Bio


Roth is one of the founders of the Hasso Plattner Institute of Design at Stanford (the d.school) and is active in its development: currently, he serves as Academic Director. His design interests include organizing and presenting workshops on creativity, group interactions, and the problem solving process. Formerly he researched the kinematics, dynamics, control, and design of computer controlled mechanical devices. In kinematics, he studied the mathematical theory of rigid body motions and its application to the design of machines.

Academic Appointments


Honors & Awards


  • Outstanding Design Educator Award, ASME (2000)
  • Pioneer in Robotics Award, IEEE (2000)
  • Honorary Professor, Design Program, IIT-Kanpur, India
  • Honorary Diploma, Engineering Mechanics, National Technical University of Ukraine (2003)
  • Honoris Causa degree, University of Cassino, Italy (2005)
  • Honorary Co-chair, International Conference on Robotics and Automation (2007)
  • Honorary PhD, University of Paris (Pierre & Marie Curie) (2007)

Professional Education


  • PhD, Columbia, Mechanical Engineering (1963)

2017-18 Courses


Stanford Advisees


All Publications


  • Multi-Degree-of-Freedom Mechanical Systems Roth, B.
  • Algebraic Line Symmetric Motions ibid Roth, B., Ravani, B. : 1287-1290
  • Kinematics of a Hybrid Series-Parallel Manipulator System, Part I: Position Kinematics ibid Roth, B., Waldron, K., J., Raghavan, M. : 127-136
  • Measures of Error in Linkage Synthesis ibid Roth, B., Gupta, K., C. : 861-866
  • Visualising professional vision interactions in design reviews CODESIGN-INTERNATIONAL JOURNAL OF COCREATION IN DESIGN AND THE ARTS Sonalkar, N., Mabogunje, A., Leifer, L., Roth, B. 2016; 12 (1-2): 73-92
  • On the advantages of instantaneous invariants and geometric kinematics MECHANISM AND MACHINE THEORY Roth, B. 2015; 89: 5-13
  • Acting with Creative Confidence: Developing a Creative Agency Assessment Tool Design Thinking Research: Measuring Performance in Context. Royalty, A., Oishi, L., Roth, B. edited by Plattner, H., Meinel, C., Leifer, L. Springer Verlag. 2013
  • I Use It Every Day: Pathways to Adaptive Innovation After Graduate Study in Design Thinking Design Thinking Research: Measuring Performance in Context. Royalty, A., Oishi, L., Roth, B. edited by Plattner, H., Meinel, C., Leifer, L. Springer Verlag. 2012: 95–105
  • Assessing d.learning: Capturing the Journey of Becoming a Design Thinker Design Thinking Research: Measuring Performance in Context. Goldman, S., Carroll, Maureen, P., Kabayadondo, Z., Cavagnaro, L. B., Royalty, Adam, W., Roth, B. edited by Plattner, H., Meinel, C., Leifer, L. Springer Verlag. 2012: 13–34
  • Ferdinand Freudenstein Indian Academy of Sciences, Bangalore, India Roth, B. 2010; 15 (8): 690-698
  • Navigating the Barriers to Interdisciplinary Design Education: Lessons Learned from the NSF Design Workshop Series Roth, B., Simpson et al, Timothy, W. 2010
  • Large workspace haptic devices - A new actuation approach 16th Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems Zinn, M., Khatib, O., Roth, B., Salisbury, J. K. IEEE COMPUTER SOC. 2008: 185–192
  • Forward Springer Handbook of Robotics Roth, B. edited by Siciliano, B., Khatib, O. Springer. 2008: v-ix
  • In Memory of Professor Ferdinand Freudenstein, 1926–2006 Journal of Mechanical Design Roth, B. 2007; 129: 241-2
  • Design Thinking Science of Machines (in Japanese) Roth, B. 2007; 59 (1): 149-154
  • Ferdinand Freudenstein Distinguished Figures in Mechanism and Machine Science: Their Contributions and Legacies Roth, B. edited by Ceccarelli, M. Springer Verlag, Berlin. 2007: 151–181
  • Advances in Robot Kinematics, Mechanisms and Motion Roth, B. edited by Lenarcic, J., Roth, B. Springer, Dordrecht, The Netherlands. 2006
  • Design Thinking Roth, B. 2006
  • Finding geometric invariants from time-based invariants for spherical and spatial motions JOURNAL OF MECHANICAL DESIGN Roth, B. 2005; 127 (2): 227-231

