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RMRL

Robotics and Mechatronics Research Laboratory
 

RMRL: Publications

The outcomes of the research work conducted in the RMRL are regularly disseminated in refereed international journal and conferences. Some of RMRL publications since 1998 are:

Journal Publications

  1. G. Alici, B. Shirinzadeh, "Enhanced stiffness modelling, identification and characterisation for robot manipulators", IEEE Transactions on Robotics, 2005. (In print, accepted: 20 September 2004).
  2. G. Alici, B. Shirinzadeh, "A systematic technique to estimate roboti positioning errors for kinematic calibration using laser interferometry based sensing", Mechanism and Machine Theory, 2005. (In print, accepted: 28 December 2004).
  3. Y. Zhong, X. Yuan, W. Ma, B. Shirinzadeh, "Virtual modelling of solid objects with constraint-based manipulations", International Journal of Modelling and Simulation, 2005. (In-print, accepted 27: December 2004).
  4. Y. Zhong, B. Shirinzadeh, W. Ma, "Solid modelling in a virtual reality environment", The Visual Computer, 2005. (In print, accepted: 12 November 2004).
  5. B. Shirinzadeh, Y.K. Ng, G. Alici, "Intelligent robotic fettling using visual feedback and force sensing", International Journal of Advanced Manufacturing Technology, 24:7, pp. 607-614, 2004.
  6. G. Alici, B. Shirinzadeh, "Loci of singular configurations of a 3-DOF spherical parallel manipulator", Journal of Robotics and Autonomous Systems, vol. 48, pp. 77-91, September 2004.
  7. G. Alici, and B. Shirinzadeh, “Topology optimization and singularity analysis of a 3-SPS parallel manipulator with a passive constraining spherical joint”, Mechanism and Machine Theory, 39:2, pp. 215-235, February 2004.
  8. B. Shirinzadeh, G. Alici, C. W. Foong, and G. Cassidy, “Fabrication process of open surfaces by robotic fibre placement”, Journal of Robotics and Computer-Integrated Manufacturing, 20:1, pp. 17-28, February 2004.
  9. G. Alici and B. Shirinzadeh, “Optimum synthesis of a parallel manipulator based on kinematic isotropy and force balancing”, Robotica, 22:1, pp. 7-108, January 2004.
  10. G. Lowe, B. Shirinzadeh, “Designing for task oriented grasps in robotic assembly", Journal of Assembly Automation, 23:1, pp. 43-52, 2003.
  11. B. Shirinzadeh, Y. K. Ng, G. Alici, “Intelligent robotic fettling using visual feedback and force sensing”, International Journal of Advanced Manufacturing, 2002.
  12. G. Alici and B. Shirinzadeh, “Optimum force balancing of a planar parallel manipulator”, Proc. Instn. Mech. Engrs, Part C, Journal of Mechanical Engineering Science, Vol: 217, No: C5, pp. 515 – 524, 2003.
  13. G. Alici, B. Shirinzadeh, A. McConville, C. W. Foong, and M. Ang, “A mathematical model for a pneumatically actuated robotic fiber placement system”, Robotica, 20:5, pp. 545 – 551, September 2002.
  14. P. L. Teoh, B. Shirinzadeh, C. W. Foong, and G. Alici, “The measurement uncertainties in laser interferometry-based sensing and tracking technique”, International Journal of Measurement, Vol.32, Issue 2, pp. 135 –150, September 2002.
  15. G. Alici, “An Inverse Position Analysis of Five-bar Planar Parallel Manipulators”, Robotica, 20:2, pp.195 -- 201, March 2002.
  16. B. Shirinzadeh, “Flexible fixturing for workpiece positioning and constraining”. Journal of Assembly Automation, Vol. 22, No. 2, pp. 112-120, 2002.
  17. G. Alici, B. Shirinzadeh, A. McConville, C. W. Foong, and M. Ang, “A mathematical model for a pneumatically actuated robotic fiber placement system”, Robotica, 20:5, pp. 545 – 551, September 2002.
  18. Y. Shen, B. Shirinzadeh, Dynamic analysis of reconfigurable fixture construction, by a manipulator”, Robotics and Computer Integrated Manufacturing, Vol. 17, No. 5, pp. 367-377, 2001.
  19. S. Kapucu, G. Alici, and S. Baysec, “Residual Swing / Vibration Reduction Using a Hybrid Input Shaping Method”, Mechanism and Machine Theory, volume 36, No:3, pp.311 – 326, 2001.
  20. G. Alici, S. Kapucu and S. Baysec, “On Preshaped Reference Inputs To Reduce Swing of Suspended Objects Transported With Robot Manipulators”, Mechatronics: An International Journal, 10:6, pp. 609 – 626, 2000.
  21. G. Alici, “Determination of Singularity Contours for Five-bar Planar Parallel Manipulators”, Robotica, 18:6, pp.569 -- 575, 2000.
  22. G. Alici, S. Kapucu and S. Baysec, “Swing-free Transportation of Suspended Objects with Robot Manipulators”, Robotica, volume 17, pp.513 –521, 1999.
  23. G. Alici, “A Systematic Approach to Develop a Force Control System for Robotic Drilling”, Industrial Robot: an International Journal, 26:5, pp. 389—397, 1999.
  24. B. Shirinzadeh, P. L. Teoh, "Robotic fettling and automated path acquisition", International Journal of Industrial Robot, Vol. 27, No. 1, pp. 49-58, 2000.
  25. B. Shirinzadeh, C. W. Foong, B. H. Tan, “Robotic fibre placement process planning and control”, Journal of Assembly Automation, Vol. 20, No. 4, pp. 313-320, 2000.
  26. B. Shirinzadeh, "Laser-interferometry-based tracking for dynamic measurements", Industrial Robot: An International Journal, Vol. 25, No. 1, pp. 35-41, 1998.
  27. B. Shirinzadeh, P. L. Teoh, C. W. Foong, Y. Liu, "A strategy for accurate guidance of a manipulator using laser interferometry-based sensing technique". Journal of Sensor Review, Vol. 19, No. 4, pp. 292-299, 1999.
  28. B. Shirinzadeh, M. Roberts, "Experiments in robotic fettling using visual feedback", Journal of Industrial Robot, Vol. 25, No. 4, pp. 276-281, 1998.

