Robotics and Mechanisms Laboratory

Contributions to Books

• Nokleby, S. B. and Podhorodeski, R. P., 2006, “Kinematically Simple Family of Joint Layouts- Models, and Displacement Solutions,” Book Chapter Contribution for the Book: Industrial Robotics, From Design to Applications, Dr. M. Meidan editor, 26 pages (accepted June 2006).

• Nokleby, S. B. and Podhorodeski, R. P., 2000, “Methods for Resolving Velocity Degeneracies of Joint-Redundant Manipulators,” in Advances in Robot Kinematics, edited by Lenarcic, J. and Stanisic, M. M., Kluwer Academic Publishers: London, pp. 217-226.

• Yao, H., Podhorodeski, R. P., and Dong, Z., 1994, “Object and Workspace Modeling Based on 3-D Vision System,” Chapter 11 in Artificial Intelligence in Optimal Design and Manufacturing, edited by Dong, Z., Prentice-Hall: Toronto, pp. 285-310.

• Pittens K. H. and Podhorodeski, R. P., 1992, “Three Branch Hybrid Manipulators: Design Considerations,” in Robotics and Manufacturing: Recent Trends in Research Education and Applications, Vol. 4, pp. 351-356, (Editors Dr. Jamshidi, et al.) ASME Press.

• Podhorodeski, R. P., 1990, “Ensuring Task Motion Feasibility Using Alternative Instateneous Motion Planning,” in Robotics and Manufacturing: Recent Trends in Research Education and Applications, Vol. 3, pp. 97-104, (Editors Dr. Jamshidi Dr. M. Saif) ASME Press.

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Journal Publications

• Zibil, A., Firmani, F., Nokleby, S. B., and Podhorodeski, R. P., 2006 “An Explicit Method for Determining the Force-Moment Capabilities of Redundantly-Actuated Planar Parallel Manipulators,” accepted for publication in ASME Journal of Mechanical Design, (accepted November 2006).

• Soylu S., Buckham B. J., and Podhorodeski R. P., 2005, "Using Articulated-Body Algorithm Wihtin Sliding-Mode Control to Compensate Dynamic Coupling in Underwater Manipulator Systems,” CSME Transactions, Vol. 29, No. 4, pp. 629-643.

• Firmani, F. and Podhorodeski, R. P., 2005, “Force-Unconstrained Poses of the 3-PRR and 4-PRR Planar Parallel Manipulators,” CSME Transactions, Vol. 29, No. 4, pp. 617-628

• Firmani, F. and Podhorodeski, R. P., 2005, “Force-Unconstrained Poses for Parallel Manipulators with Redundant Actuated Branches,” CSME Transactions, Vol. 29, No. 3, pp. 343-356

• 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.

• Podhorodeski, R. P. and Sobejko, P., 2005, “Moment of Inertia Determination Projects,” International Journal of Mechanical Engineering Education, Vol. 33, No. 4, pp. 319-338.

• 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.

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

• Firmani, F. and Podhorodeski, R. P., 2004, “Force-Unconstrained Poses for a Redundantly-Actuated Planar Parallel Manipulator,” Mechanism and Machine Theory, Vol. 39, No. 5, pp. 459-476.

• Sobejko, P. and Podhorodeski, R. P., 2004, “Implementation of a Digital 6-DOF Joystick,” in Transactions of the CSME, vol. 27, no. 4, pp. 295-307.

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

• 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., 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.

• Wittchen, J. D., and Podhorodeski, R. P., 2001, “Comparison of Abdominal-Wall Stretching Between Basic and Enhanced Laparoscopic Instruments,” Journal of Robotics Systems, Vol. 18, No. 10, pp. 563-576.

• 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.

• Carretero, J. A., Nahon, M. A., and Podhorodeski, R. P., 2000, “Workspace Analysis and Optimization of a Novel 3-DOF Parallel Manipulator,” International Journal of Robotics and Automation, Vol. 15, No. 4, pp. 178-188.