    View details for DOI 10.1115/1.1828462

    View details for Web of Science ID 000228781900008

  • Design Projects Design News, IIT Kanpur Roth, B. 2005
  • Playing it safe IEEE ROBOTICS & AUTOMATION MAGAZINE Zinn, M., Khatib, O., Roth, B., Salisbury, J. K. 2004; 11 (2): 12-21
  • A new actuation approach for human friendly robot design 8th International Symposium on Experimental Robotics (ISER 02) Zinn, M., Roth, B., Khatib, O., Salisbury, J. K. SAGE PUBLICATIONS LTD. 2004: 379–98
  • Advances in Creative Engineering and Education Roth, B., Roth, B. 2004
  • A new actuation approach for human friendly robot design IEEE International Conference on Robotics and Automation Zinn, M., Khatib, O., Roth, B. IEEE. 2004: 249–254
  • Time-invariant properties of planar motions 9th International Symposium on Advances in Robot Kinematics Roth, B. SPRINGER. 2004: 79–88
  • Actuation Methods for Human-centered Robotics and Associated Control Challenges Control Problems in Robotics Zinn, M., Khatib, O., Roth, B., Salisbury, K. edited by Bicchi, A., Christensen, H., Pratticizzo, D. Springer Tracts in Advanced Robotics. 2003
  • A new actuation approach for human friendly robot design 8th International Symposium on Experimental Robotics (ISER 02) Zinn, M., Khatib, O., Roth, B., Salisbury, J. K. SPRINGER-VERLAG BERLIN. 2003: 113–122
  • Actuation methods for human-centered robotics and associated control challenges 2nd International Workshop on Control Problems in Robotics and Automation Zinn, M., Khatib, O., Roth, B., Salisbury, J. K. SPRINGER-VERLAG BERLIN. 2003: 105–119
  • New Exciting Ideas in Old Areas Roth, B. 2003
  • Toward a Human-centered Intrinsically Safe Robotic Manipulator Zinn, M., Khatib, O., Roth, B., Salisbury, K. 2002
  • A New Actuation Approach for Human Friendly Robot Design Zinn, M., Khatib, O., Roth, B., Salisbury, J., Kenneth 2002
  • The Major Solved and Open Problems in the Design of Mechanisms and Robots edited by Bhattacharyya, R., Mohanty, A., R., Karagpur, I.I., T. 2001
  • The Theoretical Basis for the Mechanical Aspects of Robot Design Roth, B. edited by Morecki, A., Bianchi, G., Rzymkowski, C. 2001
  • The Search for the Fundamental Principles of Mechanism Design Roth, B. edited by Ceccerelli, M. 2000
  • IFToMM from a Personal Perspective Roth, B. edited by Ceccerelli, M. 2000
  • On the kinematic analysis of robotic mechanisms INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Nielsen, J., Roth, B. 1999; 18 (12): 1147-1160
  • Solving the input output problem for planar mechanisms JOURNAL OF MECHANICAL DESIGN Nielsen, J., Roth, B. 1999; 121 (2): 206-211
  • In-parallel manipulators: A framework on how to model actuation schemes and a study of their effects on singular postures JOURNAL OF MECHANICAL DESIGN Matone, R., Roth, B. 1999; 121 (1): 2-8
  • Second Order Approximations for Ruled-Surface Trajectories Roth, B. 1999
  • Chebychev Approximation Methods for Evaluating Conicity Measurement Roth, B., Chatterjee, G. 1998; 23: 63-76
  • The Effects of Actuation Schemes on the Dynamic Performance of Serial Manipulators Roth, B., Matone, R. 1998
  • Formulation and Solution for the Direct and Inverse Kinematics Problems for Mechanism and Mechatronic Systems Computational Methods in Mechanical Systems Roth, B., Nielsen, J. edited by Angeles, J., Zakhariev, E. Springer. 1998: 33–52
  • Formulation and solution for the direct and inverse kinematics problems for mechanisms and mechatronics systems Conference of the NATO Advanced Study Institute on Computational Methods in Mechanisms Nielsen, J., Roth, B. SPRINGER-VERLAG BERLIN. 1998: 33–52
  • Manufacturing Roth, B. edited by Shirai, Y., Hirose, S. 1998
  • On Chebychev fits for pairs of lines and polygons with specified internal angles PRECISION ENGINEERING-JOURNAL OF THE INTERNATIONAL SOCIETIES FOR PRECISION ENGINEERING AND NANOTECHNOLOGY Chatterjee, G., Roth, B. 1997; 21 (1): 43-56
  • The effects of actuation schemes on the kinematic performance of manipulators JOURNAL OF MECHANICAL DESIGN Matone, R., Roth, B. 1997; 119 (2): 212-217
  • Connectivity in open and closed loop robotic mechanisms MECHANISM AND MACHINE THEORY Shoham, M., Roth, B. 1997; 32 (3): 279-294
  • The Design of Projects and Contests — The Rules of the Game Faste, R., Roth, B. 1997
  • Sine–Cosine Polynomial Systems Roth, B., Nielsen, J. edited by Giralt, G., Herzinger, G. 1996
  • The direct kinematics of the general 6-5 Stewart-Gough mechanism 5th International Symposium on Advances in Robot Kinematics Nielsen, J., Roth, B. SPRINGER. 1996: 7–16
  • On the Geometry of Spatial Polygons and Screw Polygons Roth, B., Mavroidis, C. edited by McCarthy, J., Michael 1996, 1997
  • Designing Manipulators for Both Kinematic and Dynamic Isotropic Properties Roth, B., Matone, R. edited by Morecki et al, A. 1996
  • The Direct Kinematics of the General 6–5 Stewart–Gough Mechanism Recent Advances in Robot Kinematics Roth, B., Nielsen, J. edited by Lenarcic, J., Parenti-Castelli, V. Kluwer Academic Publishers, Dordrecht. 1996: 7–16
  • New and Revised Overconstrained Mechanisms J. of Mechanical Design, Trans. ASME Roth, B., Mavroidis, C. 1995; 117: 75-80
  • Solving Polynomial Systems for the Kinematic Analysis and Synthesis of Mechanisms and Robot Manipulators Special 50th Anniversary Design Issue, J. of Mechanical Design and J. of Vibration and Acoustics, Trans. ASME Roth, B., Raghavan, M. 1995; 117(B): 71-79
  • Elimination Methods for Spatial Synthesis Problems Roth, B., Nielsen, J. 1995
  • Analysis of Singular Configurations of Manipulators and Mechanisms Roth, B., Mavroidis, C. 1995
  • Analysis of Overconstrained Mechanisms J. of Mechanical Design, Trans. ASME Roth, B., Mechanisms, C. 1995; 117: 69-74
  • How Can Robots Look Like Human Beings Roth, B. 1995
  • POSITION-FORCE SYNTHESIS OF CLOSED-LOOP LINKAGES JOURNAL OF MECHANICAL DESIGN Huang, C., Roth, B. 1994; 116 (1): 155-162
  • A UNIFIED THEORY FOR KINEMATIC SYNTHESIS JOURNAL OF MECHANICAL DESIGN James, P. A., Roth, B. 1994; 116 (1): 144-154
  • ANALYTIC EXPRESSIONS FOR THE FINITE SCREW SYSTEMS MECHANISM AND MACHINE THEORY Huang, C., Roth, B. 1994; 29 (2): 207-222
  • Analysis and Synthesis of Overconstrained Mechanisms Mechanism Synthesis and Analysis Roth, B., Mavroidis, C. edited by Pennock, G. ASME, New York. 1994: 115–113
  • Computational Advances in Robot Kinematics Advances in Robot Kinematics and Computational Geometry Roth, B. edited by Lenarcic, J., Ravani, B. Kluwer Academic Publishers, Dordrecht. 1994: 7–16
  • Experiential Design in Engineering Education Roth, B., Wilde, D., J., Faste, R. edited by Tornkvist, S. 1994
  • A UNIFIED THEORY FOR FINITE, INFINITESIMAL, AND HYBRID KINEMATIC SYNTHESIS JOURNAL OF MECHANICAL DESIGN James, P. A., Roth, B. 1993; 115 (3): 552-559
  • INVERSE KINEMATICS OF THE GENERAL 6R-MANIPULATOR AND RELATED LINKAGES JOURNAL OF MECHANICAL DESIGN Raghavan, M., Roth, B. 1993; 115 (3): 502-508
  • PRODUCTION AND CHARACTERIZATION OF A SPECIFIC 5-HT(2) RECEPTOR ANTIBODY BRAIN RESEARCH Garlow, S. J., Morilak, D. A., Dean, R. R., Roth, B. L., CIARANELLO, R. D. 1993; 615 (1): 113-120