Refereed Conference Publications

  1. S. Yu, B. Shirinzadeh, G. ALici, J.A. Smith, "Sliding mode control of a piezo-electric actuator with neural network compensating rate-dependent hysteresis", IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, spain, May 2005 (Accepted).
  2. Y. Zhong, B. Shirinzadeh, G. Alici, and J.A. Smith, "A new methodology for deformable object simulation", IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, Spain, May 2005 (Accepted).
  3. G. Alici and B. Shirinzadeh, "Vibration analysis of piezo-actuated flexure-jointed mechanims", SPIE International Symposium on Smart Materials, Nano- and Micro-Smart Systems, Sydney, December 2004.
  4. Y. Zhong and B. Shirinzadeh,"Virtual factory for manufacturing manufacturing process visualization", Proc. 7th Asia-Pacific Complex Systems Conference, pp. 557-578, Cairns, Australia, December 2004.
  5. S. Yu, G. Alici, and B. Shirinzadeh,"Modeling rate-dependent hysteresis in piezoelectric actuators with neural networks" The 8th International Conference on Manufacturing and Management, pp. 826-833, Gold Coast, Queensland, 8-10 December 2004.
  6. B. Shirinzadeh, Y.K. Ng, G. Alici,"A methodology for force-based control via visual servoing to control deburring process parameters" The 8th International Conference on Manufacturing and Management, pp. 858-867, Gold Coast, Queensland, 8-10 December 2004.
  7. B. Shirinzadeh, P.L. Teoh, G. Alici, M.H. Ang Jr., and S.K. Saha,"Laser interferometry-based guidance methodology for high precision positiong of robot manipulators." The 8th International Conference on Manufacturing and Management, pp. 850-857, Gold Coast, Queensland, 8-10 December 2004.
  8. Y. Zhong, G. Alici, and B. Shirinzadeh, "A virtual reality environment for visualising discrete event simulation," The 8th International Conference on Manufacturing and Management, pp. 348-355, Gold Coast, Queensland, 8-10 December 2004.
  9. P.I. De Waas Tilakaratna, B. Shirinzadeh and G. Alici, " Experimental investigation of 2D cylindrical pair height adjustment in a static environment", The 8th International Conference on Manufacturing and Management, pp. 370-377, Gold Coast, Queensland, 8-10 December 2004.
  10. Y. Zhong, B. Shirinzadeh, "Analysis, conversion and visualisation of discrete simulation results", IEEE Proc. 8th International Conference on Information Visualization, pp. 118-123, London, 14-16 July 2004.
  11. Y. Zhong, B. Shirinzadeh, "An approach for 3D visualisation of discrete event simulation", Proc. ASME 2004 Design Engineering, Technical Conference and Computers and Information in Engineering Conference, pp. 1-10, Salt Lake City, Utah, USA, September 28-October 2, 2004.
  12. P.I. De Waas Tilakaratna, B. Shirinzadeh, G. Alici, "Model development and system identification of a Cartesian manipulator using a laser-interferometry based measurement system", The 3rd IFAC Symposium on Mechatronic Systems, pp. 417-422, Sydney, Australia, September 2004.
  13. G. Alici, B.Shirinzadeh, "Optimum dynamic balancing of planar parallel manipulators", IEEE Internation Conference on Robotics and Automation (ICRA), pp. 4527-4532, New Prleans, USA, April 26 - May 1, 2004.
  14. S. Parasuraman, V. Ganapathy, B. Shirinzadeh, "Behaviour coordination and selection using situation context-dependent method for behaviour robot navigation using AI techniques for real world environments", 5th Asian Control Conference (ACC2004), pp. 575-583, Melbourne, Australia, July 2004.
  15. S. Parasuraman, V. Ganapathy, B. Shirinzadeh, "Behaviour based robot navigation: Resolving behaviour conflicts using fuzzy inference system",7th ASME Conference on Engineering Systems Design and Analysis (ESDA 2004), ESDA2004-58172, pp.1-9, Manchester, UK, 19-21 July, 2004.
