Publications

Mobile Robotics for Manufacturing, Inspection

Qualls, J., Canfield, S. L., and A. Shibakov, “Kinematic Control of a Mobile Robot Performing Manufacturing Tasks on Non-Planar Surfaces,” Journal of Automation, Mobile Robotics and Intelligent Systems, Sent to Setting, 11/7/16, 2016.

Canfield, S., Qualls, J., Shibakov, A., and T. Hill, “Kinematics Analysis of skid-Steer Mobile Robot Operating on Non-Planar Surfaces,” Proc. Of the 2016 ASME International Design Engineering Technical Conferences, Charlotte, NC., IDETC2016-60303, Aug. 2016.

Canfield, S. L. and S. Zuccaro, “Evaluation of a Mobile Welding Platform for Remotely Operated Repairs,” Proceedings of the ANS D&RS (Decommissioning and Robotic Systems) 2016, Pittsburg, PA, Aug 2016.

Kumar, P., Canfield, S. L., and J. Qualls, “Modeling of Climbing Robots for non-Planar Surfaces,” Proceedings of the ANS D&RS (Decommissioning and Robotic Systems) 2016, Pittsburg, PA, Aug 2016.

 

Qualls, J., Hill, T., Shibakov, A., and S.L.  Canfield, “Kinematic analysis of a Mobile Robot Performing Manufacturing Tasks on Non-planar Surfaces,” Proc. of the 2015 ASME International Design Engineering Technical Conferences, Boston MA, Aug. 2015, DETC2015-47637.

Canfield, S. L., Qualls, J. and A. Shibakov, “Kinematic and Dynamic Evaluation of Mobile Robots Performing Welding Tasks,” Proc. of the 2014 ASME International Design Engineering Technical Conferences, Buffalo NY, Aug. 2014, DETC2014-35109.

Canfield, S. L., Langley, D. L. and A. Shibakov, “Developing Metrics for Comparison of Mobile Robots performing Welding Tasks, “ Proc. of the 2013 ASME International Design Engineering Technical Conferences, Portland OR, Aug. 4-7, 2013, DETC2013-13672.

Stacy, J., Langley, D. and S. L. Canfield, “Process Qualification for a Mobile Robotic Welding System Through Manipulability,” Proc. of the 2012 ASME International Design Engineering Technical Conferences, Chicago IL, Aug. 12-15, 2012, DETC2012-71382.

Stacy, J and S. L. Canfield, “Theoretical and Empirical Validation of a Mobile Robotic Welding Platform,” the Welding Journal, Vol. 91, No. 12, December, 2012, pp. 338 -345.

Kumar, P., Hill, T. W., Bryant, D.A. and S. L. Canfield, “Modeling and Design of a Linkage-Based Suspension for Tracked-Type Climbing Mobile Robotic Systems,” Proc. of the 2011 ASME International Design Engineering Technical Conferences, Washington, DC, Aug. 29-31, 2011, DETC2011-48555

O’toole, A and S. L. Canfield, “Developing a Kinematic Estimation Model for a Climbing Mobile Robotic Welding System,” Proc. of the 2010 ASME International Design Engineering Technical Conferences, Montreal Quebec, Canada, Aug. 15-18, 2010, DETC2010-28878.

Canfield, S. L., and J. Beard,”A Model for Optimization and Control of Spatial Compliant Manipulators,” International Journal of Robotics and Automation, Vol. 21, n 1, pp. 10-18, 2006

“Development of a Self-Reconfigurable Chassis for a Tower Climbing Robot,” with J. W. Beard, Sixth Applied Mechanisms and Robotics Conference, Cincinnati, OH, December 12-15, 1999

“Optimal Synthesis of a Robomech, Procedure and Application,” with G. Kolanupaka and A. Smaili, DETC’99, the 1999 ASME Design Engineering Technical Conferences, Las Vegas, Nevada, September 1999

“Reconfigurable Robot for Tower Climbing and Manipulation,” with J. Beard, American Nuclear Society, 8^th Topical Meeting on Robotics and Remote Systems, Pittsburgh, PA, April 25-29, 1999

“Uniformity as the Guide to Evaluation of Dexterous Manipulator Workspaces,” with R.R. Soper and C.F. Reinholtz, 1997 ASME Design Automation Conference, Sacramento, CA, September 15-20, 1997 DETC97/DAC-3969

“New Matrix-Theory-Based Definitions for Manipulator Dexterity,” with R.R. Soper, C.F. Reinholtz, and D. Mook, 1997 ASME Design Automation Conference, Sacramento, CA, September 15-20, 1997, DETC97/DAC-4410

