FIELD AND SPACE ROBOTICS LABORATORY

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MASSACHUSETTS INSTITUTE OF TECHNOLOGY

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Papers

    Submitted

  1. Boning, P. and Dubowsky, S. "An Experimental Study of The Control of Space Robot Teams Assembling Large Flexible Space Structures." Submitted to 9th International Symposium on Artificial Intelligence and Robotics in Space (ISAIRS 2008), Pasadena, CA, Feb.26-29, 2008.
  2. Dubowsky, S. and Kesner, S. "Fuel Cell Power for Small Long-Duration Space Exploration Robots." Submitted to 9th International Symposium on Artificial Intelligence and Robotics in Space (ISAIRS 2008), Pasadena, CA, Feb.26-29, 2008.
  3. Spenko, M., Dubowsky, S., and Iagnemma, K. "The Effects of Rough Terrain on Hazard Avoidance for High Speed Unmanned Ground Vehicles." Submitted to IFAC Journal on Mechantronics..

    4. Accepted for Publication

  4. Dubowsky, S. and Plante, J.S. "Dielectric Elastomers as Electromechanical Transducers: Fundamentals, Materials, Devices, Models & Applications of an Emerging Electroactive Polymer Technology." , (Chapter Contributors), Binary Actuation, Editors: Federico Carpi, et al. , (to be published 2007).
  5. Plante, J.S. and Dubowsky, S. "On the Performance Mechanisms of Dielectric Elastomer." The Journal: Actuators" Sensors and Actuators A., (to be published 2007).

    6. 2007

  6. Dubowsky, S., Plante, J.S., Kesner, S., and Boston, P. "A Hopping Mobility Concept for a Rough Terrain Search and Rescue Robot." Proceedings of the 2007 Conference on Climbing and Walking Robots (CLAWAR), Singapore, July 2007.
  7. Devita, L. ., Plante, J.S., and Dubowsky, S. "The Design of High Precision Parallel Mechanisms using Binary Actuation and Elastic Averaging: With Application to MRI Cancer Treatment." Proceedings of the 2007 IFToMM World Congress on Machines and Mechanisms, Besanson, France, June 2007.
  8. Bilton, A., Ishijima, Y., Lichter, L., and Dubowsky, S. "A Sensor Architecture for the Robotic Control of Large Flexible Space Structures." The Journal of Field Robotics, Vol. 24, No. 4, pp. 287-310, April 2007.
  9. Dubowsky, S. and Boning, P. "The Coordinated Control of Space Robot Teams for the On-Orbit Construction of Large Flexible Space Structures." Proceedings of the 2007 IEEE International Conference Robotics and Automation, Special Workshop on Space Robotics, Rome, Italy, April 2007.
  10. Kesner, S.B., Plante, J.S., Boston, P., Fabian, T., and Dubowsky, S. "Mobility and Power Feasibility of a Microbot Team System for Extraterrestrial Cave Exploration." Proceedings of the 2007 IEEE International Conference Robotics and Automation, Rome, Italy, April 2007.
  11. Plante, J.S. . and Dubowsky, S. "On the Properties of Dielectric Elastomer Actuators and Its Implications for Their Design." Journal of Smart Materials and Structures, Vol. 16, No. 2, pp. 227-236, April 2007.
  12. Becker, W., Dicicco, M., Garretson, J. ., and Dubowsky, S. "A Control Architecture for a Mobile Heavy-Lift Precision Manipulator with Limited Sensory Information." ROBOTICA (International Journal, Special Issue on Mobile Manipulators: Basic Techniques, New trends & Applications, Vol. 25, No. 2, pp. 221-235, March 2007.
  13. Brooks, C. and Iagnemma, K. "Self-Supervised Classification for Planetary Rover Terrain Sensing." Proceedings of the 2007 IEEE Aerospace Conference, Big Sky, Montana, March 2007.
  14. Dubowsky, S. "Personal Robotic Mobility Aids for the Elderly." Proceedings of the First International Symposium on IRT, University of Tokyo, Tokyo, Japan, (Invited Plenary), March 2007.
  15. Halatci, I., Brooks, C., and Iagnemma, K. "Terrain Classification and Classifier Fusion for Planetary Exploration Rovers." Proceedings of the 2007 IEEE Aerospace Conference, Big Sky, Montana, March 2007.
  16. Plante, J.S., Devita, L., and Dubowsky, S. "A Road to Practical Dielectric Elastomer Actuators Based Robotics and Mechatronics: Discrete Actuation." Proceedings of the 2007 Conferences on Smart Structures, San Diego, California, (Invited Plenary), March 2007.
  17. Burg, B., Dubowsky, S., Lienhard, J., and Poulikakos, D. "Thermal Control Architecture for a Planetary and Lunar Surface Exploration Micro-Robot." Proceedings of the Space Technology and Applications International Forum, Albuquerque, NM, February 2007.

    18. 2006

  18. Plante, J.S. and Dubowsky, S. "Large-Scale Failure Modes of Dielectric Elastomer Actuators." International Journal of Solids and Structures, Vol. 43, No. 25, pp. 7727-7751, December 2006.
  19. Lichter, M.D., Ueno, H., and Dubowsky, S. "Vibration Estimation of Flexible Space Structures using Range Imaging Sensors." International Journal of Robotics Research, Vol. 25, No. 10, pp. 1001-1012, October 2006.
  20. Boston, P. and Dubowsky, S. "Hopping Microbots for Caves and Rugged Surface Terrain." Proceedings of American Institute of Aeronautics and Astronautics (AIAA) Space 2006, San Jose, CA, September 19-21, 2006, September 2006.
  21. Spenko, M., Dubowsky, S., and Iagnemma, K. "Experimental Validation of High Speed Hazard Avoidance Control For Unmanned Ground Vehicles." Proceedings of SYROCO 2006: 8th IFAC Int'l Symposium on Robot Control, Bologna, Italy, September 2006.
  22. Spenko, M., Yu, H., and Dubowsky, S. "A Robotic Personal Aid for the Mobility and Health Monitoring of the Elderly." IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 14, No. 3, pp. 344-351, September 2006.
  23. Brooks, C.A., Iagnemma, K.D., and Dubowsky, S. "Visual Wheel Sinkage Measurement for Planetary Rover Mobility Characterization." Autonomous Robots, Vol. 21, No. 1, pp. 55-64, August 2006.
  24. Dubowsky, S., Plante, J.S., and Boston, P. "Low Cost Micro Exploration Robots for Search and Rescue in Rough Terrain." Proceedings of of the IEEE International Workshop on Safety, Security and Rescue Robotics, National Institute of Standards and Technology (NIST), Gaithersburg, MD, USA, August 2006.
  25. Wingert, A., Lichter, M.D., and Dubowsky, S. "On the Design of Large Degree of Freedom Digital Mechatronic Devices based on Bi-stable Dielectric Elastomer Actuators." IEEE/ASME Transactions on Mechatronics, Vol. 11, No. 4, pp. 448-456, August 2006.
  26. Iagnemma, K. "Terrain Estimation Methods for Enhanced Autonomous Rover Mobility." Intelligence for Space Robotics, Chapter 17, TSI Press, July 2006.
  27. Boning, P. and Dubowsky, S. "A Study of Minimal Sensor Topologies for Space Robots." Proceedings of 10th International Symposium on Advances in Robot Kinematics, Ljubljana, Slovenia, June 25-29, 2006, June 2006.
  28. Boning, P. and Dubowsky, S. "Identification of Actuation Efforts using Limited Sensory Information for Space Robots." Proceedings of the 2006 IEEE International Conference on Robotics and Automation, May 2006.
  29. Garretson, J., Becker, W., and Dubowsky, S. "The Design of a Friction Compensation Control Architecture for a Heavy Lift Precision Manipulator in Contact with the Environment." Proceedings of the 2006 IEEE International Conference on Robotics and Automation, May 2006.
  30. Peters, S. and Iagnemma, K. "An Analysis of Rollover Stability Measurement for High-Speed Mobile Robots." Proceedings of the 2006 IEEE International Conference on Robotics and Automation, pp. 3711-3716, May 2006.
  31. Spenko, M., Kuroda, Y., Dubowsky, S., and Iagnemma, K. "Hazard Avoidance for High-Speed Mobile Robots in Rough Terrain." Field Robotics, Vol. 23, No. 5, pp. 311-331, May 2006.
  32. Plante, J.S. and Dubowsky, S. "On the Nature of Dielectric Elastomer Actuators and Its Implications for Their Design." Proceedings of SPIE, San Diego, CA, March 2006, March 2006.
  33. Tzeranis, D. and Dubowsky, S. "Vibration Control in the Assembly of Large Flexible Structures by Teams of Space Robots." Proceedings of SYROCO 2006: 8th IFAC Int'l Symposium on Robot Control, Bologna, Italy, 2006.

    34. 2005

  34. Boston, P.J. and Dubowsky, S. "Hopping Microbot Access to Subsurface (Cave) and Rugged Terrain on Mars and Hazardous Extreme Earth Astrobiology Sites." Proceedings of American Geophysics Union Congress, San Francisco, CA, 5-9 December 2005, December 2005.
  35. Brooks, C. and Iagnemma, K. "Vibration-based Terrain Classification for Planetary Rovers." IEEE Transactions on Robotics, Vol. 21, No. 6, pp. 1185-1191, December 2005.
  36. Dubowsky, S., Quinn, R., Marzwell, N., and Bradley, A.T. "Joint Technical Architecture for Robotic Systems (JTARS)." Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, i-SAIRAS, Munich, Germany, September 2005.
  37. Ishijima, Y., Tzeranis, D., and Dubowsky, S. "On-Orbit Maneuvering of Large Space Flexible Structures by Free-Flying Robots." Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, i-SAIRAS, Munich, Germany, September 2005.
  38. Mitani, S., Ueno, H., Lichter, M.D., and Dubowsky, S. "Ground Evaluation Experiment on Vibration Estimation Algorithm of Flexible Space Structures using Laser Range Finder." Proceedings of the Japan Society of Mechanical Engineers (JSME) Mechanical Engineering Congress 2005, Tokyo, Japan, (in Japanese), September 2005.
  39. Plante, J.S., Santer, M., Pellegrino, S., and Dubowsky, S. "Compliant Bistable Dielectric Elastomer Actuators For Binary Mechatronic Systems." Proceedings of the ASME Conference on Mechanisms and Robotics, Long Beach, California, September 2005.
  40. Tzeranis, D., Ishijima, Y., and Dubowsky, S. "Manipulation of Large Flexible Structural Modules by Robots Mounted on Large Flexible Structures." Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, i-SAIRAS, Munich, Germany, September 2005.
  41. Sujan, V.A. and Dubowsky, S. "Visually Guided Cooperative Robot Actions Based on Information Quality." Autonomous Robots, Vol. 19, No. 1, pp. 89-110, July 2005.
  42. Lichter, M.D., Dubowsky, S., Ueno, H., and Mitani, S. "Shape, Motion, and Parameter Estimation of Flexible Space Structures using Laser Rangefinders." Proceedings of Robotics: Science and Systems I, Cambridge, MA, June 2005.
  43. Brooks, C., Iagnemma, K., and Dubowsky, S. "Vibration-based Terrain Analysis for Mobile Robots." Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, Spain, pp. 3426-3431, April 2005.
  44. Lichter, M.D. and Dubowsky, S. "Shape, Motion, and Parameter Estimation of Large Flexible Space Structures using Range Images." Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, Spain, pp. 4487-4492, April 2005.
  45. Meggiolaro, M., Dubowsky, S., and Mavroidis, C. "Geometric and Elastic Error Calibration of a High Accuracy Patient Positioning System." Mechanism and Machine Theory, IFToMM, Vol. 40, No. 4, pp. 415-427, April 2005.
  46. Shimoda, S., Kuroda, Y., and Iagnemma, K. "Potential Field Navigation of High Speed Unmanned Ground Vehicles on Uneven Terrain." Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, Spain, pp. 2839-2844, April 2005.
  47. Sujan, V.A. and Dubowsky, S. "Efficient Information-based Visual Robotic Mapping in Unstructured Environments." International Journal of Robotics Research, Vol. 24, pp. 275-293, April 2005.
  48. Dubowsky, S., Iagnemma, K., Liberatore, S., Lambeth, D., Plante, J.S., and Boston, P. "A Concept Mission: Microbots for Large-Scale Planetary Surface and Subsurface Exploration." Proceedings of the 2005 Space Technology and Applications International Forum (STAIF), Albuquerque, NM, February 2005.
  49. Shibly, H., Iagnemma, K., and Dubowsky, S. "An Equivalent Soil Mechanics Formulation for Rigid Wheels in Deformable Terrain, with Application to Planetary Exploration Rovers." Journal of Terramechanics, Vol. 42, No. 1, pp. 1-13, January 2005.

