**PUBLICATIONS**

**Journal Papers**

- Ginzburg, S., von Frankenberg, F., and Nokleby, S. B., 2009, “Design and Implementation of an Indoor Localization System for the Omnibot Omni-Directional Platform,”
*Transactions of the CSME*, Vol. 33, No. 4, pp. 715-729.

- Venus, G., Carretero, J. A., and Nokleby, S. B., 2009, “A New Technique to Calculate the Force and Moment Workspaces of Actuation Redundant Spatial Parallel Manipulators,”
*Transactions of the ASME, Journal of Mechanisms and Robotics*, Vol. 1, No. 3, pp. 031004-1 to 031004-8.

- Bahadorani, P., Naterer, G. F., and Nokleby, S. B., 2009, “Optimization of Heat Exchangers for Geothermal District Heating,”
*Transactions of the CSME*, Vol. 33, No. 2, pp. 79-96.

- Garg, V., Nokleby, S. B., and Carretero, J. A., 2009, “Wrench Capability Analysis of Redundantly-Actuated Spatial Parallel Manipulators,”
*Mechanism and Machine Theory*, Vol. 44, No. 5, pp. 1070-1081.

- Gauthier, J.-F., Angeles, J., Nokleby, S. B., and Morozov, A., 2009, “The Kinetostatic Conditioning of Two-Limb Schönflies Motion Generators,”
*Transactions of the ASME, Journal of Mechanisms and Robotics*, Vol. 1, No. 1, pp. 011010-1 to 011010-12.

- Firmani, F., Nokleby, S. B., Zibil, A., and Podhorodeski, R. P., 2008, “Wrench Capabilities of Planar Parallel Manipulators - Part II: Redundancy and Wrench Workspace Analysis,”
*Robotica*, Vol. 26, No. 6, pp. 803-815.

- Firmani, F., Nokleby, S. B., Zibil, A., and Podhorodeski, R. P., 2008, “Wrench Capabilities of Planar Parallel Manipulators - Part I: Wrench Polytopes and Performance Indices,”
*Robotica*, Vol. 26, No. 6, pp. 791-802.

- Firmani, F., Zibil, A., Nokleby, S. B., and Podhorodeski, R. P., 2007, “Force-Moment Capabilities of Revolute-Jointed Planar Parallel Manipulators with Additional Actuated Branches,”
*Transactions of the CSME*, Vol. 31, No. 4, pp. 469-481.

- Zibil, A., Firmani, F., Nokleby, S. B., and Podhorodeski, R. P., 2007, “An Explicit Method for Determining the Force Moment Capabilities of Redundantly Actuated Planar Parallel Manipulators,”
*Transactions of the ASME, Journal of Mechanical Design*, Vol. 129, No. 10, pp. 1046-1055.

- Nokleby, S. B., 2007, “Singularity Analysis of the Canadarm2,”
*Mechanism and Machine Theory*, Vol. 42, No. 4, pp. 442-454.

- Nokleby, S. B., 2005, “Force-Moment Capabilities of Planar-Parallel Manipulators Using Different Redundant-Actuation Configurations,”
*Transactions of the CSME*, Vol. 29, No. 4, pp. 669-678.

- Nokleby, S. B., Fisher, R., Podhorodeski, R. P., and Firmani, F., 2005, “Force Capabilities of Redundantly-Actuated Parallel Manipulators,”
*Mechanism and Machine Theory*, Vol. 40, No. 5, pp. 578-599.

- Fisher, R., Podhorodeski, R. P., and Nokleby, S. B., 2004, “Design of a Reconfigurable Planar Parallel Manipulator,”
*Journal of Robotic Systems*, Vol. 21, No. 12, pp. 665-675.

- Nokleby, S. B. and Podhorodeski, R. P., 2004, “Identifying the 1-DOF-Loss Velocity-Degenerate (Singular) Configurations of an 8-Joint Manipulator,”
*Transactions of the CSME*, Vol. 28, No. 2A, pp. 109-124.

- Podhorodeski, R. P., Nokleby, S. B., and Wittchen, J. D., 2004, “Quick-Return Mechanism Design and Analysis Projects,”
*International Journal of Mechanical Engineering Education*, Vol. 32, No. 2, pp. 100-114.

- Nokleby, S. B. and Podhorodeski, R. P., 2004, “Identifying Multi-DOF-Loss Velocity De-generacies in Kinematically-Redundant Manipulators,”
*Mechanism and Machine Theory*, Vol. 39, No. 2, pp. 201-213.

