Bernard Roth
Professor of Mechanical Engineering, Emeritus
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
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Emeritus Faculty, Acad Council, Mechanical Engineering
Honors & Awards
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Outstanding Design Educator Award, ASME (2000)
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Pioneer in Robotics Award, IEEE (2000)
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Honorary Professor, Design Program, IIT-Kanpur, India
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Honorary Diploma, Engineering Mechanics, National Technical University of Ukraine (2003)
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Honoris Causa degree, University of Cassino, Italy (2005)
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Honorary Co-chair, International Conference on Robotics and Automation (2007)
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Honorary PhD, University of Paris (Pierre & Marie Curie) (2007)
Professional Education
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PhD, Columbia, Mechanical Engineering (1963)
2024-25 Courses
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Independent Studies (2)
- Engineering Problems
ME 391 (Aut) - Practical Training
ME 299A (Aut, Sum)
- Engineering Problems
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Prior Year Courses
2022-23 Courses
- Advanced Kinematics
ME 330 (Win) - The Designer in Society
ME 315 (Win, Spr) - Transformative Design
ENGR 231 (Spr)
2021-22 Courses
- Kinematic Synthesis of Mechanisms
ME 322 (Win) - The Designer in Society
ME 315 (Win, Spr) - Transformative Design
ENGR 231 (Aut)
- Advanced Kinematics
Stanford Advisees
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Master's Program Advisor
Laurence Kwock, Anna Meurer, Yug Biren Shah, Haocong Yang -
Doctoral (Program)
Stanley Wang
All Publications
- The key to sparking innovation lies in design thinking Emotional-Link.. Japan. 2023 https://emotional-link.co.jp/roth-prof/
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The origin and evolution of Stanford University's design thinking: From product design to design thinking in innovation management
JOURNAL OF PRODUCT INNOVATION MANAGEMENT
2021
View details for DOI 10.1111/jpim.12594
View details for Web of Science ID 000692028500001
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Visualising professional vision interactions in design reviews
CODESIGN-INTERNATIONAL JOURNAL OF COCREATION IN DESIGN AND THE ARTS
2016; 12 (1-2): 73-92
View details for DOI 10.1080/15710882.2015.1135245
View details for Web of Science ID 000373015300006
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On the advantages of instantaneous invariants and geometric kinematics
MECHANISM AND MACHINE THEORY
2015; 89: 5-13
View details for DOI 10.1016/j.mechmachtheory.2014.10.009
View details for Web of Science ID 000352141300003
- Acting with Creative Confidence: Developing a Creative Agency Assessment Tool Design Thinking Research: Measuring Performance in Context. 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. 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. edited by Plattner, H., Meinel, C., Leifer, L. Springer Verlag. 2012: 13–34
- Ferdinand Freudenstein Indian Academy of Sciences, Bangalore, India 2010; 15 (8): 690-698
- Navigating the Barriers to Interdisciplinary Design Education: Lessons Learned from the NSF Design Workshop Series 2010
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Large workspace haptic devices - A new actuation approach
16th Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems
IEEE COMPUTER SOC. 2008: 185–192
View details for Web of Science ID 000254949300027
- Forward Springer Handbook of Robotics edited by Siciliano, B., Khatib, O. Springer. 2008: v-ix
- In Memory of Professor Ferdinand Freudenstein, 1926–2006 Journal of Mechanical Design 2007; 129: 241-2
- Design Thinking Science of Machines (in Japanese) 2007; 59 (1): 149-154
