross discipline technical teams, solving detailed and system level problems, formulating new concepts and implementing them, and finding resources to pursue good ideas.

Education


Ph.D. in Mechanical Engineering
Rensselaer Polytechnic Institute (2007)
M.S. in Mechanical Engineering
Rensselaer Polytechnic Institute (2002)
B.Eng. in Mechanical Engineering
University of Pune, India (2000)

Professional Experience

Current Roles:


Past Experiences:

  • Principal Investigator, DARPA In-space Telescope Assembly Risk Reduction Effort
  • Principal Investigator, Mars In-Orbit Sample Transfer Technologies
  • Principal Investigator, JPL-DLR Germany collaboration on wheel-terrain interactions
  • Robotics Lead for a New Frontiers Proposal
  • Sub-topic Manager, NASA STMD STTR
  • JPL Lead for capture aspects in Rendezvous and Capture Strategic Capability Leadership Team (SCLT)
  • Co-Investigator and Task Manager, JPL-Caltech PDF on In Space Telescope Assembly Robotics, 2014-15
  • Principal Investigator, Army STTR Phase 1, 2015
  • Principal Investigator, JPL Integrated Model Centric Engineering sub-task, 2015
  • Principal Investigator, JPL and Stanford University effort for ARL MAST program, 2013-15
  • Principal Investigator, JPL effort for DARPA C2M2L program 2012-13
  • Principal Investigator, JPL effort for DARPA AVM program 2012-14
  • Principal Investigator, JPL effort led by Neya Inc. for RTC / ONR, 2012-14
  • Principal Investigator, JPL CIF funded workshop, 2013
  • Co-Investigator, JPL internal RTD effort on sampling 2013
  • Principal Investigator, JPL effort for ARL MAST program 2011-12
  • Principal Investigator, JPL effort for DARPA M3 program 2011-12
  • Co-Investigator, JPL internal RTD effort on sampling 2011, 2012
  • Individual Contributor, Lunar Robotic Sample Acquisition Strategic RTD 2010
  • Individual Contributor, MSL Mobility Model in RSVP for Avionics Testing 2010
  • Individual Contributor, MSL Arm Model for Avionics Testing 2009
  • Individual Contributor, Modeling of passive dynamic walkers, JPL SURP 2009
  • Individual Contributor, NIH project on modeling bimolecular systems 2009
  • Individual Contributor, ARL MAST effort 2009-10
  • Individual Contributor, Vehicle dynamics and other physics modeling for Lunar Surface Operations Simulator (LSOS) 2008-09
  • Individual Contributor, Modeling of Touch-and-Go sampling using flexible booms 2008
  • Individual Contributor, SHERPA modeling and controls for JPL RTD, 2007

Research Interests


  • In-space Assembly
  • Rendezvous and Orbital Sample Capture
  • Manipulation and System Engineering for Planetary Robotics
  • Vehicle Terrain Interactions
  • Autonomy for high-dof motion planning and coordinated control
  • Other aspects of space robotics
  • Multibody Dynamics and Mechanism Design
  • Model-Based Design
  • Scientific Computing

