Laser-guided automated material handling tasks proposed here has the potential to reduce position data acquisition time while improving safety since there is no need for an operator to manually teach or guide a robotic system in its unstructured workspace which is considered most time consuming in programming robotic tasks. The main objective of the proposed research is to develop a new useful ...

Teleoperation has captured the interest of robotics researchers for more than two decades. Many focused on the stability problem when the system experiences time delays. Most of the time, guaranteeing stability has overshadowed the tracking performance. This work differentiates teleoperation systems into two groups as limited and unlimited-workspace teleoperation depending on their position tra...

Haptic virtual fixtures are software-generated force and position signals applied to human operators in order to improve the safety, accuracy, and speed of robot-assisted manipulation tasks. Virtual fixtures are effective and intuitive because they capitalize on both the accuracy of robotic systems and the intelligence of human operators. In this paper, we discuss the design, analysis, and impl...

This paper presents algorithms for estimating length, location, and orientation of nanowires in a fluidic workspace using images obtained by optical section microscopy. Images containing multiple nanowires are first segmented to locate general areas of interest which are then analyzed to determine discrete nanowire parameters. We use a set of image processing techniques to extract features of n...

Important papers have appeared recently on the problem of indexing binary strings for jumbled pattern matching, and further lowering the time bounds in terms of the input size would now be a breakthrough with broad implications. We can still make progress on the problem, however, by considering other natural parameters. Badkobeh et al. (IPL, 2013) and Amir et al. (TCS, 2016) gave algorithms tha...

This paper studies the workspace of a six-DC)F parallel manipulator of three-PPSR (prismatic-prismaticspheric-revolute) type. It is well recognized that the most significant drawback of parallel manipulators is their limited workspace. To develop new parallel mechanisms with a larger workspace is of interest to additional applications. The mechanism of the three-PPSR manipulator and its variati...

A linear pentapod is a parallel manipulator with five collinear anchor points on the motion platform (end-effector), which are connected via SPS legs to the base. This manipulator has five controllable degrees-of-freedom and the remaining one is a free rotation around the motion platform axis (which in fact is an axial spindle). In this paper we present a rational parametrization of the singula...

When using web services to perform complex data manipulations, users and administrators need control over how their changes are managed and seen by other clients of the service. This includes support for undo of changes, batch publishing of many changes, ‘what if’ analysis, the collaboration of several people in making and approving a complex change, workspace based access control, and the audi...

 The BIGSS lab is developing a minimally-invasive surgical workstation to treat the osteolytic lesions using using a snake like dexterous manipulator (SDM).  The SDM will be positioned in the workspace by a robotic arm.  The focus of this project is integrating the SDM with the robotic armwhich is a 6 DOF Universal Robot (UR5) and position control of the tip of the SDM inside the lesion area.