    50. 2004

  50. Iagnemma, K. and Dubowsky, S. "Traction Control of Wheeled Robotic Vehicles with Application to Planetary Rovers." International Journal of Robotics Research, Vol. 23, No. 10, pp. 1029-1040, October 2004.
  51. Iagnemma, K., Kang, S., Shibly, H., and Dubowsky, S. "On-Line Terrain Parameter Estimation for Planetary Rovers." IEEE Transactions on Robotics, Vol. 20, No. 5, pp. 921-927, October 2004.
  52. Yu, H., Spenko, M., and Dubowsky, S. "Omni-Directional Mobility Using Active Split Offset Castors." ASME Journal of Mechanical Design, Vol. 126, No. 5, pp. 822-829, September 2004.
  53. Sujan, V.A. and Dubowsky, S. "Visually Guided Cooperative Robot Actions Based on Information Quality." Journal of Autonomous Robots, Vol. 17, pp. 1-22, August 2004.
  54. Kacher, D.F., Vogan, J., Wingert, A., Hafez, M., Plante, J.S., Dubowsky, S., and Jolesz, F.A. "Development of a Reconfigurable MRI Coil using Electrostrictive Polymer Artificial Muscle Actuators." Proceedings of the 12th Scientific Meeting of the International Society for Magnetic Resonance in Medicine, Kyoto, Japan, May 2004.
  55. Sujan, V.A., Dubowsky, S., Huntsberger, T., Aghazarian, H., Cheng, Y., and Schenker, P. "An Architecture for Distributed Environment Sensing with Application to Robotic Cliff Exploration." Autonomous Robots, Vol. 16, No. 3, pp. 287-311, May 2004.
  56. Ueno, H., Mangalgiri, V., Dubowsky, S., Sekiguchi, T., Oda, M., and Ohkami, Y. "Simulation Analysis and Experiments of On-orbit Assembly Behavior on Flexible Structure by Cooperative Robots." Proceedings of the 24th International Symposium on Space Technology and Science (ISTS), Miyazaki, Japan, May 2004.
  57. Golda, D., Iagnemma, K., and Dubowsky, S. "Probabilistic Modeling and Analysis of High-Speed Rough-Terrain Mobile Robots." Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA 2004), New Orleans, LA, pp. 914-919, April 2004.
  58. Lichter, M.D. and Dubowsky, S. "State, Shape, and Parameter Estimation of Space Objects from Range Images." Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA 2004), New Orleans, LA, pp. 2974-2979, April 2004.
  59. Spenko, M., Iagnemma, K., and Dubowsky, S. "High Speed Hazard Avoidance for Mobile Robots in Rough Terrain." Proceedings of the SPIE Conference on Unmanned Ground Vehicle Technology VI, Orlando, FL, Vol. 5422, April 2004.
  60. Vogan, J., Kacher, D., Wingert, A., Hafez, M., Plante, J.S., Jolesz, F., and Dubowsky, S. "Manipulation in MRI Devices using Electrostrictive Polymer Actuators: With an Application to Reconfigurable Imaging Coils." Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA 2004), New Orleans, LA, pp. 2498-2504, April 2004.
  61. Bolzmacher, C., Hafez, M., Khoudja, M.B., Bernardoni, P., and Dubowsky, S. "Polymer-based Actuators for Virtual Reality Devices." Proceedings of the SPIE Conference on Smart Structures and Materials 2004: Electroactive Polymer Actuators and Devices (EAPAD), San Diego, CA, Vol. 5385, pp. 281-289, March 2004.
  62. Iagnemma, K., Brooks, C., and Dubowsky, S. "Visual, Tactile, and Vibration-Based Terrain Analysis for Planetary Rovers." Proceedings of the 2004 IEEE Aerospace Conference, Big Sky, Montana, March 2004.
  63. Iagnemma, K., Spenko, M., Golda, D., and Dubowsky, S. "Reactive Navigation of High-Speed Mobile Robots in Rough Terrain." Proceedings of the SPIE Conference on Unmanned Ground Vehicle Technology, Orlando, FL, March 2004.
  64. Dubowsky, S. "The Design of Future Robotic Systems for Highly Unstructured Environments." Proceedings of The First Work Shop On Robotics- Paradigm Shift From Intelligence to Life, Keio University, Tokyo, Japan, January 2004.
  65. Sujan, V.A. and Dubowsky, S. "Design of a Lightweight Hyper-Redundant Deployable Binary Manipulator." ASME Journal of Mechanical Design, Vol. 126, pp. 29-39, January 2004.
  66. Iagnemma, K. and Dubowsky, S. "Estimation, Planning, and Control of Mobile Robots in Rough Terrain with application to Planetary Rovers." Proceedings of Springer Tracts in Advanced Robotics series (STAR), pp. 51-79, 2004.

    67. 2003

  67. Lichter, M.D. and Dubowsky, S. "Estimation of State, Shape, and Inertial Parameters of Space Objects from Sequences of Range Images." Proceedings of the SPIE Conference on Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision, Providence, RI, Vol. 5267, October 2003.
  68. Sujan, V.A., Dubowsky, S., Huntsberger, T., Aghazarian, H., Cheng, Y., and Schenker, P. "A Multi Agent Distributed Sensing Architecture with Application to Planetary Cliff Exploration." Proceedings of the International Symposium on Robotics Research (ISRR), Siena, Italy, October 2003.
  69. Matsumoto, S., Dubowsky, S., Jacobsen, S., and Ohkami, Y. "Fly-by Approach and Guidance for Uncontrolled Rotating Satellite Capture." Proceedings of the AIAA Guidance, Navigation, and Control Conference, Austin, TX, August 2003.
  70. Sujan, V. and Dubowsky, S. "An Optimal Information Method for Mobile Manipulator Dynamic Parameter Identification." IEEE/ASME Transactions on Mechatronics, Vol. 2, No. 2, pp. 215-225, June 2003.
  71. Iagnemma, K., Kang, S., Brooks, C., and Dubowsky, S. "Multi-Sensor Terrain Estimation for Planetary Rovers." Proceedings of the 7th International Symposium on Artificial Intelligence, Robotics and Automation in Space, i-SAIRAS, Nara, Japan, May 2003.
  72. Matsumoto, S., Jacobsen, S., Dubowsky, S., and Ohkami, Y. "Approach Planning and Guidance for Uncontrolled Rotating Satellite Capture Considering Collision Avoidance." Proceedings of the i-SAIRAS Conference, Nara, Japan, May 2003.
  73. Schenker, P., Huntsberger, T., Pirjanian, P., Dubowsky, S., Iagnemma, K., and Sujan, V. "Rovers for Agile, Intelligent Traverse of Challenging Terrain." Proceedings of the 7th International Symposium on Artificial Intelligence, Robotics and Automation in Space, i-SAIRAS, Nara, Japan, May 2003.
  74. Hafez, M., Lichter, M.D., and Dubowsky, S. "Optimized Binary Modular Reconfigurable Robotic Devices." IEEE/ASME Transactions on Mechatronics, Vol. 8, No. 1, pp. 18-25, March 2003.
  75. Huntsberger, T.L., Schenker, P.S., Dubowsky, S., and Sujan, V.A. "Integrated System for Sensing and Traversal of Cliff Faces." Proceedings of the SPIE Conference on Unmanned Ground Vehicle Technology IV, Orlando, FL, March 2003.
  76. Iagnemma, K., Rzepniewski, A., Dubowsky, S., and Schenker, P. "Control of Robotic Vehicles with Actively Articulated Suspensions in Rough Terrain." Autonomous Robots, Vol. 14, No. 1, pp. 5-16, January 2003.
  77. Oppenheimer, C. and Dubowsky, S. "A Methodology for Predicting Impact-Induced Acoustic Noise in Machine Systems." Journal of Sound and Vibration, 2003.
  78. Yu, H., Spenko, M., and Dubowsky, S. "An Adaptive Shared Control System for an Intelligent Mobility Aid for the Elderly." Autonomous Robots, Vol. 15, pp. 53-66, 2003.