  16. S. Parasuraman, V. Ganapathy, B. Shirinzadeh, "Mobile robot navigation in an unstructured and unknown environment using AI techniques", 7th ASME Conference on Engineering Systems Design and Analysis (ESDA 2004), ESDA2004-58171, pp.1-9, Manchester, UK, 19-21 July, 2004.
  17. G. Alici, and B. Shirinzadeh, “Exact Stiffness Modelling and Analysis Applied to an Industrial Robot with a Closed-Chain Mechanism”, IEEE 10th International Conference on Mechatronics and Machine Vision in Practice, Perth, Australia, December 2003.
  18. G. Alici, A. Sekercioglu, R. Jagielski, and B. Shirinzadeh, “Prediction Of Geometric Errors Of A Robot Manipulator with Particle Swarm Optimisation”, IEEE 10th International Conference on Mechatronics and Machine Vision in Practice, Perth, Australia, December 2003.
  19. R. Stevenson, B. Shirinzadeh, and G. Alici, “Laser Based Calibration for Improved Path Following Accuracy of Kinematically Redundant Manipulators” 9th International Conference on Manufacturing Excellence, pp. , Melbourne, Australia, October 2003.
  20. G. Cassidy, B. Shirinzadeh, and G. Alici, “Path Planning for Robotic Fibre Placement” 9th International Conference on Manufacturing Excellence, pp. , Melbourne, Australia, October 2003.
  21. G. Alici, and B. Shirinzadeh, “Laser Interferometry Based Robot Kinematic Error Modelling and Compensation”, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Les Vegas, USA, October 2003.
  22. G. Alici, and B. Shirinzadeh, “Kinematics and Stiffness Analysis of a Flexure-jointed Planar Micromanipulation for a Decoupled Compliant Motion”, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Les Vegas, USA, October 2003.
  23. G. Alici, and B. Shirinzadeh, “Kinematic Identification of a Closed-Chain Manipulator Using a Laser Interferometry Based Sensing Technique”, 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Kobe, Japan, July 2003.
  24. G. Alici, and B. Shirinzadeh, “Constrained Structural Optimisation of a Revolute-Jointed Planar Parallel Manipulator”, 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Kobe, Japan, July 2003.
  25. G. Alici, and B. Shirinzadeh, “Description and Kinematic Analysis of a Planar Micromanipulation System Based on Flexure Joints”, 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Kobe, Japan, July 2003.
  26. P. I. De Waas Tilakaratna, B. Shirinzadeh and G. Alici, “Contact type determination for cylindrical pair adjustment”, 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Kobe, Japan, July 2003.
  27. G. Alici, and B. Shirinzadeh, “Exact stiffness analysis and mapping for a 3-SPS+S parallel manipulator”, 7th International Conference on Automation Technologies, Automation 2003, Taiwan, May 2003.
  28. G. Alici, and B. Shirinzadeh, “Optimum force balancing with mass distribution and a single elastic element for a five-bar parallel manipulator”, IEEE International Conference on Robotics and Automation, ICRA 2003, Taiwan, May 2003.
  29. G. Alici, and B. Shirinzadeh, “Structural Optimisation of a 3-SPS Parallel Manipulator”, 7th International Conference on Manufacturing, pp. 852 – 857, Thailand, November 2002.
  30. Stevenson, B. Shirinzadeh, and G. Alici, “Jacobian Decomposition: A new approach to redundancy handling in robotic manipulators” 7th International Conference on Manufacturing, pp. 858 – 863, Thailand, November 2002.
  31. B. Shirinzadeh, Y. K. Ng, and G. Alici, “Sensory based trajectory generation for robotic machining operation”, 7th International Conference on Manufacturing, pp. 870 – 875, Thailand, November 2002.
  32. R. Stevenson, B. Shirinzadeh, and G. Alici, “Singularity avoidance and aspect maintenance in redundant manipulators”, ICARCV 2002, pp. 857 – 862, Singapore, December 2002.
