selected scholarly activity
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chapters
- ADAPTIVE ROBOTIC DEBURRING. 313-318. 1990
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conferences
- A Comparative Analysis of Control Methods Applied to Horizontal 2 DOF Robotic Arms. 2023 Advances in Science and Engineering Technology International Conferences (ASET). 01-09. 2023
- Control of Mobile Robots for Collision Avoidance. 2023 Advances in Science and Engineering Technology International Conferences (ASET). 1-9. 2023
- Motion Control of a Differential Drive Mobile Robot Considering Voltage and Current Limits. 2023 Advances in Science and Engineering Technology International Conferences (ASET). 1-9. 2023
- Position Control and Force Allocation Algorithms for Hybrid Pneumatic-Electric Linear Actuators. International Conference of Control, Dynamic Systems, and Robotics. 1-7. 2020
- Impact Force Reduction Strategies To Achieve Safer Human-Robot Collisions. Progress in Canadian Mechanical Engineering. 2018
- Fault tolerant robot programming by demonstration of sorting tasks with industrial objects. 2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS). 278-283. 2017
- Improved hybrid pneumatic-electric actuator for robot arms. 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM). 100-106. 2016
- Position control of hybrid pneumatic-electric actuators. Proceedings of the American Control Conference. 1793-1799. 2012
- Specular-Reduced Imaging for Inspection of Machined Surfaces. 2012 Ninth Conference on Computer and Robot Vision. 361-368. 2012
- Modelling of robotic bulldozing operations for autonomous control. Canadian Conference on Electrical and Computer Engineering. 001188-001193. 2011
- MODELLING OF ROBOTIC BULLDOZING OPERATIONS FOR AUTONOMOUS CONTROL. Canadian Conference on Electrical and Computer Engineering. 1188-1193. 2011
- Collision avoidance for nonholonomic mobile robots among unpredictable dynamic obstacles including humans. 2010 IEEE International Conference on Automation Science and Engineering. 940-947. 2010
- Fuzzy machine vision based porosity detection. Annual Conference of the North American Fuzzy Information Processing Society - NAFIPS. 220-+. 2009
- Sliding Mode Controller and Filter Applied to a Pneumatic McKibben Muscle Actuator. Volume 10: Mechanical Systems and Control, Parts A and B. 539-547. 2009
- Automated modeling and robotic grasping of unknown three-dimensional objects. Proceedings - IEEE International Conference on Robotics and Automation. 292-+. 2008
- Design of foam covering for robotic arms to ensure human safety. Canadian Conference on Electrical and Computer Engineering. 1145-1150. 2008
- Markerless human tracking for industrial environments. Canadian Conference on Electrical and Computer Engineering. 1139-1144. 2008
- Design of foam covering for robotic arms to ensure human safety. Canadian Conference on Electrical and Computer Engineering. 1092-1097. 2008
- Markerless human tracking for industrial environments. Canadian Conference on Electrical and Computer Engineering. 1086-1091. 2008
- Position Tracking Control of Miniature Low Pressure Water Hydraulic Cylinders. Volume 4: Design, Analysis, Control and Diagnosis of Fluid Power Systems. 207-213. 2007
- Real-time 3D Collision Avoidance Method for Safe Human and Robot Coexistence. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. 276-+. 2006
- A Neuro-Fuzzy Approach to a Machine Vision-based Parts Inspection Problem. SAE Technical Papers. 2006
- Modeling and control of a miniature servo pneumatic actuator. Proceedings - IEEE International Conference on Robotics and Automation. 1806-1811. 2006
- Burr size reduction in drilling by ultrasonic assistance. Robotics and Computer-Integrated Manufacturing. 442-450. 2005
- Development of a nonlinear dynamic model for a servo pneumatic positioning system. IEEE International Conference Mechatronics and Automation, 2005. 43-48. 2005
- Experimental comparison of two pneumatic servo position control algorithms. IEEE International Conference Mechatronics and Automation, 2005. 37-42. 2005