    79. 2002

  79. Farritor, S. and Dubowsky, S. "A Genetic Planning Method and its Application to Planetary Exploration." ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 124, No. 4, pp. 698-701, December 2002.
  80. Jacobsen, S., Lee, C., Zhu, C., and Dubowsky, S. "Planning of Safe Kinematic Trajectories for Free Flying Robots Approaching an Uncontrolled Spinning Satellite." Proceedings of the ASME 27th Annual Biennial Mechanisms and Robotics Conference, Montreal, Canada, September 2002.
  81. Sujan, V.A. and Dubowsky, S. "Metric Based Dynamic Parameter Identification for Mobile Field Manipulator Systems." Proceedings of the ASME 27th Biennial Mechanisms and Robotics Conference, Montreal, Canada, September 2002.
  82. Iagnemma, K., Golda, D., Spenko, M., and Dubowsky, S. "Experimental Study of High-Speed Rough-Terrain Mobile Robot Models for Reactive Behaviors." Proceedings of the 8th International Symposium on Experimental Robotics (ISER 02), Sant'Angelo d'Ischia, Italy, July 2002.
  83. Sujan, V. "Optimum Camera Placement by Robot Teams in Unstructured Field Environments." Proceedings of the IEEE International Conference on Image Processing, Vol. 3, pp. 861-864, June 2002.
  84. Wingert, A., Lichter, M.D., and Dubowsky, S. "On the Kinematics of Parallel Mechanisms with Bi-Stable Polymer Actuators." Proceedings of the 8th International Symposium on Advances in Robot Kinematics, Barcelona, Spain, June 2002.
  85. Hafez, M., Lichter, M.D., and Dubowsky, S. "Optimized Binary Modular Reconfigurable Robotic Devices." Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA 02), Washington, DC, May 2002.
  86. Iagnemma, K., Shibly, H., and Dubowsky, S. "On-Line Terrain Parameter Estimation for Planetary Rovers." Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA 02), Washington, DC, May 2002.
  87. Lichter, M.D., Sujan, V.A., and Dubowsky, S. "Computational Issues in the Planning and Kinematics of Binary Robots." Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA 02), Washington, DC, May 2002.
  88. Spenko, M., Yu, H., and Dubowsky, S. "Analysis and Design of an Omnidirectional Platform for Operation on Non-Ideal Floors." Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA 02), Washington, DC, May 2002.
  89. Sujan, V. and Dubowsky, S. "Visually Built Task Models for Robot Teams in Unstructured Environments." Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA 02), Washington, DC, May 2002.
  90. Ueno, H., Dubowsky, S., Lee, C., Zhu, C., Ohkami, Y., Matsumoto, S., and Oda, M. "Space Robotic Mission Concepts for Capturing Stray Objects." Proceedings of the 23rd International Symposium on Space Technology and Science, Matsue, Japan, May 2002.
  91. Iagnemma, K. and Dubowsky, S. "Terrain Estimation for High Speed Rough Terrain Autonomous Vehicle Navigation." Proceedings of the SPIE Conference on Unmanned Ground Vehicle Technology IV, Orlando, FL, March 2002.
  92. Wingert, A., Lichter, M., Dubowsky, S., and Hafez, M. "Hyper-Redundant Robot Manipulators Actuated by Optimized Binary Dielectric Polymers." Proceedings of the SPIE Smart Structures and Materials Symposium 2002, San Diego, CA, Vol. 4695, March 2002.
  93. Sujan, V., Dubowsky, S., and Ohkami, Y. "Robotic Mainpulation of Highly Irregular Shaped Objects: Application to a Robot Crucible Packing System for Seminconductor Manufacture." Journal of Manufacturing Processes, Vol. 4, No. 1, pp. 1-15, January 2002.
  94. Drouet, P., Dubowsky, S., Zeghloul, S., and Mavroidis, C. "Compensation of Geometric and Elastic Errors in Large Manipulators with an Application to a High Accuracy Medical System." Robotica, Vol. 20, No. 3, pp. 341-352, 2002.
  95. Dubowsky, S. and Sujan, V.A. "Design and Implementation of a 3-D Mapping System for Highly Irregular Shaped Objects: with Application to Semiconductor Manufacture." SPIE Optical Engineering, Vol. 41, No. 6, pp. 1406-1417, 2002.
  96. Meggiolaro, M., Scriffignano, G., and Dubowsky, S. "Analysis and Optimization of Closed-Loop Manipulator Calibration with Fixed Endpoint." Proceedings of the CONEM 2002 - National Mechanical Engineering Congress, ABCM, Joao Pessoa, PB, Brazil, 2002.
  97. Meggiolaro, M.A., Dubowsky, S., and Mavroidis, C. "Achieving Fine Positioning Accuracy in Large Manipulators with Application in Cancer Proton Therapy." Proceedings of the XIV Brazilian Congress Automatica (CBA 2002), Natal, RN, Brazil, pp. 68-73, 2002.

    98. 2001

  98. Meggiolaro, M.A. and Dubowsky, S. "Improving the Positioning Accuracy of Powerful Manipulators with Application in Nuclear Maintenance." Proceedings of the 16th Brazilian Congress in Mechanical Engineering (COBEM), ABCM, Uberlandia, MG, Brazil, Vol. 15, pp. 210-219, November 2001.
  99. Schenker, P., Huntsberger, T., Pirjanian, P., Baumgartner, E., Aghazarian, H., Dubowsky, S., and Iagnemma, K. "Robotic Automation for Space: Planetary Surface Exploration, Terrain-Adaptive Mobility, and Multi-Robot Cooperative Tasks." Proceedings of the SPIE Symposium on Intelligent Robots and Computer Vision XX, Newton, MA, Vol. 4572, October 2001.
  100. Sujan, V.A., Lichter, M.D., and Dubowsky, S. "Lightweight Hyper-redundant Binary Elements for Planetary Exploration Robots." Proceedings of the 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 01), Como, Italy, July 2001.
  101. Iagnemma, K., Shibly, H., Rzepniewski, A., and Dubowsky, S. "Planning and Control Algorithms for Enhanced Rough-Terrain Rover Mobility." Proceedings of the I-SAIRAS: 6th International Symposium on Artificial Intelligence, Robotics, and Automation in Space, June 2001.
  102. Sujan, V. and Dubowsky, S. "Design and Implementation of a 3-D Mapping System for Highly Irregular Shaped Objects: with Application to Semiconductor Manufacture." SPIE Optical Engineering Journal, Vol. 41, No. 6, pp. 1406-1417, April 2001.
  103. Farritor, S. and Dubowsky, S. "On Modular Design of Field Robotic Systems." Autonomous Robots, Vol. 10, pp. 57-65, 2001.

    104. 2000

  104. Lichter, M.D., Sujan, V.A., and Dubowsky, S. "Experimental Demonstrations of a New Design Paradigm in Space Robotics." Proceedings of the Seventh International Symposium on Experimental Robotics (ISER 00), Honolulu, HI, December 2000.
  105. Iagnemma, K. and Dubowsky, S. "Mobile Robot Rough-Terrain Control (RTC) for Planetary Exploration." Proceedings of the 26th Biennial Mechanisms and Robotics Conference of the 2000 ASME Design Engineering Technical Conferences, Baltimore, MD, September 2000.
  106. Meggiolaro, M.A., Scriffignano, G., and Dubowsky, S. "Manipulator Calibration Using a Single Endpoint Contact Constraint." Proceedings of the 26th Biennial Mechanisms and Robotics Conference of the 2000 ASME Design Engineering Technical Conferences, Baltimore, MD, September 2000.
  107. Schenker, P., Pirjanian, P., Huntsberger, T., Aghazarian, H., Baumgartner, E., Iagnemma, K., Rzepniewski, A., and Dubowsky, S. "Reconfigurable Robots for All-Terrain Exploration." Proceedings of the SPIE Symposium on Sensor Fusion and Decentralized Control in Robotic Systems III, Boston, MA, Vol. 4196, September 2000.
  108. Yu, H., Dubowsky, S., and Skwersky, A. "Omni-directional Mobility Using Active Split Offset Castors." Proceedings of the 26th Biennial Mechanisms and Robotics Conference of the 2000 ASME Design Engineering Technical Conferences, Baltimore, MD, September 2000.
  109. Iagnemma, K., Rzepniewski, A., Dubowsky, S., Pirjanian, P., Huntsberger, T., and Schenker, P. "Mobile Robot Kinematic Reconfigurability for Rough-Terrain." Proceedings of the SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, August 2000.
  110. Morel, G., Iagnemma, K., and Dubowsky, S. "The Precise Control of Manipulators with High Joint-Friction Using Base Force/Torque Sensing." Automatica: The Journal of the International Federation of Automatic Control, Vol. 36, No. 7, pp. 931-941, July 2000.
  111. Iagnemma, K. and Dubowsky, S. "Vehicle Wheel-Ground Contact Angle Estimation: with Application to Mobile Robot Traction Control." Proceedings of the 7th International Symposium on Advances in Robot Kinematics, Piran-Portoroz, Slovenia, June 2000.
  112. Bevly, D., Farritor, S., and Dubowsky, S. "Action Module Planning and its Application to an Experimental Climbing Robot." Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 00), San Francisco, CA, Vol. 4, pp. 4009-4014, April 2000.
  113. Dubowsky, S., Genot, F., Godding, S., Kozono, H., Skwersky, A., Yu, H., and Yu, L.S. "PAMM - A Robotic Aid to the Elderly for Mobility Assistance and Monitoring: A "Helping-Hand" for the Elderly." Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 00), San Francisco, CA, Vol. 1, pp. 570-576, April 2000.
  114. Meggiolaro, M.A. and Dubowsky, S. "An Analytical Method to Eliminate the Redundant Parameters in Robot Calibration." Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 00), San Francisco, CA, Vol. 4, pp. 3609-3615, April 2000.
  115. Sujan, V. and Dubowsky, S. "Application of a Model-Free Algorithm for the Packing of Irregular Shaped Objects in Semiconductor Manufacture." Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 00), San Francisco, CA, Vol. 2, pp. 1545-1550, April 2000.
  116. Sujan, V., Dubowsky, S., and Ohkami, Y. "The Design and Implementation of a Robot Assisted Crucible Charging System." Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 00), San Francisco, CA, Vol. 2, pp. 1969-1975, April 2000.
  117. Bevly, D., Dubowsky, S., and Mavroidis, C. "A Simplified Cartesian-Computed Torque Controller for Highly Geared Systems and its Application to an Experimental Climbing Robot." ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 122, No. 1, pp. 27-32, January 2000.

    118. 1999

  118. Huntsberger, T.L., Baumgartner, E.T., Aghazarian, H., Cheng, Y., Schenker, P.S., Leger, P.C., Iagnemma, K.D., and Dubowsky, S. "Sensor-Fused Autonomous Guidance of a Mobile Robot and Applications to Mars Sample Return Operations." Proceedings of the SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Boston, MA, September 1999.
  119. Meggiolaro, M., Jaffe, P., Iagnemma, K., and Dubowsky, S. "A Force-Updated Kinematic Virtual Viewing System with Application to Nuclear Power Plant Maintenance." Proceedings of the IFTOMM World Congress, Oulu, Finland, June 1999.
  120. Iagnemma, K., Genot, F., and Dubowsky, S. "Rapid Physics-Based Rough-Terrain Rover Planning with Sensor and Control Uncertainty." Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA 99), Detroit, MI, Vol. 3, pp. 2286-2291, May 1999.
  121. Meggiolaro, M.A., Jaffe, P.C.L., and Dubowsky, S. "Achieving Fine Absolute Positioning Accuracy in Large Powerful Manipulators." Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA 99), Detroit, MI, Vol. 4, pp. 2819-2824, May 1999.
  122. Sujan, V. and Dubowsky, S. "A Model-Free Algorithm for the Packing of Highly Irregular Shaped Objects: with Application to CZ Semiconductor Manufacture." Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA 99), Detroit, MI, May 1999.
  123. Sujan, V. and Dubowsky, S. "The Design of a 3-D Surface Geometry Acquisition System for Highly Irregular Shaped Objects: with Application to CZ Semiconductor Manufacture." Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA 99), Detroit, MI, Vol. 2, pp. 951-956, May 1999.
  124. Iagnemma, K., Burn, R., Wilhelm, E., and Dubowsky, S. "Experimental Validation of Physics-Based Planning and Control Algorithms for Planetary Robotic Rovers." Proceedings of the Sixth International Symposium on Experimental Robotics (ISER 99), Sydney, Australia, March 1999.
  125. Dubowsky, S., Sunada, C., and Mavroidis, C. "Coordinated Motion and Force Control of Mobile Multi-Limbed Robotic Systems." Journal of Autonomous Robots, Vol. 6, No. 1, 1999.