    Abstract

    A synthetic peptide was used to generate antibodies against the rat serotonin-2 (5-HT2) receptor. The peptide corresponds to a unique sequence from the N-terminal extracellular portion of the receptor protein (antibody = Ab 5HT2-N). This peptide was chosen based on its theoretical antigenic index and for specificity to the 5-HT2 receptor. In dot blot analysis, antisera detected 2 ng-2 micrograms of synthetic peptide at dilutions of 1/200-1/20,000. COS-7 cells transiently transfected with a eukaryotic expression vector containing the 5-HT2 cDNA displayed intense immunoreactivity with crude and affinity-purified Ab 5HT2-N. In contrast, no immunoreactivity was seen in control experiments when: (1) non-transfected or vector transfected COS-7 cells were used; (2) pre-immune sera was substituted for primary antisera; (3) primary antisera was omitted; or (4) antiserum was pre-adsorbed to 10 microM synthetic peptide. Immunohistochemical analysis of sections of perfused rat brain revealed intense immunolabelling of a subset of neurons in regions of the ventral forebrain, dorsal hippocampus, striatum, cerebral cortex, and laterodorsal tegmental nucleus (LDT). An especially dense band of small cells was seen in layer 2 of pyriform cortex. There was a very high concentration of labelled cells in the laterodorsal tegmental nucleus. In situ hybridization histochemistry with a 5-HT2 antisense cRNA riboprobe showed a pattern of hybridization in forebrain similar to the pattern of immunolabelling with Ab 5HT2-N. Western blot analysis of proteins extracted from the LDT revealed a single protein species reacting with the antibody. This reactivity is not present in the pre-immune sera and is blocked by the synthetic antigen.(ABSTRACT TRUNCATED AT 250 WORDS)

    View details for Web of Science ID A1993LK26000014

    View details for PubMedID 7689908

  • DIMENSIONAL SYNTHESIS OF CLOSED-LOOP LINKAGES TO MATCH FORCE AND POSITION SPECIFICATIONS JOURNAL OF MECHANICAL DESIGN Huang, C., Roth, B. 1993; 115 (2): 194-198
  • Computations in Kinematics Computational Kinematic Roth, B. edited by Angeles, J., Homel, J., Kovacs, P. Kluwer Academic Publishers, Dordrecht. 1993: 3–14
  • Best Placement of Telescoping Robots in Environments with Obstacles Roth, B., Kolorov, K. 1993
  • The Synthesis of Spatial Linkages Section 5.4 in Modern Kinematics: Developments in the Last Forty Years Roth, B., Bodduluri et al, M. edited by Erdman, A., G. John Wiley & Sons, NY. 1993: 159–164
  • New Manipulators with Simple Inverse Kinematics Roth, B., Mavroidis, C. edited by Morecki, A., Bianchi, G., Jaworek, K. 1993
  • A Closed-Form Solution of the Forward Displacement Analysis of a Class of In-Parallel Mechanisms Roth, B., Lee, H., Y. 1993
  • Integrating Creativity into the Mechanical Engineering Curriculum Innovations in Engineering Design Education, ASME Roth, B., Faste, R., A., Wilde, D., J. 1993: 93-98
  • Robotics Research, The Sixth International Symposium PA Roth, B. edited by Kanada, T., Valley, H. 1993
  • STATICS OF IN-PARALLEL MANIPULATOR SYSTEMS DESIGN TECHNICAL CONF AGRAWAL, S. K., Roth, B. ASME-AMER SOC MECHANICAL ENG. 1992: 564–68
  • BINDING OF TYPICAL AND ATYPICAL ANTIPSYCHOTIC AGENTS TO TRANSIENTLY EXPRESSED 5-HT1C RECEPTORS JOURNAL OF PHARMACOLOGY AND EXPERIMENTAL THERAPEUTICS Roth, B. L., CIARANELLO, R. D., Meltzer, H. Y. 1992; 260 (3): 1361-1365

    Abstract

    We determined the affinities of clozapine and 21 other typical and atypical antipsychotic agents for the cloned 5-hydroxytryptamine-1C (5-HT1C) receptor. For these studies, 5-HT1C receptors were transiently expressed in COS-7 cells using the vector pSVK3-5HT1C. We discovered that clozapine and several other putative typical and atypical antipsychotic agents (loxapine greater than tiosperone greater than SCH23390 greater than fluperlapine greater than rilapine greater than chlorpromazine) had relatively high affinities (7-30 nM) for the cloned 5-HT1C receptor. Other antipsychotic agents (risperidone greater than tenilapine greater than mesoridazine greater than thioridazine greater than cis-fluphenthixol) had intermediate affinities (30-100 nM), whereas many other antipsychotics (fluphenazine greater than spiperone greater than amperozide greater than melperone greater than thiothixene greater than haloperidol, metoclopramide, pimozide, domperidone, sulpiride) had low affinities (greater than 500 nM) for the cloned 5-HT1C receptor. The results indicate that although several putative atypical antipsychotic agents have high affinities for the cloned rat 5-HT1C receptor, the spectrum of drug binding does not correlate with the atypical nature of these compounds.

