Books
| Analysis
of Mechanisms and Robot Manipulators Joseph Duffy Halsted Press, John Wiley, 1980. ISBN 0-470-27002-0 |
 |
| Statics
and Kinematics with Applications to Robotics Joseph Duffy Cambridge University Press, 1996. ISBN 0-521-48213-5 |
 |
| Kinematic
Analysis of Robot Manipulators Carl D. Crane III, Joseph Duffy Cambridge University Press, 1998 ISBN 0-521-57063-8 Paperback version, 2008. ISBN 0-521-04793-7 |
 |
Papers
2015
Hamlet, A., and Crane, C., “A Cognitive Driving Framework for Collision Avoidance in Autonomous Vehicles,” International Journal of Advanced Computer Science and Applications (IJACSA), Vol, 6, issue 5, May 2015.
Anubi, O., and Crane, C., “A New Semiactive Variable Stiffness Suspension Using Combined Skyhook and Nonlinear Energy Sink-Based Controllers,” IEEE Transactions on Control Systems Technology, Vol. 23, No.. 3, May 2015.
Vikas, V., and Crane, C., “Bioinspired Dynamic Inclination Measurement Using Inertial Sensors,” Bioinspiration and Biomimetics, Vol. 10, No. 3, April 2015.
Hamlet, A., Emami, P., and Crane, C., “The Cognitive Driving Framework: Joint Inference for Collision Prediction and Avoidance in Autonomous Vehicles,” Proceedings of the 15th International Conference on Control, Automation, and Systems (ICCAS 2015), Busan, Korea, Oct 2015.
2014
Baker, Crane, Ridgeway, “Ground-engaging vehicle braking system and methods for using the same”, patent number 8,827,047, 9 Sep 2014.
Vasquez, R., Crane, C., Correa, J., “Analysis of a Planar Tensegrity Mechanism for Ocean Wave Energy Harvesting,” ASME Journal of Mechanisms and Robotics, Vol. 6, No. 3, Aug 2014, 12 pages.
Vikas, V., and Crane, C., “Gyroscope-Free Link Parameter Measurement Using Accelerometers and Magnetometer,” Proceedings of the ASME 2014 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, IDETC/CIE 2014, August 17-20, 2014, Buffalo, New York, USA.
Patel, D., Frank, D., and Crane, C., “Controlling an Overactuated Vehicle with Application to an Autonomous Surface Vehicle Utilizing Azimuth Thrusters,” Proceedings of the 2014 International Conference on Control, Automation, and Systems (ICCAS), Gyeonggi-do, Korea.
Kidd, R., and Crane, C., “Detection of Wheel Faults in Electric Vehicles via Localization Data,” Proceedings of the 2014 International Conference on Control, Automation, and Systems (ICCAS), Gyeonggi-do, Korea.
2013
Anubi, O., Patel, D., and Crane, C., “A New Variable Stiffness Suspension System: Passive Case,” Mechanical Sciences, 4, 139-151, doi:10.5194/ms-4-139-2013.
Moon, Y., Crane, C., and Roberts, R., “Reverse Kinetostatic Analysis and Stiffness Synthesis of a Spatial Tensegrity-Based Compliant Mechanism,” Mechanism and Machine Theory, vol. 70, Dec 2013, pp. 320-337.
Perez-Soto, G., Crane, C., Rico, J., … “On the Computer Solutions of Kinematics Analysis of Linkages,” Journal of Engineering with Computers, 10.1007/s00366-013-0321-2, June 2013.
Vikas, V., and Crane C., “Measurement of Robot Link Joint Parameters Using Multiple Accelerometers and Gyroscope,” Proceedings of the ASME 2013 International Design Engineering Conferences (IDETC), Portland, Or., Aug 2013.
Narayanan, V., and Crane, C., “Active Relearning for Robust On-Road Vehicle Detection and Tracking,” International Conference on Control, Automation, and Systems (ICCAS), Gwangju, Korea, Oct 2013.
Narayanan, V., and Crane , C., “Active Relearning for Robust On-Road Vehicle Detection and Tracking”, Proceedings of the International Conference on Control, Automation, and Systems (ICCAS), Gwangju, Korea, Oct 2013.
Nease, A., Griffis, M., Adsit, P, and Crane, C., “The Control of Contact Forces as Related to Safe Robot/Human Interaction”, International Symposium on Robotics (ISR 2013), KINTEX, Seoul, Korea, Oct. 2013. Invited paper and presentation.
Corea, J., and Crane, C., “Kinematic Analysis of a 3-DOF Compliant Platform,” ASME Journal of Mechanical Design, J. Mech. Des., 135(5), April 2013, 10 pages.
2012
Moon, Y., and Crane, C., Roberts, R., “Position and Force Analysis of a Planar Tensegrity-Based Compliant Mechanism,” ASME Journal of Mechanisms and Robotics, Volume 4, Issue 1, 2012, 8 pages.
Vasquez, R., Crane, C., and Correa, J., “Kinematic Analysis of a Planar Tensegrity Mechanism for Wave Energy Harvesting,” Advances in Robot Kinematics, Springer, 2012.
Vasquez, R., Correa, J., and Crane, C., “Kinematics and Dynamics of a Planar Tensegrity Mechanism for Ocean Wave Energy Harvesting,” Proceedings of the ASME 2012 IDETC Conference, Chicago, Aug 2012, 10 pages.
Anubi, O., Crane, C., and Dixon, W., “Nonlinear Disturbance Rejection for Semi-Active MacPherson Suspension System,” Proceedings of the 2012 ASME Dynamic Systems and Control Conference, Ft. Lauderdale, Oct 2012, 10 pages.
Lucas, D., and Crane, C., “Development of a a Multi-resolution Parallel Genetic Algorithm for Autonomous Robotic Path Planning,” Proceedings of the 2012 12th International Conference on Control, Automation, and Systems, Jeju Island, Korea, Oct 2012, 5 pages.
Anubi, O., Crane, C., and Dixon, W., “Variable Stiffness Semi-active Suspension System,” Proceedings of the 11th International Symposium on Advanced Vehicle Control, Seoul, Korea, Sep 2012, 13 pages
2011
Nease, A., Griffis, M., Adsit, P., and Crane, C., “Screw Theory-Based Force Control of a Parallel Planar Robot for Handling Hazardous Materials,” ANS EPRRSD – 13th Robotics and Remote Systems for Hazardous Environments Conference, Knoxville, TN, Aug 2011.
Chilton, R., and Crane, C., “Ladar Based Classification of an Outdoor Environment,” ANS EPRRSD – 13th Robotics and Remote Systems for Hazardous Environments Conference, Knoxville, TN, Aug 2011.
Anubi, O. and Crane, C., “A New Variable Stiffness Suspension Mechanism,” ASME 2011 International Design Engineering Technical Conferences, Washington, DC, Aug 2011.