• 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.

• Carretero, J. A., Podhorodeski, R. P., Nahon, M. A., and Gosselin, C. M., 2000, “Kinematic Analysis and Optimization of a New Three Degree of Freedom Parallel Manipulator,” Transactions of the ASME, Journal of Mechanical Design, Vol. 122, No. 1, pp. 17-24.

• Notash, L. and Podhorodeski, R. P., 1997, “Fixtureless Calibration of Parallel Manipulators,” Transactions of the CSME, Vol. 21, No. 3, pp. 273-295.

• Notash, L. and Podhorodeski, R. P., 1996, “Forward Displacement Analysis and Uncertainty Configurations of Parallel Manipulators With a Redundant Branch,” Journal of Robotic Systems, Vol. 13, No. 9, pp. 587-601.

• Notash, L. and Podhorodeski, R. P., 1995, “On the Forward Displacement Problem of Three-Branch Parallel Manipulators,” Mechanism and Machine Theory, Vol. 30, No. 3, pp. 391-404.

• Podhorodeski, R. P., and Pittens, K. H., 1994, “A Class of Parallel Manipulators Based on Kinematically Simple Branches,” Transactions of the ASME, Journal of Mechanical Design, Vol. 116, No. 3, pp. 908-914.

• Notash, L., and Podhorodeski, R. P., 1994, “Complete Forward Displacement Solutions for a Class of Three-Branch Parallel Manipulators,” Journal of Robotic Systems, Vol. 11, No. 6, pp. 471-485.

• McLean, G. F., Prescott, B., and Podhorodeski, R. P., 1994, “Teleoperated System Performance Evaluation,” IEEE Transactions on Systems, Man, and Cybernetics, Vol. 24, No. 5, pp. 796 - 804.

• Podhorodeski, R. P., Goldenberg, A. A., and Fenton, R. G., 1993, “A Null-Space Solution of the Inverse Kinematics of Redundant Manipulators Based on a Decomposition of Screws,” Transactions of the ASME, Journal of Mechanical Design, Vol. 115, No. 3, pp. 530-539.

• Podhorodeski, R. P., 1993, “An Approach for Ensuring Manipulator Tip Accuracy Near Singularities,” Mechanism and Machine Theory, Vol. 28, No. 5, pp. 641-649.

• Pittens, K. H., and Podhorodeski, R. P., 1993, “Considerations of Kinematic Equivalency in Stewart Platform Optimization,” Journal of Robotic Systems, Vol. 10, No. 4, pp. 463-479.

• Podhorodeski, R. P., Goldenberg, A. A., and Fenton, R. G., 1991, “Resolving Redundant Manipulator Joint Rates and Identifying Special Arm Configurations using Jacobian Null-Space Bases,” IEEE Transactions on Robotics and Automation, Vol. 7, No. 5, pp. 607-618.

• Podhorodeski, R. P., and Cleghorn, W. L., 1988, “Optimization of Manipulator Point to Point Motion Considering Actuator Output Capability Constraints,” Mechanism and Machine Theory, Vol. 23, No. 5, pp. 409-419.

• Cleghorn, W. L., and Podhorodeski, R. P., 1988, “Disc Cam Design Using a Microcomputer,” International Journal of Mechanical Engineering Education, Vol. 16, No. 4, pp. 235-250.

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Conference Publications

• Nokleby, S. B., Firmani, F., Zibil, A., and Podhorodeski, R. P., 2007, “An Analysis of the Force-Moment Capabilities of Branch-Redundant Planar-Parallel Manipulators,” accepted for presentation at the 2007 ASME International Design Engineering Technical Conferences. September 2007.

• 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,” accepted for presentation at the 2007 CCToMM Symposium on Mechanisms, Machines, and Mechatronics. May-June 2007.