- Ferdinand Freudenstein Distinguished Figures in Mechanism and Machine Science: Their Contributions and Legacies edited by Ceccarelli, M. Springer Verlag, Berlin. 2007: 151–181
- Advances in Robot Kinematics, Mechanisms and Motion edited by Lenarcic, J., Roth, B. Springer, Dordrecht, The Netherlands. 2006
- Design Thinking 2006
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Finding geometric invariants from time-based invariants for spherical and spatial motions
JOURNAL OF MECHANICAL DESIGN
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 2005
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Playing it safe
IEEE ROBOTICS & AUTOMATION MAGAZINE
2004; 11 (2): 12-21
View details for Web of Science ID 000222429600004
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A new actuation approach for human friendly robot design
8th International Symposium on Experimental Robotics (ISER 02)
SAGE PUBLICATIONS LTD. 2004: 379–98
View details for DOI 10.1177/0278364904042193
View details for Web of Science ID 000221631700007
- Advances in Creative Engineering and Education 2004
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A new actuation approach for human friendly robot design
IEEE International Conference on Robotics and Automation
IEEE. 2004: 249–254
View details for Web of Science ID 000221794800040
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Time-invariant properties of planar motions
9th International Symposium on Advances in Robot Kinematics
SPRINGER. 2004: 79–88
View details for Web of Science ID 000222855800009
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Actuation methods for human-centered robotics and associated control challenges
2nd International Workshop on Control Problems in Robotics and Automation
SPRINGER-VERLAG BERLIN. 2003: 105–119
View details for Web of Science ID 000181073300007
- New Exciting Ideas in Old Areas 2003
- Actuation Methods for Human-centered Robotics and Associated Control Challenges Control Problems in Robotics edited by Bicchi, A., Christensen, H., Pratticizzo, D. Springer Tracts in Advanced Robotics. 2003
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A new actuation approach for human friendly robot design
8th International Symposium on Experimental Robotics (ISER 02)
SPRINGER-VERLAG BERLIN. 2003: 113–122
View details for Web of Science ID 000181801300009
- Toward a Human-centered Intrinsically Safe Robotic Manipulator 2002
- A New Actuation Approach for Human Friendly Robot Design 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 edited by Morecki, A., Bianchi, G., Rzymkowski, C. 2001
- The Search for the Fundamental Principles of Mechanism Design edited by Ceccerelli, M. 2000
- IFToMM from a Personal Perspective edited by Ceccerelli, M. 2000
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On the kinematic analysis of robotic mechanisms
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
1999; 18 (12): 1147-1160
View details for Web of Science ID 000083824900001
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Solving the input output problem for planar mechanisms
JOURNAL OF MECHANICAL DESIGN
1999; 121 (2): 206-211
View details for Web of Science ID 000080911900006
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In-parallel manipulators: A framework on how to model actuation schemes and a study of their effects on singular postures
JOURNAL OF MECHANICAL DESIGN
1999; 121 (1): 2-8
View details for Web of Science ID 000079226300002
- Second Order Approximations for Ruled-Surface Trajectories 1999
- Chebychev Approximation Methods for Evaluating Conicity Measurement 1998; 23: 63-76
- Manufacturing edited by Shirai, Y., Hirose, S. 1998
- The Effects of Actuation Schemes on the Dynamic Performance of Serial Manipulators 1998
- Formulation and Solution for the Direct and Inverse Kinematics Problems for Mechanism and Mechatronic Systems Computational Methods in Mechanical Systems edited by Angeles, J., Zakhariev, E. Springer. 1998: 33–52
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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
SPRINGER-VERLAG BERLIN. 1998: 33–52