Vikas, V. and Crane, C., “Inclination Parameter Estimation for Manipulator and Humanoid Robot Links,” ASME 2011 International Design Engineering Technical Conferences, Washington, DC, Aug 2011.
Yoon, J. and Crane, C., “Development of a Sensor Knowledge Store Using a Quadtree Algorithm,” 11th International Conference on Control, Automation, and Systems, Gyeonggi-do, Korea, Oct 2011.
Bari, J., Crane, C., and Dooner, D., “Development of Single Degree of Freedom Open-loop Chains to Move a Body Through a Series of Poses,” 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico, June 2011.
Moon, Y., Crane, C., and Roberts, R., “Analysis of a Spatial Tensegrity-based Compliant Mechanism,” 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico, June 2011.
Anubi, O. and Crane, C., “Semi-global Output Feedback Asymptotic Tracking for an Under-actuated Variable Stiffness Mechanism,” 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico, June 2011.
Vikas, V., and Crane, C., “Inclination Parameters Estimation using the Planar Vestibular Dynamic Inclinometer,” 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico, June 2011.
A. P. Dani, S. Velat, C. Crane, N. R. Gans and W. E. Dixon, “Experimental Results for an Image-Based Pose and Velocity Estimation Method,” IEEE International Conference on Control Applications part of the Multi-Conference on Systems and Control, San Antonio, Texas, September 2008, pp. 1159-1164.
2010
SAE Aerospace Standard AS6057 – JAUS Manipulator Service Set; 155 pages.
Anubi, O., and Crane, C., “Equilibrium Analysis of Tensegrity Structures with Elastic Ties,” Advances in Robot Kinematics, Springer, 2010. (Book containing a collection of papers from the 12th International Symposium on Advances in Robot Kinematics, Portoroz, Slovenia, June 2010.
Anubi, O., Crane, C., and Ridgeway, S., “Design and Analysis of a Variable Stiffness Mechanism,” Proceedings of the ASME 2010 IDETC, Montreal, Canada, Aug 2010.
Moon, Y., Crane, C., and Roberts, R., “Analysis of a Planar Tensegrity-Based Compliant Mechanism,” Proceedings of the ASME 2010 IDETC, Montreal, Canada, Aug 2010.
Yoon, J., and Crane, C., “Development of a Sensor Knowledge Store Using a Quadtree Algorithm to Support Autonomous Vehicle Path Planning,” Proceedings of the International Conference on Control, Automation, and Systems (ICCAS), Gyeonggi-do, Korea, Oct 2010.
Chilton, R, Crane, C., and Cho, K., “Analysis of Data Structures used for Storing and Processing 3D LADAR Data,” Proceedings of the International Conference on Control, Automation, and Systems (ICCAS), Gyeonggi-do, Korea, Oct 2010.
Vikas, V. and Crane, C., “Inertial Sensing and Balance of Human Posture using Vestibular Dynamic Inclinometer,” Proceedings of the 10th IEEE-RAS International Conference on Humanoid Robots, Nashville, TN, Dec 2010.
Anubi, O., Moon, Y., Koka, A, and Crane, C., “Dynamic Modeling and Control of a Robotic Finger with Compliant Fingertip,” Proceedings of the 15th IASTED International Conference on Robotics and Applications, Cambridge, MA, Nov 2010.
Garcia, G., "A Cognitive Resource Management Framework for Autonomous Ground Vehicle Sensing," Ph.D. dissertation, University of Florida, 2010.
Johnson, N., "Simultaneous Localization, Mapping, and Object Tracking in an Urban Environment using Multiple 2D Laser Scanners," Ph.D. dissertation, University of Florida, 2010.
2009
Lee, J., "Vector-Based Ground Surface and Object Represetation Using Cameras," Ph.D. dissertation, University of Florida, 2009.
Thorn, E., "Autonomous Motion Planning Using a Predictive Temporal Method," Ph. D. dissertation, University of Florida, 2009.
2008
A. P. Dani, S. Velat, C. Crane, N. R. Gans and W. E. Dixon, “Experimental Results for an Image-Based Pose and Velocity Estimation Method,” IEEE International Conference on Control Applications part of the Multi-Conference on Systems and Control, San Antonio, Texas, September 2008, pp. 1159-1164.
Jung, H., Crane, C., and Roberts, R., "Stiffness Mapping of Compliant Parallel Mechanisms in a Serial Arrangement," Mechanisms and Machine Theory, Vol 43, 2008, pp. 271-284.
Crane, C., Bayat, J., and Vikas, V., "Kinematic Analysis of a Planar Tensegrity Mechanism with Pre-Stressed Springs," Advances in Roboti Kinematics, Springer Verlag, 2008.
Correa, J., Crane, C., and Xie, H., "Kinematic Analysis and Design of a Compliant Microplatform," Proceedings of ASME Design Engineering Technical Conferences, Aug 2008.
Roldan McKinley, J., Crane, C., and Dooner, D., "Three-Dimensional Rigid Body Guidance using Gear Connections in a Robotic Manipulator with Parallel Consecutive Axes," Proceedings of ASME Design Engineering Technical Conferences, Aug 2008.
Correa, J., Crane, C., and Xie, H., "Kinematic Analysis and Design of a Compliant Microplatform," Proceedings of the American Nuclear Society 2nd International Joint Topical Meeting on Emergency Preparedness & Response and Robotics & Remote Systems, March 2008.
Baker, A., "Computer Aided Invariant Feature Selection", Ph.D. dissertation, 2008.
2007
Correa, J., "Kinematic Analysis and Design of a Compliant Microplatform," Ph.D. dissertation, 2007.
Crane, C., Armstrong, D., Arroyo, A., Baker, A., Dankel, D., Garcia, G., Johnson, N., Lee, J., Ridgeway, S., Schwartz, E., Thorn, E., Velat, S., Yoon, J., and Washburn, J., "Team Gator Nation's Autonomous Vehicle Development for the 2007 DARPA Urban Challenge", Journal of Aerospace Computing, Information, and Communication, Vol. 4, Dec. 2007, pp. 1059-1085.
Jung, H.K, Crane, C., and Roberts, R., "Compliance Control of Planar Parallel Mechanisms with Adjustable Springs," submitted to ASME Journal of Mechanical Design.
MacArthur, D. and Crane, C., "Unmanned Ground Vehicle State Estimation using an Unmanned Air Vehicle," Proceedings of the 7th IEEE International Symposium on Computational Intelligence in Robotics and Automation, Jacksonville, June 2007.
MacArthur, E. and Crane, C., "Compliant Formation Control of a Multi-Vehicle System," Proceedings of the 7th IEEE International Symposium on Computational Intelligence in Robotics and Automation, Jacksonville, June 2007.
Velat, S., Lee, J., Johnson, N., and Crane, C., "Vision Based Vehicle Localization for Autonomous Navigation," Proceedings of the 7th IEEE International Symposium on Computational Intelligence in Robotics and Automation, Jacksonville, June 2007.