Publications

2024
  1. A. Daca, D. Loret de Mola Lemus, S. Backus, and R. Mukherjee, "Concept and Validation of Autonomous Robotic Assembly of Antenna from ESPA Class Spacecraft," 2024 IEEE Aerospace Conference, Big Sky, MT, USA, 02 March 2024.
2020
  1. Rudranarayan M. Mukherjee and Kurt S. Anderson, "A Divide And Conquer Algorithm For Parallel O(Log(N)) Calculation Of Flexible Articulated Body Dynamics," ECCOMAS Thematic Conference - Multibody Systems Dynamics, number MBD 62, Madrid, Spain, June 21'24 2005, 17 September 2020.
  2. R.M. Mukherjee, P.S. Crozier, S.J. Plimpton, K.S. Anderson, "Substructured molecular dynamics using multibody dynamics algorithms," International Journal of Non-Linear Mechanics, Volume 43, Issue 10, 1040-1055, 17 September 2020.
  3. Rudranarayan Mukherjee, Paul Crozier and Kurt Anderson, "Substructured Multibody Molecular Dynamics," ECCOMAS Thematic Conference on Multibody Systems Dynamics, Milano, Italy, June 25 2007, 17 September 2020.
  4. Rudranarayan M. Mukherjee and Kurt S. Anderson, "Parallelizable Open-Source Efficient Multibody Software (POEMS) And Its Application In Polymer Chain Dynamics," ECCOMAS Thematic Conference on Multibody Systems Dynamics, MBD 82, Madrid, Spain, June 21'24 2005, 17 September 2020.
  5. Rudranarayan M. Mukherjee and Kurt S. Anderson, "Multigranular Molecular Dynamics Simulations Of Polymer Melts Using Multibody Algorithms," ASME Design Engineering Technical Conferences: Fifth International Conference on Multibody Systems, Nonlinear Dynamics and Control, Long Beach, CA, Sep. 21'-26 2005. DETC2005-85480, 17 September 2020.
  6. Rudranarayan M. Mukherjee, "Methodology For Modelling Multi-Scale Multibody Systems Undergoing Instantaneous Resolution And Topology Transitions," Eleventh Conference on Nonlinear Vibrations, Stability, and Dynamics of Structures, Blacksburg VA, August 2006, 17 September 2020.
  7. Rudranarayan M. Mukherjee, Kishor D. Bhalerao and Kurt S. Anderson, "A Divide And Conquer Direct Differentiation Approach For Multibody System Sensitivity Analysis," Eleventh Conference on Nonlinear Vibrations, Stability, and Dynamics of Structures, Blacksburg VA, August 2006, 17 September 2020.
  8. Rudranarayan M. Mukherjee and Kurt S. Anderson, "Orthogonal Complement Based Divide-And-Conquer Algorithm (O-DCA) For Constrained Multibody Systems," 7th World Conference on Computational Mechanics, 2006. Los Angeles CA, July 16 to '22 2006, 17 September 2020.
  9. Rudranarayan M. Mukherjee and Kurt S. Anderson, "Multibody Molecular Dynamics II: Applications and Results," ASME IDETC, 6th International Conference on Multibody Systems, Nonlinear Dynamics and Control, Las Vegas September 2007 (To be presented), 17 September 2020.
  10. Rudranarayan M. Mukherjee and Kurt S. Anderson, "Multibody Molecular Dynamics I: Theoretical Development," 6th International Conference on Multibody Systems, Nonlinear Dynamics and Control, Las Vegas September 2007 (To be presented), 17 September 2020.
2018
  1. S. Karumanchi, K. Edelberg, J. Nash, C. Bergh, R. Smith, B. Emanuel, J. Carlton, J.Koehler, J.Kim, R. Mukherjee, B. Kennedy, P. Backes, "Payload-Centric Autonomy for In-Space Robotic Assembly of Modular Space Structures," Journal of Field Robotics, vol 35, issue 6, pp. 1005-1021, 14 June 2018.
  2. R. McCormick, A. Austin, K. Wehage, S. Backus, R. Miller, J. Leith, B. Bradley, P. Durham, R. Mukherjee, "REMORA CubeSat for large debris rendezvous, attachment, tracking, and collision avoidance," 2018 IEEE Aerospace Conference, Big Sky, MT, USA, pp. 1-13, doi: 10.1109/AERO.2018.8396814, 03 March 2018.
2017
  1. R. Mukherjee, B. Chamberlain-Simon, N. Abcouwer, R. Mc Cormick, R. Smith, T. Frederick, M. Dolci, "Concepts for Mars On-Orbit Robotic Sample Capture and Transfer," 2017 IEEE Aerospace Conference, Montana, USA, 01 April 2017.
2008
  1. R.M. Mukherjee, K.D. Bhalerao, K.S. Anderson, "A divide-and-conquer direct differentiation approach for multibody system sensitivity analysis," Structural and Multidisciplinary Optimization, Vol. 35, No. 5., 413-429, 01 May 2008.
2007
  1. Rudranarayan M. Mukherjee1 and Kurt S. Anderson, "Efficient Methodology for Multibody Simulations with Discontinuous Changes in System Definition," Multibody System Dynamics, Volume 18-2, 145-168, 01 September 2007.
  2. Rudranarayan M. Mukherjee and Kurt S. Anderson, "Orthogonal Complement Based Divide-and-Conquer Algorithm for constrained multibody systems," Nonlinear Dynamics, vol. 48 no.1-2, 199-215, 01 April 2007.
  3. K. S. Anderson, R. M. Mukherjee, J. H. Critchley, J. L. Ziegler, and S. R. Lipton, "POEMS: Parallelizable open-source efficient multibody software," Engineering with Computers", vol. 23 no.1, 11-23, 01 March 2007.
  4. Rudranarayan M. Mukherjee and Kurt S. Anderson, "A Logarithmic Complexity Divide-and-Conquer Algorithm for Multi-Flexible Articulated Body Systems," ASME Journal of Computational and Nonlinear Dynamics, Volume 2, Issue 1, pp. 10-21, 01 January 2007.