Conference Publications

Liu, H., Lyu, Z., Purwar, A., Ge, Q.J., 2025. A Two-Stage Algorithm for Approximate Motion Synthesis of Planar Four-Bar Linkages for Size-Dependent Rigid-Body Guidance, The 14th IFToMM International Symposium on Science of Mechanisms and Machines (SYROM) Brasov, Romania, October 23 – 25, 2025. The Bronze Best Student Paper Award (Liu and Lyu are PhD students.)

Deng, X. and Purwar, A., 2025. A General Simulation Framework and Path Synthesis of Spatial Four-Bar Mechanisms Using Deep Generative Models. ASME 2025 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2025, IDETC2025-168963

Halwah, A., and Purwar, A., 2025, Generative Design of Planar Four-Bar Motions, ASME 2025 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2025, IDETC2025-169743

Jensen, M., Davis, J., Liao, J., Purwar, A., Ritz, H., Beyond the Final Answer: Using Multi-Path Problems for Deeper Insight in Student Learning and Formative Assessment, ASEE 2025 Annual Conference & Exposition, Paper # 48502

Kaipa, K., Purwar, A., Ayala, O., Bawab, S., Transforming Engineering Education: Project-Based Learning and Technology Integration in a Senior-Level Mechanisms Course, ASEE 2025 Annual Conference & Exposition, Paper # 49376

Deng, X. and Purwar, A., 2024. A Matrix-Based Approach to Unified Synthesis of Planar Four-Bar Mechanisms for Motion Generation with Position, Velocity, and Acceleration Constraints. ASME 2024 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2024, IDETC2024- 143028

Nurizada, A., Purwar, A., 2024, Path Generative Model Based on Conditional β- Variational Auto Encoder for Mechanism Design, ASME 2024 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2024, IDETC2024-143033

Lyu, Z. and Purwar, A., 2024, Point-Based Models: a Unified Approach for Geometric Constraint Analysis of Planar N-Bar Mechanisms with Rotary, Sliding, and Rolling Joints, ASME 2024 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2024, IDETC2024-143728

Halwah, A., Nurizada, A., and Purwar, A., 2024, Generative Design of Planar Four-Bar Motions Using Conditional Variational Autoencoder, ASME 2024 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2024, IDETC2024-146347

Deng, X. and Purwar, A., 2024, Synthesizing Spatial RSCR Mechanisms for Path Generation Using a Deep Neural Network, ASME 2024 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2024, IDETC2024-146416

Ge, Q.J., Yu, Z., Purwar, A., Langer, M.P. (2024). Constructing Kinematic Confidence Regions with Double Quaternions. In: Larochelle, P., McCarthy, J.M., Lusk, C.P. (eds) Proceedings of MSR- RoManSy 2024. MSR – RoManSy 2024. Mechanisms and Machine Science, vol 159. Springer, Cham. https://doi.org/10.1007/978-3-031-60618-2_18

Bhaskar, A., Nurizada. A., and Purwar, A., Path Synthesis of Planar Linkage Mechanisms Using Deep Generative Models,; 2023 IEEE MIT Undergraduate Research Technology Conference (URTC), Cambridge, MA, USA, 2023, pp. 1-5, doi: 10.1109/URTC60662.2023.10534939.

Purwar, A. and Deng, X., 2023. A Matrix-Based Approach to Unified Synthesis of Planar Four-Bar Mechanisms for Motion Generation. In Proceedings of the 2023 6th International Conference on Advances in Robotics (AIR '23). Association for Computing Machinery, New York, NY, USA, Article 76, 1–8. https://doi.org/10.1145/3610419.3610495 Best Session Paper Award

Purwar, A. (2023, June), Machine-Learning Driven Robot-Motion Design: Introducing a Web-Based Mechanism Design Software Paper presented at 2023 ASEE Annual Conference & Exposition, Baltimore , Maryland. 10.18260/1-2—43510

Lyu, Z., Liao, W., Purwar, A., 2023, A Unified Real-Time Motion Generation Algorithm for Approximate Position Analysis of Planar N bar Mechanisms, ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2023, IDETC2023- 117159

Nurizada, A., Purwar, A., 2023, An Invariant Representation of Coupler Curves using a Variational Autoencoder: Application to Path Synthesis of Four-Bar Mechanisms, ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2023, IDETC2023- 116892