Corea, J., "Kinematic Analysis and Design of a Compliant Microplatform", Ph.D. dissertation, 2007.
Roldan McKinley, J., "Three-dimensional rigid body guidance using gear connections in a robotic manipulator with parallel consecutive axes," Ph.D. dissertation, 2007.
Kent, D., "Storing and Predicting Dynamic Attributes in a World Model Knowledge Store," Ph.D. dissertation, 2007.
Roldan Mckinley, J., Crane, C., and Dooner, D., "Reverse Kinematic Analysis of the Spatial Six Axis Robotic Manipulator with Consecutive Joint Axes Parallel," Proceedings of the ASME 2007 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Las Vegas, NV, Sep 2007.
Bayat, J., and Crane, C., "Closed-Form Equilibrium Anaysis of Planar Tensegrity Structures," Proceedings of the ASME 2007 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Las Vegas, NV, Sep 2007.
Bayat, J., and Crane, C., "Kinematic Analysis of a Planar Tensegrity Mechanism," 2007 Florida Conference on Recent Advances in Robotics, FCRAR 2007, Tampa, Florida, May 31, 2007.
Kook, H, and Crane, C., “Analysis of Dopplerized Acceleration Signals in a Rotating Shaft by Using Vold-Kalman Order Tracking Filter,” International Journal of Automotive Technology, Vol. 8, No. 4, 2007, pp. 521-531.
2006
Touchton, R., "An Adaptive Planning Framework for Situation Assessment and Decision-Making of an Autonomous Ground Vehicle," Ph.D. dissertation, 2006. video, powerpoint
Solanki, S., "Development of Sensor Component for Terrain Evaluation and Obstacle Detection for an Unmanned Autonomous Vehicle," Ph.D. dissertation, 2006.
Jung, H., "Mechanisms with Variable Compliance," Ph.D. dissertation, 2006.
Unsal, M., "Semi-Active Vibration Control of a Parallel Platform Mechanism Using Magnetorheological Damping", Ph.D. dissertation, 2006.
Touchton, R., Galluzzo, T., Kent, D., and Crane, C., "Perception and Planning Architecture for Autonomous Ground Vehicles," Computer, vol. 39, no. 12, pp. 40-47, Dec., 2006
MacArthur, E., "Compliant Formation Control of an Autonomous Multiple Vehicle System," Ph.D. dissertation, 2006.
Galluzzo, T., "Simultaneous Planning and Control for Autonomous Ground Vehicles," Ph.D. dissertation, 2006.
Bayat, J., "Position Analysis of Planar Tensegrity Structures," Ph.D. dissertation, 2006.
Lee, J., and Crane, C., "Road Following in an Unstructured Desert Environment Based on the EM (Expectation-Maximization) Algorithm," Proceedings of the International Conference on Control, Automation, and Systems (ICCAS 2006), Pusan, Korea, October 2006.
Unsal, M., Crane, C., and Niezrecki, C. “Vibration Control of Parallel Platforms based on Magnetorheological Damping”, Florida Conference on Recent Advances in Robotics, May 25-26, 2006, Florida International University , Miami, Florida, 2006.
Unsal, M., Niezrecki, C., and Crane, C., “Six DOF vibration control using magnetorheological technology,” SPIE Symposium on Smart Structures and Materials 2006, San Diego, California, USA, February 2006.
Bayat, J., and Crane, C., "Closed-Form Equilibrium Analysis of Planar Tensegrity Mechanisms," Proceedings of the Florida Conference on Recent Advances in Robotics, Miami, May 2006.
Baker, A., and Crane, C., "Analysis of Three Degree of Freedom 6x6 Tensegrity Platform," Proceedings of 2006 DETC: ASME 2006 Design Engineering Technical Conference, Sep, 2006.
Zhang, B. , and Crane, C., "Development of a Passive Compliant Coupler to Control Force and Torque During In-Contact Operations:, Proceedings of the ANS 2006 International Joint Topical Meeting: Sharing Solutions for Emergencies and Hazardous Environments (9th Emergency Prepardedness and Response/11th Robotics and Remote Systems for Hazardous Environments), Salt Lake City, Utah, February 12–15, 2006.
Zhang, B., Crane, C., Griffis, M., Bicker, R., and Roberts, R., "Mechanism Development for Application of the Theory of Kinestatic Control," submitted to Mechanisms and Machine Theory.
Ahmed, M., "Development of a Stereo Vision System for Outdoor Mobile Robots," M.S. Thesis, 2006.
Jung, H. Crane, C., and Roberts, R., "Stiffness Mapping of Planar Compliant Parallel Mechanisms in a Serial Arrangement," 2006 Advances in Robot Kinematics Conference, Ljubljana, Slovenia, June 2006. pdf version ; word version
Crane, C., Armstrong, D., Touchton, R., Galluzzo, T., Solanki, S., Lee, J., Kent, D., Ahmed, M., Montane, R., Ridgeway, S., Velat, S., Garcia, G., Griffis, M., Gray, S., Washburn, J., "Team CIMAR's NaviGATOR: An Unmanned Ground Vehicle for Application to the 2005 DARPA Grand Challenge," Journal of Field Robotics, Vol. 23, Issue 8, Aug 2006, pp. 599-623. pdf version ; word version
2005
Lee, J., Crane, C., Kim, S., and Kim, J., "Road Following in an Unstructured Desert Environment using Monocular Color Vision as Applied to the DARPA Grand Challenge," Proceedings of the International Conference on Control, Automation, and Systems (ICCAS 2005), Gyeong Gi, Korea, June 2005. Invited Paper.
MacArthur, E., MacArthur, D., and Crane, C., "Use of Cooperative Unmanned Air and Ground Vehicles for Detection and Disposal of Simulated Mines," Proceedings of the SPIE conference on Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision, Boston, 2005.
MacArthur, D., and Crane, C., “Detection and Localization of Unexploded Ordnance Using Small Unmanned Helicopters,” Proceedings of the SPIE conference on Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision, Boston, 2005.
Roldan-Mckinley, J., Dooner, D., Crane, C., and Kammath, J., "Planar Motion Generation Incorporating a 6-Link Mechanism and Non-Circular Elements," ASME 29th Mechanisms and Robotics Conference, Long Beach, CA, Sep 2005.
Zhang, B., "Design and Implementation of a 6 DOF Parallal Manipulator with Passive Force Control," Ph.D. Dissertation, 2005.
Baker, A., "Analysis of Three Degree of Freedom 6x6 Tensegrity Platform," M.S. Thesis, 2005.
Correa, J., Crane, C., and Duffy, J., "Static Analysis of Tensegrity Structures," ASME Journal of Mechanical Design, Vol. 127, Issue 2, pp. 257-268.
Touchton, R., et. al, "Planning and modeling extensions to the Joint Architecture for Unmanned Systems (JAUS) for application to unmanned ground vehicles," SPIE Defense and Security Symposium, Orlando, Mar 2005.