    View details for Web of Science ID A1992HJ01900060

    View details for PubMedID 1347569

  • Structural Parameters which Reduce the Number of Manipulator Configuration Robotics, Spatial Mechanisms and Mechanical Systems, also in J. of Mechanical Design, Trans. ASME Roth, B., Mavroidis, C. 1992, 1994; 45, 116: 359-366, 3-10
  • Best Estimates for the Construction of Robots in Environments with Obstacles Roth, B., Kolorov, K. 1992
  • CHRONIC MIANSERIN TREATMENT DECREASES 5-HT2 RECEPTOR-BINDING WITHOUT ALTERING 5-HT2 RECEPTOR MESSENGER-RNA LEVELS EUROPEAN JOURNAL OF PHARMACOLOGY-MOLECULAR PHARMACOLOGY SECTION Roth, B. L., CIARANELLO, R. D. 1991; 207 (2): 169-172

    Abstract

    Rats were injected with 15 mg/kg (i.p.) mianserin or vehicle (saline) for 4, 10 or 21 days and 5-HT2 receptor binding and mRNA levels measured. Treatment with mianserin induced a substantial decrease in 5-HT2 radioligand binding (44-59% decrease; P less than 0.05 vs. control). No changes in the amount of 5-HT2 or, as a control, beta-actin mRNAs were found (P greater than 0.05 vs. control). These results indicate that mianserin decreases 5-HT2 radioligand binding without altering steady-state 5-HT2 mRNA levels.

    View details for Web of Science ID A1991FU51900011

    View details for PubMedID 1879460

  • DEVELOPMENTAL REGULATION OF 5-HT2 AND 5-HT1C MESSENGER-RNA AND RECEPTOR LEVELS DEVELOPMENTAL BRAIN RESEARCH Roth, B. L., Hamblin, M. W., CIARANELLO, R. D. 1991; 58 (1): 51-58

    Abstract

    We investigated the regulation of 5-HT2 and 5-HT1c receptors and their corresponding mRNAs during rat brain development. This study showed that 5-HT2 and 5-HT1c receptors increased markedly during ontogeny. 5-HT2 receptors, measured with [3H]ketanserin or [125I]lysergic acid diethylamide binding, increased 8-fold between embryonic day 17 (E17) and postnatal day 13 (P13). 5-HT2 receptor mRNA levels, quantified by probing Northern blots of total RNA with a synthetic oligonucleotide cDNA probe, multiplied 13-fold between E17 and P5. The developmental pattern of 5-HT2 receptor and mRNA expression appeared to correlate with the serotonergic hyperinnervation of the cortex which occurs between P2 and P17. 5-HT1c receptors, measured with [125I]lysergic acid diethylamide under site-specific conditions, increased 2-fold between E17 and P27, 5-HT1c mRNA increased 5-fold between E17 and P27. Interestingly, the developmentally induced variations in 5-HT1c receptors did not precisely correlate with mRNA alterations. Further study of the factors responsible for these alterations could help to explain the molecular and biochemical mechanisms responsible for modulating receptor levels in vivo.

    View details for Web of Science ID A1991FL33200006

    View details for PubMedID 2015654

  • New Robot Mechanisms for Robot Capabilities Roth, B., Khatib, O. 1991
  • On the Number of Links and Placement of Telescoping Manipulators in an Environment with Obstacles Roth, B., Kolarov, K. 1991
  • A General Solution of the Inverse Kinematics of All Series Chains Roth, B., Raghavan, M. 1991
  • The Design of a High-Performance Force-Controlled Manipulator Roth, B., Khatib, O., Waldron, K., J. 1991
  • REGULATION OF 5-HT2 AND 5-HT1C SEROTONIN RECEPTOR LEVELS - METHODOLOGY AND MECHANISMS SATELLITE WORKSHOP OF THE AMERICAN COLLEGE OF NEUROPSYCHOPHARMACOLOGY : SUBTYPES OF RECEPTORS FOR SEROTONIN AND THEIR EFFECTORS Roth, B. L., Hamblin, M., CIARANELLO, R. D. ELSEVIER SCIENCE INC. 1990: 427–33

    Abstract

    Both the 5-hydroxytryptamine2 (5-HT2) and 5-HT1c receptors may be regulated by a large number of endogenous and exogenous factors. The 5-HT2 receptors, for example, may be decreased by acute and chronic treatment with many antipsychotic agents, some antidepressants, and receptor-specific agonists. Similar to the 5-HT2 receptor, the 5-HT1c receptors may be decreased by acute and chronic treatment with the antidepressant mianserin. The 5-HT2 receptors appear to increase during perinatal development and are reported to be elevated in the frontal cortex and hippocampus of victims of suicide; the 5-HT1c receptors display supersensitivity following ablation of serotonergic terminals with 5,7-dihydroxytryptamine. The molecular details responsible for these changes remain unknown, though with the recent cloning of the cDNAs for the 5-HT2 and 5-HT1c receptors the occasion is particularly favorable for mechanistic studies aimed at determining how these alterations occur. Preliminary information suggests that developmentally induced alterations in 5-HT2 and 5-HT1c receptors may be due to transcriptional regulation while changes caused by mianserin treatment might be due to posttranslational processes (e.g., proteolysis, internalization, phosphorylation, covalent alterations). Insights into the molecular means by which 5-HT receptors are regulated could have profound influences on our understanding of pharmacologic, developmental, and psychopathologic processes.

    View details for Web of Science ID A1990EP13500015

    View details for PubMedID 2078277

  • The Moral Arguments Against Military Research Ethical Issues Associated with Scientific and Technological Research for the Military Roth, B. edited by Mitcham, C., SiekevitZ, P. Annals of the New York Academy of Sciences. 1990: 21–33
  • Kinematic Analysis of the 6R Manipulator of General Geometry Robotics Research, The of Fifth International Symposium Roth, B., Raghavan, M. edited by Miura, H., Arimoto, S. MIT Press. 1990: 263–270
  • A Unified Theory of Finite, Infinitesimal and Hybrid Kinematic Synthesis Mechanism Synthesis and Analysis, DE-Vol. 25, ASME 1990, pp. 461-469; also in J. of Mechanical Design, Trans. ASME Roth, B., James, P. 1990, 1993; 25, 115: 461-469, 552-559
  • THE MORAL ARGUMENTS AGAINST MILITARY RESEARCH ANNALS OF THE NEW YORK ACADEMY OF SCIENCES Roth, B. 1989; 577: 21-33
  • Kinematics of a Hybrid Series-Parallel Manipulation System JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Waldron, K. J., Raghavan, M., Roth, B. 1989; 111 (2): 211-221
  • CROSS-LINKING OF [I-125] BETA-ENDORPHIN TO MU-OPIOID RECEPTORS DURING DEVELOPMENT DEVELOPMENTAL BRAIN RESEARCH McLean, S., Rothman, R. B., Chuang, D. M., Rice, K. C., Spain, J. W., Coscia, C. J., Roth, B. L. 1989; 45 (2): 283-289