Deng, X. and Purwar, A., 2023, A Unified Design Equation to Represent Geometric Constraints of Spatial SS, ES and SE Dyads, ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2023, IDETC2023-117282

Purwar, A., Bagga, A., Colón, C., Kao, I. (2022, June), Effectiveness of a Virtual-Physical Robotics Teaching Platform on Engaging Middle-to High School Students during COVID-19, 2022 ASEE Annual Conference & Exposition, Minneapolis, MN. https://peer.asee.org/41232

Lyu, Z., Purwar, A., 2022, Design and Development of a Sit-To-Stand Device Using a Variational Autoencoder-Based Deep Neural Network. Proceedings of the ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. 46th Mechanisms and Robotics Conference (MR), IDETC2022-90494

Nurizada, A., Purwar, A., 2022, Transforming Hand-Drawn Sketches of Linkage Mechanisms into Their Digital Representation. Proceedings of the ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. 46th Mechanisms and Robotics Conference (MR), IDETC2022-90495

Deshpande, S., Lyu, Z., Purwar, A., 2021, Informed latent space exploration for image-based path synthesis of linkages, ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2021, IDETC2021-71629

Nurizada, A., Purwar, A., 2021, Sketch-Based Mechanism Simulation Using Machine Learning, ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2021, IDETC2021-72149

Deshpande, S., Purwar, A., 2020, An Image-Based Approach to Variational Path Synthesis of Linkages, ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2020, IDETC2020-22679

Sharma, S., Purwar A., 2020, Unified Motion Synthesis of Spatial and Planar Mechanisms, ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2020, IDETC2020-20022

Sharma, S., Purwar A., 2020, Path Synthesis of Defect-Free Spatial 5-SS Mechanisms Using Machine Learning, ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2020, IDETC2020-20042

Deshpande, S., Purwar, A., 2019, Computational Creativity via Assisted Variational Synthesis of Mechanisms using Deep Generative Models, ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2019-98193

Loya, A., Deshpande, S., Purwar, A., 2019, Machine Learning Driven Individualized Gait Rehabilitation: Classification, Prediction, and Mechanism Design, ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2019-98434

Sharma, S., Purwar A., 2019, Using A Point-Line-Plane Representation for Unified Simulation of Planar and Spherical Mechanisms, ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2019-98194

Purwar, A. & Scott, C. A., 2019, “An Online Engineering Dynamics Class for College Sophomores: Design, Implementation, and Assessment”, American Society of Engineering Education’s 126th Annual Conference, Tampa, FL, Paper # 26306 https://peer.asee.org/32082

Best Paper Award Nomination

Deshpande S., Purwar A., 2018, A Machine Learning Approach to Kinematic Synthesis of Defect-Free Planar Four-Bar Linkages. ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2018-85578, pp. V05BT07A078

Sharma, S., Purwar A., Ge, Q. J., 2018, A Motion Synthesis Approach to Solving Alt-Burmester Problem by Exploiting Fourier Descriptor Relationship Between Path and Orientation Data. ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2018-85567, pp. V05BT07A077

Sharma, S., Purwar A., Ge, Q. J., 2018, An Optimal Parametrization Scheme for Path Generation Using Fourier Descriptors for Four-Bar Mechanism Synthesis. ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), DETC2018-85568, pp. V05AT07A033

Deshpande, S., Purwar, A., 2017, A Task-Driven Approach to Optimal Synthesis of Planar Four-Bar Linkages for Extended Burmester Problem,  ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), IDETC2017- 67469

A.T. Yang Award in Theoretical Kinematics for the Best Paper

Purwar, A., Jadhav, A., 2017,  A Novel Mechanism for Executing Motion Trajectories of Sit-To-Stand Transformation in a Multifunctional Mobility Assist Device, ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), IDETC2017- 67470

Ge, X., Purwar, A., Ge, Q.J., 2017, Finite Position Synthesis of 5-SS Platform Linkages Including Partially Specified Joint Locations, submitted to ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), IDETC2017-67809

Purwar, A., Desai, R., 2016, “Using Kinect to Capture Human Motion for Mechanism Synthesis, Motion Generation and Visualization”, In ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), IDETC2016-60499