Crane, C., et al. "Development of an Integrated Sensor System for Obstacle Detection and Terrain Evaluation for Application to Unmanned Ground Vehicles," SPIE Defense and Security Symposium, Orlando, Mar 2005.
Brink, J. "Reverse Kinematic Analysis And Uncertainty Analysis of the Space Shuttle Aft Propulsion System (APS) Pod Lifting Fixture," M.S. Thesis.
Evans, C. "Development of a Geospatial Data Sharing Method for Unmanned Vehicles Based on the Joint Architecture for Unmannes Systems (JAUS)", M.S. Thesis.
2004
Sosa, O., "Design and Implementation of a Modular Manipulator Architecture," M.S. Thesis.
Tobler, C., "Development of an Autonomous Navigation Technology Test Vehicle," M.S. Thesis.
Lewis, D., "Three-Dimensional Visualization Display Device," M.S. Thesis.
Bayat, J., and Crane, C., "Closed-Form Equilibrium Analysis of a Planar Tensegrity Structure," On Advances in Robot Kinematics, Kluwer Academic Publishers, pp. 313-320.
Unsal, M., Niezrecki, C., and Crane, C., “Two Semi-Active Approaches for Vibration Isolation: Piezoelectric Friction Damper and Magnetorhelogical Damper,” Proceedings of the IEEE International Conference on Mechatronics, Istanbul, Turkey, June 2004.
Ridgeway, S., and Crane, C., “Control Considerations in the Design of a Parallel Kinematic Machine with Separate Actuation and Metrology Mechanisms,” Proceedings of the 12th Mediterranean Conference on Control and Automation (MED ’04), Kusadasi, Turkey, June 2004.
Wit, J., Crane, C., and Armstrong, D., “Autonomous Ground Vehicle Path Tracking,” Journal of Robotic Systems, Vol. 21, Issue 8, pp. 439-449.
Correa, J., Crane, C., and Duffy, J., "Static Analysis of Tensegrity Structures," ASME Journal of Mechanical Design, Vol. 127, Issue 2, pp. 257-268..
Jayakaran, A., "Enhanced Trailer Backing," M.S. Thesis, 2004. (movie1, movie2)
2003
Crane, C., and Duffy, J., "A Dynamic Analysis of a Spatial Manipulator to Determine Payload Weight," Journal of Robotic Systems, Vol. 20, No. 7, pp. 355-372, 2003.
Unsal M, Niezrecki C, Crane C, "A New Semi-Active Piezoelectric-Based Friction Damper," proceedings of the SPIE Smart Structures and Materials Conference, San Diego, CA, March 2003.
MacArthur, D., "Design and Implementation of an Ultrasonic Position System for Multiple Vehicle Control", M.S. Thesis, 2003.
Pasha, A., "Path Planning for Nonholonomic Vehicles and its Application to Radiation Environments," M.S. Thesis, 2003.
Pasha, A., "Geometric Bin Packing Algorithm for Arbitrary Shapes," M.S. Thesis, 2003.
Solanki, S., "Implementation of Laser Range Sensor and Dielectric Laser Mirrors for 3D Scanning of Glove Box Environment," M.S. Thesis, 2003.
Fulmer, C., "The Design and Fabrication of an Omni-Directional Vehicle Platform," M.S. Thesis, 2003.
Zawodny, E., "Multiple Vehicle Positioning Simulation and Optimization," M.S. Thesis, 2003.
Vinch, P., "Design and Implementation of an Intelligent Primitive Driver," M.S. Thesis, 2003.
Hinson, A., "Planar Vehicle Tracking Using a Monocular Based Multiple Camera Visual Position System," M.S. Thesis 2003.
Marshall, M., "Analysis of Tensegrity-Based Parallel Platform Devices," M.S. Thesis, 2003.
Knight, B., Duffy, J., and Crane, C., "Optimization of Ring Trusses for Antenna Structures Using Line Geometry," Journal of Spacecraft and Rockets, Vol. 40, No. 4, pp. 565-569, 2003.
2002
Santiago, J., "Large Force Shape Memory Alloy Linear Actuator," M.S. Thesis.
Novick. D., "Implementation of a Sensor Fusion-Based Object-Detection Component for an Autonomous Outdoor Vehicle," Ph.D. Dissertation, 2002.
Unsal, M., "Force Control of a New Semi-Active Piezoelectric-Based Friction Damper," M.S. Thesis, 2002.
Unsal, M., Niezrecki, C., and Crane, C., "A New Semi-Active Piezoelectric Based Friction Damper," Proceedings of the Ninth International Conference on Sound and Vibration, Orlando, Jul 2002.
Correa, J., Duffy, J., and Crane, C., "Static Analysis of Tensegrity Structures, Part I. Equilibrium Equations," Proceedings of the ASME Mechanisms Conference, Montreal, Aug 2002.
Correa, J., Duffy, J., and Crane, C., "Static Analysis of Tensegrity Structures, Part II. Numerical Examples," Proceedings of the ASME Mechanisms Conference, Montreal, Aug 2002.
Correa, J., Duffy, J., and Crane, C., "Static Analysis of Prestressed Tensegrity Structures," Proceedings of the ASME Mechanisms Conference, Montreal, Aug 2002.
Chesney, C., "Implementatioun of a Planar Hybrid Passive Force-Feedback User Input Device," Ph.D. Dissertation, 2002.
Tran, T., "Reverse Displacement Analysis for Tensegrity Structures," M.S. Thesis, 2002.
2001
Correa, J., "Static Analysis of Tensegrity Structures," MS Thesis, 2001.
Mayer, J., "Three Dimensional Surface Display Device," MS Thesis, 2001.
Mandapat, R., "Development and Evaluation of Positioning Systems for Autonomous Vehicle Navigation", MS Thesis, 2001.
2000
Knight, B., "Deployable Antenna Kinematics Using Tensegrity Structure Design," Ph.D. dissertation, 2000.
Zhang, Y., "Quality Index and Kinematic Analyisis of Spatial Redundant In-Parallel Manipulators," Ph.D. dissertation, 2000.
Duffy, J., and Crane C., "A Spatial Dynamic Analysis of an Excavator to Determine Bucket/Load Weight," Proceedings of the ASME Mechanisms Conference, Baltimore, Md., Sep 2000.
Dwarakanath, T., Crane, C., Duffy, J., and Tyler, C., "In-Parallel Passive Compliant Coupler for Robot Force Control", Proceedings of the ASME Mechanisms Conference, Baltimore, Md., Sep 2000.
Armstrong, D., Crane, C., Novick, D., Wit, J., English, R., Adsit, P., Shahady, D. "A Modular, Scalable, Architecture For Unmanned Vehicles," Proceedings of the Association for Unmanned Vehicle Systems International (AUVSI) Unmanned Systems 2000 Conference, Orlando, Florida, July 2000.