    126. 1998

  126. Mavroidis, C., Flanz, J., Dubowsky, S., Drouet, P., and Goiltein, M. "High Performance Medical Robot Requirements and Accuracy Analysis." Robotics and Computer Integrated Manufacturing, Vol. 14, No. 5, pp. 329-338, December 1998.
  127. Gu, P., Dubowsky, S., and Mavroidis, C. "The Design Implications of Chaotic and Near-Chaotic Vibrations in Machines." Proceedings of the ASME Design Engineering Technical Conference, Atlanta, GA, September 1998.
  128. Meggiolaro, M.A., Mavroidis, C., and Dubowsky, S. "Identification and Compensation of Geometric and Elastic Errors in Large Manipulators: Application to a High Accuracy Medical Robot." Proceedings of the ASME Design Engineering Technical Conference, Atlanta, GA, September 1998.
  129. Hacot, H., Dubowsky, S., and Bidaud, P. "Modeling and Analysis of a Rocker-Bogie Planetary Exploration Rover." Proceedings of the Twelvth CISM-IFToMM Symposium (RoManSy 98), Paris, France, July 1998.
  130. Drouet, P., Dubowsky, S., and Mavroidis, C. "Compensation of Geometric and Elastic Deflection Errors in Large Manipulators Based on Experimental Measurements: Application to a High Accuracy Medical Manipulator." Proceedings of the Sixth International Symposium on Advances in Robot Kinematics, Strobl, Austria, June 1998.
  131. Farritor, S., Hacot, H., and Dubowsky, S. "Physics-Based Planning for Planetary Exploration." Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, Vol. 1, pp. 278-283, May 1998.
  132. Liu, G., Iagnemma, K., Dubowsky, S., and Morel, G. "A Base Force/Torque Sensor Approach to Robot Manipulator Inertial Parameter Estimation." Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, Vol. 4, pp. 3316-3321, May 1998.
  133. Yoshida, K., Mavroidis, C., and Dubowsky, S. "Modeling and Identification of Impact Dynamics of Robot Manipulators with Instantaneous Joint Motion." Journal of the Robotics Society of Japan, Vol. 16, No. 1, (in Japanese), January 1998.

    134. 1997

  134. Mavroidis, C., Dubowsky, S., and Thomas, K. "Optimal Sensor Location in Motion Control of Flexibly Supported Long Reach Manipulators." Journal of Dynamic Systems, Measurement, and Control, Vol. 119, p. 718, December 1997.
  135. Dubowsky, S. "A Perspective of the Advancement of Robotic Systems During the Past Fifteen Years." Proceedings of the Fifth IFAC Symposium on Robot Control: SYROCO 97, Nantes, France, p. 1, (plenary paper), September 1997.
  136. Iagnemma, K., Morel, G., and Dubowsky, S. "A Model-Free Fine Position Control Method Using the Base-Sensor: with Application to a Hydraulic Manipulator." Proceedings of the Fifth IFAC Symposium on Robot Control: SYROCO 97, Nantes, France, p. 1, September 1997.
  137. Farritor, S. and Dubowsky, S. "A Self-Planning Methodology for Planetary Robotic Explorers." Proceedings of the Eighth International Conference on Advanced Robotics, Monterey, CA, p. 499, July 1997.
  138. Madhani, A. and Dubowsky, S. "The Force Workspace: A Tool for the Design and Motion Planning of a Multi-Limb Robotic System." ASME Journal of Mechanical Design, Vol. 119, No. 2, pp. 218-225, June 1997.
  139. Farritor, S. and Dubowsky, S. "A Genetic Algorithm Based Navigation and Planning Methodology for Planetary Robotic Exploration." Proceedings of the American Nuclear Society Sixth Topical Meeting on Robotics and Remote Systems, Augusta, GA, April 1997.
  140. Mavroidis, C., Dubowsky, S., Drouet, P., Hintersteiner, J., and Flanz, J. "A Systematic Error Analysis of Robotic Manipulators: Application to a High Performance Medical Robot." Proceedings of the 1997 International Conference on Robotics and Automation, Albuquerque, NM, Vol. 2, pp. 980-985, April 1997.
  141. Oppenheimer, C. and Dubowsky, S. "A Radiation Efficiency for Unbaffled Plates with Experimental Validation." Journal of Sound and Vibration, Vol. 199, No. 3, pp. 473-489, January 1997.
  142. Yoshida, K., Mavroidis, C., and Dubowsky, S. "Experimental Research on Impact Dynamics of Spaceborne Manipulator Systems." Experimental Robotics IV, pp. 436-447, Control and Information Science Series 223, ed. by O. Khatib and J.K. Salisbury, 1997.

    143. 1996

  143. Flanz, J., Mavroidis, C., and Dubowsky, S. "Design Approach for a Highly Accurate Patient Positioning System for NPTC." Proceedings of the PTOOG XXV and Hadrontherapy Symposium, Belgium, September 1996.
  144. Dubowsky, S., Farritor, S., Mavroidis, C., and Morel, G. "Research on Field and Space Robotic Systems." Proceedings of the 1996 ASME Design Engineering Technical Conference and Computers in Engineering Conference, Irvine, CA, August 1996.
  145. Farritor, S., Dubowsky, S., and Rutman, N. "On the Design of Rapidly Deployable Field Robotic Systems." Proceedings of the 1996 ASME Design Methodology Conference, Irvine, CA, August 1996.
  146. Mavroidis, C., Dubowsky, S., and Thomas, K. "Optimal Sensor Location in Motion Control of Flexibly Supported Long Reach Manipulators." Proceedings of the 1996 ASME Mechanisms Conference, Irvine, CA, August 1996.
  147. Morel, G. and Dubowsky, S. "High Performance Control of Manipulators Using Base Force/Torque Sensing." Proceedings of the 11th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators (RoManSy 96), Udine, Italy, pp. 269-276, July 1996.
  148. Yoshida, K., Mavroidis, C., and Dubowsky, S. "Impact Dynamics of Space Manipulators Mounted on a Flexible Structure." Proceedings of the 3rd International Conference on Dynamics and Control of Structures in Space, London, England, pp. 117-132, May 1996.
  149. Farritor, S., Dubowsky, S., Rutman, N., and Cole, J. "A Systems-Level Modular Design Approach to Field Robotics." Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, MN, Vol. 4, pp. 2890-2895, April 1996.
  150. Morel, G. and Dubowsky, S. "The Precise Control of Manipulators with Joint Friction: A Base Force/Torque Sensor Model." Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, MN, Vol. 1, pp. 360-365, April 1996.
  151. Torres, M.A., Dubowsky, S., and Pisoni, A.C. "Vibration Control of Deployment Structures' Long-Reach Space Manipulators: The P-PED Method." Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, MN, Vol. 3, pp. 2498-2504, April 1996.
  152. Yoshida, K., Mavroidis, C., and Dubowsky, S. "Impact Dynamics of Space Long Reach Manipulators." Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, MN, Vol. 2, pp. 1909-1916, April 1996.

    153. 1995

  153. Yoshida, K., Mavroidis, C., and Dubowsky, S. "Experimental Estimation of Impact Dynamics of a Manipulator Using Extended-Inverse Inertia Tensor." Proceedings of the 13th Annual Conference of Robotics Society of Japan, pp. 705-706, (in Japanese), November 1995.
  154. Gu, P. and Dubowsky, S. "Chaotic Vibration and Design Criteria for Machine Systems with Clearance Connections." Proceedings of the 9th World Congress on the Theory of Machines and Mechanisms, Milan, Italy, Vol. 4, pp. 2456-2460, September 1995.
  155. Mavroidis, C., Dubowsky, S., and Raju, V. "End-point Control of Long Reach Manipulator Systems." Proceedings of the Ninth World Conference on the Theory of Machines and Mechanisms, Milan, Italy, September 1995.
  156. Mavroidis, C., Rowe, P., and Dubowsky, S. "Motion Control of Long Reach Manipulator Systems." Proceedings of the Ninth World Congress on the Theory of Machines and Mechanisms, Milan, Italy, September 1995.
  157. Mavroidis, C., Rowe, P., and Dubowsky, S. "The Control of Elastically Mounted Manipulator Systems." Proceedings of the Ninth World Congress on the Theory of Machines and Mechanisms, , Milano, Italy, p. 1740, September 1995.
  158. Mavroidis, C., Rowe, P., and Dubowsky, S. "Inferred Endpoint Control of Long Reach Manipulators." Proceedings of the 1995 International Conference on Intelligent Robots and Systems (IROS 95), Pittsburgh, PA, Vol. 2, pp. 71-76, August 1995.
  159. Yoshida, K., Mavroidis, C., and Dubowsky, S. "Dynamics and Control of a Space Robot Capturing a Floating Target (Experiments of Impact Estimation)." Proceedings of the 1995 ISAS 5th Workshop on Astrodynamics and Flight Mechanics, pp. 108-114, August 1995.
  160. Yoshida, K., Mavroidis, C., and Dubowsky, S. "Experimental Research on Impact Dynamics of Spaceborne Manipulator Systems." Proceedings of the 4th International Symposium on Experimental Robotics, Stanford, CA, June 1995.
  161. Dubowsky, S., Moore, C., and Sunada, C. "On the Design and Task Planning of Power Efficient Field Robotic Systems." Proceedings of the ANS 6th Topical Meeting on Robotics and Remote Systems, Monterey, CA, pp. 501-508, February 1995.
  162. Pisoni, A.C., Santolini, C., Hauf, D., and Dubowsky, S. "Displacements in a Vibrating Body by Strain Gauge Measurements." Proceedings of the 13th International Modal Analysis Conference, Nashville, TN, (invited), February 1995.
  163. Dubowsky, S., Cole, J., Rutman, N., and Sunada, C. "Mobile Autonomous Robotic Systems for Unstructured Environments - with Application to the USS Constitution." Proceedings of the NSF Design and Manufacturing Grantees Conference, San Diego, CA, (invited), January 1995.
  164. Dubowsky, S., Durfee, W., Corrigan, T., Kuklinski, A., and Muller, U. "A Laboratory Test Bed for Space Robotics: The VES MOD II." Intelligent Robotic Systems 1994, ed. by V. Graefe, 1995.

    165. 1994

  165. Dubowsky, S. "Dealing with Vibrations in the Deployment Structures of Space Robotic Systems." Proceedings of the 5th International Conference on Adaptive Structures, Sendai, Japan, (invited), December 1994.
  166. Cole, J., Dubowsky, S., Rutman, N., and Sunada, C. "The Application of Advanced Robotics and Sensor Technologies to the Preservation of the USS Constitution." Proceedings of the Conference on the Technical Aspects of Maintaining, Repairing, and Preserving Historically Significant Ships, Boston, MA, (invited), September 1994.
  167. Corrigan, T. and Dubowsky, S. "Emulating Micro-Gravity in Laboratory Studies of Space Robotics." Proceedings of the 23rd ASME Mechanisms Conference, Minneapolis, MN, September 1994.
  168. Deck, J. and Dubowsky, S. "On the Limitations of Predictions of the Dynamic Response of Machines with Clearance Connections." ASME Journal of Mechanical Design, Vol. 116, No. 3, pp. 833-841, September 1994.
  169. Dubowsky, S., Durfee, W., Corrigan, T., Kuklinski, A., and Muller, U. "A Laboratory Test Bed for Space Robotics: The VES Mod II." Proceedings of the IROS 94 IEEE/RSJ/GI International Conference on Intelligent Robots and Systems: Advanced Robotic Systems and the Real World, Munich, Germany, Vol. 3, pp. 1562-1569, September 1994.
  170. Dubowsky, S., Durfee, W., Kuklinski, A., Muller, U., Paul, I., and Pennington, J. "The Design and Implementation of a Laboratory Test Bed for Space Robotics: The VES MOD II." Proceedings of the 23rd ASME Mechanisms Conference, Minneapolis, MN, September 1994.
  171. Sunada, C., Argaez, D., Dubowsky, S., and Mavroidis, C. "A Coordinated Jacobian Transpose Control for Mobile Multi-Limbed Robotic Systems." Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, Vol. 3, pp. 1910-1915, May 1994.
  172. Torres, M.A., Dubowsky, S., and Pisoni, A.C. "Path-Planning for Elastically-Mounted Space Manipulators: Experimental Evaluation of the Coupling Map." Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994.
  173. Corrigan, T. and Dubowsky, S. "Emulating Micro-Gravity in Laboratory Studies of Space Robotics." ASME Journal of Mechanical Design, 1994.
  174. Dubowsky, S., Durfee, W., Kuklinski, A., Muller, U., Paul, I., and Pennington, J. "The Design and Implementation of a Laboratory Test Bed for Space Robotics: The VES MOD II." ASME Journal of Mechanical Design, 1994.