    Abstract

    Radioiodinated human beta-endorphin was cross-linked to opioid receptors from rat brain membranes using the bifunctional reagents bis-[2-(succinimidooxycarbonyloxy)ethyl] sulfone (BSCOES) and disuccinimidyl suberate (DSS). Major radiolabeled bands migrated with Mr values of 65,000, 55,000 and 33,000, however the presence of the 55 kDa band was variable. The 65 kDa band was characterized as the mu-receptor: the binding of [125I]beta-endorphin to this band was displaced by mu-selective ligands and blocked by alkylation of the receptor by mu-specific, but not delta-specific alkylating agents. The cross-linked receptor underwent alterations in mol. wt. during development. Early in development, embryonic day 18 and postnatal day 1, the [125I]beta-endorphin-labeled material migrated as a single band of mol. wt. 55 kDa. By day 21 postnatally the higher mol. wt. band of 65 kDa was present, as was material of 53, 47 and 43 kDa. Although the protein labeled early in development migrated with a mol. wt. of 55 kDa similar to the delta-receptor isolated from NG108-15 neuroblastoma-glioma cells, competition studies suggest this protein is not the delta-receptor. The 65 kDa band, tentatively identified as the mu-receptor, was present in adults but not detected in neonates, despite competition binding data indicating the presence of mu-sites. The results suggest that the 55 kDa band found in the 1-day-old neonate may be an immature form of the mu-opioid receptor that undergoes posttranslational modification, perhaps glycosylation, during development.

    View details for Web of Science ID A1989T043100012

    View details for PubMedID 2540924

  • RAT-BRAIN PROTEIN KINASE-C - PURIFICATION, ANTIBODY-PRODUCTION, AND QUANTIFICATION IN DISCRETE REGIONS OF HIPPOCAMPUS JOURNAL OF NEUROCHEMISTRY Roth, B. L., MEHEGAN, J. P., Jacobowitz, D. M., Robey, F., Iadarola, M. J. 1989; 52 (1): 215-221

    Abstract

    Protein kinase C (PKC), a calcium- and phospholipid-dependent kinase, is highly enriched in rat brain, where it may function in signal transduction processes. We purified rat brain PKC to homogeneity by a three-column procedure of diethylaminoethyl-cellulose, phenyl-Sepharose, and protamine-agarose with a yield of 16% and a final specific activity of 9,600 pmol of [3H]phorbol-12,13-dibutyrate bound/mg of protein. The pure protein consisted of a doublet of 80 and 78 kilodaltons. Rabbit antibodies prepared against a beta-type PKC synthetic peptide sequence (RAKIGQGTKAPEEKTANTISK) showed high specificity and sensitivity for PKC and recognized only the 78-kilodalton form of PKC. Micropunches (300 microns in diameter) of rat hippocampal subregions were solubilized in sodium dodecyl sulfate (SDS) sample buffer, electrophoresed on SDS-10% polyacrylamide gels, and transferred to nitrocellulose. PKC was visualized by 125I-protein A autoradiography and quantified by densitometry. The highest concentrations of PKC were found in the CA1 pyramidal cell layer (0.43 +/- 0.04 OD), with the lowest amounts in the CA3 and CA4 pyramidal cell layers (0.11 +/- 0.02 and 0.085 +/- 0.006 OD, respectively). These results demonstrate a simple way of preparing antibodies against domains of PKC. We also describe a procedure for quantifying the relative amounts of PKC in discrete brain regions.

