Publications
Publications
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Journal
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A Constructive Framework for Discovery, Design & Classification, of Cubic Volumetric Weaves Tolga Yildiz, Alice Niemeyer, Ergun Akleman, Vinayak Krishnamurthy PNAS Nexus, Proceedings of the National Academy of Sciences Bib |
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Traveling Cellsman: Partition-Cluster Co-Parameterization for Multi-robot Cooperative 3D printing Matthew Ebert, Ronnie Stone, Ergun Akleman, Zhenghui Sha, Vinayak Krishnamurthy Additive Manufacturing Bib |
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Topology-Engineered Piezoresistive Lattices with Programmable Strain Sensing, Auxeticity, and Failure Modes Johannes Schneider, Mattia Utzeri, Vinayak Krishnamurthy, Ergun Akleman, Shanmugam Kumar Materials Horizons, Royal Society of Chemistry Bib |
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NoodlePrint: Cooperative Additive Manufacturing with Helically Interlocked Cells Matthew Ebert, Ronnie Stone, John Koithan, Wenchao Zhou, Matt Pharr, Yuri Estrin, Ergun Akleman, Zhenghui Sha, Vinayak Krishnamurthy ASME Journal of Manufacturing Science and Engineering Bib |
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SafeZone∗: A Graph-Based and Time-Optimal Cooperative 3D Printing Framework Ronnie F. P. Stone, Matthew Ebert, Wenchao Zhou, Ergun Akleman, Vinayak Krishnamurthy, Zhenghui Sha ASME Journal of Computing and Information Science in Engineering Bib |
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Data-driven Digital Twins for Real-Time Machine Monitoring: A Case Study on a Rotating Machine (Turbo-AR) Suryapavan Cheruku, Adolfo Delgado, Vinayak KrishnamurthyC ASME Journal of Computing and Information Science in Engineering Bib |
Conference
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Con-Struct: Conversational Structure Design Using Vision Language Models Shantanu J. Vyas, Suryapavan Cheruku, Vinayak R. Krishnamurthy ASME 2025 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2025) Bib |
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MedialPart: Medial Axis-based Geometric Partitioning for Cooperative 3D Printing Ronnie F. P. Stone, Matthew Ebert, Ergun Akleman, Vinayak Krishnamurthy, Zhenghui Sha ASME 2025 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2025) Bib |
Journal
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Handlebody Plesiohedra Unchained: Topologically Interlocked Cell-Transitive 3-Honeycombs Matthew Ebert, Doyeon Kim, Ergun Akleman, Vinayak Krishnamurthy Computer-Aided Design Bib |
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ABC-Auxetics: An Implicit Design Approach for Negative Poisson’s Ratio Materials Matthew Ebert, Riddhi Adhikari, Md Kamrul Hasan, Kai Lupo, Ergun Akleman, Matt Pharr, Vinayak Krishnamurthy Advanced Engineering Materials Bib |
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Cellular Chaos: Statistically Self-Similar Structures based on Chaos Game Noah Hill, Matt Ebert, Mena Maurice, Vinayak R. Krishnamurthy ASME Journal of Computing & Information Science in Engineering Bib |
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Concurrent Geometrico-Topological Tuning of Nanoengineered Auxetic Lattices Fabricated by Material Extrusion for Enhancing Multifunctionality: Multiscale Experiments, Finite Element Modeling and Data-Driven Prediction Johannes Schneider, Matthew Ebert, Ramakrishna Tipireddy, Vinayak Krishnamurthy, Ergun Akleman, Shanmugam Kumar Additive Manufacturing Bib |
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VoroNoodles: Topological Interlocking with Helical Layered 2-Honeycombs Matthew Ebert, Ergun Akleman, Vinayak Krishnamurthy, Roman Kulagin, Yuri Estrin Advanced Engineering Materials Bib |
Conference
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A Geometrico-Statistical Representation for Off-Road Environments Captured by Lidar Taimoor Daud Khan, Shantanu Vyas, Vinayak R. Krishnamurthy ASME 2024 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2024) Advanced Vehicle Technology Best Paper Award Bib |