    175. 1993

  175. Dubowsky, S. and Papadopoulos, E. "The Kinematics, Dynamics, and Control of Free-Flying and Free-Floating Space Robotic Systems." IEEE Transactions on Robotics and Automation, Special Issue on Space Robotics, Vol. 9, No. 5, pp. 531-543, (invited), October 1993.
  176. Hootsmans, N.A.M., Dubowsky, S., and Mo, P. "Experimental Verification of a Control Algorithm for a Manipulator with a Moving Vehicle Mechanism." Mechanical Automation, Vol. 25, No. 6, pp. 101-105, (in Japanese), June 1993.
  177. Torres, M. and Dubowsky, S. "Path Planning for Elastically Constrained Space Manipulator Systems." Proceedings of the 1993 IEEE International Conference on Robotics and Automation, Atlanta, GA, Vol. 1, pp. 812-817, May 1993.
  178. Papadopoulos, E. and Dubowsky, S. "Dynamic Singularities in Free-Floating Space Manipulators." ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 115, No. 1, pp. 44-52, March 1993.
  179. Dubowsky, S. "Space Robotics: Dynamics and Control." Published by Kluwer Academic Publishers, Norwell, MA; Xu and Kanade - Editors; Dubowsky, S.-(Chapter Contributor (2 & 3)), 1993.
  180. Dubowsky, S. .(.C.H.A.P.T.E.R. .E.D.I.T.O.R.). "Modern Kinematics Developments in the Last Forty Years, Ch. 13-The Future Role of the Science of Mechanisms in Design." , pp. 575-581, Pub. Wiley Series in Design Eng., John Wiley A. & Sons, Inc., Ed. Erdman, A.G., 1993.

    181. 1992

  181. Madhani, A. and Dubowsky, S. "Design and Motion Planning of Multi-Limb Robotic Systems: The Force Workspace Approach." Proceedings of the 1992 ASME Design Technical Mechanisms Conference, Phoenix, AZ, September 1992.
  182. Madhani, A. and Dubowsky, S. "Planning Motions of Robotic Systems Subject to Force and Friction Constraints with an Application to a Robotic Climber." Proceedings of the 9th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators (RoManSy 92), Udine, Italy, September 1992.
  183. Hootsmans, N.A.M., Dubowsky, S., and Mo, P. "Large Motion Control of an Experimental Manipulator with Limited Sensing." Proceedings of the 31st SICE Annual Conference, Kumamoto, Japan, pp. 983-986, July 1992.
  184. Torres, M. and Dubowsky, S. "Minimizing Spacecraft Attitude Disturbances in Space Manipulator Systems." AIAA Journal of Guidance, Control, and Dynamics, Vol. 15, No. 4, pp. 1010-1017, July 1992.
  185. Hootsmans, N.A.M., Dubowsky, S., and Mo, P. "The Experimental Performance of a Mobile Manipulator Control Algorithm." Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, France, Vol. 3, pp. 1948-1954, May 1992.
  186. Madhani, A. and Dubowsky, S. "Motion Planning of Mobile Multi-Limb Robotic Systems Subject to Force and Friction Constraints." Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, France, Vol. 1, pp. 233-239, May 1992.

    187. 1991

  187. Papadopoulos, E. and Dubowsky, S. "On the Nature of Control Algorithms for Free Floating Space Manipulators." IEEE Transactions on Robotics and Automation, Vol. 7, No. 6, pp. 750-758, December 1991.
  188. Shiller, Z. and Dubowsky, S. "On Computing the Global Time-Optimal Motions of Robotic Manipulators in the Presence of Obstacles." IEEE Transactions on Robotics and Automation, Vol. 7, No. 6, pp. 785-797, December 1991.
  189. Dubowsky, S., Gu, P., and Deck, J. "The Dynamic Analysis of Flexibility in Mobile Robotic Manipulator Systems." Proceedings of the Eighth World Congress on the Theory of Machines and Mechanisms, Prague, Czechoslovakia, Vol. 1, pp. 9-12, (invited plenary paper), August 1991.
  190. Dubowsky, S. "The Future Role of the Science of Mechanisms in Design." Chapter in The First Forty Years of Modern Kinematics: a Tribute to Ferdinand Freudenstein, pp. 575-581, July 1991.
  191. Durfee, W.K., Idris, H.R., and Dubowsky, S. "Real Time Control of the MIT Vehicle Emulator System." Proceedings of the 1991 American Control Conference, Boston, MA, June 1991.
  192. Papadopoulos, E. and Dubowsky, S. "Failure Recovery Control for Space Robotic Systems." Proceedings of the 1991 American Control Conference, Boston, MA, (invited), June 1991.
  193. Dubowsky, S. and Torres, M. "Path Planning for Space Manipulators to Minimize Spacecraft Attitude Disturbances." Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, Vol. 3, pp. 2522-2528, April 1991.
  194. Hootsmans, N.A.M. and Dubowsky, S. "Large Motion Control of Mobile Manipulators Including Vehicle Suspension Characteristics." Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, Vol. 3, pp. 2336-2341, April 1991.
  195. Papadopoulos, E. and Dubowsky, S. "Coordinated Manipulator/Spacecraft Motion Control for Space Robotic Systems." Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, Vol. 2, pp. 1696-1701, April 1991.
  196. Hootsmans, N.A.M. and Dubowsky, S. "The Control of Mobile Manipulators Including Vehicle Dynamic Characteristics." Proceedings of the Fourth Topical Meeting on Robotics and Remote Systems, Albuquerque, NM, pp. 461-470, February 1991.

    197. 1990

  197. Kakizaki, T., Deck, J.F., and Dubowsky, S. "Modeling the Spatial Dynamic Behavior of Robotic Manipulators with Flexible Links and Joint Clearances." ASME Journal of Mechanical Design, Vol. 115, No. 4, pp. 839-847, December 1990.
  198. Dubowsky, S., Holly, K., Murray, A.L., and Wander, J.M. "Design Optimization of Moire Interferometers for Rapid 3-D Manufacturing Inspection." Proceedings of the SPIE Symposium on Advances in Intelligent Systems: Machine Vision Systems Integration in Industry, Boston, MA, Vol. 1386, pp. 10-20, November 1990.
  199. Dubowsky, S. and Torres, M. "Minimizing Attitude Control Fuel in Space Manipulator Systems." Proceedings of the International Symposium on Artificial Intelligence, Robotics, and Automation in Space, Kobe, Japan, pp. 259-262, November 1990.
  200. Vafa, Z. and Dubowsky, S. "On the Dynamics of Space Manipulators Using the Virtual Manipulator, with Applications to Path Planning." Journal of the Astronautical Sciences, Special Issue on Space Robotics, Vol. 38, No. 4, pp. 441-472, (invited), October 1990.
  201. Kakizaki, T., Deck, J., and Dubowsky, S. "Modeling the Spatial Dynamics of Robotic Manipulators with Flexible Links and Joint Clearances." Proceedings of the 1990 ASME Mechanisms Conference: Flexible Mechanisms, Dynamics, and Robot Trajectories, Chicago, IL, Vol. 24, pp. 343-350, September 1990.
  202. Vafa, Z. and Dubowsky, S. "The Kinematics and Dynamics of Space Manipulators: The Virtual Manipulator Approach." The International Journal of Robotics Research, Vol. 9, No. 4, pp. 3-21, August 1990.
  203. Papadopoulos, E. and Dubowsky, S. "On the Control of Space Manipulators." Proceedings of the Eighth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators (RoManSy 8), Krakow, Poland, pp. 202-209, July 1990.
  204. Papadopoulos, E. and Dubowsky, S. "On the Nature of Control Algorithms for Free-Floating Space Manipulators." Proceedings of the 1990 IEEE International Conference on Robotics and Automation, Cincinatti, OH, May 1990.

    205. 1989

  205. Dubowsky, S. and Papadopoulos, E. "On the Dynamic Singularities in the Control of Free-Floating Space Manipulators." Proceedings of the 1989 ASME Winter Annual Meeting: Dynamics and Control of Multibody/Robotic Systems with Space Applications, San Francisco, CA, (invited), December 1989.
  206. Shiller, Z. and Dubowsky, S. "Robot Path Planning with Obstacles, Actuator, Gripper, and Payload Constraints." International Journal of Robotics Research, Vol. 8, No. 6, pp. 3-18, December 1989.
  207. Dubowsky, S. and Blubaugh, T. "Planning Time-Optimal Robotic Manipulator Motions and Work Places for Point-to-Point Tasks." IEEE Transactions on Robotics and Automation, Vol. 5, No. 3, pp. 377-381, June 1989.
  208. West, H., Hootsmans, N., Dubowsky, S., and Stelman, N. "Experimental Simulation of Manipulator Base Compliance." Proceedings of the First International Symposium on Experimental Robotics, Montreal, Canada, June 1989.
  209. Dubowsky, S. and Vance, E.E. "Planning Mobile Manipulator Motions Considering Vehicle Dynamic Stability Constraints." Proceedings of the 1989 IEEE International Conference on Robotics and Automation, Scottsdale, AZ, Vol. 3, pp. 1271-1276, May 1989.
  210. West, H., Papadopoulos, E., Dubowsky, S., and Cheah, H. "A Method for Estimating the Mass Properties of a Manipulator by Measuring the Reaction Moments at its Base." Proceedings of the 1989 IEEE International Conference on Robotics and Automation, Scottsdale, AZ, Vol. 3, pp. 1510-1516, May 1989.
  211. Dubowsky, S., Vance, E.E., and Torres, M.A. "The Control of Space Manipulators Subject to Spacecraft Attitude Control Saturation Limits." Proceedings of the NASA Conference on Space Telerobotics, Jet Propulsion Laboratory, Pasadena, CA, Vol. 4, pp. 409-419, January 1989.

    212. 1988

  212. Dubowsky, S., Paul, I., and West, H. "An Analytical and Experimental Program to Develop Control Algorithms for Mobile Manipulators." Proceedings of the 7th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Udine, Italy, September 1988.
  213. Oppenheimer, C.H. and Dubowsky, S. "An Acoustic Modeling Method for the Design of Machine System Noise Enclosures, with Experimental Verification." Proceedings of the ASME Design Technical Conference, Orlando, FL, September 1988.
  214. Shiller, Z. and Dubowsky, S. "Global Time Optimal Motions of Robotic Manipulators in the Presence of Obstacles." Proceedings of the 1988 IEEE International Conference on Robotics and Automation, Philadelphia, PA, Vol. 1, pp. 370-375, April 1988.
  215. Vafa, Z. and Dubowsky, S. "Minimization of Spacecraft Disturbances in Space Robotic Systems." Proceedings of the 11th Annual AAS Guidance and Control Conference, Keystone, CO, January 1988.
  216. Dubowsky, S. "Robot Design Handbook." , Published by McGraw Hill, New York, NY,; G. Andeen- Editor; Dubowsky, S. (Chapter Contributor) , 1988.
  217. Vafa, Z. and Dubowsky, S. "Minimization of Spacecraft Disturbances in Space Robotic Systems." Guidance and Control 1988: Advances in the Astronautical Sciences, Vol. 66, pp. 91-108, Robert D. Culp and Paul L. Shattuck, eds., San Diego: Univelt, Inc., 1988.