• Soylu, S., Buckham, B. J., and Podhorodeski, R. P., 2007, “Dexterous Task-Priority Based Redundancy Resolution for Underwater Manipulator Systems,” accepted for presentation at the 2007 CCToMM Symposium on Mechanisms, Machines, and Mechatronics. May-June 2007.

• Firmani, F. and Podhorodeski, R. P., 2007, “Singularity Loci of Revolute-Jointed Planar Parallel Manipulators with Redundant Actuated Branches,” accepted for presentation at IFToMM 2007 World Congress.

• Nokleby, S. B., Firmani, F., Zibil, A., and Podhorodeski, R. P., 2007, “Force-Moment Capabilities of Redundantly-Actuated Planar-Parallel Architectures,” accepted for presentation at IFToMM 2007 World Congress.

• Podhorodeski R. P. and Boudreau R., 2007, “A Class of Kinematically 7-Revolute Jointed Serial Manipulators and Their Velocity-Degenerate (Singular) Configurations,” accepted for presentation at IFToMM 2007 World Congress.

• Podhorodeski R. P. and Boudreau R., 2006, “Velocity Degeneracies for a Class of 5-Jointed Revolute Manipulators,” in Proceedings of the CSME Forum 2006, June 1-4, Kananaskis, AB, Canada, 16 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 ParallelManipulators,” in Proceedings of the CSME Forum 2006, June 1-4, Kananaskis, AB, Canada, 13 pages.

• Firmani, F. and Podhorodeski, R. P., 2005, “Force-Unconstrained Poses of the 3-PRR and 4-PRR Planar Parallel Manipulators," in Proceedings of the 2005 CCToMM Symposium on Mechanisms, Machines, and Mechatronics , May 26-27, Saint-Hubert, Québec, Canada, 12 pages.

• Soylu, S., Buckham, B. J., and Podhorodeski, R. P., 2005, “Incorporation of the articulated-body equations into a model-based sliding-mode controller for the redunction of dynamic coupling in underwater-manipulator systems ,” in Proceedings of the 2005 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, May 26-27, Saint-Hubert, Quebec, Canada.

• Firmani, F. and Podhorodeski, R. P., 2004, “Force-Unconstrained Poses for Parallel Manipulators with Redundant Actuated Branches," in Proceedings of the CSME Forum 2004 , June 1-4, 2004 at The University of Western Ontario, London, Ontario.

• 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), Quebec, Canada, 15 pages.

• Sobejko, P. and Podhorodeski, R. P., 2002, “Implementation of a Digital 6-DOF Joystick,” in Proceedings of the CSME Forum 2002, May 21-24, Kingston, Ontario, Canada, 9 pages.

• Firmani, F. and Podhorodeski, R. P., 2002, “Force Degeneracies for a Redundantly Actuated Planar Parallel Manipulator,” in Proceedings of the CSME Forum 2002, May 21-24, Kingston, Ontario, Canada, 9 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, Maryland, 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 Information in Engineering Conference, September 10-13, Baltimore, Maryland, 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 Parameter 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.

• Carretero, J., Nahon, M., and Podhorodeski, R. P., 1998, “Workspace Analysis of a 3-DOF Parallel Mechanism,” in Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 13-17, Victoria, British Columbia, pp. 1021-1026.

• Carretero, J., Podhorodeski, R. P., and Nahon, M., 1998, “Architecture Optimization of a 3-DOF Mechanism,” in Proceedings of the 1998 ASME Design Engineering Technical Conferences, September 13-16, Atlanta, Georgia, 10 pages.

• Podhorodeski, R. P. and Fang, X., 1996, “Optimization-Based Grashof-Mechanism Synthesis Via Sub-Type Specific Parameter Transformations,” in Proceedings of the 1996 ASME Design Engineering Technical Conferences and Computers in Engineering Conference, August 18-22, Irvine, California, 10 pages.