    View details for Web of Science ID A1989R374400030

    View details for PubMedID 2908889

  • On the Design of Manipulators for Applying Wrenches Roth, B., Raghavan, M. 1989
  • Design and Kinematics for Force and Velocity Control of Manipulators and End-Effectors Ch. 12 of Robotics Science Roth, B. edited by Brady, M. MIT Press. 1989: 459–475
  • Position Errors Due to Clearance in Journal Bearings Transactions of the ASME, Journal of Mechanisms, Transmissions and Automation in Design Roth, B., Wang, H., H. 1989; 111: 315-320
  • A NEW APPROACH FOR KINEMATIC RESOLUTION OF REDUNDANCY INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Ghosal, A., Roth, B. 1988; 7 (2): 22-35
  • New Approach for Kinematic Resolution of Redundancy The International Journal of Robotics Research Roth, B., Ghosal, A. 1988; 7 (2): 22-35
  • Position Errors of Manipulators Roth, B., Wang, H., H. 1988
  • Kinematic Structure for a Force Controlled Redundant Manipulator Roth, B., Raghavan, M., Khatib, O., Waldron, K., J. 1988
  • Lessons from Abroad for Educators in the USA - Some Personal Views and Perspectives Mechanical Engineering News Roth, B. 1988; 25 (1, 2, 3): 14-17
  • On the Spatial Motion of a Rigid Body with Line Contact Roth, B., Cai, C. 1988
  • Direct Computation of Grasping Force for Three-Finger Tip Prehension Grasps Transactions of the ASME, Journal of Mechanisms, Transmissions and Automation in Design Roth, B., Ji, Z. 1988; 110: 405-413
  • INSTANTANEOUS PROPERTIES OF MULTI-DEGREES-OF-FREEDOM MOTIONS - LINE TRAJECTORIES JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME Ghosal, A., Roth, B. 1987; 109 (1): 116-124
  • INSTANTANEOUS PROPERTIES OF MULTI-DEGREES-OF-FREEDOM MOTIONS - POINT TRAJECTORIES JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME Ghosal, A., Roth, B. 1987; 109 (1): 107-115
  • Contact Force in Grasping and Kinematic Constraints Roth, B., Ji, Z. 1987
  • of a Hybrid Series-Parallel Manipulator System, Part II: Rate and Force Decomposition Roth, B., Waldron, K., J., Raghavan, M. edited by Shoureshi, R. 1987
  • On the Spatial Motion of a Rigid Body with Point Contact Roth, B., Cai, C. 1987
  • Impact Sensitivity to Mass Distribution of a Planar Manipulator Roth, B., Cai, C. 1987
  • Analytic Design of Two-Revolute Open Chains Roth, B. 1987
  • Robots and the Military: Do They Really Need Each Other? The CPSR Newsletter, v. 5, no. 3, 1987, pp. 1-8. Robotic Research, The Fourth International Symposium Roth, B. edited by Bolles, R. The MIT Press. 1987, 1988: 1–8, 520
  • WORKSPACE AND MOBILITY OF A CLOSED-LOOP MANIPULATOR INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Bajpai, A., Roth, B. 1986; 5 (2): 131-142
  • ON THE PLANAR MOTION OF RIGID BODIES WITH POINT CONTACT MECHANISM AND MACHINE THEORY Cai, C. S., Roth, B. 1986; 21 (6): 453-466
  • Analytic Design of Open Chains Roth, B. edited by Faugeras, O., Giralt, G. 1986
  • Special Grasping Configurations with Dexterous Hands Roth, B., Kerr, J. 1986
  • ANALYSIS OF MULTIFINGERED HANDS INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Kerr, J., Roth, B. 1986; 4 (4): 3-17
  • VERTUT,JEAN - IN MEMORIAM MECHANISM AND MACHINE THEORY Roth, B. 1986; 21 (3): 285-285
  • R&D Issues in Contact Sensing Roth, B. 1985
  • Overview on Advanced Robotics: Manipulation Roth, B. 1985
  • Mechanics: Kinematics and Dynamics Recent Advances in Robotics Roth, B., DeSa, S. edited by Beni, G., Hackwood, S. Wiley Interscience. 1985: 71–130
  • On the Optimal Selection and Placement of Manipulators Theory and Practice of Robots and Manipulators Roth, B., Scheinman, V. edited by Morecki et al., A. Kogan Page Ltd.. 1985: 39–46
  • Control and Mechanics of Simple Manipulator Systems Roth, B. 1985
  • SYNTHESIS OF CONTROL-SYSTEMS FOR MANIPULATORS USING MULTIVARIABLE ROBUST SERVOMECHANISM THEORY INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Desa, S., Roth, B. 1985; 4 (3): 18-34
  • MAPPINGS OF SPATIAL KINEMATICS JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME Ravani, B., Roth, B. 1984; 106 (3): 341-347
  • Screws, Motors, and Wrenches that Cannot be Bought in the Hardware Store Roth, B. edited by Brady, M., Paul, R. 1984
  • STOCK DRIVE PRODUCTS .5. A TABLE OF CONTEMPORARY MANIPULATOR DEVICES ROBOTICS AGE Roth, B. 1984; 6 (1): 34-35
  • SCIENTIFIC FUNDAMENTALS OF ROBOTICS, VOL 1, DYNAMICS OF MANIPULATION ROBOTS, THEORY AND APPLICATION - VUKOBRATOVIC,M, POTKONJAK,V (Book Review) JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME Book Review Authored by: Roth, B. 1984; 106 (1): 2-2
  • ANALYSIS AND DESIGN OF RCCC LINKAGES MECHANISM AND MACHINE THEORY JAMALOV, R. I., Litvin, F. L., Roth, B. 1984; 19 (4-5): 397-407
  • ROBOTS - STATE OF THE ART IN REGARD TO MECHANISMS THEORY JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME Roth, B. 1983; 105 (1): 11-12
  • The Impact of the Arms Race on the Creation and Utilization of Knowledge in The Optimum Utilization of Knowledge Roth, B. edited by Boulding, K., E., Senesh, L. Westview Press. 1983: 295–313
  • Principles of Automation Future Directions in Manufacturing Technology Roth, B. published by Unilever Research, Port Sunlight Laboratory, U.K.. 1983: 72–87
  • Introduction to Robotics Stock Product Drives Data Book Roth, B. 1983; 2 (757): 723-773
  • On the Minimum Sphere Determined by Four Positions of a Rigid Body Roth, B., Chen, Y. 1983
  • Geometricheskie Zadachi Chebichevskikh Priblizhenii S Prilozheniem K Sintezy Sfericheskikh Mekhanizmov Mekhanika Mashin Roth, B., Sarkisyan, Yu, L., Skakhparonyan, S., Sh., Gupta, K. 1983: 57–66