“Dynamic Force Analysis of the Carpal Wrist,” with R.R. Soper and C.F. Reinholtz, 1997 ASME Design Automation Conference, Sacramento, CA, September 15-20, 1997, DETC97/DAC-3970

“Development of the Carpal Robotic Wrist,” with C.F. Reinholtz, Fifth International Symposium on Experimental Robotics, Barcelona Catalonia, June 15-18, 1997, pp. 360-371

Additive Manufacturing

Hill, S. and S. L. Canfield, “An Assessment of Fused Deposition Modeling for the Manufacturing of Flexural Pivots in an Anthropomorphic Robotic Hand Design,” Proc. Of the 2016 ASME International Design Engineering Technical Conference, Charlotte, NC., Aug. 2016 IDETC2016-60253.

Engineering Education

Canfield, S. L., Hill, T. and S. Zuccaro, “Creating a Concept Inventory Set of a Kinematics and Dynamics Machinery Course to Support Lectures in a Flipped Classroom Environment,” Proc. Of the 2016 ASME International Design Engineering Technical Conference, Charlotte, NC., Aug. 2016 IDETC2016-60367.

Canfield, S.L. and S. Zuccaro, “Digital homework for Kinematics and Dynamics of Machinery”, Int. Jrl for Mech. Eng. Educ., Vol. 44, 2: pp. 165-182, 2016.

Canfield, S. L., Hill, S. Hill, T., and S. Zuccaro, “Creating a Digital Homework Set for a Kinematics and Dynamics of Machinery Course,” Proc. of the 2015 ASME International Design Engineering Technical Conferences, Boston MA, Aug. 2015, DETC2015-47558.

Canfield, S. L., and S. Ghafoor, “A Matlab-Based Toolkit to program Microcontrollers for use in Teaching Mechanisms and Robotics,” Proc. of the 2014 ASME International Design Engineering Technical Conferences, Buffalo NY, Aug. 2014, DETC2014-35355.

Parker, J., Canfield, S. L. and S. Ghafoor, “Using Hardware-based Programming Experiences to Enhance Student Learning in a Junior-level Systems Modeling Course,” Proceedings of the 2014 ASEE Annual Conference, Indianapolis, IN, June 15-18, 2014.

Canfield, S. L., Ghafoor, S., and M. A. Abdelrahman, “Enhancing the Programming Experience for First-Year Engineering Students through Hands-on Integrated Computer Experiences,” Journal of Stem Education, Vol 13, No 4, July-Sept. 2012, pp. 43-54.

Ghafoor, S., Canfield, S. L., Kelley, M., and T. Hill, “Assessment of Student Attitudes and Its Impact in a Hands-On Programming Model for the Introductory Programming Course,” Proceedings of the 2011 ASEE Middle Atlantic Conference, Philadelphia, PA, October 29-31, 2011.

Canfield, S. L, and L. Smith, “Providing Real-World Mechanism Design Experience through the Early Intevention and Mechanical Engineering (EIME) Project,” Proc. of the 2010 ASME International Design Engineering Technical Conferences, Montreal Quebec, Canada, Aug. 15-18, 2010, DETC2010-29019.

Canfield, S. L., and M. A. Abdelrahman, 2009, “Enhancing the Programming Experience for Engineering Students through Hands-On Integrated Computer Experiences,” Proceedings of 2009 ASEE Southeastern Section Annual Conference, Marietta, GA, Apr. 5-7.

Canfield, S. L., and K. W. Hunter, 2009, “Early Intervention and Mechanical Engineering: Balancing Stakeholder Expectations in an Engineering Education Environment,” Proc. of the 2009 ASEE Southeast Section Conference, Atlanta, GA, Apr. 5-7, 2009.

Wigal, C. M., Littleton, M. and S. L. Canfield, “Using Students to Design Improved Assistive Technology,” 2007 EPICS Conference, San Diego, CA, May, 2007

Patents

Beard, J. Canfield, S and S. Glovsky, “Suspension for an endless track climbing machine,” US Patent No. 8413747, May 2012.

Beard, J. Canfield S. L. and D. A. Bryant, “Climbing Vehicle with suspension mechanism,” US patent no. 9,428,231, Aug. 2016.

Mechanisms for In-Space applications

Canfield, S. L., Peddieson, J, and G. Garbe, 2010 “Similarity Rules for Scaling Solar Sail Systems,” Journal of Spacecraft and Rockets, Vol. 48, No. 1, pp. 218.