Purwar, A., Deshpande, S., Ge, Q.J., 2016, “MotionGen: An iOS and Android App for Planar Four-Bar Motion Generation”, In ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), IDETC2016- 60498

Ge, X., Purwar, A., Ge, Q.J., 2016, “From 5-SS Platform Linkage to Four-Revolute Jointed Planar, Spherical and Bennett Mechanisms”, In ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), IDETC2016-60574

Purwar, A., 2016, “Enabling Machine Design Innovation among Freshman Mechanical Engineering Students”, In American Society of Engineering Education’s 123rd Annual Conference and Exposition, New Orleans, LA, Paper # 16469

Purwar A, Ge, Q.J, 2015, “Data-Driven Kinematics: Unifying Synthesis of Planar Four-Bar Linkages via Motion Analysis”, 2nd international and 17th National Conference on Machines and Mechanisms, IIT Kanpur, India, iNaCoMM2015-157

Purwar, A., Bhapkar, S., Ge, Q. J, 2015, “Incorporating Fixed-Point and -Line Constraints and Tolerance Based Synthesis in 4MDS”, In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2015-47927

Zhu, L., Zhao, P., Zi, B., Purwar, A., Ge, Q. J., 2015, “Simultaneous Type and Dimensional Synthesis Approach with Expandable Solution Space for Planar Linkages”, The 14th IFToMM World Congress, Taipei, Taiwan, doi:10.6567/IFToMM.14TH.WC.OS2.029

Ge, Q.J., Ge, X., Purwar, A., Li, X., 2015, “A Null-Space Analysis Method for Solving Bilinear Equations in Kinematic Synthesis of Planar and Spherical Dyads”, The 14th IFToMM World Congress, Taipei, Taiwan, doi: 10.6567/IFToMM.14TH.WC.OS2.026

Purwar, A., Korrapati, V., Ge, Q. J., Ge, X., 2015, “Machine Design Innovation via MotionGen”, Spring 2015 Mid-Atlantic ASEE Conference, April 10-11, 2015, Villanova University

Purwar, A., Toravi, A., Ge, Q. J, 2014, “4MDS: A Geometric Constraint Based Motion Design Software for Synthesis and Simulation of Planar Four-Bar Linkages,” In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2014-35235

Li, X., Ge, X., Ge, Q. J, Purwar, A., 2014, “A Unified Algorithm for Analysis and Simulation of Planar Four-Bar Motions Defined with R- and P-Joints,” In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2014-35203

Zhao, P., Ge, Q. J, Purwar, A., 2014, “On the Complete Synthesis of Finite Positions with Constraint Decomposition Via Kinematic Mapping,” In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2014-34216

Zhao, P., Li, X., Purwar, A., Thakkar, K., and Ge, Q.J., 2013, “A Task Driven Approach to the Synthesis of Spherical 4R Linkages Using Algebraic Fitting”. In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2013-13179.

Ge, Q.J., Zhao, P., and Purwar, A., 2013, “A Task Driven Approach to Unified Synthesis of Planar Four-Bar Linkages using Algebraic Fitting of a Pencil of G-Manifolds”. In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2013-12977.

Zhao, P., Purwar, A., and Ge, Q.J., 2013, “Constraint decomposition via kinematic mapping: A new and efficient approach to the solution of the classical Burmester Problem”, In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2013-12977.

Zhao, P., Purwar, A., and Ge, Q.J., 2013, “Task driven unified synthesis of planar four-bar and six-bar linkages with revolute and prismatic joints for five position synthesis”, In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2013-13168.

Li, X., Zhao, P., Purwar, A., and Ge, Q.J., 2013, “A task driven approach to simultaneous type synthesis and dimensional optimization of planar parallel manipulator using algebraic fitting of a family of quadrics”, In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2013. DETC2013-13197.