  33. C. W. Foong, B. Shirinzadeh, G. Cassidy, and G. Alici, “Force-based trajectory generation for robotic fibre placement on large complex surfaces,” 7th International Conference on Manufacturing, pp. 763 – 768, Thailand, November 2002.
  34. P.L. Teoh, B. Shirinzadeh, and G. Alici, “Experimental analysis of laser interferometry-based sensing and measuring technique on 3D dynamic positioning system”, 7th International Conference on Manufacturing, pp. 882 – 887, Thailand, November 2002.
  35. B. Shirinzadeh, and P. L. Teoh, “Dual position sensitive diode-based orientation measurement in laser interferometry-based sensing and measurement technique”, Proceedings of SPIE, Vol.4564, pp. 98 – 106, 2001.
  36. P. L. Teoh, and B. Shirinzadeh, “3D external ground truth feedback sensing for robot manipulators using laser interferometer-based sensing and measurement technique”, 8th International Conference on Mechatrinics and Machine Vision in Practice (M2VIP 2001), pp. 261 – 265, Hong Kong, 2001.
  37. B. Shirinzadeh, and P. L. Teoh, “Process planning and control of robotic machining based on shape measurement data”, 8th International Conference on Mechatrinics and Machine Vision in Practice (M2VIP 2001), pp. 198 – 205, Hong Kong, 2001.
  38. P. L. Teoh, B. Shirinzadeh, C. W. Foong, Y. D. Liu, "Orientation measurement technique in laser interferometry based tracking for robot manipulator calibration". Proc. of Pacific Conference on Manufacturing, Vol. 2, pp. 788-793, Detroit, USA, September 2000.
  39. B. H. Tan, C. W. Foong, B. Shirinzadeh, "Planning and simulation for robotic fibre placement". Proc. of Pacific Conference on Manufacturing, Vol. 2, pp. 794-799, Detroit, USA, September 2000.
  40. B. Shirinzadeh, P. L. Teoh, C. W. Foong, “Orientation measurement using vision and non-vision based techniques in laser tracking system”. Proc. of 30th International Symposium on Robotics, pp. 317-324, Tokyo, Japan, October 1999.
  41. B. Shirinzadeh, B. H. Tan, D. Tronche, “Planning and simulation for robotic fibre placement”. Proc. of 30th International Symposium on Robotics, pp. 161-168, Tokyo, Japan, October 1999.
  42. B. Shirinzadeh, H. C. Chong, K. C. Lee, P. L. Teoh, "Issues and techniques for interferometry-based laser guidance of a manipulator". Proc. Fifth International Conference on Control, Automation, Robotics and Vision (ICARCV'98), Vol. 1, pp. 271-275, Singapore, December 1998.
  43. Y. C. Yap, A. Teoh, B. Shirinzadeh, M. Roberts, "Experiments in robotic fettling using visual feedback". Proc. Fifth International Conference on Control, Automation, Robotics and Vision (ICARCV'98), Vol. 1, pp. 761-765, Singapore, December 1998.
  44. Y. Shen, B. Shirinzadeh, "Dynamic analysis of adjustment operations on passive mechanism by robots". Proc. Fifth International Conference on Control, Automation, Robotics and Vision (ICARCV'98), Vol. 2, pp. 1523-1527, Singapore, December 1998.
  45. Y. Shen, B. Shirinzadeh, "Dynamic analysis of robotic adjustment of sliding pairs". Proc. 29th International Symposium on Robotics. pp. 401-406, Birmingham, UK, April, 1998.
  46. B. Shirinzadeh, P. L. Teoh, “A study of predictive control for laser tracking of robots”. Proc. of Pacific Conference on Manufacturing, pp. 328-333, Brisbane, August, 1998.
  47. Y. Shen, B. Shirinzadeh, "Dynamic analysis of adjustment operations against external kinematic constraints", Proc. of Pacific Conference on Manufacturing, pp. 309-314, Brisbane, August, 1998.
  48. B. Shirinzadeh, A. Teoh, M. Roberts, "Process parameters for modelling of robotic deburring operations", Proc. of Pacific Conference on Manufacturing, pp. 358-363, Brisbane, August, 1998.
  49. A. Teoh, B. Shirinzadeh, M. Roberts, "Experiments in visual servoing for robotic fettling operations", Proc. of Pacific Conference on Manufacturing, pp. 395-400, Brisbane, 1998.
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