    218. 1987

  218. Shiller, Z. and Dubowsky, S. "Time Optimal Paths and Acceleration Lines of Robotic Manipulators." Proceedings of the 26th IEEE Conference on Decision and Control, Los Angeles, CA, December 1987.
  219. Vafa, Z. and Dubowsky, S. "Kinematic and Dynamic Models of Manipulators for Use in Space: The Concept of the Virtual Manipulator." Proceedings of the 7th World Congress on the Theory of Machines and Mechanisms, Seville, Spain, September 1987.
  220. Dubowsky, S. and Tanner, A. "A Study of the Dynamics and Control of Mobile Manipulators Subjected to Vehicle Disturbance." Proceedings of the 4th International Symposium of Robotics Research, Santa Cruz, CA, (invited), August 1987.
  221. Shiller, Z. and Dubowsky, S. "The Acceleration Map and its Use in Minimum Time Motion Planning of Robotic Manipulators." Proceedings of the ASME International Computers in Engineering Conference and Exhibition, New York, NY, August 1987.
  222. Morita, A., Dubowsky, S., and Hootsmans, N.A.M. "Learning Control for Robotic Manipulators with Sparse Data." Proceedings of the American Control Conference, Minneapolis, MN, (invited), June 1987.
  223. Dubowsky, S., Deck, J.F., and Costello, H. "The Dynamic Modeling of Flexible Spatial Machine Systems with Clearance." ASME Journal of Mechanisms, Transmissions, and Automation in Design, Vol. 109, No. 1, pp. 87-94, March 1987.
  224. Vafa, Z. and Dubowsky, S. "On the Dynamics of Manipulators in Space Using the Virtual Manipulator Approach." Proceedings of the 1987 IEEE International Conference on Robotics and Automation, Raleigh, NC, March 1987.
  225. Vafa, Z. and Dubowsky, S. "A Virtual Manipulator Model for Space Robotic Systems." Proceedings of the NASA Workshop on Space Telerobotics, Jet Propulsion Lab, Cal Tech, Pasadena, CA, (invited), January 1987.

    226. 1986

  226. Dubowsky, S. and Deck, J. "On the Finite Element Dynamic Modeling of Spatial Machine Systems Having Flexible Members with Clearance Connections." Proceedings of the ASME 1986 Design Technology Conference, Columbus, OH, October 1986.
  227. Dubowsky, S., Norris, M.A., and Shiller, Z. "Time Optimal Robotic Manipulator Task Planning." Proceedings of the 6th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Krakow, Poland, September 1986.
  228. Dubowsky, S. "Kinematics, Dynamics, and Control of Mechanisms and Manipulators." Rensselaer Polytechnic Institute, June 1986.
  229. Dubowsky, S., Norris, M.A., and Shiller, Z. "Time Optimal Trajectory Planning for Robotic Manipulators with Obstacle Avoidance: A CAD Approach." Proceedings of the 1986 IEEE International Conference on Robotics and Automation, San Francisco, CA, April 1986.

    230. 1985

  230. Dubowsky, S. and Blubaugh, T.D. "Planning Time-Optimal Robotic Manipulator Motions and Work Places for Point-to-Point Tasks." Proceedings of the 24th IEEE Conference on Decision and Control, Fort Lauderdale, FL, December 1985.
  231. Dubowsky, S. "A New Approach for the Automated Inspection of 3-Dimensional Manufactured Parts." Proceedings of the 7th Israel Convention and Exhibition on CAD/CAM and Robotics, Tel-Aviv Trade Fairs Center, (invited keynote), November 1985.
  232. Dubowsky, S. and Shiller, Z. "OPTARM - A CAD Implementation of a Time Optimal Control Algorithm for Robotic Manipulators." Proceedings of the 7th Israel Convention and Exhibition on CAD/CAM and Robotics, Tel-Aviv Trade Fairs Center, November 1985.
  233. Dubowsky, S. "Advanced Control Techniques for Robotic Manipulators." Proceedings of the Laboratory for Manufacturing and Productivity Industrial Collegium Conference, MIT, Cambridge, MA, (invited), June 1985.
  234. Dubowsky, S. "Application of Finite-Element Methods to Dynamic Analysis of Flexible Spatial and Co-planar Linkage Systems." Proceedings of the NASA Workshop on Computational Structural Mechanics, Langley Research Center, Hampton, VA, (invited), June 1985.
  235. Dubowsky, S. "The Dynamics of Flexible Multi-Body Mechanics and Manipulators: An Overview." Proceedings of the NASA Workshop on Computational Structural Mechanics, Langley Research Center, Hampton, VA, (invited), June 1985.
  236. Dubowsky, S. "Active Control of Mechanical Systems: The State-of-the-Art for Robotic Manipulators." Proceedings of the AIAA/ASME/AAS 26th Structure, Structural Dynamics, and Materials Conference, Orlando, FL, pp. 258-261, (invited), April 1985.
  237. Shiller, Z. and Dubowsky, S. "On the Optimal Control of Robotic Manipulators with Actuator and End-Effector Constraints." Proceedings of the IEEE International Conference on Robotics and Automation, St. Louis, MO, pp. 614-620, March 1985.
  238. Dubowsky, S. and Shiller, Z. "The Dynamics and Control of Robotic Manipulators and Devices." Proceedings of the IEEE 9th Video Conference on Robot Dynamics and Control, (IEEE Notes), February 1985.
  239. Bobrow, J.E., Dubowsky, S., and Gibson, J.S. "Time-Optimal Control of Robotic Manipulators Along Specified Paths." International Journal of Robotics Research, Vol. 4, No. 3, pp. 3-17, 1985.

    240. 1984

  240. Dubowsky, S., Norris, M., Aloni, E., and Tamir, A. "An Analytical and Experimental Study of the Prediction of Impacts in Planar Mechanical Systems with Clearances." ASME Journal of Mechanisms, Transmissions and Automation in Design, Vol. 106, No. 4, pp. 444-451, December 1984.
  241. Dubowsky, S. "A Tailored Moire Interferometric Technique for Automated 3-Dimensional Visual Inspection." Proceedings of the International Conference on the Manufacturing Science and Technology of the Future, MIT, Cambridge, MA, (invited), October 1984.
  242. Dubowsky, S., Norris, M., Aloni, E., and Tamir, A. "An Analytical and Experimental Study of the Prediction of Impacts in Planar Mechanical Systems with Clearances." Proceedings of the 4th International Power Transmission and Gearing Conference, October 1984.
  243. Dubowsky, S. and Kornbluh, R. "On the Development of High Performance Adaptive Control Algorithms for Robotic Manipulators." Proceedings of the Second International Symposium of Robotic Research, Kyoto, Japan, August 1984.
  244. Dubowsky, S. and Shiller, Z. "Optimal Dynamic Trajectories for Robotic Manipulators." Proceedings of the 5th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Udine, Italy, pp. 133-143, June 1984.
  245. Dubowsky, S. "Position Paper on Mechanisms, Dynamics and Control." Proceedings of the DOE Workshop on Research Goals and Priorities in Intelligent Machines, Leesburg, VA, (invited), March 1984.
  246. Dubowsky, S. ""Research Needs in Mechanical Systems". Prepared by Select Panel on Research Goals and Priorities in Mechanical Systems.." , Published by the American Society of Mechanical Engineers, Prepared for the NSF, (invited)., 1984.

    247. 1983

  247. Dubowsky, S. and Morris, T.L. "An Analytical and Experimental Study of the Acoustical Noise Produced by Machine Links." ASME Journal of Mechanical Design, Vol. 105, No. 3, pp. 393-401, July 1983.
  248. Bobrow, J.E., Dubowsky, S., and Gibson, J.S. "On the Optimal Control of Robotic Manipulators with Actuator Constraints." Proceedings of the 1983 American Control Conference, San Francisco, CA, June 1983.
  249. Dubowsky, S. "The Dynamics and Control of Robotic Manipulators." Proceedings of the NATO Advanced Study Institute on Robotics and Artificial Intelligence, Castelvecchio Pascoli, Italy, June 1983.
  250. Dubowsky, S. "Predicting the Noise Produced by Linkage Mechanisms." Proceedings of the 1983 National Conference on Noise Control Engineering, MIT, Cambridge, MA, pp. 81-90, (invited), March 1983.
  251. Sunada, W. and Dubowsky, S. "On the Dynamic Analysis and Behavior of Industrial Robotic Manipulators with Elastic Members." ASME Journal of Mechanical Design, Vol. 105, No. 1, pp. 42-51, March 1983.
  252. Dubowsky, S. "Contribution to: "Applications of Robotics and Artificial Intelligence to Reduce and Improve Effectiveness; a Study for the United States Army," ." , Published by the National Academy of Science/Engineering Press, Washington, DC, (invited)., 1983.

    253. 1982

  253. Dubowsky, S. and Sunada, W. "Three-Dimensional Dynamic Motion of Machines and Mechanisms with Elastic Elements." Proceedings of the 9th US National Congress of Applied Mechanics, Ithaca, NY, pp. 273-280, June 1982.

    254. 1981

  254. Dubowsky, S. and Perreira, N.D. "Noise and Vibration Generated by Impacts in Linkage Systems: with Application to Engines." Proceedings of the International Symposium on Engine Noise: Excitation, Vibration, and Radiation, Sponsored by General Motors Research Laboratories, Warren, MI, October 1981.
  255. Dubowsky, S. "On the Dynamics of Computer Controlled Robotic Manipulators." Proceedings of the 4th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, University of Warsaw, Poland, September 1981.
  256. Sunada, W. and Dubowsky, S. "The Application of Finite Element Methods to the Dynamic Analysis of Flexible Spatial and Co-Planar Linkage Systems." ASME Journal of Mechanical Design, Vol. 103, No. 3, pp. 643-651, July 1981.
  257. Dubowsky, S. "On the Adaptive Control of Robotic Manipulators: The Discrete-Time Case." Proceedings of the 1981 Joint Automatic Control Conference, University of Virginia, Charlottesville, VA, (invited), June 1981.
  258. Dubowsky, S. "The Dynamic Analysis of Flexible Spatial Mechanisms and Robotic Manipulators." Proceedings of the 1981 Israel Conference on Mechanical Engineering, Ben Gurion University, Beer Sheva, Israel, June 1981.

    259. 1980

  259. Dubowsky, S. and Morris, T.L. "Mechanism Noise." Proceedings of the 1980 IEEE Ultrasonics Symposium, Boston, MA, (invited), November 1980.
  260. Dubowsky, S. "Dynamics for Manipulation: Areas of Future Research." Proceedings of the NSF Workshop on the State-of-the-Art of Robotics Research, Newport, RI, April 1980.
  261. Perreira, N.D. and Dubowsky, S. "An Analytical Method to Predict Noise Radiation from Vibrating Machine Systems." Journal of the Acoustic Society of America, Vol. 67, No. 2, pp. 551-563, February 1980.