View details for Web of Science ID 000078629500002
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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
1997; 21 (1): 43-56
View details for Web of Science ID 000071252300005
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The effects of actuation schemes on the kinematic performance of manipulators
JOURNAL OF MECHANICAL DESIGN
1997; 119 (2): 212-217
View details for Web of Science ID A1997XF57000009
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Connectivity in open and closed loop robotic mechanisms
MECHANISM AND MACHINE THEORY
1997; 32 (3): 279-294
View details for Web of Science ID A1997WG37100001
- The Design of Projects and Contests — The Rules of the Game 1997
- Sine–Cosine Polynomial Systems edited by Giralt, G., Herzinger, G. 1996
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The direct kinematics of the general 6-5 Stewart-Gough mechanism
5th International Symposium on Advances in Robot Kinematics
SPRINGER. 1996: 7–16
View details for Web of Science ID A1996BH34D00001
- Designing Manipulators for Both Kinematic and Dynamic Isotropic Properties edited by Morecki et al, A. 1996
- The Direct Kinematics of the General 6–5 Stewart–Gough Mechanism Recent Advances in Robot Kinematics 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 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 1995; 117(B): 71-79
- Elimination Methods for Spatial Synthesis Problems 1995
- Analysis of Singular Configurations of Manipulators and Mechanisms 1995
- Analysis of Overconstrained Mechanisms J. of Mechanical Design, Trans. ASME 1995; 117: 69-74
- How Can Robots Look Like Human Beings 1995
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POSITION-FORCE SYNTHESIS OF CLOSED-LOOP LINKAGES
JOURNAL OF MECHANICAL DESIGN
1994; 116 (1): 155-162
View details for Web of Science ID A1994NE87400024
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A UNIFIED THEORY FOR KINEMATIC SYNTHESIS
JOURNAL OF MECHANICAL DESIGN
1994; 116 (1): 144-154
View details for Web of Science ID A1994NE87400023
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ANALYTIC EXPRESSIONS FOR THE FINITE SCREW SYSTEMS
MECHANISM AND MACHINE THEORY
1994; 29 (2): 207-222
View details for Web of Science ID A1994MU89000002
- Analysis and Synthesis of Overconstrained Mechanisms Mechanism Synthesis and Analysis edited by Pennock, G. ASME, New York. 1994: 115–113
- Computational Advances in Robot Kinematics Advances in Robot Kinematics and Computational Geometry edited by Lenarcic, J., Ravani, B. Kluwer Academic Publishers, Dordrecht. 1994: 7–16
- Experiential Design in Engineering Education edited by Tornkvist, S. 1994
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A UNIFIED THEORY FOR FINITE, INFINITESIMAL, AND HYBRID KINEMATIC SYNTHESIS
JOURNAL OF MECHANICAL DESIGN
1993; 115 (3): 552-559
View details for Web of Science ID A1993MA45900029
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INVERSE KINEMATICS OF THE GENERAL 6R-MANIPULATOR AND RELATED LINKAGES
JOURNAL OF MECHANICAL DESIGN
1993; 115 (3): 502-508
View details for Web of Science ID A1993MA45900022
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PRODUCTION AND CHARACTERIZATION OF A SPECIFIC 5-HT(2) RECEPTOR ANTIBODY
BRAIN RESEARCH
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
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DIMENSIONAL SYNTHESIS OF CLOSED-LOOP LINKAGES TO MATCH FORCE AND POSITION SPECIFICATIONS
JOURNAL OF MECHANICAL DESIGN
1993; 115 (2): 194-198
View details for Web of Science ID A1993LK09100002
- Integrating Creativity into the Mechanical Engineering Curriculum Innovations in Engineering Design Education, ASME 1993: 93-98
- Best Placement of Telescoping Robots in Environments with Obstacles 1993
- The Synthesis of Spatial Linkages Section 5.4 in Modern Kinematics: Developments in the Last Forty Years edited by Erdman, A., G. John Wiley & Sons, NY. 1993: 159–164
- New Manipulators with Simple Inverse Kinematics 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 1993
- Robotics Research, The Sixth International Symposium PA edited by Kanada, T., Valley, H. 1993
