Refereed Journal Publications

A. Borum and T. Bretl, When is a helix stable?, Physical Review Letters, 125(8), 088001, 2020.

A. Borum and T. Bretl, Infinitely long isotropic Kirchhoff rods with helical centerlines cannot be stable, Physical Review E, 120(2), 023004, 2020.

A. Sintov, S. Macenski, A. Borum, and T. Bretl, Motion planning for dual-arm manipulation of elastic rods, IEEE Robotics and Automation Letters, 5(4), 6065--6072, 2020.

A. Sintov, A. Borum, and T. Bretl, Motion planning of fully actuated closed kinematic chains with revolute joints: a comparative analysis, IEEE Robotics and Automation Letters, 3(4), 2886--2893, 2018.

A. Borum and T. Bretl, Reduction of sufficient conditions for optimal control problems with subgroup symmetry, IEEE Transactions on Automatic Control, 62(7), 3209--3224, 2017.

A. Borum and T. Bretl, Sufficient conditions for a path-connected set of local solutions to an optimal control problem, SIAM Journal on Applied Mathematics, 76(3), 976--999, 2016.

R. H. Plaut, A. Borum, D. P. Holmes, and D. A. Dillard, Falling vertical chain of oscillators, including collisions, damping, and pretensioning, Journal of Sound and Vibration, 349, 195--205, 2015.

D. P. Holmes, A. Borum, B. F. Moore III, R. H. Plaut, and D. A. Dillard, Equilibria and instabilities of a Slinky: Discrete model, International Journal of Non-Linear Mechanics, 65, 236--244, 2014.

R. H. Plaut, A. Borum, and D. A. Dillard, Analysis of carbon nanotubes and graphene nanoribbons with folded racket shapes, Journal of Engineering Materials and Technology, 134(2), 021009, 2012.

R. H. Plaut, D. A. Dillard, and A. Borum, Collapse of heavy cantilevered elastica with frictional internal support, Journal of Applied Mechanics, 78(4), 041011, 2011.


Refereed Conference Publications

A. Sintov, S. Macenski, A. Borum, and T. Bretl, Motion planning for dual-arm manipulation of elastic rods, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

A. Borum and T. Bretl, Helices, relative equilibria, and optimality on the special Euclidean group, in IEEE Conference on Decision and Control (CDC), 2016.

A. Borum and T. Bretl, The free configuration space of a Kirchhoff elastic rod is path-connected, in IEEE International Conference on Robotics and Automation (ICRA), 2015.

O. Roussel, A. Borum, M. Taix, and T. Bretl, Manipulation planning with contacts for an extensible elastic rod by sampling on the submanifold of static equilibrium configurations, in IEEE International Conference on Robotics and Automation (ICRA), 2015.

A. Borum and T. Bretl, Geometric optimal control for symmetry breaking cost functions, in IEEE Conference on Decision and Control (CDC), 2014.

M. Mukadam, A. Borum, and T. Bretl, Quasi-static manipulation of a planar elastic rod using multiple robotic grippers, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.

A. Borum, D. Matthews, and T. Bretl, State estimation and tracking of deforming planar elastic rods, inIEEE International Conference on Robotics and Automation (ICRA), 2014. (Finalist for ICRA Best Conference Paper Award)


Invited Presentations

Inverse optimal control for path-constrained systems, Cornell Scientific Computing and Numerics Seminar, April 2020.

Applications of optimal control theory to the mechanics of slender structures, Cornell Dynamical Systems Seminar, April 2019.

Manipulation and mechanics of thin deformable objects, Cornell Center for Applied Mathematics Colloquium, January 2019


Contributed Presentations

A. Borum, Stable and collision-free manipulation of an elastic rod using multiple grippers, American Physical Society March Meeting, 2019.

A. Borum, A. Said, J. Domann, D. Dillard, and B. Mukherjee, Peeling instabilities in the presence of attractive forces, 42nd Annual Meeting of the Adhesion Society, 2019.

A. Borum, J. Burns, P. Wentzel, A. Andreyev, and S. Ross, Asteroid capture using a binary exchange mechanism, Virginia Space Grant Consortium Student Research Conference, 2012.

A. Borum, R. H. Plaut, and D. A. Dillard, Analysis of carbon nanotubes and graphene nanoribbons with folded racket shapes, 35th Annual Meeting of the Adhesion Society, 2012. (2nd place in the Michelin Best Poster Competition)

A. Borum, R. H. Plaut, and D. A. Dillard, Analysis of carbon nanotubes and graphene nanoribbons with folded racket shapes, 78th Annual Meeting of the Southeastern Section of the American Physical Society, 2011.