Lee, J., Duffy, J., and Rooney, J., "An Initial Investigation into the Geometrical Meaning of the (Pseudo-) Inverses of the Line Matrices for the Edges of Platonic Polyhedra," Sir Robert Stawell Ball 2000 Symposium, University of Cambridge, UK, July 2000.
Knight, B., Zhang, Y., Duffy, J., and Crane, C., "On the Line Geometry of a Class of Tensegrity Structures," Sir Robert Stawell Ball 2000 Symposium, University of Cambridge, UK, July 2000.
Zhang, Y, Duffy, J., and Crane C., "The Optimal Quality Index for a Spatial Redundant 8-8 In-Parallel Manipulator," Proceedings of the ASME Mechanisms Conference, Baltimore, Md., Sep 2000.
Duffy, J., Rooney, J., Knight, B., and Crane, C., "A Review of a Family of Self-Deploying Tensegrity Structures with Elastic Ties," The Shock and Vibration Digest, Vol. 32, No. 2, Mar 2000, p. 100-106.
Zhang, Y., Duffy, J., and Crane, C., "The Optimum Quality Index for a Spatial Redundant 4-8 In-Parallel Manipulator," Proceedings of the Advances in Robot Kinematics Conference, Piran, Slovenia, June 2000, p. 239-248.
Wit, J., Crane, C., Armstrong, D., and Duffy, J., "Autonomous Ground Vehicle Path Tracking," Proceedings of the 32nd Southeastern Symposium on System Theory, Tallahassee, Florida, March 2000.
Abbasi, W., Ridgeway, S., Adsit, P., Crane, C., and Duffy, J., "Investigation of a Special 6-6 Parallel Platform for Contour Milling," ASME Journal of Manufacturing Science and Engineering, Vol. 122, Feb 2000, pp. 132-139.
Lee, J., "Investigations of Quality Indices of In-Parallel Platform Manipulators and Development of Web Based Analysis Tool", Ph.D. dissertation, 2000.
Wit, J., "Vector Pursuit Path Tracking for Autonmous Ground Vehicles," Ph.D. dissertation, 2000.
Tyler, C., "In-Parallel Passive Compliant Coupler for Robot Force Control," MS thesis, 2000.
Hurezeanu, V., "Path Planning Software and Graphics Interface for an Autonomous Vehicle, Accounting for Terrain Features," MS thesis, 2000.
1999
Chesney, C., and Crane, C., "Hybrid Active/Passive Force Feedback," Proceedings of the 8th International Topical Meeting on Robotics and Remote Systems, American Nuclear Society, Pittsburgh, Pa, April 1999.
Mohamed, Maher G., Duffy, J., "The Rotational Geometric Influence Coefficients of a Planar Multi-Loop Mechanism," Applied Mathematical Modelling, Elevier Publisher 1999, pp. 161-174.
Martinez, J. M. R., and Duffy, J., "Determination of the Acceleration Center of a Rigid Body in Spatial Motion," To be published by European Journal of Mechanics A/Solids, 1999.
Martinez, J. M. R., Gallardo, Jaime, and Duffy, J., "Screw Theory and higher Order Kinematic Analysis of Open Serial and Closed Chains," Mechanism and Machine Theory, Vol. 34, No. 4, 1999, pp. 559-586.
Lee, J., Duffy, J., Keler, J., "The Optimum Quality Index for the Stability of In Parallel Planar Platform Devices, Trans. ASME, Journal of Mechanical Design,Vol. 121, March, 1999, pp. 15-20.
Stern, Ian., "Development of Design Equationsfor Self-Deployable N-Strut Tensegrity Systems," MS thesis, 1999.
1998
Zhang, Y., Crane, C., and Duffy, J., "Determination of the Unique Orientation of Two Bodies Connected by a Ball-and-Socket Joint from Four Measured Displacements," Journal of Robotic Systems, Vol. 15, No. 5, 1998, pp. 299-308.
Abbasi, W., Ridgeway, S., Adsit, P., Crane, C., and Duffy, J., "Development and Testing of a 6-6 Parallel Platform Actuator," Proceedings of the World Automation Congress, Anchorage, Ak., May 1998, 8 pages.
Duffy, J., Crane, C., Knight, B., and Rooney, J., An Investigation of a Special Motion of an Octahedron Manipulator Using Screw Theory", Proceedings of Sixth International Symposium on Advances in Robot Kinematics: Analysis and Control, Strobl, Austria, Kluwer Academic Publishers, June 1998.
Martinez, J.M., Duffy, J., "On the Transference Principle in Kinematics, Its Various Forms and Limitations" Mechanisms and Machine Theory, Vol. 33, pp. 879-880, 1998.
Martinez, J.M., Duffy, J., "Determination of the Acceleration Center of a Rigid Body in Spatial Motion", Euroopean Journal of Mechanics A/Solids, Vol. 17. pp. 969-977, 1998.
Hines, R., Marsh, D., Duffy, J., "Catastrophe Analysis of the Planar Two-Spring Mechanism", The International Journal of Robotics Research, Vol. 17, No. 1, pp. 89-101, January 1998.
Rico, J.M., Duffy, J., "Velocity and Acceleration Analysis of Parallel Manipulators", Proceedings of the 1998 World Automation Forum, Alaska, May 1998.
Rico Martínez, J. M., Duffy, J., "Robot Isotropy: A Reassessment", Proceedings of Sixth International Symposium on Advances in Robot Kinematics: Analysis and Control, Strobl, Austria, Kluwer Academic Publishers, June 1998.
Rico Martinez, J. M., Gallegos, V., Duffy, J., "Screw Polygons, Finite Screws, and Biquaternions", Proceedings of the 1998 ASME Design Engineering Technical Conference, Atlanta, paper DETC98/MECH-5892, September 1998.
Lee, J., Duffy, J., and Hunt, K.H., "A Practical Quality Index Based on the Octahedral Manipulator", The International Journal of Robotics Research, Vol. 17, No. 10, pp. 1081-1090, October 1998.
Yin, J. P., Marsh, D., Duffy, J., "Catastrophe Analysis of Planar Three-Spring Systems", Proceedings of DETC 98 1998 ASME Design Engineering Technical Conferences, Paper No. DETC98/MECH-5919, September 13-16, 1998, Atlanta, GA.
Rico Martínez, J. M., Gallegos J., V., Duffy, J., "Screw Polygons, Finite Screws, and Biquaternions", Proceedings of DETC 98 1998 ASME Design Engineering Technical Conferences, Paper No.DETC98/MECH-5892, pp. 123, September 13-16, 1998, Atlanta, GA.
Martinez, J. M. R., and Duffy, J., "A General Method for the Computation of the Canonical Form of Three-Systems of Infinitesimal Screws," Robotica, Vol. 16, No. 1, pp. 37-45, 1998.
Zhang, Y., and Duffy, J., "The Optimum Quality Index for a Redundant 4-4 In-Parallel Manipulator," Twelfth CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators. RoManSy 98, July 6-9, 1998, Paris, Résumés/Abstracts.