  • KINEMATIC AND FORCE ANALYSIS OF ARTICULATED MECHANICAL HANDS JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME Salisbury, J. K., Roth, B. 1983; 105 (1): 35-41
  • A TABLE OF CONTEMPORARY MANIPULATOR DEVICES ROBOTICS AGE Roth, B. 1983; 5 (5): 30-31
  • MOTION SYNTHESIS USING KINEMATIC MAPPINGS JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME Ravani, B., Roth, B. 1983; 105 (3): 460-467
  • DESIGN CONSIDERATIONS FOR MANIPULATOR WORKSPACE JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME Gupta, K. C., Roth, B. 1982; 104 (4): 704-711
  • A Theory of Parts Mating for Assembly Automation Roth, B., Ohwovoriole, M., S. 1982
  • RATIONAL ROTATION FUNCTIONS AND THE SPECIAL POINTS OF RATIONAL ALGEBRAIC MOTIONS IN THE PLANE MECHANISM AND MACHINE THEORY Chen, Y., BOTTEMA, O., Roth, B. 1982; 17 (5): 335-348
  • INSTANTANEOUS PROPERTIES OF TRAJECTORIES GENERATED BY PLANAR, SPHERICAL, AND SPATIAL RIGID BODY MOTIONS JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME McCarthy, J. M., Roth, B. 1982; 104 (1): 39-51
  • KINEMATIC MAPPINGS .1. CLASSIFICATION OF ALGEBRAIC MOTIONS IN THE PLANE JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME Desa, S., Roth, B. 1981; 103 (3): 585-591
  • Kinematic Mapping Part II: Rational Algebraic Motions in the Plane Trans. ASME, Journal of Mechanical Design Roth, B., DeSa, S. 1981; 103: 712-717
  • AN EXTENSION OF SCREW THEORY JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME OHWOVORIOLE, M. S., Roth, B. 1981; 103 (4): 725-735
  • THE CURVATURE THEORY OF LINE TRAJECTORIES IN SPATIAL KINEMATICS JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME McCarthy, J. M., Roth, B. 1981; 103 (4): 718-724
  • INSTANTANEOUS KINEMATICS OF MULTIPLE-DEGREE-OF-FREEDOM MOTIONS JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME NAYAK, J. H., Roth, B. 1981; 103 (3): 608-620
  • Dimensional Synthesis of Manipulators Roth, B., Shimano, B. 1980
  • On the Theory of Single and Multiple Insertions in Industrial Assemblies Roth, B., Ohwovoriole, M., Hill, J. 1980
  • The Theory of Screws and its Application by F. M. Dimentberg Mechanism and Machine Theory Roth, B., Dimentberg, F., M. 1980; 15 (1): 61-62
  • Kinematic Design for Manipulation Robotics Research Workshop, NSF Roth, B. 1980: 110-118
  • TSCHEBYSCHEFF APPROXIMATIONS OF FINITE POINT SETS WITH APPLICATION TO PLANAR KINEMATIC SYNTHESIS JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME SARKISYAN, Y. L., Gupta, K. C., Roth, B. 1979; 101 (1): 32-40
  • On the Matrices which Represent Two Spatial Positions of a Moving Body Roth, B. 1979
  • Chebychev Approximations of Spatial Point Sets Using Spheres and Planes Trans. ASME, Journal of Mechanical Design Roth, B., Sarkisyan, Y., L., Gupta, K., C. 1979; 101: 499-503
  • Theoretical Kinematics Roth, B., Bottema, O. North Holland Publishing Co.. 1979
  • Chebychev Approximations of Finite Point Sets with Application to Planar Kinematic Synthesis Trans. ASME, Journal of Mechanical Design Roth, B., Sarkisyan, Y., L., Gupta, K., C. 1979; 101: 32-40
  • Chebychev Approximations on Finite Sets of Lines as a Tool in Kinematic Synthesis Roth, B., Sarkisyan, Y., L., Gupta, K., C. 1979
  • SYMMETRICAL ALGEBRAIC MOTIONS IN THE PLANE JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME Desa, S., Roth, B. 1979; 101 (1): 15-19
  • TSCHEBYSCHEFF APPROXIMATIONS OF SPATIAL POINT SETS USING SPHERES AND PLANES JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME SARKISYAN, Y. L., Gupta, K. C., Roth, B. 1979; 101 (3): 499-503
  • Robots Applied Mechanics Reviews Roth, B. 1978; 31: 1511-1519
  • Robotic Aids For the Severely Disabled—Feasibility Assessment Advances in External Control of Human Extremities, Belgrade Roth, B., Leifer, L., Kelley, D., Sachs, J., Perkash, I. 1978: 87-98
  • Position Paper on Manipulator Geometry Roth, B. 1978
  • Robotic Aids for the Severely Disabled—Needs Assessment Roth, B., Leifer, L., Kelley, D., Sachs, J., Perkash, I. 1978
  • APPLICATION OF INSTANTANEOUS INVARIANTS TO ANALYSIS AND SYNTHESIS OF MECHANISMS JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME Roth, B., Yang, A. T. 1977; 99 (1): 97-103
  • On Force Sensing Information and Its Use In Controlling Manipulators Roth, B., Shimano, B. 1977
  • Workshop on New Directions for Kinematics Research Roth, B. edited by Roth, B. 1977
  • A Note on Kinematic Theories Based Upon Approximation Theory of Machines and Mechanisms (in Russian), Academy of Science Moscow Roth, B., Gupta, K., C. 1977: 166-169
  • MOMENTUM BALANCING OF 4-BAR LINKAGES JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME WIEDERRICH, J. L., Roth, B. 1976; 98 (4): 1289-1295
  • Performance Evaluation of Manipulators from a Kinematic Viewpoint Performance Evaluation of Programmable Robots and Manipulators, National Bureau of Standards Roth, B. also published in: Cours de Robotique Toulouse, France. 1976: 39–61, 235–263
  • Willis, Robert Dictionary of Scientific Biography Roth, B. 1976; XIV: 1441-1443
  • Ranges of Motion of Manipulators Theory and Practice of Robots and Manipulators Roth, B., Shimano, B. Elsevier, Holland. 1976: 17–26
  • DYNAMIC SYNTHESIS OF CAMS USING FINITE TRIGONOMETRIC SERIES JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME WIEDERRICH, J. L., Roth, B. 1975; 97 (1): 287-293
  • On Kinematic Curvature Theory for Ruled Surfaces Roth, B., Yang, A., T., Kirson, Y. 1975
  • Design of Low Vibration Cam Profiles Roth, B., Wiederrich, J., L. 1975
  • A General Approximation Theory for Mechanism Synthesis Trans. ASME, J. Applied Mech Roth, B., Gupta, K., C. 1975; 42: 451-457
  • An Improved Least-Squares Method for Designing Function-Generating Mechanisms Trans. ASME Roth, B., Sutherland, G. 1975; 97: 303-307