Purwar, A. and Anantwar, S., Zhao, P., 2012, “An Interactive Approach to Designing Planar Parallel Manipulators using Image Space Representation,” ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Chicago, IL, Paper No. DETC2012-70880

Purwar, A. and Ge, Q. J., 2012, “Polar Decomposition of Unit Dual Quaternions,” ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Chicago, IL, Paper No. DETC2012-70882

Ge, Q.J., Zhao, P., Purwar, A., Li, X., 2012, “A Novel Approach to Algebraic Fitting of a Pencil of Quadrics for Planar 4R Motion Synthesis,” ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Chicago, IL, Paper No. DETC2012-71190

Purwar, A. and Gupta, A., 2011, “Visual Synthesis of RRR- And RPR legged Planar Parallel Manipulators using Constraint Manifold Geometry,” ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Washington, DC, Paper No. DETC2011-48830

Purwar, A. and Ge, Q. J., 2010, “Kinematic Convexity of Rigid Body Displacements,” ASME 2010 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Montreal, Canada, Paper No. DETC2010-29064

Purwar, A., Wu, J, Gupta, A., and Ge, Q. J., 2010, “A Visual, Interactive Approach to Synthesis of Spherical 6R Closed Chains for Rational Motions via Constraint Manifold Modification,” ASME 2010 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Montreal, Canada, Paper No. DETC2010-28874

Purwar, A. and Ge, Q. J., 2009, “Reconciling Distance Metric Methods for Rigid Body Displacements,” Proceedings of ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, San Diego, CA, Paper No. DETC2009-87718, ASME Press

Wu, J., Purwar, A. and Ge, Q. J., 2009, “Interactive Dimensional Synthesis and Motion Design of Planar 6R Closed Chains via Constraint Manifold Modification,” Proceedings of ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, San Diego, CA, Paper No. DETC2009-87718, ASME Press

Best Paper Award sponsored by MSC Software Corp.

Ge, Q. J., Wu, J., Purwar, A. and Gao, F., 2009, “Kinematic Convexity of Planar Displacements Based on an Approximately Bi-Invariant Metric,” Proceedings of ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, San Diego, CA, Paper No. DETC2009-87718, ASME Press

Purwar, A., Jin, Z., Ge, Q. J., 2008, “Computer Aided Synthesis of Rational Motion under Kinematic Constraints of Spatial SS Open Chains,” Proceedings of ASME 2008 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, New York, NY, Paper No. DETC2008-49954, ASME Press

Purwar, A., Jin, Z., Ge, Q. J., 2008, “Dimensional Synthesis and Constrained Motion Interpolation for Planar and Spherical 6R Closed Chains,” Proceedings of ASME 2008 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, New York, NY, Paper No. DETC2008-49947, ASME Press

Purwar, A. Ge, Q. J., 2008, “Robot Dimensional Synthesis and Constrained Motion Interpolation,” Proceedings of the 2008 International Mechanisms and Machine Science Conference, Dalian, China, July 28-31, 2008

Ge, Q. J., Purwar, A. Wu J., 2008, “Kinematic Convexity of Spherical Displacements and its Application to Collision Prediction,” Proceedings of the 2008 ACM Symposium on Solid and Physical Modeling, Stony Brook, New York, USA, June 2-4, 2008, pp. 375-380

Purwar, A., Jin, Z., Ge, Q. J., 2007, “Constrained Motion Interpolation for Planar 6R Closed Chains,” Proceedings of the 13th National INDIA Conference on Mechanisms and Machines, Bangalore, India, Paper No. NaCoMM-2007-102

Purwar, A., Jin, Z., Ge, Q. J., 2007, “Rational Motion Interpolation Under Kinematic Constraints of Spherical 6R Closed Chains,” Proceedings of ASME 2007 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Las Vegas, Nevada, Paper No. DETC2007-35727, ASME Press

Purwar, A., Jin, Z., Ge, Q. J., 2006, “Computer Aided Synthesis Of Piecewise Rational Motions For Spherical 2R And 3R Robot Arms,” Proceedings of ASME 2006 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Philadelphia, PA, Paper No. DETC2006-99650, ASME Press

Purwar, A., Chi X., and Ge, Q.J., 2005, “Motions Fairing of Two Parameter Rational B-Spline Motions,” Proceedings of 2005 ASME International Design Engineering Technical Conferences, Long Beach, CA, Paper No. DETC2005-85458, ASME Press

Ge, Q.J and Purwar, A., 2004, “Spears, Oriented Screw Displacements and Their Image Spaces,” Proceedings of 2004 The 11th World Congress in Mechanism and Machine Science, Tianjin, China

Purwar, A. and Ge, Q.J., 2003, “On the Effect of Weights in Rational Motion Design,” Proceedings of 2003 ASME International Design Engineering Technical Conferences, Chicago, IL, Paper No. DETC2003/DAC-48817, ASME Press