- Nokleby, S. B. and Podhorodeski, R. P., 2003, “Pose Optimization of Serial Manipulators Using Knowledge of Their Velocity-Degenerate (Singular) Configurations,”
*Journal of Robotic Systems*, Vol. 20, No. 5, pp. 239-249.

- Nokleby, S. B. and Podhorodeski, R. P., 2001, “Optimization-Based Synthesis of Grashof Geared Five-Bar Mechanisms,”
*Transactions of the ASME, Journal of Mechanical Design*, Vol. 123, No. 4, pp. 529-534.

- Nokleby, S. B. and Podhorodeski, R. P., 2001, “Reciprocity-Based Resolution of Velocity Degeneracies (Singularities) for Redundant Manipulators,”
*Mechanism and Machine Theory*, Vol. 36, No. 3, pp. 397-409.

- Nokleby, S. B. and Podhorodeski, R. P., 2000, “Velocity Degeneracy Determination for the Kinematically Redundant CSA/ISE STEAR Testbed Manipulator,”
*Journal of Robotic Systems*, Vol. 17, No. 11, pp. 633-642.

- Podhorodeski, R. P. and Nokleby, S. B., 2000, “Reconfigurable Main-Arm for Assembly of All Revolute-Only Kinematically Simple Branches,”
*Journal of Robotic Systems*, Vol. 17, No. 7, pp. 365-373.

- Nokleby, S. B. and Podhorodeski, R. P., 2000, “Optimization-Based Synthesis of a Deep-Digging Tillage Mechanism,”
*Transactions of the CSME*, Vol. 24, No. 1A, pp. 61-78.

**Conference Papers**

- Alizadeh, D., Angeles, J. and Nokleby, S. B., 2009, “A Novel Pan-Tilt Motion Generator, in
*Proceedings of the 1st International Symposium on Geometric Methods in Robotics and Mechanism Research*, December 14-17, Hong Kong, China, 7 pages.

- Platanitis, G., Pop-Iliev, R., and Nokleby, S. B., 2009, “Implementation and Effect of Rubrics in Capstone Design Courses,” in
*Proceedings of the 2009 ASME International Design Engineering Technical Conferences*, August 30 – September 2, San Diego, USA, 9 pages.

- Frejek, M. and Nokleby, S. B., 2009, “Simplified Tele-Operation of Mobile-Manipulator Systems Using Knowledge of Their Singular Configurations,” in
*Proceedings of the 2009 ASME International Design Engineering Technical Conferences*, August 30 – September 2, San Diego, USA, 8 pages.

- McDougall, R. and Nokleby, S. B., 2009, “Multi-Objective Parallel Asynchronous Particle Swarm Optimization For Engineering Design Problems,” in
*Proceedings of the 2009 ASME International Design Engineering Technical Conferences*, August 30 – September 2, San Diego, USA, 8 pages.

- Ginzburg, S., von Frankenberg, F., and Nokleby, S. B., 2009, “Design and Implementation of an Indoor Localization System for the Omnibot Omni-Directional Platform,” in
*Proceedings of the 2009 CCToMM Symposium on Mechanisms, Machines, and Mechatronics*, May 28-29, Quebec City, Canada, 10 pages.

- Willis, D., Nokleby, S. B., and Pop-Iliev, R., 2009, “Development of a Composite-Based Long Reach Robotic Arm,” in
*Proceedings of the 2009 CCToMM Symposium on Mechanisms, Machines, and Mechatronics*, May 28-29, Quebec City, Canada, 10 pages.

- Carretero, J. A., Nokleby, S. B., and Firmani, F., 2008, “Wrench Capabilities of Redundantly-Actuated Spatial Parallel Manipulators using Wrench Polytopes,” in
*Proceedings of the Second International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators*, September 21–22, Montpellier, France, 6 pages.

- Willis, D., Nokleby, S. B., and Pop-Iliev, R., 2008, “Mechanical Design of the Jasper Mobile Manipulator,” in
*Proceedings of the 2008 ASME International Design Engineering Technical Conferences*, August 3-6, Brooklyn, USA, 9 pages.

- McDougall, R. and Nokleby, S. B., 2008, “Synthesis of Grashof Four-Bar Mechanisms Using Particle Swarm Optimization,” in Proceedings of the 2008 ASME International Design Engineering Technical Conferences, August 3-6, Brooklyn, USA, 5 pages.

- Bemis, S., Riess, B., and Nokleby, S. B., 2008, “Design and Control of an Omnibot Autonomous Vehicle,” in
*Proceedings of the 2008 ASME International Design Engineering Technical Conferences*, August 3-6, Brooklyn, USA, 7 pages.