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Safezone: A Topologically-Aware Voronoi-Based Framework for Fast Collision-Free Cooperative Three-Dimensional Printing Ronnie Stone, Matthew Ebert, Wenchao Zhou, Ergun Akleman, Vinayak R. Krishnamurthy, Zhenghui Sha ASME 2024 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2024) Bib |
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Blended Physical-Digital Kinesthetic Feedback for Mixed Reality-Based Conceptual Design-In-Context Abhijeet Singh Raina, Vipul Mone, Mehdi Gorjian, Francis Quek, Shinjiro Sueda, and Vinayak R. Krishnamurthy Graphics Interface (GI '24) Bib |
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The Design and Evaluation of an AR-based Adaptive Triage Training for Emergency Responders. Ronak R. Mohanty, Shantanu J. Vyas, Lindsey Brenner, Peter Selly, Cassidy Nelson, Vinayak R. Krishnamurthy, Jason B. Moats, Joseph L. Gabbard, and Ranjana K. Mehta Proceedings of the Human Factors and Ergonomics Society Annual Meeting, 2024 Bib |
Journal
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Adaptive Training on Basic AR Interactions: Bi-Variate Metrics and Neuroergonomic Evaluation Paradigms Shantanu Vyas, Shivangi Dwivedi, Lindsey J. Brenner, Isabella Pedron, Joseph L. Gabbard, Vinayak R. Krishnamurthy, Ranjana K. Mehta International Journal of Human–Computer Interaction Bib |
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A modular approach for creation of any bi-axial woven structure with congruent tiles Tolga Yildiz, Ergun Akleman, Vinayak Krishnamurthy, Matthew Ebert Computers & Graphics Bib |
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Reflect–Express–Transform: Investigating Speech-Based Iterative Digital Design for Young Designers Shantanu Vyas, Ting-Ju Chen, Jay Woodward, Vinayak R Krishnamurthy ASME Journal of Computing and Information Science in Engineering Bib |
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Pointing Tasks using Spatial Audio on Smartphones for People with Vision Impairments Abhijeet Singh Raina, Ronak R Mohanty, Abhirath Bhuvanesh, Manohar Swaminathan, Vinayak R Krishnamurthy ASME Journal of Computing and Information Science in Engineering Bib |
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Accuracy assessment (trueness and precision) of a confocal based intraoral scanner under twelve different ambient lighting conditions Wenceslao Piedra-Cascón, Riddhi R. Adhikari, Mutlu Özcan, Vinayak R. Krishnamurthy, Marta Revilla-León, Mercedes Gallas-Torreira Journal of Dentistry Bib |
Conference
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Generative Design of Statistically Self-similar Mechanical Structures Noah Hill, Matt Ebert, Mena Maurice, Vinayak R. Krishnamurthy ASME 2023 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2023) Computer-Aided Product and Process Development (CAPPD) Technical Committee Best Paper Award Bib |
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Print as a Dance Duet: Communication Strategies for Collision-Free Arm-Arm Coordination in Cooperative 3D Printing Ronnie F. P. Stone, Wenchao Zhou, Ergun Akleman, Vinayak R. Krishnamurthy, Zhenghui Sha ASME 2023 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2023) Bib |
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Sketchtivity, an Intelligent Sketch Tutoring Software: Broadening Applications and Impact Hillary E Merzdorf, Donna Jaison, Samantha Ray, Anna Stepanova, Vimal Kumar Viswanathan, Vinayak Krishnamurthy, Wayne Li, Julie S Linsey, Tracy Anne Hammond, Julie Linsey, Karan Watson, Tracy Hammond 2023 ASEE Annual Conference & Exposition Bib |
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Effectiveness of Vertically-Integrated Project Teams in Tackling an Engineering Grand Challenge Avinash Danda, Bruce L Tai, Vinayak Krishnamurthy, Mathew Kuttolamadom 2023 ASEE Annual Conference & Exposition Bib |
Journal
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SplitCode: Voronoi-based error exaggeration for authentication of manufactured parts Riddhi R. Adhikari, Karim A. ElSayed, Ergun Akleman, Jitesh H. Panchal, Vinayak Krishnamurthy Journal of Manufacturing Systems Bib |