• Ronne, J. and Podhorodeski, R. P., 1996, “An Integrated Cost-Performance Model of a Transportation Solid Polymer Fuel Cell System,” in Proceedings of the Second International Fuel Cell Conference, February 5-8, Kobe, Japan, pp. 385-388.

• Notash, L. and Podhorodeski, R. P., 1995, “Kinematic Calibration of Parallel Manipulators,” in Proceedings of the 1995 IEEE Conference on Systems, Man, and Cybernetics, October 22-25, Vancouver, British Columbia, pp. 3310-3315.

• Notash, L. and Podhorodeski, R. P., 1995, “Joint Sensor Failure Diagnosis for Parallel Manipulators,” in Proceedings of the 1995 IEEE Conference on Systems, Man, and Cybernetics, October 22-25, Vancouver, British Columbia, pp. 2639-2644.

• Notash, L., and Podhorodeski, R. P., 1994, “Uncertainty Configurations of Three-Branch Manipulators: Identification and Elimination,” in Proceedings of the ASME 23rd Biennial Mechanisms Conference, September 11-14, Minneapolis, Minnesota, DE-Vol. 72, pp. 459-466.

• Fang, X., and Podhorodeski, R. P., 1994, “Parameter Transforms Allowing Unconstrained Optimization within Specific Planar Mechanism Sub-Types,” in Proceedings of the 12th Symposium on Engineering Applications of Mechanics, June 27-29, Montreal, Quebec, pp. 163-171.

• Yao, H., Podhorodeski, R. P., and Dong, Z., 1993, “A Cross-Section Based Multiple-View Range Image Fusion Approach,” in Proceedings of 1993 SPIE International Symposium on Optical Engineering, April 15-16, Orlando, Florida.

• Pittens, K. H., and Podhorodeski, R. P., 1992, “Three Branch Hybrid Manipulators: Design Considerations,” in Robotics and Manufacturing: Recent Trends in Research, Education, and Applications, Volume 4, pp. 351-356, (Editors: Dr. M. Jamshidi, et al.), ASME Press, presented at the International Symposium on Robotics and Manufacturing, November 11-13, 1992, Santa Fe, New Mexico.

• Podhorodeski, R. P., and Pittens, K. H., 1992, “A Class of Hybrid-Chain Manipulators Based on Kinematically Simple Branches,” in Proceedings of the ASME 22nd Biennial Mechanisms Conference, September 13-16, Phoenix, Arizona, pp. 59-64.

• Podhorodeski, R. P., 1992, “Three Branch Hybrid-Chain Manipulators: Structure, Displacement, Uncertainty and Redundancy Related Concerns,” in Proceedings of the 3rd Workshop on Advances in Robot Kinematics, September 7-9, Ferrara, Italy, pp. 150-156.

• Podhorodeski, R. P., and Pittens, K. H., 1992, “Kinematic Design and Analysis of Hybrid-Chain Manipulators,” in Proceedings of the IASTED International Conference on Control and Robotics, August 4-7, Vancouver, British Columbia, pp. 211-214.

• Podhorodeski, R. P., 1991, “A Screw Theory Based Forward Displacement Solution for Hybrid Manipulators,” in Proceedings of the 2nd Applied Mechanisms and Robotics Conference, November, Cincinnati, Ohio, pp. IIIC 2.1-7.

• Pittens, K. H., and Podhorodeski, R. P., 1991, “Considerations of Kinematic Equivalency in Stewart Platform Configuration Optimization,” in Proceedings of the 2nd Applied Mechanisms and Robotics Conference, November, Cincinnati, Ohio, pp. IXC 3.1-6.

• Yao, H., Dong, Z., and Podhorodeski, R. P., 1991, “Simulation of Range-Finding Devices by Geometric Modelling,” in Proceedings of the ASME International Computers in Engineering Conference, August 18-22, Santa Clara, pp. 327-332.

