Mechatronic and Robotic Systems Laboratory

PUBLICATIONS

Journal Papers

22. 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.
    
    
21. 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.
    
    
20. 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.
    
    
19. 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.
    
    
18. 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.
    
    
17. 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.
    
    
16. 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.
    
    
15. 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.
    
    
14. 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.
    
    
13. Nokleby, S. B., 2007, “Singularity Analysis of the Canadarm2,” Mechanism and Machine Theory, Vol. 42, No. 4, pp. 442-454.
    
    
12. 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.
    
    
11. 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.
    
    
10. 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.
    
    
9. 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.
   
   
8. 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.
   
   
7. 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.
   
   
6. 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.
   
   
5. 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.
   
   
4. 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.
   
   
3. 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.
   
   
2. 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.
   
   
1. 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

41. 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.
    
    
40. 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.
    
    
39. 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.
    
    
38. 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.
    
    
37. 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.
    
    
36. 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.
    
    
35. 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.
    
    
34. 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.
    
    
33. 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.
    
    
32. 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.
    
    
31. 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.
    
    
30. 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.
    
    
29. 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.
    
    
28. 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.
    
    
27. 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.
    
    
26. 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.
    
    
25. 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.
    
    
24. 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.
    
    
23. 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.
    
    
22. 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.
    
    
21. 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.
    
    
20. 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.
    
    
19. 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.
    
    
18. 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.
    
    
17. 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.
    
    
16. 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.
    
    
15. 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.
    
    
14. 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.
    
    
13. 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.
    
    
12. 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.
    
    
11. 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.
    
    
10. 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.
    
    
9. 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.
   
   
8. 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.
   
   
7. 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.
   
   
6. 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.
   
   
5. 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.
   
   
4. 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.
   
   
3. 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.
   
   
2. 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.
   
   
1. 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

5. 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.
   
   
4. Gauthier, J.-F., Angeles, J., and Nokleby, S. B., 2008, “Optimization of a Test Trajectory for SCARA Systems,” in Advances in Robot Kinematics: Analysis and Design, edited by Lenarcic, J. and Wenger, P., Springer: New York, USA, pp. 225-234.
   
   
3. 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.
   
   
2. 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.
   
   
1. 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

10. Frejek, M., 2009, “Novel Tele-Operation of Mobile-Manipulator Systems,” MASc Thesis, University of Ontario Institute of Technology, Oshawa, Canada.
    
    
9. Bemis, S., 2009, “Design And Development of a Novel Omni-Directional Platform,” MASc Thesis, University of Ontario Institute of Technology, Oshawa, Canada.
   
   
8. Riess, B., 2009, “Design and Development of an Automated Uranium Pellet Stacking System,” MASc Thesis, University of Ontario Institute of Technology, Oshawa, Canada.
   
   
7. 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.
   
   
6. 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.
   
   
5. Garg, V., 2007, “Contributions to the Optimum Design of Schönflies Motion Generators,” MEng Thesis, McGill University, Montreal, Canada.
   
   
4. Garg, V., 2007, “Force-Moment Capability Analysis of Redundantly Actuated Spatial Parallel Manipulators,” MSc Thesis, University of New Brunswick, Fredericton, Canada.
   
   
3. Zibil, A., 2007, “Wrench Capabilities of Redundantly-Actuated Planar Parallel Manipulators,” MASc Thesis, University of Victoria, Victoria, Canada.
   
   
2. Nokleby, S. B., 2003, “Identification and Utilization of Loss of Motion Capabilities of Robotic Manipulators,” PhD Dissertation, University of Victoria, Victoria, Canada.
   
   
1. Nokleby, S. B., 1999, “Optimization-Based Mechanism Synthesis,” MASc Thesis, University of Victoria, Victoria, Canada.