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LayerLock: Layer-Wise Collision-Free Multi-Robot Additive Manufacturing Using Topologically Interlocked Space-Filling Shapes Vinayak Krishnamurthy, Laxmi Poudel, Matthew Ebert, Daniel H. Weber, Rencheng Wu, Wenchao Zhou, Ergun Akleman, Zhenghui Sha Computer-Aided Design Bib |
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Making-A-Scene: A Preliminary Case Study on Speech-based 3D Shape Exploration through Scene Modeling Shantanu Vyas, Ting-Ju Chen, Ronak R. Mohanty, Vinayak Krishnamurthy ASME Journal of Computing & Information Science in Engineering Bib |
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A learning-based, region of interest-tracking algorithm for catheter detection in echocardiography Taeouk Kim, Mohammadali Hedayat, Veronica V. Vaitkus, Marek Belohlavek, Vinayak Krishnamurthy, Iman Borazjani Computerized Medical Imaging and Graphics Bib |
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An Objective Assessment for Bone Drilling: A Pilot Study on Vertical Drilling Aman Nigam, Ronak R. Mohanty, James F. Kellam, Catherine G. Ambrose, Vinayak R. Krishnamurthy, Bruce L. Tai Journal of Orthopaedic Research Bib |
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Spatial Manipulation in Virtual Peripersonal Space: A Study of Motor Strategies Ronak R. Mohanty, Abhijeet Singh Raina, Subhrajyoti Chaudhuri, Francis Quek, Shinjiro Sueda, Vinayak Krishnamurthy ASME Journal of Computing & Information Science in Engineering Bib |
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Queries and Cues: Textual Stimuli for Reflective Thinking in Digital Mind-Mapping Ting-Ju Chen, Ronak R. Mohanty, Vinayak Krishnamurthy Journal of Mechanical Design Bib |
Conference
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Voronoi Spaghetti & VoroNoodles: Topologically Interlocked, Space-Filling, Corrugated & Congruent Tiles Cassie Mullins, Matt Ebert, Ergun Akleman, Vinayak Krishnamurthy SIGGRAPH Asia 2022 Technical Communications (SA '22 Technical Communications) Bib |
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ShapOrator: Enabling Design Iteration for Young Designers through Shape Verbalization Shantanu Vyas, Ting-Ju Chen, Jay Woodward, Vinayak R. Krishnamurthy ASME 2022 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2022) Computer-Aided Product and Process Development (CAPPD) Technical Committee Best Paper Award Bib |
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QuickProbe: Quick Physical Prototyping-In-Context Using Physical Scaffolds in Digital Environments Abhijeet Singh Raina, Shantanu Vyas, Matthew Ebert, Vinayak R. Krishnamurthy ASME 2022 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2022) Bib |
Journal
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Design of Architectured Materials Based on Topological and Geometrical Interlocking Yuri Estrin, Vinayak Krishnamurthy, and Ergun Akleman Journal of Materials Research and Technology Bib |
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Latent Embedded Graphs for Image and Shape Interpolation Shantanu Vyas, Ting-Ju Chen, Ronak Mohanty, Peng Jiang, and Vinayak Krishnamurthy Computer-Aided Design Bib |
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3D Printing Parameters, Slicing Procedures, Support Parameters, and Post-Processing Procedures for Dental Applications of Vat-Polymerization Additive Manufacturing Technologies Wenceslao Piedra-Cascon, Vinayak Krishnamurthy, Marta Revilla-León The International Journal of Prosthodontics Bib |
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Geometrically Interlocking Shapes Based on Bi-Axial Fabric Weaves Vinayak Krishnamurthy, Ergun Akleman, Sai Ganesh Subramanian, Matthew Ebert, Jiaqi Cui, Chia-An Fu, and Courtney Starrett IEEE Transactions of Visualization and Computer Graphics Bib |
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Artificial intelligence applications in restorative dentistry: A systematic review Marta Revilla-León, Miguel Gómez-Polo, Shantanu Vyas, Basir A. Barmak, Mutlu Ozcan, Wael Att, Vinayak Krishnamurthy The Journal of Prosthetic Dentistry Bib |