- Pop-Iliev, R., Nokleby, S. B., Platanitis, G., 2008, “Evaluating the Impact of Tablet Computers on Design Engineering,” in
*Proceedings of the Fifth CDEN International Conference on Design Education, Innovation, and Practice*, July 27-29, Halifax, Canada, 6 pages.

- McDougall, R. and Nokleby, S. B., 2008, “Synthesis of Grashof Five-Bar Mechanisms Using Particle Swarm Optimization,” in
*Proceedings of the CSME Forum 2008*, June 5-8, Ottawa, Canada, 6 pages.

- Bemis, S. and Nokleby, S. B., 2008, “Design of an Omnibot Autonomous Vehicle,” in
*Proceedings of the CSME Forum 2008*, June 5-8, Ottawa, Canada, 6 pages.

- Willis, D., Pop-Iliev, R., and Nokleby, S. B., 2008, “Design Concepts of Link Cross-Sections for Developing Composite-Based Long-Reach Robotic Arms,” in
*Proceedings of the Society of Plastic Engineers Annual Technical Conference (ANTEC) 2008*, May 4-8, Milwaukee, USA, Canada, pp. 683-687.

- Frejek, M. and Nokleby, S. B., 2008, “Design of a Small Scale Autonomous Amphibious Vehicle,” in
*Proceedings of the 21st Canadian Conference on Electrical and Computer Engineering*, May 4-7, Niagara Falls, Canada, 6 pages.

- Bemis, S., Riess, B., and Nokleby, S. B., 2008, “Control of a Novel Omni-Directional Platform,” in
*Proceedings of the 21st Canadian Conference on Electrical and Computer Engineering*, May 4-7, Niagara Falls, Canada, 6 pages.

- Pop-Iliev, R. and Nokleby, S. B., 2007, “Digitally Enhancing the Project-Based Approach to Engineering Education,” in
*Proceedings of the 2007 International Conference on Engineering Design*, August 28-31, Paris, France, 12 pages.

- Garg, V., Carretero, J. A., and Nokleby, S. B., 2007, “Determining the Force and Moment Workspaces of Redundantly-Actuated Spatial Parallel Manipulators,” in
*Proceedings of the 2007 ASME International Design Engineering Technical Conferences*, September 4-7, Las Vegas, USA, 8 pages.

- Nokleby, S. B., Firmani, F., Zibil, A., and Podhorodeski, R. P., 2007, “An Analysis of the Force-Moment Capabilities of Branch-Redundant Planar-Parallel Architectures,” in
*Proceedings of the 2007 ASME International Design Engineering Technical Conferences*, September 4-7, Las Vegas, USA, 8 pages.

- Nokleby, S. B. and Pop-Iliev, R. P., 2007, “The Impact of a Ubiquitous Mobile Computing Environment on Design Engineering Education,” in
*Proceedings of the Fourth CDEN International Conference on Design Education, Innovation, and Practice*, July 22-24, Winnipeg, Canada, 6 pages.

- Nokleby, S. B., Firmani, F., Zibil, A., and Podhorodeski, R. P., 2007, “Force-Moment Capabilities of Redundantly-Actuated Planar-Parallel Architectures,” in
*Proceedings of the 12th World Congress on Mechanism and Machine Science*, June 17 -21, Besançon, France, 6 pages.

- Nokleby, S. B., 2007, “A Novel Undergraduate Mechatronics Course Featuring Hands-On Project-Based Learning,” in
*Proceedings of the 12th World Congress on Mechanism and Machine Science*, June 17 -21, Besançon, France, 6 pages.

- Garg, V., Nokleby, S. B., and Carretero, J. A., 2007, “Force-Moment Capabilities of Redundantly-Actuated Spatial Parallel Manipulators Using Two Methods,” in
*Proceedings of the 2007 CCToMM Symposium on Mechanisms, Machines, and Mechatronics*, May 31 – June 1, Saint-Hubert (Montreal), Canada, 12 pages.

- Firmani, F., Zibil, A., Nokleby, S. B., and Podhorodeski, R. P., 2007, “Force-Moment Capabilities of Revolute-Jointed Planar Parallel Manipulators with Additional Actuated Branches,” in
*Proceedings of the 2007 CCToMM Symposium on Mechanisms, Machines, and Mechatronics*, May 31 – June 1, Saint-Hubert (Montreal), Canada, 12 pages.