- Multisensor System for Safer Human-Robot Interaction. Proceedings - IEEE International Conference on Robotics and Automation. 1767-1772. 2005
- Vision-guided fixtureless assembly of automotive components. Robotics and Computer-Integrated Manufacturing. 79-87. 2003
- Fast response control for machine tool feed drives. Transactions of the North American Manufacturing Research Institute of SME. 303-310. 2003
- High steady-state accuracy pneumatic servo positioning system with PVA/PV control and friction compensation. Proceedings - IEEE International Conference on Robotics and Automation. 2824-2829. 2002
- Real-Time Process Characterization of Open Die Forging for Adaptive Control. Journal of engineering materials and technology. 511-516. 2001
- Are parallel manipulators more energy efficient?. Proceedings 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation (Cat. No.01EX515). 41-46. 2001
- Multi-metric comparison of optimal 2D grasp planning algorithms. Proceedings - IEEE International Conference on Robotics and Automation. 3061-3066. 2001
- Calculation of Punch Force and Maximum Pressure for Tube Extrusion. Manufacturing Engineering. 777-781. 2000
- Technologies for Flexible Fixturing and Higher Speed Part Handling in Automated Automotive Sheet Metal Assembly. Manufacturing Science and Engineering. 279-291. 1998
- Automatic tuning of an accurate position controller for pneumatic actuators. Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190). 1782-1788. 1998
- 3-D flexible fixturing using a multi-degree of freedom gripper for robotic fixtureless assembly. Proceedings - IEEE International Conference on Robotics and Automation. 379-384. 1997
- Accurate position control of a pneumatic actuator using on/off solenoid valves. Proceedings - IEEE International Conference on Robotics and Automation. 1196-1201. 1997
- Limited mobility grasps for fixtureless assembly. IEEE International Conference on Robotics and Automation : ICRA : [proceedings] IEEE International Conference on Robotics and Automation. 1465-1470. 1996
- Robotic assembly of flexible sheet metal parts. IEEE International Conference on Robotics and Automation : ICRA : [proceedings] IEEE International Conference on Robotics and Automation. 1511-1516. 1996
- Multisensor-based detection of contact state for automated sheet metal assembly. American Society of Mechanical Engineers, Manufacturing Engineering Division, MED. 1131-1144. 1995
- Sensing and control for automated robotic edge deburring. Proceedings of the 1992 International Conference on Industrial Electronics, Control, Instrumentation, and Automation. 927-933. 1992
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journal articles
- Actuators for Improving Robotic Arm Safety While Maintaining Performance: A Comparison Study. Actuators. 13:69-69. 2024
- Origami-Inspired Soft Pneumatic Actuators: Generalization and Design Optimization. Actuators. 12:72-72. 2023
- Optimal Force Allocation and Position Control of Hybrid Pneumatic–Electric Linear Actuators. Actuators. 9:86-86. 2020
- 3D Shrinking for Rapid Fabrication of Origami-Inspired Semi-Soft Pneumatic Actuators. IEEE Access. 8:191330-191340. 2020
- Position Control of Pneumatic Actuators Using Three-Mode Discrete-Valued Model Predictive Control. Actuators. 8:56-56. 2019
- Design, Implementation and Control of an Improved Hybrid Pneumatic-Electric Actuator for Robot Arms. IEEE Access. 7:14699-14713. 2019
- High-Accuracy Position Control of a Rotary Pneumatic Actuator. IEEE/ASME transactions on mechatronics. 23:2774-2781. 2018
- Fault detection and diagnosis of diesel engine valve trains. Mechanical Systems and Signal Processing. 72-73:316-327. 2016
- Position control of hybrid pneumatic–electric actuators using discrete-valued model-predictive control. Mechatronics. 25:1-10. 2015
- Model-Based Control of Three Degrees of Freedom Robotic Bulldozing. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. 136. 2014