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Motoric and Perceptual Kinesthetic Symmetry in Bi-manual Interactions Ronak R. Mohanty, Riddhi R. Adhikari, Vinayak Krishnamurthy ASME Journal of Computing & Information Science in Engineering Invited paper, Highlights of the ASME CIE Conference 2020 Bib |
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Design Ideation Through Speculative Fiction: Foundational Principles & Exploratory Study Maulik Kotecha, Ting-Ju Chen, Daniel McAdams, Vinayak Krishnamurthy ASME Journal of Mechanical Design Bib |
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Automatic Segmentation of the Left Ventricle in Echocardiographic Images Using Convolutional Neural Networks Taeouk Kim, Mohammadali Hedayat, Veronica V. Vaitkus, Marek Belohlavek, Vinayak Krishnamurthy, and Iman Borazjani Quantitative Imaging in Medicine and Surgery Bib |
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Analysis of Different Illuminance of Room Lighting Conditions on the Accuracy (trueness and precision) of an Intraoral Scanner Marta Revilla-León, Sai Ganesh Subramanian, Mutlu Özcan, Vinayak Krishnamurthy Journal of Prosthodontics Bib |
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Kinesthetic Metaphors for Precise Spatial Manipulation: A Study of Object Rotation Ronak R. Mohanty, Vinayak Krishnamurthy ASME Journal of Computing & Information Science in Engineering Bib |
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Generalizability of Convolutional Encoder-Decoder Networks for Aerodynamic Flow-field Prediction Across Geometric and Physical- Fluidic Variations Kaustubh Tansali, Zohaib Hasnain, Vinayak Krishnamurthy ASME Journal of Mechanical Design Bib |
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Stroke-Hover Intent Recognition for Mid-air Curve Drawing Using Multi-Point Skeletal Trajectories Umema H. Bohari, Ryan Alli, Alejandra Garcia, and Vinayak Krishnamurthy ASME Journal of Computing & Information Science in Engineering Bib |
Conference
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Construction of Planar and Symmetric Truss Structures with Interlocking Edge Elements Anantha Natarajan, Jiaqi Cui, Ergun Akleman, Vinayak Krishnamurthy Proceedings of Shape Modeling International - Fabrication and Sculpting Event 2021 (SMIFASE’21) Bib |
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Orthopedic Bone-drilling Assessment Through Laplacian-based Trajectory Noise Characterization Ronak R. Mohanty, Shantanu Vyas, Aman Nigam, Bruce L. Tai, Vinayak R. Krishnamurthy ASME 2021 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2021) Bib |
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Investigating Mind-mapping as a Tool for Problem Exploration in Early Design Ting-Ju Chen, Shantanu Vyas, Vinayak R. Krishnamurthy ASME 2021 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2021) Bib |
Journal
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Clinical study of the influence of ambient lighting conditions on the mesh quality of an intraoral scanner Marta Revilla-León, Sai Ganesh Subramanian, Mutlu Özcan, Vinayak Krishnamurthy Journal of Prosthodontics Bib |
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Generalized Abeille Tiles: Topologically interlocked space-filling shapes generated based on fabric symmetries Ergun Akleman, Vinayak R. Krishnamurthy, Chia-An Fu, Sai Ganesh Subramanian, Matthew Ebert, Matthew Eng, Courtney Starrett, Haard Panchal Computers & Graphics Bib |
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Investigating a Mixed-Initiative Workflow for Digital Mind-mapping Ting-Ju Chen, Vinayak Krishnamurthy ASME Journal of Mechanical Design Bib |
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Clinical study of the influence of ambient light scanning conditions on the accuracy (trueness and precision) of an intraoral scanner Marta Revilla-León, Sai Ganesh Subramanian, Mutlu Özcan, Vinayak Krishnamurthy Journal of Prosthodontics Bib |
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Investigating Force Feedback in Mid-air Sketching of Multi-planar 3D Curve-Soups Ronak R. Mohanty, Ricardo M. Castillo, Eric D. Ragan, and Vinayak R. Krishnamurthy ASME Journal of Computing and Information Science in Engineering Bib |