- Gauthier, J.-F., Angeles, J., and Nokleby, S. B., 2007, “The Synthesis of a Standard Trajectory Used in SCARA Systems,” in
*Proceedings of the 2007 CCToMM Symposium on Mechanisms, Machines, and Mechatronics*, May 31 – June 1, Saint-Hubert (Montreal), Canada, 3 pages.

- Pop-Iliev, R. and Nokleby, S. B., 2006 “Cross-Course Integrated Group Design Projects: 1 + 1 = 11,” in Proceedings of the Third CDEN International Conference on Design Education, Innovation, and Practice, July 24-26, Toronto, Canada, 6 pages.

- Zibil, A., Firmani, F., Nokleby, S. B., and Podhorodeski, R. P., 2006, “An Analytic Method for Determining the Force-Moment Capabilities of Redundantly-Actuated Planar Parallel Manipulators,” in
*Proceedings of the 2006 CSME Forum*, May 21-23, Kananaskis, Canada, 13 pages.

- Pop-Iliev, R. and Nokleby, S. B., 2006, “Designing Competent Design Engineers,” in
*Proceedings of the Sixth International Symposium on Tools and Methods of Competitive Engineering*, April 18-22, Ljubljana, Slovenia, pp. 97-104.

- Pop-Iliev, R. and Nokleby, S. B., 2005 “Concurrent Approach to Teaching Concurrent Design Engineering,” in
*Proceedings of the Second CDEN International Conference on Design Education, Innovation, and Practice*, July 18-20, Kananaskis, Canada, 10 pages.

- Nokleby, S. B. and Pop-Iliev, R., 2005, “A Design Challenge – Incorporating Design into The First Year Engineering Curriculum,” in
*Proceedings of the Second CDEN International Conference on Design Education, Innovation, and Practice*, July 18-20, Kananaskis, Canada, 6 pages.

- Nokleby, S. B., 2005, “Force-Moment Capabilities of Planar-Parallel Manipulators Using Different Redundant-Actuation Configurations,” in
*Proceedings of the 2005 CCToMM Symposium on Mechanisms, Machines, and Mechatronics*, May 26-27, Saint-Hubert (Montreal), Canada, 13 pages.

- Nokleby, S. B., 2004, “On the Singular Configurations of the Canadarm2,” in Proceedings of Romansy 2004 – the 15th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, June 14-18, Montreal, Canada, 10 pages.

- Nokleby, S. B. and Podhorodeski, R. P., 2003, “Identifying the 1-DOF-Loss Velocity-Degenerate (Singular) Configurations of an 8-Joint Manipulator,” in
*Proceedings of the 2003 CCToMM Symposium on Mechanisms, Machines, and Mechatronics*, May 30, Saint-Hubert (Montreal), Canada, 15 pages.

- Fisher, R., Podhorodeski, R. P., and Nokleby, S. B., 2001, “A Reconfigurable Planar Pa-rallel Manipulator (RPPM),” in
*Proceedings of the 2001 CCToMM Symposium on Me-chanisms, Machines, and Mechatronics*, June 1, Saint-Hubert (Montreal), Canada, 2 pages.

- Nokleby, S. B. and Podhorodeski, R. P., 2001, “2-DOF Loss Velocity Degeneracies of the Spherical-Revolute-Spherical Manipulator,” in
*Proceedings of the 2001 CCToMM Sympo-sium on Mechanisms, Machines, and Mechatronics*, June 1, Saint-Hubert (Montreal), Canada, 2 pages.

- Nokleby, S. B. and Podhorodeski, R. P., 2001, “Identification of Multi-DOF Loss Velocity Degeneracies for Redundant Manipulators,” in
*Proceedings of the 2001 CCToMM Symposium on Mechanisms, Machines, and Mechatronics*, June 1, Saint-Hubert (Montreal), Canada, 2 pages.

- Nokleby, S. B. and Podhorodeski, R. P., 2000, “Optimization-Based Synthesis of Grashof Geared Five-Bar Mechanisms,” in
*Proceedings of the 2000 ASME Design Engineering Technical Conferences and the Computers and Information in Engineering Conference*, September 10-13, Baltimore, USA, 10 pages.

- Podhorodeski, R. P., Nokleby, S. B., and Wittchen, J. D., 2000, “Resolving Velocity-Degenerate Configurations (Singularities) of Redundant Manipulators,” in
*Proceedings of the 2000 ASME Design Engineering Technical Conferences and the Computers and In-formation in Engineering Conference*, September 10-13, Baltimore, USA, 10 pages.