- Computations in Kinematics Computational Kinematic edited by Angeles, J., Homel, J., Kovacs, P. Kluwer Academic Publishers, Dordrecht. 1993: 3–14
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STATICS OF IN-PARALLEL MANIPULATOR SYSTEMS
DESIGN TECHNICAL CONF
ASME-AMER SOC MECHANICAL ENG. 1992: 564–68
View details for Web of Science ID A1992KF49900006
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BINDING OF TYPICAL AND ATYPICAL ANTIPSYCHOTIC AGENTS TO TRANSIENTLY EXPRESSED 5-HT1C RECEPTORS
JOURNAL OF PHARMACOLOGY AND EXPERIMENTAL THERAPEUTICS
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
- Best Estimates for the Construction of Robots in Environments with Obstacles 1992
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CHRONIC MIANSERIN TREATMENT DECREASES 5-HT2 RECEPTOR-BINDING WITHOUT ALTERING 5-HT2 RECEPTOR MESSENGER-RNA LEVELS
EUROPEAN JOURNAL OF PHARMACOLOGY-MOLECULAR PHARMACOLOGY SECTION
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
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DEVELOPMENTAL REGULATION OF 5-HT2 AND 5-HT1C MESSENGER-RNA AND RECEPTOR LEVELS
DEVELOPMENTAL BRAIN RESEARCH
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 1991
- On the Number of Links and Placement of Telescoping Manipulators in an Environment with Obstacles 1991
- A General Solution of the Inverse Kinematics of All Series Chains 1991
- The Design of a High-Performance Force-Controlled Manipulator 1991
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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
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 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 edited by Miura, H., Arimoto, S. MIT Press. 1990: 263–270
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THE MORAL ARGUMENTS AGAINST MILITARY RESEARCH
ANNALS OF THE NEW YORK ACADEMY OF SCIENCES
1989; 577: 21-33
View details for Web of Science ID A1989DB05800004
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Kinematics of a Hybrid Series-Parallel Manipulation System
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
1989; 111 (2): 211-221
View details for Web of Science ID 000207840000014
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CROSS-LINKING OF [I-125] BETA-ENDORPHIN TO MU-OPIOID RECEPTORS DURING DEVELOPMENT
DEVELOPMENTAL BRAIN RESEARCH
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
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RAT-BRAIN PROTEIN KINASE-C - PURIFICATION, ANTIBODY-PRODUCTION, AND QUANTIFICATION IN DISCRETE REGIONS OF HIPPOCAMPUS
JOURNAL OF NEUROCHEMISTRY
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 1989
- Design and Kinematics for Force and Velocity Control of Manipulators and End-Effectors Ch. 12 of Robotics Science 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 1989; 111: 315-320
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A NEW APPROACH FOR KINEMATIC RESOLUTION OF REDUNDANCY
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
1988; 7 (2): 22-35
View details for Web of Science ID A1988M950500002
- New Approach for Kinematic Resolution of Redundancy The International Journal of Robotics Research 1988; 7 (2): 22-35
- Position Errors of Manipulators 1988
- Kinematic Structure for a Force Controlled Redundant Manipulator 1988
- Lessons from Abroad for Educators in the USA - Some Personal Views and Perspectives Mechanical Engineering News 1988; 25 (1, 2, 3): 14-17
- On the Spatial Motion of a Rigid Body with Line Contact 1988
- Direct Computation of Grasping Force for Three-Finger Tip Prehension Grasps Transactions of the ASME, Journal of Mechanisms, Transmissions and Automation in Design 1988; 110: 405-413
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INSTANTANEOUS PROPERTIES OF MULTI-DEGREES-OF-FREEDOM MOTIONS - LINE TRAJECTORIES
JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME
1987; 109 (1): 116-124
View details for Web of Science ID A1987G846600016
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INSTANTANEOUS PROPERTIES OF MULTI-DEGREES-OF-FREEDOM MOTIONS - POINT TRAJECTORIES
JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME
1987; 109 (1): 107-115
View details for Web of Science ID A1987G846600015
- Contact Force in Grasping and Kinematic Constraints 1987
- of a Hybrid Series-Parallel Manipulator System, Part II: Rate and Force Decomposition edited by Shoureshi, R. 1987
- On the Spatial Motion of a Rigid Body with Point Contact 1987
- Impact Sensitivity to Mass Distribution of a Planar Manipulator 1987
- Analytic Design of Two-Revolute Open Chains 1987
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WORKSPACE AND MOBILITY OF A CLOSED-LOOP MANIPULATOR
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
1986; 5 (2): 131-142
View details for Web of Science ID A1986D279200014
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ON THE PLANAR MOTION OF RIGID BODIES WITH POINT CONTACT
MECHANISM AND MACHINE THEORY
1986; 21 (6): 453-466
View details for Web of Science ID A1986F445800002
- Analytic Design of Open Chains edited by Faugeras, O., Giralt, G. 1986
- Special Grasping Configurations with Dexterous Hands 1986
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ANALYSIS OF MULTIFINGERED HANDS
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
1986; 4 (4): 3-17
View details for Web of Science ID A1986A084100001
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VERTUT,JEAN - IN MEMORIAM
MECHANISM AND MACHINE THEORY
1986; 21 (3): 285-285
View details for Web of Science ID A1986D796900009
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SYNTHESIS OF CONTROL-SYSTEMS FOR MANIPULATORS USING MULTIVARIABLE ROBUST SERVOMECHANISM THEORY
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
1985; 4 (3): 18-34
View details for Web of Science ID A1985ATS5700003
- R&D Issues in Contact Sensing 1985
- Overview on Advanced Robotics: Manipulation 1985
- Mechanics: Kinematics and Dynamics Recent Advances in Robotics 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 edited by Morecki et al., A. Kogan Page Ltd.. 1985: 39–46
- Control and Mechanics of Simple Manipulator Systems 1985
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MAPPINGS OF SPATIAL KINEMATICS
JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME
1984; 106 (3): 341-347
View details for Web of Science ID A1984TK99000014
- Screws, Motors, and Wrenches that Cannot be Bought in the Hardware Store edited by Brady, M., Paul, R. 1984
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STOCK DRIVE PRODUCTS .5. A TABLE OF CONTEMPORARY MANIPULATOR DEVICES
ROBOTICS AGE
1984; 6 (1): 34-35
View details for Web of Science ID A1984RV26700004
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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
1984; 106 (1): 2-2
View details for Web of Science ID A1984SP27400001
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ANALYSIS AND DESIGN OF RCCC LINKAGES
MECHANISM AND MACHINE THEORY
1984; 19 (4-5): 397-407
View details for Web of Science ID A1984AAL1300002
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ROBOTS - STATE OF THE ART IN REGARD TO MECHANISMS THEORY
JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME
1983; 105 (1): 11-12
View details for Web of Science ID A1983SK93600002
- The Impact of the Arms Race on the Creation and Utilization of Knowledge in The Optimum Utilization of Knowledge edited by Boulding, K., E., Senesh, L. Westview Press. 1983: 295–313
- Principles of Automation Future Directions in Manufacturing Technology published by Unilever Research, Port Sunlight Laboratory, U.K.. 1983: 72–87
- Introduction to Robotics Stock Product Drives Data Book 1983; 2 (757): 723-773
- On the Minimum Sphere Determined by Four Positions of a Rigid Body 1983
- Geometricheskie Zadachi Chebichevskikh Priblizhenii S Prilozheniem K Sintezy Sfericheskikh Mekhanizmov Mekhanika Mashin 1983: 57–66
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A TABLE OF CONTEMPORARY MANIPULATOR DEVICES
ROBOTICS AGE
1983; 5 (5): 30-31
View details for Web of Science ID A1983RE61900004
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KINEMATIC AND FORCE ANALYSIS OF ARTICULATED MECHANICAL HANDS
JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME
1983; 105 (1): 35-41
View details for Web of Science ID A1983SK93600007
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MOTION SYNTHESIS USING KINEMATIC MAPPINGS
JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME
1983; 105 (3): 460-467
View details for Web of Science ID A1983SP01600030
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DESIGN CONSIDERATIONS FOR MANIPULATOR WORKSPACE
JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME
1982; 104 (4): 704-711
View details for Web of Science ID A1982PM59900003
- A Theory of Parts Mating for Assembly Automation 1982
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INSTANTANEOUS PROPERTIES OF TRAJECTORIES GENERATED BY PLANAR, SPHERICAL, AND SPATIAL RIGID BODY MOTIONS
JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME
1982; 104 (1): 39-51
View details for Web of Science ID A1982NA09300004
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RATIONAL ROTATION FUNCTIONS AND THE SPECIAL POINTS OF RATIONAL ALGEBRAIC MOTIONS IN THE PLANE
MECHANISM AND MACHINE THEORY
1982; 17 (5): 335-348
View details for Web of Science ID A1982PS76800005
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INSTANTANEOUS KINEMATICS OF MULTIPLE-DEGREE-OF-FREEDOM MOTIONS
JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME
1981; 103 (3): 608-620
View details for Web of Science ID A1981LZ43100007
- Kinematic Mapping Part II: Rational Algebraic Motions in the Plane Trans. ASME, Journal of Mechanical Design 1981; 103: 712-717
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AN EXTENSION OF SCREW THEORY
JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME
1981; 103 (4): 725-735
View details for Web of Science ID A1981MM05700010
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KINEMATIC MAPPINGS .1. CLASSIFICATION OF ALGEBRAIC MOTIONS IN THE PLANE
JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME
1981; 103 (3): 585-591
View details for Web of Science ID A1981LZ43100004
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THE CURVATURE THEORY OF LINE TRAJECTORIES IN SPATIAL KINEMATICS
JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME
1981; 103 (4): 718-724
View details for Web of Science ID A1981MM05700009
- The Theory of Screws and its Application by F. M. Dimentberg Mechanism and Machine Theory 1980; 15 (1): 61-62
- On the Theory of Single and Multiple Insertions in Industrial Assemblies 1980
- Kinematic Design for Manipulation Robotics Research Workshop, NSF 1980: 110-118
- Dimensional Synthesis of Manipulators 1980
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TSCHEBYSCHEFF APPROXIMATIONS OF FINITE POINT SETS WITH APPLICATION TO PLANAR KINEMATIC SYNTHESIS
JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME
1979; 101 (1): 32-40
View details for Web of Science ID A1979GG99600004
- On the Matrices which Represent Two Spatial Positions of a Moving Body 1979
- Chebychev Approximations of Spatial Point Sets Using Spheres and Planes Trans. ASME, Journal of Mechanical Design 1979; 101: 499-503
- Theoretical Kinematics North Holland Publishing Co.. 1979
- Chebychev Approximations of Finite Point Sets with Application to Planar Kinematic Synthesis Trans. ASME, Journal of Mechanical Design 1979; 101: 32-40
- Chebychev Approximations on Finite Sets of Lines as a Tool in Kinematic Synthesis 1979
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SYMMETRICAL ALGEBRAIC MOTIONS IN THE PLANE
JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME
1979; 101 (1): 15-19
View details for Web of Science ID A1979GG99600001
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TSCHEBYSCHEFF APPROXIMATIONS OF SPATIAL POINT SETS USING SPHERES AND PLANES
JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME
1979; 101 (3): 499-503
View details for Web of Science ID A1979HE06200017
- Robots Applied Mechanics Reviews 1978; 31: 1511-1519
- Robotic Aids For the Severely Disabled—Feasibility Assessment Advances in External Control of Human Extremities, Belgrade 1978: 87-98