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Intraoral digital impressions. Part-2: Influence of ambient scanning light conditions on the mesh quality of different intraoral scanners Marta Revilla-León, Peng Jiang, Mehrad Sadeghpour, Wenceslao Piedra Cascon, Amirali Zandinejad, Mutlu Özcan, Vinayak Krishnamurthy The Journal of Prosthetic Dentistry Bib |
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Intraoral digital impressions. Part-1: Influence of ambient scanning light conditions on the accuracy (trueness and precision) of different intraoral scanners Marta Revilla-León, Peng Jiang, Mehrad Sadeghpour, Wenceslao Piedra Cascon, Amirali Zandinejad, Mutlu Özcan, Vinayak Krishnamurthy The Journal of Prosthetic Dentistry Bib |
Conference
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Kinesthetic Perceptual Symmetry in Bi-manual Interactions: An Exploratory Study Ronak R. Mohanty, Riddhi R. Adhikari, and Vinayak Krishnamurthy ASME 2020 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2020) Bib |
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Generative Infills for Additive Manufacturing using Space-filling Polygonal Tiles Matthew Ebert, Sai Ganesh Subramanian, Ergun Akleman, and Vinayak Krishnamurthy, ASME 2020 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2020) Bib |
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Bi-Axial Woven Tiles: Interlocking Space-Filling Shapes Based on Symmetries of Bi-Axial Weaving Patterns Vinayak Krishnamurthy, Ergun Akleman, Sai Ganesh Subramanian, Katherine Boyd, Chia-An Fu, Matthew Ebert, Courtney Starrett, and Neeraj Yadav Graphics Interface Conference 2020 (GI ’20) Bib |
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QCue: Queries and Cues for Computer-Facilitated Mind-Mapping Ting-Ju Chen, Sai Ganesh Subramanian, and Vinayak Krishnamurthy Graphics Interface Conference 2020 (GI ’20) Bib |
Journal
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Delaunay Lofts: A Biologically Inspired Approach for Modeling Space Filling Modular Structures Sai Ganesh Subramanian, Matthew Eng, Vinayak Krishnamurthy, Ergun Akleman Computers & Graphics Bib |
Conference
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Collaborative Mind-Mapping: A Study of Patterns, Strategies, and Evolution of Maps Created by Peer-Pairs Ting-Ju Chen, Miguel A. Hoffmann Rodriguez, Ronak R. Mohanty, and Vinayak R. Krishnamurthy ASME 2019 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC\CIE 2019) Bib |
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Mini-Map: Mixed-Initiative Mind-Mapping via Contextual Query Expansion Ting-Ju Chen, Sai Ganesh Subramanian, and Vinayak R. Krishnamurthy AIAA SciTech Forum AIAA Scitech 2019 Forum Bib |
Journal
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Proto-TAI++: Exploring perceptually consistent creation of planar shape assemblies through multi-modal tangible interactions Cecil Piya, Vinayak, and Karthik Ramani ASME Journal of Computing and Information Science in Engineering Bib |
Conference
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Kinesthetically Augmented Mid-air Sketching of Multi-planar 3D Curve-Soups Ronak R. Mohanty, Umema H. Bohari, Eric Ragan, Vinayak ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2018 Bib |
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To Draw or Not to Draw: Recognizing Stroke-Hover Intent in Non-instrumented Gesture-free Mid-Air Sketching Umema H. Bohari, Ting-Ju Chen, Vinayak 23rd ACM International Conference on Intelligent User Interfaces (IUI 2018) Bib |
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Co-3deator: A Collaborative 3D Design Ideation Tool Cecil Piya, Vinayak, Senthil Chandrasegaran, Niklas Elmqvist, and Karthik Ramani 2016 CHI Conference on Human Factors in Computing Systems (CHI ’17) Bib |
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Window-Shaping: 3D Design Ideation by creating on, borrowing from, and looking at the Physical World Ke Huo, Vinayak, and Karthik Ramani The ACM International Conference on Tangible, Embedded, and Embodied Interaction (TEI '17) Bib |