Martinez, J. M. R., and Duffy, J., "A General Method for the Computation of the Canonical form of Three-systems of Infinitesimal Screws," Robotica, Vol. 16, pp. 37-45, 1998.
Martinez, J. M. R., and Duffy, J., "Robot Isotropy: A Reassessment," Advances in Robot Kinematics: Analysis and Control, Lenarcic and Husty Eds, Kluwer Academic Publishers, Dordrecht 1998, pp. 435-444.
1997
Rankin, A., "Development of Path Tracking Softwre for an Autonomous Steered-Wheeled Robotic Vehicle and its Trailer," Ph. D. Dissertation, 1997.
Rankin, A., Crane, C., and Duffy, J., "Modeling the Steering Behavior of an Autonomous Land Vehicle,' Proceedings of the IASTED International Conference on Applied Modeling and Simulation, Banff, Canada, Jul 97, pp. 404-407.
Pinheiro, R., Crane, C., and Tulenko, J., "Laser Range Image Interpretation for Automated Mapping of Hazardous Environments," Proceedings of the American Nuclear Society 7th Topical Meeting on Robotics and Remote Systems, Apr 97, pp. 131-137.
Abbasi, W., Ridgeway, S., Adsit, P., Crane, C., and Duffy, J., "Investigation of a Special 6-6 Parallel Platform for Contour Milling," Proceedings of the ASME Manufacturing Engineering Division 1997 International M.E. Congress and Exposition (IMECE), Dallas, Nov 97, pp. 373-380.
Abbasi, Waheed A., Ridgeway, Shannon C., Adsit, Phillip D., Crane, Carl D., and J. Duffy, "Development and Testing of a 6-6 Parallel Platform Actuator," Presented at the 1997 FIU Conference on Recent Advances in Robotics, Florida International University, Miami, Florida, April 10-11, 1997.
Keler, M. L., and J. Duffy, "Analytical Kinematics of Star-Cube Transformer," Presented at the 6th International Workshop on Robotics in Alpe-Adria-Danube Region, Cassino, Italy, June 26-28, 1997.
Namgung, I., and J. Duffy, "Two Dimensional Collision-Free Path Planning Using Linear Parametric Curve," Journal of Robotic Systems, Vol. 14, No. 9, pp. 659-673, 1997.
Zhang, Y., Liang, C., Duffy, J., and E. J. F. Primrose, "A Reverse Force Analysis of a Spatial Three-Spring System," Mech. Mach. Theory, Vol. 32, No. 6, pp. 667-678, 1997.
1996
Baiges, I.J., and Duffy, J., "Dynamics Modeling of Parallel Manipulators," Proceedings of the 1996 ASME Design Engineering Technical Conference, Paper No. 96-DETC/MECH-1136, 1006.
Rogers, R., Wit, J., Crane, C., and Armstrong, D., "Integrated INU/DGPS for Autonomous Vehicle Navigation," Proceedings of the 1996 IEEE Position Location and Navigation Symposium, Atlanta, Apr 96, pp. 471-476.
Rankin, A., and Crane, C., "Multi-Purpose Off-line Path Planning Based on an A* Search Algorithm," Proceedings of the 1996 ASME Mechanisms Conference, Irvine, Ca., published on CD-ROM, 10 pages.
Crane, C., Cunningham, S., Armstrong, D., Rankin, A., Novick, D., Wit, J., Duffy, J., "Development of an Autonomous Navigation and Teleremote Mapping System for Application to Heavy Construction Equipment", Proceedings of the Fifth UK Mechatronics Forum International Conference, Guimaraes, Portugal, 18-20 Sep 96, pp. 5?10.
Rankin, A., Crane, C., and Duffy, J., "Simulating the Motion of a Nonholonomic Robot and its Trailer", Proceedings of the 5th International Symposium on Advances in Robot Kinematics, Portoroz-Bernardin, Slovenia, Jun 96, pp. 277-286.
Wit, J., Crane, C., Armstrong, D., "Evaluation of an Integrated Inertial Navigation System and Global Positioning System Under Less than Optimal Conditions," Proceedings of Sixth International Symposium on Robotics and Manufacturing (ISRAM '96), Volume 6, ASME Press, Montpellier, France, May 96, pp. 649-654.
Brown, E., Crane, C. , "A System for Performing Site Characterization for Test Ranges Containing Unexploded Ordnance," Proceedings of Sixth International Symposium on Robotics and Manufacturing (ISRAM '96), Volume 6, ASME Press, Montpellier, France, May 96, pp. 31-36.
Rankin, A., Crane, C., Armstrong, A., Nease, A., Brown H.E., "Autonomous Path Planning Navigation System Used for Site Characterization," Proceedings of the SPIE 10th Annual AeroSense Symposium, Vol. 2738, Orlando, Florida, Apr 96, pp. 176-186.
Brown, E., and Crane C., "A System for Performing Site Characterization for Test Ranges Containing Unexploded Ordnance," Proceedings of the SPIE 10th Annual AeroSense Symposium, Vol. 2738, Orlando, Florida, Apr 96, pp. 164-175.
Ridgeway, S. Crane, C., and Duffy J., "A Forward Analysis of a Two Degree of Freedom Parallel Planar Manipulator," Proceedings of the 5th International Symposium on Advances in Robot Kinematics, Portoroz-Bernardin, Slovenia, Jun 96, pp. 431-440.
Crane, C., Pinheiro, R., Adsit, P., Will, C., Haddox, D., Dalton, R., Tulenko, J., "Virtual Collaborative Robotics," Proceedings of the World Automation Congress (WAC '96), Volume 3, TSI Press Series, Montpellier, France, May 96, pp. 209-214.
Rico, J.M. and J. Duffy, "An Application of Screw Algebra to the Acceleration Analysis of Serial Chains," Mechanism and Machine Theory, vol. 31, no. 4, May, 1996.
Rico, J.M. and J. Duffy, "An Efficient Inverse Acceleration Analysis of In-Parallel Manipulators," Paper 96-DETC-MECH-1005, Presented at the 1996 ASME Design Engineering Technical Conference and Computers in Engineering Conference, Irvine, California, 1996.
1995
Baiges-Valentin, Ivan, "Dynamic Modeling of Parallel Manipulators," Ph.D. dissertation, 1995.
Ridgeway, S., "The Design and Fabrication of a Joint Actuation Scheme for an Articulated Mobile Robot," M.S. thesis, 1995.
Crane, C., Rankin, A., Armstrong, D., Wit, J., and Novick, D., "An Evaluation of INS and GPS for Autonomous Navigation," Proceedings of the 2nd IFAC Conference on Intelligent Autonomous Vehicles, Espoo, Finland, 1995, pp. 208-213.
Crane, C., Armstrong, D., Rankin, A., "Autonomous Navigation of Heavy Construction Equipment," Robotics in Civil Engineering Special Issue of the Microcomputers in Civil Engineering Journal, Vol. 10, No.5, 1995, pp 357-370.
