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Scott B. Nokleby
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Proceedings Papers

Resolving Velocity-Degenerate Configurations (Singularities) of Redundant Manipulators

Ron P. Podhorodeski, Scott B. Nokleby, Jonathan D. Wittchen
Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 779-788, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14136
https://doi.org/10.1115/DETC2000/MECH-14136
View Paper titled, Resolving Velocity-Degenerate Configurations (Singularities) of Redundant Manipulators
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Topics: Dimensions, Displacement, Jacobian matrices, Manipulators, Redundant manipulators, Screws, Space stations, Underwater vehicles
Proceedings Papers

Optimization-Based Synthesis of Grashof Geared Five-Bar Mechanisms

Scott B. Nokleby, Ron P. Podhorodeski
Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 1125-1134, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14176
https://doi.org/10.1115/DETC2000/MECH-14176
View Paper titled, Optimization-Based Synthesis of Grashof Geared Five-Bar Mechanisms
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Topics: Optimization, Design
Proceedings Papers

Robotic Shotcrete Thickness Estimation Using Fiducial Registration

Michael R. Wrock, Scott B. Nokleby
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A074, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85688
https://doi.org/10.1115/DETC2018-85688
View Paper titled, Robotic Shotcrete Thickness Estimation Using Fiducial Registration
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Topics: Gunite, Robotics, Mobile robots, Mining
Journal Articles

Probabilistic-Based Robotic Radiation Mapping Using Sparse Data

Robin McDougall, Scott B. Nokleby, Ed Waller
Journal: Journal of Nuclear Engineering and Radiation Science
Publisher: ASME
Article Type: Research-Article
ASME J of Nuclear Rad Sci. April 2018, 4(2): 021009.
Paper No: NERS-17-1054
https://doi.org/10.1115/1.4038185
Published Online: March 5, 2018
View Article titled, Probabilistic-Based Robotic Radiation Mapping Using Sparse Data
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Topics: Radiation (Physics), Sensors, Robotics
Journal Articles

Design and Implementation of an Automated Gamma Probe for Jet Boring Uranium Mining

Kasmet T. Niyongabo, Scott B. Nokleby
Journal: Journal of Nuclear Engineering and Radiation Science
Publisher: ASME
Article Type: Research Papers
ASME J of Nuclear Rad Sci. July 2016, 2(3): 031020.
Paper No: NERS-15-1055
https://doi.org/10.1115/1.4032634
Published Online: June 17, 2016
View Article titled, Design and Implementation of an Automated Gamma Probe for Jet Boring Uranium Mining
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Topics: Design, Probes, Sensors, Drills (Tools), Testing, Lakes, Drilling
Proceedings Papers

Virtual Fixtures and Automatic Mode Switching for Teleoperation Tasks

Michael R. Wrock, Scott B. Nokleby
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 745-751, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70161
https://doi.org/10.1115/DETC2012-70161
View Paper titled, Virtual Fixtures and Automatic Mode Switching for Teleoperation Tasks
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Topics: Degrees of freedom, Errors, Haptics, Manipulators, Testing
Proceedings Papers

Command Strategies for Tele-Operation of Mobile-Manipulator Systems via a Haptic Input Device

Michael R. Wrock, Scott B. Nokleby
Proc. ASME. IDETC-CIE2011, Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B, 623-630, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-47747
https://doi.org/10.1115/DETC2011-47747
View Paper titled, Command Strategies for Tele-Operation of Mobile-Manipulator Systems via a Haptic Input Device
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Topics: Haptics, Manipulators, Redundancy (Engineering), Resolution (Optics), Degrees of freedom, Modeling, Position control
Proceedings Papers

Simplified Tele-Operation of Mobile-Manipulator Systems Using Knowledge of Their Singular Configurations

Michael C. Frejek, Scott B. Nokleby
Proc. ASME. IDETC-CIE2009, Volume 3: ASME/IEEE 2009 International Conference on Mechatronic and Embedded Systems and Applications; 20th Reliability, Stress Analysis, and Failure Prevention Conference, 411-418, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-87500
https://doi.org/10.1115/DETC2009-87500
View Paper titled, Simplified Tele-Operation of Mobile-Manipulator Systems Using Knowledge of Their Singular Configurations
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Topics: Manipulators, Algorithms, End effectors, Optimization
Journal Articles

A New Method to Calculate the Force and Moment Workspaces of Actuation Redundant Spatial Parallel Manipulators

Venus Garg, Juan A. Carretero, Scott B. Nokleby
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2009, 1(3): 031004.
https://doi.org/10.1115/1.3147184
Published Online: July 14, 2009
View Article titled, A New Method to Calculate the Force and Moment Workspaces of Actuation Redundant Spatial Parallel Manipulators
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Topics: Manipulators
Proceedings Papers

Mechanical Design of the Jasper Mobile Manipulator

Darrin Willis, Scott B. Nokleby, Remon Pop-Iliev
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 885-893, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49632
https://doi.org/10.1115/DETC2008-49632
View Paper titled, Mechanical Design of the Jasper Mobile Manipulator
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Topics: Design engineering, Manipulators, Wheels, Dampers, Degrees of freedom, Design, Vibration
Proceedings Papers

An Analysis of the Force-Moment Capabilities of Branch-Redundant Planar-Parallel Manipulators

Scott B. Nokleby, Flavio Firmani, Alp Zibil, Ron P. Podhorodeski
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 1013-1020, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-34496
https://doi.org/10.1115/DETC2007-34496
View Paper titled, An Analysis of the Force-Moment Capabilities of Branch-Redundant Planar-Parallel Manipulators
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Topics: Manipulators, Architecture, Design
Proceedings Papers

Determining the Force and Moment Workspaces of Redundantly-Actuated Spatial Parallel Manipulators

Venus Garg, Scott B. Nokleby, Juan A. Carretero
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 1063-1070, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-34770
https://doi.org/10.1115/DETC2007-34770
View Paper titled, Determining the Force and Moment Workspaces of Redundantly-Actuated Spatial Parallel Manipulators
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Topics: Manipulators
Journal Articles

The Kinetostatic Conditioning of Two-Limb Schönflies Motion Generators

Jean-François Gauthier, Jorge Angeles, Scott B. Nokleby, Alexei Morozov
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2009, 1(1): 011010.
https://doi.org/10.1115/1.2960544
Published Online: August 5, 2008
View Article titled, The Kinetostatic Conditioning of Two-Limb Schönflies Motion Generators
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Topics: Displacement, End effectors, Engineering prototypes, Generators, Jacobian matrices, Kinematic chains, Kinematics, Robots, Rotation, Dimensions
Journal Articles

An Explicit Method for Determining the Force-Moment Capabilities of Redundantly Actuated Planar Parallel Manipulators

Alp Zibil, Flavio Firmani, Scott B. Nokleby, Ron P. Podhorodeski
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2007, 129(10): 1046–1055.
https://doi.org/10.1115/1.2756084
Published Online: October 17, 2006
View Article titled, An Explicit Method for Determining the Force-Moment Capabilities of Redundantly Actuated Planar Parallel Manipulators
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Topics: Actuators, Manipulators, Screws, Optimization
Journal Articles

Optimization-Based Synthesis of Grashof Geared Five-Bar Mechanisms

Scott B. Nokleby, Ron P. Podhorodeski
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. December 2001, 123(4): 529–534.
https://doi.org/10.1115/1.1401736
Published Online: July 1, 1999
View Article titled, Optimization-Based Synthesis of Grashof Geared Five-Bar Mechanisms
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Topics: Optimization, Design, Gears, Modeling