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MobiSweep: Exploring Spatial Design Ideation Using a Smartphone as a Hand-held Reference Plane Vinayak, Devarajan Ramanujan, Cecil Piya, and Karthik Ramani The ACM International conference on Tangible, Embedded and Embodied Interaction (TEI '16) Bib |
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RealFusion: An Interactive Workflow for Repurposing Real-World Objects towards Early-stage Creative Ideation Cecil PiyaC, Vinayak, Yunbo Zhang, and Karthik Ramani Graphics Interface 2016 (GI ’16) Bib |
Journal
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Extracting Hand Grasp & Motion for Intent Expression in Mid-Air Shape Deformation: A Concrete & Iterative Exploration through a Virtual Pottery Application Vinayak and Karthik Ramani Computers & Graphics Bib |
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A Gesture-free Geometric Approach for Mid-Air Expression of Design Intent in 3D Virtual Pottery Vinayak and Karthik Ramani Computer-Aided Design Bib |
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Shape-It-Up: Hand Gesture Based Creative Expression of 3D Shapes Using Intelligent Generalized Cylinders Vinayak, Sundar Murugappan, HaiRong Liu, Karthik Ramani Computer-Aided Design Bib |
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Handy-Potter: Rapid Exploration of Rotationally Symmetric Shapes Through Natural Hand Motions Vinayak, Sundar Murugappan, Cecil Piya, Karthik Ramani ASME Journal of Computing and Information Science in Engineering Bib |
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A vision modeling framework for DHM using geometrically estimated FoV Vinayak and Dibakar Sen Computer-Aided Design Bib |
Conference
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Informing Early Design Via Crowd-based Co-creation Devarajan Ramanujan, Vinayak, Yash Nawal, Tahira Reid, Karthik Ramani ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2015 (IDETC/CIE 2015) Bib |
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Hand Grasp and Motion for Intent Expression in Mid-Air Virtual Pottery Vinayak and Karthik Ramani Graphics Interface 2015 (GI '15) Bib |
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Extended multitouch: recovering touch posture and differentiating users using a depth camera Sundar Murugappan, Vinayak, Niklas Elmqvist, and Karthik Ramani 25th annual ACM symposium on User interface software and technology (UIST '12) Bib |
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Handy-Potter: Rapid 3D Shape Exploration Through Natural Hand Motions Vinayak, Sundar Murugappan, Cecil Piya, Karthik Ramani ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2012 All Conference Best Paper Award Bib |
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ACTIVE-Hand: Automatic Configurable Tactile Interaction in Virtual Environment You Wu, Lara Schmidt, Matthew Parker, John Strong, Michael Bruns, Vinayak, Karthik Ramani ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2012 Bib |
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APIX: Analysis from Pixellated Inputs in Early Design Using a Pen-based Interface Sundar Murugappan, Vinayak, Karthik Ramani, and Maria. C. Yang ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2011 Bib |
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Geometric Estimation of FoV for Vision Modeling in DHM Vinayak, Dibakar Sen SAE International Journal of Passenger Cars-Mechanical Systems Bib |
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On a Novel Geometric Representation of Rotation Dibakar Sen, Vinayak SAE Digital Human Modeling for Design and Engineering Conference 2008 Bib |
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A Proposal for Bipedal Locomotion using Gyroscopic Effect Pulkit Kapur, Rahul Mukhi, Vinayak International Conference on Climbing and Walking Robots, Singapore July 2007 |
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Studies on the Steering of a Single-degree-of-freedom Hexapod Vinayak, Dibakar Sen 12th IFToMM World Congress, Besançon (France), June 2007 |
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Intuitive design and Gait Analysis for a Closed Loop Leg Mechanism of a Quadruped with single Actuator Vinayak 8th International Conference on Climbing and Walking Robots, London, September 2005 |