Ridgeway, S., Adsit, P., and Crane, C., "Development of an Articulated Transporter/Manipulator System," Invited paper for Special Issue on Highly Redundant Manipulators of Advanced Robotics, the Transactions of the Robotics Society of Japan, Vol. 9, No. 3, 1995, pp. 301-316.
Will, C. and Crane, C., "Implementation of a Six Degree of Freedom Manual Controller with Passive Force Feedback," SPIE Conference on Telemanipulator and Telepresence Technology, Philadelphia, 1995, pp. 143-150.
Adsit, P., Crane, C., Gamble, D., Ridgeway, S., and Tosunoglu, S., "Design, Fabrication, and Control of a Robotic Wall-Crawler for Remote Inspection Operations," IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation, Orlando, FL, Nov 6-10, 95, pp 110-115.
Wang, S., Crane, C., Rao, M., Ekdhal, D., and Tulenko, J., "Target Recognition Using Cestrum and Inverse Filtering," Proceedings of the SPIE, Signal Processing, Sensor Fusion, and Target Recognition IV, Vol. 2484, Apr 95, pp. 224-235.
Huang, Y., Wang, S., Haddox, D., Rao, M., Crane, C., Dewitt, B., and Tulenko, J., "Virtual Reality Using Remote Sensing," Proceedings of SPIE, Remote Sensing, and Reconstruction for Three-Dimensional Objects and Scenes, Jul 95, pp. 140-150.
Wang, S., Haddox, D., Crane, C., and Tulenko, J., "Verification and Reconciliation of Virtual World Model for Radioactive Waste Cleanup," Proceedings of SPIE, Intelligent Robots and Computer Vision XIV: Algorithms, Techniques, Active Vision, and Materials Handling, Vol. 2588, Oct 95, pp. 242-252.
Martinez, J.M.R., and J. Duffy, "On the Metrics of Rigid Body Displacements for Infinite and Finite Bodies," Trans. ASME, Journal of Mechanical Design, vol. 117, pp. 41-47, March 1995.
Martinez, J.M.R. and J. Duffy, "A Simple Method for the Velocity and Acceleration Analysis of In-Parallel Platforms," Proceedings of the Ninth World Congress on the Theory of Machines and Mechanisms, Politecnico di Milano, Italy, August 29 - September 2, 1995.
Martinez, J.M.R., Gallardo, J.A., and J. Duffy, "A Determination of Singular Configurations of Serial Non-Redundant Manipulators, and Their Escapement from Singularities Using Lie Products," Proceedings of the Second Workshop on Computational Kinematics, Sophia Antipolis, France, September 4 - 6, 1995.
Pigoski, T.M. and J. Duffy, "An Inverse Force Analysis of a Planar Two-Spring System," Trans. ASME, Journal of Mechanical Design, vol. 117, December, 1995.
1994
Armstrong, D., Crane, C., and Rankin, A., "Autonomous Location of Hazardous Waste and Unexploded Ordnance," Intelligent Automation and Soft Computing, Trends in Research, Development, and Applications", Volume 1, TSI Press, Proceedings of the First World Automation Congress, Maui, Hawaii, Aug 94, pp. 263 - 268.
Rankin, A., Armstrong, D., and Crane, C., "Navigation of an Autonomous Nonholonomic Robot Vehicle," Robotics for Challenging Environments, Proceedings of ASCE Specialty Conference on Robotics for Challenging Environments, Albuquerque, NM, 26 Feb 94, pp. 44-51.
Lin, W., Crane, C., and Duffy, J., "Closed-Form Forward Displacement Analysis of the 4-5 In-Parallel Platforms," Trans. of the ASME, Journal of Mechanical Design, Vol. 116, Mar 1994, pp. 47-53.
Griffis, M., Crane, C., and Duffy, J., "A Smart Kinestatic Interactive Platform," Proceedings of the Fourth International Workshop on Advances in Robot Kinematics, Ljubjana, Slovenia, 4-6 Jul 94, pp. 459-464.
Spelt, P., Crane, C., Feng, L., Abidi, M., and Tosunoglu, S., "Design of the Reactor Vessel Inspection Robot for the Advanced Liquid Metal Reactor," Intelligent Automation and Soft Computing, Trends in Research, Development, and Applications", Volume 1, TSI Press, Proceedings of the First World Automation Congress, Maui, Hawaii, Aug 94, pp. 359 - 366.
Alizade, R. I., Tagiyev, N. R., and Duffy, J., "A Forward and Reverse Displacement Analysis of a 6-DOF In-parallel Manipulator", Mechanism and Machine Theory, Vol. 29, No. 1, pp. 115-124, January 1994.
Alizade, R. I., Tagiyev, N. R., and Duffy, J., "A Forward and Reverse Displacement Analysis of an In-parallel Spherical Manipulator", Mechanism and Machine Theory, Vol. 29, No. 1, pp. 125-137, January 1994.
Chung, Y. S., Griffis, M., Duffy, J., "Repeatable Joint Displacement Generation for Redundant Robotic Systems", Trans. ASME, Journal of Mechanical Design, Vol. 116, No. 1, pp. 11-16, March 1994.
1993
Griffis, M., and Duffy, J., "Method and Apparatus for Controlling Geometrically Simple Parallel Mechanisms with Distinct Connections," U.S. patent # 5,179,525, 12 Jan 1993.
Pigoski, Thomas, "An Introductory Theoretical Analysis of Planar Compliant Couplings," M.S. Thesis, 1993.
Crane, C., and Nease, A., "Air Force Construction Automation: Navigation of an Autonomous Vehicle," ANS Fifth Topical Meeting on Robotics and Remote Systems, Knoxville, Apr 93, pp. 13-16.
Crane, C., Griffis, M., and Duffy, J. "The Development of Intelligent Robotic Systems with Practical Applications," Proceedings of the 2nd Conference on Mechatronics and Robotics, Duisburg/Moers, Germany, Sep 1993, pp. 183-199. Invited keynote paper.
Choi, C., Crane, C., Matthew, G., and Duffy, J., "The Geometry of Interference with Application to Obstacle Avoidance," Transactions of the ASME, Journal of Mechanism Design, Volume 115, Number 2, June 1993, pp. 300-305.
1992
Crane, C., Duffy, J., and Carnahan, T., "A Kinematic Analysis of the Modified Flight Telerobotic Servicer Manipulator System," Journal of Robotic Systems, Vol. 9, No. 3, June 1992, pp. 461-480.
Martinez, J. and Duffy, J., "Classification of Screw Systems, Parts I and I I," Mechanism and Machine Theory, Vol. 27, No. 4, July 1992, pp. 459-490.
Chiang, S.C., Crane, C., and Duffy, J., "Path Planning for an Articulated Transporter/Manipulator System," Proceedings of ASME Mechanisms Conference, DE-Vol 45, Phoenix, Sep 92, pp. 405-412.