- Nokleby, S. B. and Podhorodeski, R. P., 2000, “Reciprocity-Based Resolution of Velocity Degeneracies (Singularities) for Redundant Manipulators,” in
*Proceedings of the IDMME’2000 and CSME Forum 2000 Conferences*, May 16-19, Montreal, Canada, 8 pages.

- Podhorodeski, R. P. and Nokleby, S. B., 1999, “Reconfigurable Joint Layout for Assembly of All KS Revolute Jointed Main-Arms,” in
*Proceedings of the Tenth World Congress on the Theory of Machines and Mechanisms*, June 20-24, Oulu, Finland, pp. 1270-1277.

- Nokleby, S. B. and Podhorodeski, R. P., 1999, “Grashof-Mechanism Synthesis Using Pa-rameter Transformations and Unconstrained Optimization Techniques,” in
*Proceedings of the Tenth World Congress on the Theory of Machines and Mechanisms*, June 20-24, Oulu, Finland, pp. 498-506.

**Book Chapters**

- Alizadeh, D., Angeles, J. and Nokleby, S. B., 2009, “On the Computation of the Home Posture of the McGill Schönflies-Motion Generator, in
*Computational Kinematics*, edited by Kecskeméthy, A. and Müller, A., Springer: Berlin, Germany, pp. 149-158.

- Gauthier, J.-F., Angeles, J., and Nokleby, S. B., 2008, “Optimization of a Test Trajectory for SCARA Systems,” in A
*dvances in Robot Kinematics: Analysis and Design*, edited by Lenarcic, J. and Wenger, P., Springer: New York, USA, pp. 225-234.

- Firmani, F., Nokleby, S. B., Podhorodeski, R. P., and Zibil, A., 2008, “Wrench Capabilities of Planar Parallel Manipulators and their Effects Under Redundancy,” in
*Parallel Manipulators: Towards New Applications*, edited by Wu, H., I-Tech Education and Publishing: Vienna, Austria, pp. 109-132.

- Nokleby, S. B. and Podhorodeski, R. P., 2007, “A Complete Family of Kinematically-Simple Joint Layouts: Layout Models, Associated Displacement Problem Solutions, and Applications,” in
*Industrial Robotics: Theory, Modelling and Control*, edited by Cubero, S., Advanced Robotic Systems International: Vienna, Austria, pp. 237-264.

- Nokleby, S. B. and Podhorodeski, R. P., 2000, “Methods for Resolving Velocity Degene-racies of Joint-Redundant Manipulators,” in
*Advances in Robot Kinematics*, edited by Le-narcic, J. and Stanisic, M. M., Kluwer Academic Publishers: London, United Kingdom, pp. 217-226.

**Theses/Dissertations**

- Frejek, M., 2009, “Novel Tele-Operation of Mobile-Manipulator Systems,” MASc Thesis, University of Ontario Institute of Technology, Oshawa, Canada.

- Bemis, S., 2009, “Design And Development of a Novel Omni-Directional Platform,” MASc Thesis, University of Ontario Institute of Technology, Oshawa, Canada.

- Riess, B., 2009, “Design and Development of an Automated Uranium Pellet Stacking System,” MASc Thesis, University of Ontario Institute of Technology, Oshawa, Canada.

- Willis, D., 2009, “Design and Development of a Novel Lightweight Long-Reach Composite Robotic Arm,” MASc Thesis, University of Ontario Institute of Technology, Oshawa, Canada.

- McDougall, R., 2008, “Optimization-Based Mechanism Synthesis Using Multi-Objective Parallel Asynchronous Particle Swarm Optimization,” MASc Thesis, University of Ontario Institute of Technology, Oshawa, Canada.

- Garg, V., 2007, “Contributions to the Optimum Design of Schönflies Motion Generators,” MEng Thesis, McGill University, Montreal, Canada.

- Garg, V., 2007, “Force-Moment Capability Analysis of Redundantly Actuated Spatial Parallel Manipulators,” MSc Thesis, University of New Brunswick, Fredericton, Canada.

- Zibil, A., 2007, “Wrench Capabilities of Redundantly-Actuated Planar Parallel Manipulators,” MASc Thesis, University of Victoria, Victoria, Canada.

- Nokleby, S. B., 2003, “Identification and Utilization of Loss of Motion Capabilities of Robotic Manipulators,” PhD Dissertation, University of Victoria, Victoria, Canada.

- Nokleby, S. B., 1999, “Optimization-Based Mechanism Synthesis,” MASc Thesis, University of Victoria, Victoria, Canada.