    262. 1979

  262. Dubowsky, S. and Desforges, D. "The Application of Model-Referenced Adaptive Control of Robotic Manipulators." ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 101, No. 3, pp. 193-200, September 1979.
  263. Desforges, D.T. and Dubowsky, S. "Robotic Manipulator Control Systems with Invariant Dynamic Characteristics." Proceedings of the Fifth World Congress on Theory of Machines and Mechanisms, Montreal, Canada, pp. 1515-1518, July 1979.
  264. Prentis, J.M., Valero, R.A., and Dubowsky, S. "On the Development of Criteria for the Prediction of Impact in the Design of High Speed Systems with Clearances." Proceedings of the Fifth World Congress of Theory of Machines and Mechanisms, Montreal, Canada, July 1979.
  265. Dubowsky, S. and Desforges, D. "The Application of Model-Referenced Adaptive Control of Robotic Manipulators." Proceedings of the 1979 Joint Automatic Control Conference, Denver, CO, June 1979.
  266. Perreira, N.D. and Dubowsky, S. "Predicting Acoustical Noise Generation in Complex Mechanical Systems." ASME Journal of Mechanical Design, Vol. 101, No. 2, pp. 199-209, April 1979.

    267. 1978

  267. Dubowsky, S. "The Impact of System Nonlinearities and Flexibility on the Dynamic Performance of Computer Based Manipulator Control Systems." Proceedings of the NSF Workshop on Robotic Manipulators, University of Florida, Gainesville, FL, February 1978.
  268. Dubowsky, S. and Moening, M.F. "An Experimental and Analytical Study of Impact Forces in Elastic Mechanical Systems with Clearances." Mechanism and Machine Theory, Vol. 13, pp. 451-465, January 1978.

    269. 1977

  269. Witham, C.R. and Dubowsky, S. "An Improved Symbolic Manipulation Technique for the Simulation of Nonlinear Dynamic Systems with Mixed Time Varying and Constant Terms." ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 99, Series G, No. 3, pp. 157-166, September 1977.
  270. Witham, C.R. and Dubowsky, S. "An Improved Symbolic Manipulation Technique for the Simulation of Nonlinear Dynamic Systems with Mixed Time Varying and Constant Terms." Proceedings of the 1977 Joint Automatic Control Conference, San Francisco, CA, June 1977.
  271. Allen, R.R. and Dubowsky, S. "Mechanisms as Components of Dynamic Systems: A Bond Graph Approach." ASME Journal of Engineering for Industry, Vol. 99, Series B, No. 1, pp. 104-111, February 1977.
  272. Dubowsky, S. "Dynamic Analysis of Simple Linkage Systems with Clearances, Linkage Design Monographs." NSF, NSF CK-36224, pp. 25/1-25/6, February 1977.
  273. Dubowsky, S. and Gardner, T. "Design and Analysis of Multi Link Flexible Mechanisms with Multiple Clearance Connections." ASME Journal of Engineering for Industry, Vol. 99, Series B, No. 1, pp. 88-96, February 1977.

    274. 1976

  274. Allen, R.R. and Dubowsky, S. "Modeling Kinematic Systems as Networks: An Interdisciplinary Approach to Removing Barriers to Communication." Proceedings of the NSF Workshop on New Directions in Kinematics Research, Stanford University, August 1976.
  275. Witham, C.R. and Dubowsky, S. "Kinematics: A Basis for High Quality Dynamic Analysis -- with an Application to the Dynamics and Control of Flexible Manipulators." Proceedings of the NSF Workshop on New Directions in Kinematics Research, Stanford University, August 1976.
  276. Dubowsky, S. "Research Initiation -- Dynamics of High Speed Nonlinear Mechanics." NSF: UCLA School of Engineering and Applied Science, NSF No. Eng. 72-03829-A02 (formerly GK32633), January 1976.

    277. 1975

  277. Dubowsky, S. and Young, S.C. "An Experimental and Analytical Study of Connection Forces in High Speed Mechanisms." ASME Journal of Engineering for Industry, Vol. 97, Series B, No. 4, pp. 1166-1174, November 1975.
  278. Maatuk, J. and Dubowsky, S. "The Dynamic Analysis of Elastic Spatial Mechanisms." Institute of Mechanical Engineers, pp. 927-932, September 1975.
  279. Dubowsky, S. "Simulation as Applied to the Design of Interactive Control Systems." ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 95, Series G, No. 2, pp. 228-234, June 1975.
  280. Dubowsky, S., Maatuk, J., and Perreira, N.D. "A Parameter Identification Study of Kinematic Errors in Planar Mechanisms." ASME Journal of Engineering for Industry, Vol. 97, Series B, No. 2, pp. 635-642, May 1975.

    281. 1974

  281. Dubowsky, S. "Designing High Speed Mechanical Systems with Backlash." Proceedings of the International Symposium on Machines and Mechanisms: University Research As Applied to Industry, Dublin, Ireland, September 1974.
  282. Dubowsky, S. and Gardner, T.N. "Dynamic Interactions of Link Elasticity and Clearance Connections in Planar Mechanical Systems." ASME Journal of Engineering for Industry, Vol. 97, Series B, No. 2, pp. 652-661, June 1974.
  283. Dubowsky, S. "On Predicting the Dynamic Effects of Clearance in One-Dimensional Closed Loop Systems." ASME Journal of Engineering for Industry, Vol. 95, Series B, No. 1, pp. 324-329, February 1974.
  284. Dubowsky, S. "On Predicting the Dynamic Effects of Clearances in Planar Mechanisms." ASME Journal of Engineering for Industry, Vol. 95, Series G, No. 1, pp. 317-323, February 1974.

    285. 1973

  285. Dubowsky, S. and Grant, J.L. "Application of Symbolic Manipulation to Time Domain Analysis of Nonlinear Dynamic Systems." ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 97, Series G, No. 1, pp. 60-68, March 1973.
  286. Dubowsky, S. "Simulation as Applied to the Design of Interactive Control Systems." Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, Vol. 95, Series G, No. 2, pp. 228-234, 1973.

    287. 1972

  287. Dubowsky, S. "Simulation as Applied to the Dynamics of an Interactive Optical Reading System." Proceedings of the 1972 Joint Automatic Control Conference, Stanford University, August 1972.

    288. 1971

  288. Dubowsky, S. and Freudenstein, F. "Analysis of Mechanical Systems with Clearances Part I: Formation of Dynamic Model." ASME Journal of Engineering for Industry, Vol. 93, pp. 305-309, February 1971.
  289. Dubowsky, S. and Freudenstein, F. "Dynamic Analysis of Mechanical Systems with Clearances Part II: Dynamic Response." ASME Journal of Engineering for Industry, Vol. 93, Series B, No. 1, pp. 310-331, February 1971.