  • GENERAL APPROXIMATION THEORY FOR MECHANISM SYNTHESIS JOURNAL OF APPLIED MECHANICS-TRANSACTIONS OF THE ASME Gupta, K. C., Roth, B. 1975; 42 (2): 451-457
  • IMPROVED LEAST-SQUARES METHOD FOR DESIGNING FUNCTION-GENERATING MECHANISMS JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME SUTHERLAND, G. H., Roth, B. 1975; 97 (1): 303-307
  • MECHANISM DESIGN - ACCOUNTING FOR MANUFACTURING TOLERANCES AND COSTS IN FUNCTION GENERATING PROBLEMS JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME SUTHERLAND, G. H., Roth, B. 1975; 97 (1): 283-286
  • GENERAL APPROXIMATION THEORY FOR MECHANISMS SYNTHESIS Gupta, K. C., Roth, B. ASME-AMER SOC MECHANICAL ENG. 1975: 102–
  • IMPROVED LEAST-SQUARES METHOD FOR DESIGNING FUNCTION-GENERATING MECHANISMS SUTHERLA, G. H., Roth, B. ASME-AMER SOC MECHANICAL ENG. 1974: 61–61
  • DYNAMIC SYNTHESIS OF CAMS USING FINITE TRIGONOMETRIC SERIES WIEDERRI, J. L., Roth, B. ASME-AMER SOC MECHANICAL ENG. 1974: 60–60
  • A Note on the Design of Revolute-Revolute Cranks Mechanism and Machine Theory Roth, B., Tsai, L., W. 1973; 8 (1): 23-32
  • Spatial Least-Square Approximations Synthesis of a Motion Roth, B., Sarkisyan, Y., L., Gupta, K., C. 1973
  • On the Design of Computer Controlled Manipulators Roth, B., Rastegar, J., Scheinman, V. 1973
  • KINEMATIC GEOMETRY ASSOCIATED WITH LEAST-SQUARE APPROXIMATION OF A GIVEN MOTION JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME SARKISYA, Y. L., Gupta, K. C., Roth, B. 1973; 95 (2): 503-510
  • INCOMPLETELY SPECIFIED DISPLACEMENTS, GEOMETRY AND SPATIAL LINKAGE SYNTHESIS JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME Tsai, L. W., Roth, B., Roth, B. 1973; 95 (2): 603-611
  • NOTE ON DESIGN OF REVOLUTE-REVOLUTE CRANKS MECHANISM AND MACHINE THEORY Tsai, L. W., Roth, B. 1973; 8 (1): 23-31
  • TRANSMISSION INDEX FOR SPATIAL MECHANISMS JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME SUTHERLA, G., Roth, B. 1973; 95 (2): 589-597
  • HIGHER-ORDER PATH CURVATURE IN SPHERICAL KINEMATICS JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME Yang, A. T., Roth, B. 1973; 95 (2): 612-616
  • Oene Bottema Mechanism and Machine Theory Roth, B. 1973; 8 (3): 289-292
  • A Transmission Index for Spatial Mechanisms Trans. ASME Roth, B., Sutherland, G. 1973; 95 (2): 589-597
  • Design of Dyads with Helical, Cylindrical, Spherical, Revolute, and Prismatic Joints Mechanism and Machine Theory Roth, B., Tsai, L., W. 1972; 7 (1): 85-103
  • Point-Path Synthesis of Anti-Parallelogram and Kite Four-Bar Linkages Mechanism and Machine Theory Roth, B., Koetsier, T. 1972; 7 (1): 55-62
  • On the Smallest Circle Determined by Three Positions of a Rigid Body J. of Eng. for Ind., Trans ASME Roth, B., Bottema, O., Koetsier, T. 1971; 93 (1): 328-333
  • The Near-Minimum-Time Control of Open-Loop Articulated Kinematic Chains J. of Dynamic Systems, Measurement and Control, Trans. ASME Roth, B., Kahn, M., E. 1971; 93 (3): 164-172
  • Design of Triads Using the Screw Triangle Chains Roth, B., Tsai, L., W. 1971
  • Design, Kinematics, and Control of Computer Controlled Manipulators VI All Union Conference on New Problems in Theory of Machines and Mechanisms, Leningrad Roth, B. 1971
  • Getriebeforeschungen in den USA und ihre praktische Bedeutung VDI - Berichte Nr. 140 - Konstruktion Leistungsfahiger Machinen mit Kurbel - und Kurvengetrieben Roth, B. 1970
  • Design Equations for the Finitely and Infinitesimally Separated Position Synthesis of Binary Links and Combined Link Chains J. of Eng. for Ind., Trans. ASME Roth, B., Chen, P. 1969; 91: 209-219
  • The Kinematics of Manipulators Under Computer Control Roth, B., Pieper, D., L. 1969
  • A Unified Theory for the Finitely and Infinitesimally Separated Position Problems of Kinematic Synthesis J. of Eng. for Ind., Trans. ASME Roth, B., Chen, P. 1969; 91: 203-208
  • The Design of Binary Cranks with Revolute, Cylindric, and Prismatic Joints J. of Mechanisms Roth, B. 1968; 3 (2): 61-72
  • A Unified Method for the Finitely and Infinitesimally Separated Position Problems of Spatial Kinematic Synthesis Roth, B. 1968
  • The Kinematics of Motion through Finitely Separated Positions J. of Applied Mechanics Roth, B. 1967; 34 (3): 591-598
  • On the Screw Axes and Other Special Lines Associated with Spatial Displacements of a Rigid Body J. of Eng. for Ind. Roth, B. 1967; 89 (1): 102-110
  • The Design of Mechanical Linkwork for Aerospace Roth, B. 1967
  • Finite Position Theory Applied to Mechanism Synthesis J. of Applied Mechanics Roth, B. 1967; 34 (3): 599-605
  • Six Bar Motion Archives for Rational Mechanics and Analysis Roth, B., Freudenstein, F., Primrose, E.J., F. 1967; 24 (1): 22-77
  • An Analytical Investigation of Spatial Burmester Theory Roth, B. 1966
  • On the Multiple Generation of Coupler Curves J. of Eng. for Ind. Roth, B. 1965; 87 (2): 177-183
  • Design of a Faster Card Punch Stanford University Case Program, IBM Corporation Case Study Roth, B., Vesper, K., H. 1964
  • Synthesis of Path-Generating Mechanisms by Numerical Methods J. of Eng. for Ind. Roth, B., Freudenstein, F. 1963; 85 (3): 298-307
  • Mechanical Devices—A Survey of Mechanisms for the Designer Report prepared for Jet Propulsion Laboratory on P.O. Roth, B., Collins, G., W. 1963: 101
  • Numerical Solution of Systems of Nonlinear Equations J. of the Association for Computing Machinery Roth, B., Freudenstein, F. 1963; 10 (4): 550-556
  • Synthesis of Four-Link Path-Generating Mechanisms with Optimum Transmission Characteristics Trans. Seventh Conference on Mechanisms, Purdue University Roth, B., Freudenstein, F., Sandor, G., N. 1962: 44-48