• Podhorodeski, R. P., 1991, “An Approach for Ensuring Manipulator Tip Accuracy Near Singularities,” in Proceedings of the IEEE Pacific Rim Conference on Communications, Computers, and Signal Processing, May 9-10, Victoria, British Columbia, pp. 270-273.

• Yao, H., Podhorodeski, R. P., and Dong, Z., 1991, “Modelling and Simulation of a Range-Finding Device,” in Proceedings of the IEEE Pacific Rim Conference on Communications, Computers, and Signal Processing, May 9-10, Victoria, British Columbia, pp. 166-170.

• Podhorodeski, R. P., 1990, “Ensuring Task Motion Feasibility Using Alternative Instantaneous Motion Planning,” in Robotics and Manufacturing: Recent Trends in Research, Education, and Applications, Volume 3, pp. 97-104, (Editors: Drs. M. Jamshidi and M. Saif), ASME Press, presented at the 1990 International Symposium on Robotics and Manufacturing, July 1990, Vancouver, British Columbia.

• Podhorodeski, R. P., Fenton, R. G., and Goldenberg, A. A., 1989, “The Feasibility and Optimization of Grasp Contact Forces,” in Proceedings of the 10th X-COBEM, December, Rio de Janeiro.

• Podhorodeski, R. P., Goldenberg, A. A., and Fenton, R. G., 1989, “Analytical Bases for the Contact Forces Leading to Internal Forces for Point Friction Grasps,” in Proceedings of the Applied Mechanisms and Robotics Conference, November, Cincinnati, Ohio, pp. 7C-4 1-7.

• Fenton, R. G., Podhorodeski, R. P., and Goldenberg A. A., 1989, “Robotic Dextrous Hand Grasping Theory Based on Contact Wrench Matrix Rank: Grasp Force Closure,” in Proceedings of the 2nd International Conference on Engineering and Technology, August, Budapest, Hungary.

• Podhorodeski, R. P., Fenton, R. G., and Goldenberg, A. A., 1989, “A Complete Analytical Solution for the Inverse Instantaneous Kinematics of a Spherical-Revolute-Spherical (7R) Redundant Manipulator,” in Proceedings of the 2nd NASA Conference on Space Telerobotics, January/February, Pasadena, California, Vol. 1., pp. 69-78.

• Podhorodeski, R. P., Goldenberg, A. A., and Fenton, R. G., 1988, “A Screw Based Decomposition Method for the Inverse Solution of the Instantaneous Kinematics of Manipulators,” in Proceedings of the International Meeting on Advances in Robot Kinematics," September, Ljublijana, Yugoslavia, pp. 103-112.

• Podhorodeski, R. P., and Cleghorn, W. L., 1985, “Multiple Loop Mechanism Analysis Using a Microcomputer,” in Proceedings of the 9th Applied Mechanism Conference, October, Kansas City, Missouri, pp. V1-V7.

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Extended Abstracts

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

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

• Notash, L. and Podhorodeski, R. P., 1995, “Kinematic Calibration of a Parallel Manipulator Based Hand Controller,” in Proceedings of the 15th CANCAM, May 28 - June 1, Victoria, British Columbia, pp. 872-873.

• Fang, X. and Podhorodeski, R. P., 1995, “Synthesis of a Deep-Digging Tillage Mechanism,” in Proceedings of the 15th CANCAM, May 28 - June 1, Victoria, British Columbia, pp. 248-249.

• Podhorodeski, R. P., and Cheveldave, M., 1991, “Design of a Modular Mechanism Test-Bed,” in Proceedings of the 13th CANCAM, June, Winnipeg, Manitoba, pp. 706-707.

• Podhorodeski, R. P., 1991, “Multiple-Arm Joint Rate Solution by Branch Result Assembly,” in Proceedings of the 13th CANCAM, June, Winnipeg, Manitoba, pp. 650-651.