- Defect identification on specular machined surfaces. Machine Vision and Applications. 25:377-388. 2014
- Sliding mode control of a pneumatic muscle actuator system with a PWM strategy. International Journal of Fluid Power. 15:19-31. 2014
- Blowhard brass. Air Force Magazine. 97:8. 2014
- Autonomous Robotic Dozing for Rapid Material Removal. ISARC Proceedings. 753-762. 2013
- Development of a Hybrid Dynamic Model and Experimental Identification of Robotic Bulldozing. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. 135. 2013
- Design of elastomeric foam-covered robotic manipulators to enhance human safety. Mechanism and Machine Theory. 60:1-27. 2013
- Mobile Robot Collision Avoidance in Human Environments. International Journal of Advanced Robotic Systems. 10:41-41. 2013
- Mobile Robot Navigation for Moving Obstacles with Unpredictable Direction Changes, Including Humans. Advanced Robotics. 26:1841-1862. 2012
- Burr height model for vibration assisted drilling of aluminum 6061-T6. Precision Engineering. 34:369-375. 2010
- Position Tracking Control of a Miniature Water Hydraulic Rotary Actuator. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. 131. 2009
- Thrust force model for vibration-assisted drilling of aluminum 6061-T6. International journal of machine tools & manufacture. 49:1070-1076. 2009
- Kinematic enveloping grasp planning method for robotic dexterous hands and three-dimensional objects. Robotica. 26:331-344. 2008
- Nonlinear Modeling and Control of Servo Pneumatic Actuators. IEEE Transactions on Control Systems Technology. 16:562-569. 2008
- Experimental Comparison of Position Tracking Control Algorithms for Pneumatic Cylinder Actuators. IEEE/ASME transactions on mechatronics. 12:557-561. 2007
- Design and control of a dual-stage feed drive. International journal of machine tools & manufacture. 45:153-165. 2005
- OBJECT SHAPE EXPLORATION AND RECOGNITION IN 2D USING A TWO-FINGERED ROBOTIC HAND. Transactions of the Canadian Society for Mechanical Engineering. 27:375-387. 2004
- Unilateral Fixtures for Sheet-Metal Parts With Holes. IEEE Transactions on Automation Science and Engineering. 1:110-120. 2004
- Model-based controller design for machine tool direct feed drives. International journal of machine tools & manufacture. 44:465-477. 2004
- Automated Grasp Planning and Execution for Real-World Objects using Computer Vision and Tactile Probing. International Journal of Robotics and Automation. 19:15-27. 2004
- Automated Gripper Jaw Design and Grasp Planning for Sets of 3D Objects. Journal of Field Robotics. 20:147-162. 2003
- Real-Time Process Characterization of Open Die Forging for Adaptive Control. Manufacturing Engineering. 11:777-781. 2000
- Design and Implementation of a Lightweight, Large Workspace, Non-Anthropomorphic Dexterous Hand. Journal of Mechanical Design - Transactions of the ASME. 121:480-484. 1999
- Automatic tuning of pneumatic servo actuators. Advanced Robotics. 13:563-576. 1998
- Accurate position control of a pneumatic actuator using on/off solenoid valves. IEEE/ASME transactions on mechatronics. 2:195-204. 1997
- Dual-Sensor Based Robotic Deburring. Journal of Manufacturing Science and Engineering. 118:439-441. 1996
- A novel iterative learning control formulation of generalized predictive control. Automatica. 31:1483-1487. 1995
- Sensing and control for automated robotic edge deburring. IEEE transactions on industrial electronics (1982. Print). 41:137-146. 1994
- An Automated Planning, Control, and Inspection System for Robotic Deburring. CIRP annals. 41:397-401. 1992
- Force Control for Robotic Deburring. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME. 113:395-400. 1991
- Active end effector control of a low precision robot in deburring. Robotics and Computer-Integrated Manufacturing. 8:87-96. 1991
- Adaptive Robotic Deburring. IFAC-PapersOnLine. 23:313-318. 1990
- Robotic force control for deburring using an active end effector. Robotica. 7:303-308. 1989
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theses