- Position Paper on Manipulator Geometry 1978
- Robotic Aids for the Severely Disabled—Needs Assessment 1978
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APPLICATION OF INSTANTANEOUS INVARIANTS TO ANALYSIS AND SYNTHESIS OF MECHANISMS
JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME
1977; 99 (1): 97-103
View details for Web of Science ID A1977CW74700017
- On Force Sensing Information and Its Use In Controlling Manipulators 1977
- Workshop on New Directions for Kinematics Research edited by Roth, B. 1977
- A Note on Kinematic Theories Based Upon Approximation Theory of Machines and Mechanisms (in Russian), Academy of Science Moscow 1977: 166-169
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MOMENTUM BALANCING OF 4-BAR LINKAGES
JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME
1976; 98 (4): 1289-1295
View details for Web of Science ID A1976CM83900030
- Performance Evaluation of Manipulators from a Kinematic Viewpoint Performance Evaluation of Programmable Robots and Manipulators, National Bureau of Standards also published in: Cours de Robotique Toulouse, France. 1976: 39–61, 235–263
- Willis, Robert Dictionary of Scientific Biography 1976; XIV: 1441-1443
- Ranges of Motion of Manipulators Theory and Practice of Robots and Manipulators Elsevier, Holland. 1976: 17–26
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DYNAMIC SYNTHESIS OF CAMS USING FINITE TRIGONOMETRIC SERIES
JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME
1975; 97 (1): 287-293
View details for Web of Science ID A1975V705300043
- On Kinematic Curvature Theory for Ruled Surfaces 1975
- A General Approximation Theory for Mechanism Synthesis Trans. ASME, J. Applied Mech 1975; 42: 451-457
- An Improved Least-Squares Method for Designing Function-Generating Mechanisms Trans. ASME 1975; 97: 303-307
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GENERAL APPROXIMATION THEORY FOR MECHANISM SYNTHESIS
JOURNAL OF APPLIED MECHANICS-TRANSACTIONS OF THE ASME
1975; 42 (2): 451-457
View details for Web of Science ID A1975AF28600036
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IMPROVED LEAST-SQUARES METHOD FOR DESIGNING FUNCTION-GENERATING MECHANISMS
JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME
1975; 97 (1): 303-307
View details for Web of Science ID A1975V705300045
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MECHANISM DESIGN - ACCOUNTING FOR MANUFACTURING TOLERANCES AND COSTS IN FUNCTION GENERATING PROBLEMS
JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME
1975; 97 (1): 283-286
View details for Web of Science ID A1975V705300042
- Design of Low Vibration Cam Profiles 1975
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GENERAL APPROXIMATION THEORY FOR MECHANISMS SYNTHESIS
ASME-AMER SOC MECHANICAL ENG. 1975: 102–
View details for Web of Science ID A1975AJ00600095
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IMPROVED LEAST-SQUARES METHOD FOR DESIGNING FUNCTION-GENERATING MECHANISMS
ASME-AMER SOC MECHANICAL ENG. 1974: 61–61
View details for Web of Science ID A1974U617600029
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DYNAMIC SYNTHESIS OF CAMS USING FINITE TRIGONOMETRIC SERIES
ASME-AMER SOC MECHANICAL ENG. 1974: 60–60
View details for Web of Science ID A1974U617600027
- A Note on the Design of Revolute-Revolute Cranks Mechanism and Machine Theory 1973; 8 (1): 23-32
- Oene Bottema Mechanism and Machine Theory 1973; 8 (3): 289-292
- Spatial Least-Square Approximations Synthesis of a Motion 1973
- A Transmission Index for Spatial Mechanisms Trans. ASME 1973; 95 (2): 589-597
- On the Design of Computer Controlled Manipulators 1973
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KINEMATIC GEOMETRY ASSOCIATED WITH LEAST-SQUARE APPROXIMATION OF A GIVEN MOTION
JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME
1973; 95 (2): 503-510
View details for Web of Science ID A1973P697300013
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INCOMPLETELY SPECIFIED DISPLACEMENTS, GEOMETRY AND SPATIAL LINKAGE SYNTHESIS
JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME
1973; 95 (2): 603-611
View details for Web of Science ID A1973P697300027
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NOTE ON DESIGN OF REVOLUTE-REVOLUTE CRANKS
MECHANISM AND MACHINE THEORY
1973; 8 (1): 23-31
View details for Web of Science ID A1973P900700002
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TRANSMISSION INDEX FOR SPATIAL MECHANISMS
JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME
1973; 95 (2): 589-597
View details for Web of Science ID A1973P697300025
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HIGHER-ORDER PATH CURVATURE IN SPHERICAL KINEMATICS
JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME
1973; 95 (2): 612-616
View details for Web of Science ID A1973P697300028
- Design of Dyads with Helical, Cylindrical, Spherical, Revolute, and Prismatic Joints Mechanism and Machine Theory 1972; 7 (1): 85-103
- Point-Path Synthesis of Anti-Parallelogram and Kite Four-Bar Linkages Mechanism and Machine Theory 1972; 7 (1): 55-62
- On the Smallest Circle Determined by Three Positions of a Rigid Body J. of Eng. for Ind., Trans ASME 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 1971; 93 (3): 164-172
- Design of Triads Using the Screw Triangle Chains 1971
- Design, Kinematics, and Control of Computer Controlled Manipulators VI All Union Conference on New Problems in Theory of Machines and Mechanisms, Leningrad 1971
- Getriebeforeschungen in den USA und ihre praktische Bedeutung VDI - Berichte Nr. 140 - Konstruktion Leistungsfahiger Machinen mit Kurbel - und Kurvengetrieben 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 1969; 91: 209-219
- The Kinematics of Manipulators Under Computer Control 1969
- A Unified Theory for the Finitely and Infinitesimally Separated Position Problems of Kinematic Synthesis J. of Eng. for Ind., Trans. ASME 1969; 91: 203-208
- The Design of Binary Cranks with Revolute, Cylindric, and Prismatic Joints J. of Mechanisms 1968; 3 (2): 61-72
- A Unified Method for the Finitely and Infinitesimally Separated Position Problems of Spatial Kinematic Synthesis 1968
- Six Bar Motion Archives for Rational Mechanics and Analysis 1967; 24 (1): 22-77
- On the Screw Axes and Other Special Lines Associated with Spatial Displacements of a Rigid Body J. of Eng. for Ind. 1967; 89 (1): 102-110
- The Design of Mechanical Linkwork for Aerospace 1967
- The Kinematics of Motion through Finitely Separated Positions J. of Applied Mechanics 1967; 34 (3): 591-598
- Finite Position Theory Applied to Mechanism Synthesis J. of Applied Mechanics 1967; 34 (3): 599-605
- An Analytical Investigation of Spatial Burmester Theory 1966
- On the Multiple Generation of Coupler Curves J. of Eng. for Ind. 1965; 87 (2): 177-183
- Design of a Faster Card Punch Stanford University Case Program, IBM Corporation Case Study 1964
- Numerical Solution of Systems of Nonlinear Equations J. of the Association for Computing Machinery 1963; 10 (4): 550-556
- Mechanical Devices—A Survey of Mechanisms for the Designer Report prepared for Jet Propulsion Laboratory on P.O. 1963: 101
- Synthesis of Path-Generating Mechanisms by Numerical Methods J. of Eng. for Ind. 1963; 85 (3): 298-307
- Synthesis of Four-Link Path-Generating Mechanisms with Optimum Transmission Characteristics Trans. Seventh Conference on Mechanisms, Purdue University 1962: 44-48
- Measures of Error in Linkage Synthesis ibid : 861-866
- 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 edited by Bolles, R. The MIT Press. 1987, 1988: 1–8, 520
- Multi-Degree-of-Freedom Mechanical Systems
- Structural Parameters which Reduce the Number of Manipulator Configuration Robotics, Spatial Mechanisms and Mechanical Systems, also in J. of Mechanical Design, Trans. ASME 1992, 1994; 45, 116: 359-366, 3-10
- 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 1990, 1993; 25, 115: 461-469, 552-559
- Kinematics of a Hybrid Series-Parallel Manipulator System, Part I: Position Kinematics ibid : 127-136
- Algebraic Line Symmetric Motions ibid : 1287-1290
- On the Geometry of Spatial Polygons and Screw Polygons edited by McCarthy, J., Michael 1996, 1997