Ridgeway, S., Crane, C., Adsit, P., and Harrell, R., "The Mechanical Design of a Parallel Actuated Joint for an Articulated Mobile Robot," Proceedings of ASME Mechanisms Conference, DE-Vol 45, Phoenix, Sep 92, pp. 591-597.
Crane, C. and Duffy, J. "The Development of Remote Robotic Systems with Practical Applications," Proceedings of the 3rd International Workshop on Adva nces in Robot Kinematics, Ferrara, Italy, Sep 1992, pp. 13-26. Invited keynote paper.
Chiang, S.C., "Path Planning for an Articulated Transporter/Manipulator System," Ph.D. dissertation, 1992.
1991
Crane, C. and Duffy, J., "An Overview of Applied Robotic Technology Develop ed at the University of Florida," Proceedings of the Eurotech Direct '91 Ma chine Systems Conference, Birmingham, U.K., Vol. 3, July 1991, pp. 1-8. Invited keynote paper.
Choi, C., Crane, C., and Matthew, G., "Obstacle Avoidance Via Articulation, " Journal of Robotic Systems, Volume 8, Number 4, August 1991, pp. 465-484.
Crane, C., Duffy, J., and Carnahan, T., "A Kinematic Analysis of the Space Station Remote Manipulator System," Journal of Robotic Systems, Volume 8, N umber 5, October 1991, pp. 637-658.
Griffis, M. and Duffy, J., "Kinestatic Control: A Novel Theory for Simultan eously Regulating Force and Displacement," Trans. ASME Journal of Mechanica l Design, Vol. 113, No. 4, Dec 1991, pp. 508-515. ASME best paper award .
Griffis, M., Crane, C., and Duffy, J., "Displacements that Null Forces," IEEE International Symposium on Intelligent Control, Arlington, Va., 13-15 Aug 1991, pp. 110-115.
Rocheleau, D., and Crane, C., "Development of a Graphical Interface for Robotic Operation in a Hazardous Environment," Proceedings of the 1991 IEEE International Conference on Systems, Man and Cybernetics, Vol. 2, Oct 91, pp. 1077-1082.
Griffis, M., "Kinestatic Control: A Novel Theory for Simultaneously Regulating Force and Displacement," Ph.D. Dissertation, 1991.
1990
Duffy, J., "Editorial: The Fallacy of Modern Hybrid Control Theory that is Based on Orthogonal Complements of Twist and Wrench Spaces," Journal of Robotic Systems, April 1990.
Griffis, M., and Duffy, J., "On a General Model of Spatial Stiffness," Proceedings of the VIII CISM-IFToMM Symposium Ro. Man. Sy '90, Crakow, Poland, July 1990. IFToMM best paper award.
Crane, C., and Tulenko, J., "Faster than Real-Time Robot Simulation with Real Time Feedback," 5th IEEE International Symposium on Intelligent Control, Volume 2, Sep 90, pp. 932-935.
Crane, C., Duffy, J., and Nease, A., "Development of an Autonomous Excavator System for Remote Applications," Transactions of the American Nuclear Society, Vol. 62, November 1990, pp. 620-621.
Crane, C., Tulenko, J, and Bartholet, T., "An Advanced Semi-Autonomous Robotic System for Hazardous Response Work for Decontamination and Decommissioning," American Nuclear Society, 38th Conference on Remote Systems Technology, Volume 2, 1990, pp. 79-85; Transactions of the American Nuclear Society, Volume 62, November 1990, p.601.
Crane, C., Nene, S., Dalton, R, Tulenko, J., and Wang, L., "Faster than Real Time Robot Simulation for Plan Development and Robot Safety," American Nuclear Society, 38th Conference on Remote Systems Technology, Volume 1, 1990, pp. 14-16;Transactions of the American Nuclear Society, Volume 61, June 1990, p. 408.
1989
Griffis, M., and Duffy, J., "A Forward Displacement Analysis of a Class of Stewart Platforms," Journal of Robotic Systems, Vol. 6, No. 6, Dec 1989, pp. 703-720.
Crane, C., Vora, R., Tulenko, J., Dalton, G., "Model Simulation for Robotic Control and Intelligence," American Nuclear Society Third Topical Meeting on Robotics and Remote Systems, Charleston, S.C., Mar 1989, pp. 11.3.1-11.3.6.
Lee, C., Crane, C., Seireg, A., Duffy, J., "Modeling of a Leg System for Dynamically Stable Bipedal Locomotion," 21st Annual Pittsburgh Conference on Modeling and Simulation, Vol. 21, Part 5, 1989, pp. 2225-2230.
Shieh, M., and Duffy, J., "Autonomous Rectilinear Motion Planning, Part I: The Geometry of the Wrist Workspace with a Single Circular Obstacle", 1st National Applied Mechanisms and Robotics Conference, Cincinnati, Ohio, Nov 5-8, 1989, 89AMR-3A-3, Volume I.
Shieh, M., and Duffy, J., "Autonomous Rectilinear Motion Planning, Part II: The Geometry of the End-Effector Workspace and Determination of a Free Path", 1st National Applied Mechanisms and Robotics Conference, Cincinnati, Ohio, Nov 5-8, 1989, 89AMR-3A-3, Volume I.
1988
Lipkin, H., and Duffy, J., "A Hybrid Twist and Wrench Control for a Robotic Manipulator," Trans. ASME Journal of Mechanisms, Transmissions, and Automation in Design, Vol. 110, June 1988, pp. 138-144.
Tseng, C., Duffy, J., and Crane, C., "Generating Collision Free Paths for Robot Manipulators," Computers in Mechanical Engineering, Vol. 7, No. 2, September/October 1988, pp. 58-64.
Crane, C., Chiang, S.C., Tulenko, J., and Carlton, R., "Algorithm Development and Computer Graphics Simulation of an Articulated Transporter/Manipulator System," ASME Computers in Engineering Conference, San Francisco, Volume 2, Jul 88, pp. 253-257.
Choi, Y., Crane, C., and Matthew, G., "Interactive Off-Line Robot Path Processor," ASME Computers in Engineering Conference, San Francisco, Volume 2, Jul 88, pp. 249-252.
1987
Crane, C. and Duffy, J., "Applications of Computer Graphics to Robot Path Planning and Control," 7th World Congress on the Theory of Machines and Mechanisms, Seville, Spain, Volume 2, Sep 87, pp. 1033-1036.
Crane, C., Tulenko, J., and Carlton, R., "An Advanced Semi-Autonomous Robotic System for Hazardous Response Work at Nuclear Power Stations", Transactions of the American Nuclear Society, Volume 54, November 1987, p. 2.
1980
Duffy, J., and Crane, C., "Displacement Analysis of the General Spatial Seven Link, 7R Mechanism," Mechanism and Machine Theory, Vol. 15, 1980, pp. 15 3-169.