• Arane, R., Podhorodeski, R. P., and Fenton, R. G., 1989, “Determination of the Optimal Configuration of a Flexible Manufacturing Cell,” in Proceedings of the 12th CANCAM, May/June, Ottawa, Ontario, pp. 870-871.

• Podhorodeski, R. P., Fenton, R. G., and Goldenberg, A. A., 1987, “Optimization of Redundant Manipulator Configurations for Static Load Application,” in Proceedings of the 11th CANCAM, May/June, Edmonton, Alberta, pp. E16-17.

• Cleghorn, W. L., and Podhorodeski, R. P., 1985, “Optimization of Point to Point Movement of Redundant Manipulators,” in Proceedings of the 13th International Symposium on Mini & Micro Computers and Their Applications, December, Montreal, Quebec, pp. 205-206.

• Cleghorn, W. L., and Podhorodeski, R. P., 1985, “Direct Joint Variable Solution of Redundant Manipulators,” in Proceedings of the 10th CANCAM, June, London, Ontario, pp. E5-6.

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Technical Reports

• Nokleby, S. B., June 1999, “MATLAB Mechanism Synthesis Toolbox,” Technical Report for Robotics and Mechanisms Laboratory, University of Victoria, 117 pages.

• Podhorodeski, R. P., Nokleby, S. B., and Wittchen, J. D., March 1999 (Revised April 15, 1999), “Identification of Singular Configurations for Joint Redundant Manipulators of Kinematic Complexity, STEAR #12 - Final Report,” Technical Report for Canadian Space Agency and International Submarine Engineering Research, 60 pages.

• Podhorodeski, R. P., March 1999, “Bio-Fouling Bubble Management Sub-System for FTS Turbidity Sensor,” Project Midterm Report for British Columbia Advanced Systems Institute, 10 pages.

• Podhorodeski, R. P., Nokleby, S. B., and Wittchen, J. D., February 1999, “Identification of Singular Configurations for Joint Redundant Manipulators of Kinematic Complexity, STEAR #12 - Initial Report,” Technical Report for Canadian Space Agency and International Submarine Engineering Research, 56 pages.>

• Sidlick, P. and Podhorodeski, R. P., September 1998, “Final Design Report for the FTS/ASI Anti-Bio-Fouling Bubble Management Sub-System for the FTS Turbidity Sensor,” Technical Report for Forest Technology Systems, 112 pages.

• Sidlick, P. and Podhorodeski, R. P., August, 1998, “Dimensional Synthesis of an Anti Biofouling Bubble Management Sub-System for the FTS Turbidity Sensor,” Technical Report for Forest Technology Systems.

• Sidlick, P., Podhorodeski, R. P., and Boehne, J., June 1998, “Type Synthesis for R & D of an Anti-Bio-Fouling/Bubble Management Sub-System for the FTS Turbidity Sensor,” Technical Report for Forest Technology Systems.

• Podhorodeski, R. P., Notash, L., and Pittens, K. H., January 1993, “Kinematics of the 7 DOF Special Purpose Dextrous Manipulator (SPDM) - Inverse Displacement Solutions,” Technical Report for International Submarine Engineering Ltd., Canadian Space Agency STEAR #3 Project, 20 pages.

• Podhorodeski, R. P., Pittens, K. H., and Notash, L., November 1992, “Kinematics of the 7 DOF Special Purpose Dextrous Manipulator (SPDM) - Modeling and Velocity Solutions,” Technical Report for International Submarine Engineering Ltd., Canadian Space Agency STEAR Project, 25 pages.

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Submitted Works

• Firmani, F. and Podhorodeski, R. P., 2007, “Singularity Analysis of Parallel Manipulators Based on Forward Kinematic Solutions,” submitted to Mechanism and Machine Theory, (submitted May 2007).

• Podhorodeski R. P. and Boudreau R., 2006, “Velocity Degeneracies for a Class of 7-Jointed Revolute Manipulators,” submitted to Mechanism and Machine Theory, (submitted Feb 2006).

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