 
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Theses
  1. Z. Shiller, "Optimal Dynamic Trajectories and Modeling of Robotic Manipulators," Department of Mechanical Engineering, MIT, 1984.
  2. J.P. LeJacq, "A Predictive Model Control System for Underground Coal Mining," Department of Mechanical Engineering, MIT, 1984.
  3. R. Kornbluh, "An Experimental Evaluation of Robotic Manipulator Dynamic Performance Under Model Referenced Adaptive Control," Department of Mechanical Engineering, MIT, 1984.
  4. R. Leonard, "Application of Moire Techniques to Manufacturing Inspection," Department of Mechanical Engineering, MIT, 1984.
  5. H.M. Costello, "A Finite Element Method for the Dynamics of Planar Elastic Link Mechanisms with Clearance Connections," Department of Mechanical Engineering, MIT, 1985.
  6. J.M. Wander, "The Application of Moire Interferometry to Automated 3-Dimensional Inspection," Department of Mechanical Engineering, MIT, 1985.
  7. R. Lynch, "Analysis of the Dynamics and Control of a Two Degree of Freedom Robotic Manipulator Mounted on a Moving Base," Department of Mechanical Engineering, MIT, 1985.
  8. J.L. Whaley, "An Experimental System for Testing Robotic Manipulator Control Algorithms: A Demonstration of Adaptive Control," Department of Mechanical Engineering, MIT, 1985.
  9. A. Morita, "Learning Controllers for Robot Manipulators with Sparse Data," Department of Mechanical Engineering, MIT, 1986.
  10. D.N. Covell, "Robotic Aquisition and Manipulation of Moving Objects Using Sparse Vision Information," Department of Mechanical Engineering, MIT, 1986.
  11. Annie Laurie Murray, "Development of Computer-based Methods for the Design of Automated Inspection Systems Using Moire Interferometry," MS Thesis, Department of Mechanical Engineering, MIT, 1986.
  12. M. Fresko, " The Design and Implementation of a Computer Controlled Platform with Variable Admittance," Department of Mechanical Engineering, MIT, 1987.
  13. A.B. Tanner, "Study of Robotic Manipulators Subjected to Base Disturbances," Department of Mechanical Engineering, MIT, 1987.
  14. M. Urbank, "A Strategy for Near Optimal Robotic Manipulator Operations Subject to Statistical Variations," Department of Mechanical Engineering, MIT, 1987.
  15. Ludo C. Moens, "Automated Three Dimensional Inspection of Single Curvature Surfaces using Moire Interferometry," MS Thesis, Department of Mechanical Engineering, MIT, 1987.
  16. Ziaeddin Vafa, "The Kinematics, Dynamics and Control of Space Manipulators: The Virtual Manipulator Concept," PhD Thesis, Department of Mechanical Engineering, MIT, 1987.
  17. C. Oppenheimer, "Predicting the Accoustics of an Experimental Machine," Department of Mechanical Engineering, MIT, 1988.
  18. Evelyn Ellis Vance, "Time Optimal Trajectory Planning for Mobile Manipulators," MS Thesis, Department of Mechanical Engineering, MIT, 1988.
  19. Eric P. Reidemeister, "Automated Visual Inspection of General Curvature Surfaces," MS Thesis, Department of Mechanical Engineering, MIT, 1988.
  20. M.M. Nieto, "The Design of an Ultra-High Performance Optical Valve," Department of Mechanical Engineering, MIT, 1989.
  21. Miguel A. Torres, "The Disturbance Map and Minimization of Fuel Consumption During Space Manipulator Maneuvers," MS Thesis, Department of Mechanical Engineering, MIT, 1989.
  22. Erin Mary O'Connell, "Dynamic Modeling of a Spatial Slider-Crank Mechanism with Clearances and Design of an Experimental Verification," MS Thesis, Department of Mechanical Engineering, MIT, 1990.
  23. Evangelos G. Papadopoulos, "On the Dynamics and Control of Space Manipulators," PhD Thesis, Department of Mechanical Engineering, MIT, 1990.
  24. Akhil J. Madhani, "Design and Motion Planning of Robotic Systems Subject to Force and Friction Constraints," MS Thesis, Department of Mechanical Engineering, MIT, 1991.
  25. K. Holly, "A New Design Method for Moire Inspection Systems," Department of Mechanical Engineering, MIT, 1992.
  26. Norbert A. M. Hootsmans, "The Motion Control of Manipulators on Mobile Vehicles," PhD Thesis, Department of Mechanical Engineering, MIT, 1992.
  27. Youhong Gong, "Design Analysis of a Stewart Platform for Vehicle Emulator System," MS Thesis, Department of Mechanical Engineering, MIT, 1992.
  28. Uwe B. Müller, "Design of a Second Generation Experimental System for Studying Mobile Manipulator Control," MS Thesis, Department of Mechanical Engineering, MIT, 1992.
  29. Brian Arthur Pomper, "The Integration of Force and Motion Planning: A Graphical Simulation of Gait Planning," Bachelor Thesis, Department of Mechanical Engineering, MIT, 1992.
  30. James E. Baker, Jr., "Gravity Compensation for Experiments in Space Robotics," MS Thesis, Department of Mechanical Engineering, MIT, 1992.
  31. Charles Oppenheimer, "Impact-Induced Noise and Vibration in Machine Systems for Design" PhD Thesis, Department of Mechanical Engineering, MIT, 1992.
  32. Chris Pohlhammer, "Design of Moiré Interferometer Techniques for Automatic Solder Joint Inspection," MS Thesis, Department of Mechanical Engineering, MIT, 1992.
  33. Joseph Francis Deck, "The Dynamics of Spatial Elastic Mechanisms with Clearance and Support Structures," PhD Thesis, Department of Mechanical Engineering, MIT, 1992.
  34. D. Argaez, "An Analytical and Experimental Study of the Simultaneous Control of Motion and Force of a Climbing Robot," Department of Mechanical Engineering, MIT, 1993.
  35. C. Moore, "The Design of Untethered Robotic Systems - An Experimental and Analytical Study of a Climbing Robot," Department of Mechanical Engineering, MIT, 1993.
  36. Miguel A. Torres, "Modeling, Path-Planning and Control of Space Manipulators: The Coupling Map Concept," PhD Thesis, Department of Mechanical Engineering, MIT, 1993.
  37. Andrew Edmund Kuklinski, "The Practical Implementation of an Experimental Tool for the Dynamic Interactions in Mobile Manipulator Systems," MS Thesis, Department of Mechanical Engineering, MIT, 1993.
  38. Dalila Isabel Argáez, "An Analytical and Experimental Study of the Simultaneous Control of Motion and Force of a Climbing Robot," MS Thesis, Department of Mechanical Engineering, MIT, 1993.
  39. Chantal Louise Moore, "On the Design of an Untethered Climbing Robotic System," MS Thesis, Department of Mechanical Engineering, MIT, 1993.
  40. R. Wang, "The Design and Development of an Educational Controls Laboratory: Electromechanical Module, Control Software, and Graphical User Interface," Department of Mechanical Engineering, MIT, 1994.
  41. Patrick Sean Rowe, "Endpoint Control of Elastically Mounted Robotic Systems: Simulation and Experimentation," Bachelor Thesis, Department of Mechanical Engineering, MIT, 1994.
  42. Pengyun Gu, "Chaotic Vibration in Machine Systems and Its Implications for Design," PhD Thesis, Department of Mechanical Engineering, MIT, 1994.
  43. Craig Daniel Sunada, "Coordinated Jacobian Transpose Control and its Application to a Climbing Machine," MS Thesis, Department of Mechanical Engineering, MIT, 1994.
  44. Thomas Richard Johnstone Corrigan, "Implementation and Application of Methods for Micro-Gravity Emulation," MS Thesis, Department of Mechanical Engineering, MIT, 1994.
  45. German A. Soto, "The Design and Fabrication of a Fluids Module for a Dynamics and Controls Laboratory," Bachelor Thesis, Department of Mechanical Engineering, MIT, 1995.
  46. Jeffrey R. Cole, "Rapid Generation of Motion Plans for Modular Robotic Systems," MS Thesis, Department of Mechanical Engineering, MIT, 1995.
  47. Michele Tesciuba, "A Modular Design for an Undergraduate System Dynamics and Controls Laboratory," MS Thesis, Department of Mechanical Engineering, MIT, 1995.
  48. Nathaniel Rutman, "Automated Design of Modular Field Robots," MS Thesis, Department of Mechanical Engineering, MIT, 1995.
  49. Richard Dick Wang, "The Design and Development of an Educational Controls Laboratory: Electromechanical Module, Control Software, and Graphical User Interface," MS Thesis, Department of Mechanical Engineering, MIT, 1995.
  50. Stephanie Ford, "An In Situ Keel Deformation Metrology System for the USS Constitution," Bachelor Thesis, Department of Mechanical Engineering, MIT, 1995.
  51. Jason Douglas Hintersteiner, "Development of Network and Real-Time Control Software for the System Dynamics and Controls Laboratory," Bachelor Thesis, Department of Mechanical Engineering, MIT, 1996.
  52. Laura Casseuti, "Modeling the Kinematic Behavior of Lightweight Survivable Rover," Bachelor Thesis, Department of Mechanical Engineering, MIT, 1997.
  53. Karl David Iagnemma, "Manipulator Identification and Control Using a Base-Mounted Force/Torque Sensor," MS Thesis, Department of Mechanical Engineering, MIT, 1997.
  54. Patricia Garcia-Rubio, "Gripper Designer for the Robot Assisted Crucible Charging System," Bachelor Thesis, Department of Mechanical Engineering, MIT, 1997.
  55. David M. Bevly, "Action Module Planning and Cartesian Based Control of an Experimental Climbing Robot," MS Thesis, Department of Mechanical Engineering, MIT, 1997.
  56. Anthony Leier, "The Grasping and Manipulation of Irregularly Shaped Objects with Application to Semiconductor Industry," MS Thesis, Department of Mechanical Engineering, MIT, 1998.
  57. Shane Michael Farritor, "On Modular Design and Planning for the Field Robotic Systems," PhD Thesis, Department of Mechanical Engineering, MIT, 1998.
  58. Herve Hacot, "Analysis and Traction Control of a Rocker-Bogie Planetary Rover," MS Thesis, Department of Mechanical Engineering, MIT, 1998.
  59. Joseph Andre Calzaretta, "Delicate Manipulation of Irregularly-Shaped Rigid Objects in a Stiff, Fragile Environment," MS Thesis, Department of Mechanical Engineering, MIT, 1998.
  60. Vivek Anand Sujan, "The Sensor Based Manipulation of Irregularly Shaped Objects with Special Application to Semiconductor Industry," MS Thesis, Department of Mechanical Engineering, MIT, 1998.
  61. Robert Daniel Burn III, "Design of a Laboratory Test Bed for Planetary Rover Systems," MS Thesis, Department of Mechanical Engineering, MIT, 1998.
  62. Peter Carl Lefren Jaffe, "Force-Directed Control with a Strong Hydraulic Manipulator," MS Thesis, Department of Mechanical Engineering, MIT, 1999.
  63. Eric Jamesson Wilhelm, "Design of a Wireless Control System for a Laboratory Planetary Rover," Bachelor Thesis, Department of Mechanical Engineering, MIT, 1999.
  64. Guillermo Oropeza, "The Design of Lightweight Deployable Structures for Space Applications," Bachelor Thesis, Department of Mechanical Engineering, MIT, 1999.
  65. Sara J. Godding.,  "Field Tests of a Personal Mobility Aid for the Elderly," Bachelor Thesis, Department of Mechanical Engineering, MIT, 1999.
  66. T. Schlegelmilch, "The Design of a Coiled Tubing Cutter for Use in Subsea Oil Drilling Applications," Department of Mechanical Engineering, MIT 1999.
  67. R.D. Lentz, "Optimization of a Pin-and-Slot Ball Valve Linkage: with an Application to Wireline Cutting in Downhole Oil Well Tools," Department of Mechanical Engineering, MIT, 1999.
  68. Kristie Yu,  "Rover Manipulator Position Control and Coring Feasibility Evaluation," MS Thesis, Department of Mechanical Engineering, MIT, 2000.
  69. Kate Andrews, "Elastic Elements with Embedded Actuation and Sensing for Use In Self-Transforming Robotic Planetary Explorers," MS Thesis, Department of Mechanical Engineering, MIT, 2000.
  70. Marco Meggiolaro, "Achieving Fine Absolute Positioning Accuracy in Large Powerful Manipulators," PhD Thesis, Department of Mechanical Engineering, MIT, 2000.
  71. Karl Iagnemma, "Rough-Terrain Mobile Robot Planning and Control with Application to Planetary Exploration," PhD Thesis, Department of Mechanical Engineering, MIT, 2001.
  72. Lani Rapp, "Design of a Mechanism to Amplify the Motion of Shape Memory Alloys," Bachelor Thesis, Department of Mechanical Engineering, MIT, 2001.
  73. Christina D'Arrigo, "Health Monitoring Sensors for a Personal Mobility Aid for the Elderly," MS Thesis, Department of Mechanical Engineering, MIT, 2001.
  74. Matthew Lichter, "Concept Development for Lightweight Binary-Actuated Robotic Devices, with Application to Space Systems," MS Thesis, Department of Mechanical Engineering, MIT, 2001.
  75. Matthew Spenko, "Design and Analysis of the SmartWalker, a Mobility Aid for the Elderly," MS Thesis, Department of Mechanical Engineering, MIT, 2001.
  76. Peter Weiss, "Development and Optimization of Electrostrictive Polymer Artificial Muscles Actuators with Large Expansions and High Forces," Diplome D'Ingenieurs, Ecole Polytechnique Femenine (EPF), Paris, France, 2001.
  77. Adam Rzepniewski, "Motion Planning for High-Speed, Kinematically Reconfigurable Mobile Robots in Rough Terrain," MS Thesis, Department of Mechanical Engineering, MIT, 2001.
  78. Vivek Sujan, "Compensating for Model Uncertainty in the Control of Cooperative Field Robots," PhD Thesis, Department of Mechanical Engineering, MIT, 2002.
  79. Andreas Wingert, "Development of a Polymer-Actuated Binary Manipulator," MS Thesis, Department of Mechanical Engineering, MIT, 2002.
  80. Haoyong Yu, "Mobility Design and Control of Personal Mobility Aids for the Elderly," PhD Thesis, Department of Mechanical Engineering, MIT, 2002.
  81. Dariusz Golda, "Modeling and Analysis of High-Speed Mobile Robots Operating on Rough Terrain," MS Thesis, Department of Mechanical Engineering, MIT, 2003.
  82. Steve Jacobsen, "Planning and Control During Robotic Satellite Capture," MS Thesis, Department of Mechanical Engineering, MIT, 2003.
  83. Shinwoo Kang, "Terrain Parameter Estimation and Traversability Assessment for Mobile Robots," MS Thesis, Department of Mechanical Engineering, MIT, 2003.
  84. Vickram Mangalgiri, "Analysis for the Robotic Assembly of Large Flexible Space Structures," MS Thesis, Department of Mechanical Engineering, MIT, 2004.
  85. John Vogan, "Development of Dielectric Elastomer Actuators for MRI Devices," MS Thesis, Department of Mechanical Engineering, MIT, 2004.
  86. Christopher Brooks, "Terrain Identification Methods for Planetary Exploration Rovers," MS Thesis, Department of Mechanical Engineering, MIT, 2004.
  87. Matthew Lichter, "Shape, Motion, and Inertial Parameter Estimation of Space Objects using Teams of Cooperative Vision Sensors," PhD Thesis, Department of Mechanical Engineering, MIT, 2005.
  88. Matthew Spenko,"Hazard Avoidance for High-Speed Rough-Terrain Unmanned Ground Vehicles," PhD Thesis, Department of Mechanical Engineering, MIT, 2005.
  89. Justin Garretson, "High-Precision Position Control of a Heavy-Lift Manipulator in a Dynamic Environment," MS Thesis, Department of Mechanical Engineering, MIT, 2005.
  90. Matthew DiCicco, "Force Control of Heavy Lift Manipulators for High Precision Insertion Tasks," MS Thesis, Department of Mechanical Engineering, MIT, 2005.

 

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