 

Canfield, S. L., K. Sorensen and  D. Chlarson. “A Comparison of Three Passive Capture Mechanisms For Tether Momentum Exchange,” Proc. of the 2007 ASME International Design Engineering Technical Conferences, Las Vegas, NV, Sept. 4-7, 2007, DETC2007-35625

Canfield, S. L., J.W. Beard and J. Peddieson, “Solar Sail Propulsion, Similarity Scaling Rules,” Chapter 5 in Recent Advances in Gossamer Spacecraft, Christopher H. Jenkins editor, Progress in Astronautics and Aeronautics Series, AIAA, Vol. 212, 2006

Canfield, S. L., M. Norris, S. Knight, and K. Sorensen, “A Passive Capture Mechanism for Rendezvous Between a Space Tether and Payload: Conceptual Design and Dynamic Modeling,” The 2006 ASME Design Engineering Technical Conferences, Philadelphia, PA, September 10-13, 2006, DETC2-99594

Canfield, S. L., J. Peddieson, K.M. Kalyan, and S.K. Agrawal, “Dynamic Model Verification Process for a Rotating Elastic In-Space Tether,” The 2006 ASME Design Engineering Technical Conferences, Philadelphia, PA, September 10-13, 2006, DETC2006-99746

Canfield, S. L. and Beard, J. W., “Robotic Inspection in Power Plants,” ISA 51^st Annual Instrumentation Symposium, Knoxville, TN, 2005.

Hull, P.V. and S. L. Canfield, “Modeling and Control of Shape Memory Alloys Using Cylindrical Concentrators,” Mechatronics, Vol. 14, pp. 757-775, 2004

“Similarity Modeling of Solar Sails Propulsion System,” with J. Peddieson, A. Ewing, and G. Garbe, Solar Sail Technology and Applications Conferences, Greenbelt, MD, Sept. 28-29, 2004

“Thermal Analysis of an Orbiting Cryogenic Fuel Depot,” with P.V. Hull, C. Carrington, and J. Fikes, Thermal Fluids and Analysis Workshop, September 10-14, 2001

 

Compliant Mechanisms

Canfield, S. L, Shibakov, A., and J. Richardson, “Design Space Analysis of Distributed Compliance in Segmented Beam Templates of  Compliant Mechanisms,” Proc. of the 2009 ASME International Design Engineering Technical Conferences, San Diego, CA, Aug. 30 – Sept 1, 2009, DETC2009-87246.

Canfield, S. L., Chlarson, D. L., Shibakov, A., Richardson, J. D., and A. Saxena, 2008, “A Study of Conditions that Affect the Distribution of Compliance in Compliant Mechanisms,” Proc. of the 2008 ASME International Design Engineering Technical Conferences, Brooklyn, NY, Aug. 3-6, 2008, DETC2008-49939.

Canfield, S. L., D. Chlarson, J. Richardson, A. Saxena and A. Shibakov, “Multi-Objective Optimization of Compliant Mechanisms Including Failure Theories,” Proc. of the 2007 ASME International Design Engineering Technical Conferences, Las Vegas, NV, Sept. 4-7, 2007, DETC2007-35618

Canfield, S. L., and J. Beard,”A Model for Optimization and Control of Spatial Compliant Manipulators,” International Journal of Robotics and Automation, Vol. 21, n 1, pp. 10-18, 2006

Canfield, S. L., and P.V. Hull, “Optimal Synthesis of Compliant Mechanisms using Subdivision and Commercial FEA,” ASME Journal of Mechanical Design, Vol. 128, Issue 2, pp. 337-348, 2006

Canfield, S. L., D.L. Chlarson, A. Shibakov, and P.V. Hull, “Towards Uniformly Distributed Compliance in Compliant Mechanisms: A Multi-Objective Approach, ” The 2006 ASME Design Engineering Technical Conferences, Philadelphia, PA, September 10-13, 2006, DETC2006-99601

Canfield, S. L., A. Shibakov and P.V. Hull, “Multivariate Parameter Sets for Optimization of Compliant Mechanisms,” Proc. of the 2005 ASME Design Engineering Technical Conferences, Long Beach, CA, Sept. 24-28, 2005, DETC2005-85379

“Torsional Stiffness of Several Variable Rectangular Cross-Section Flexure Hinges for Macro-Scale and MEMS Applications,” with N. Lobontiu and E. Garcia, Smart Materials and Structures, Vol. 13, issue 1, pp. 12-19, 2004

 

“Optimal Synthesis of Compliant Mechanisms Using Subdivision and Commercial FEA,” with Hull, P.V., Proc. of the 2004 ASME Design Engineering Technical Conferences, Salt Lake City, UT, Sept. 28-Oct. 2, DETC2004/MECH-57497, 2004

“Improved Development Cycle of a Spatial Compliant Manipulator,” with Hull, P.V. and J.W. Beard, Proc. of the 2003 ASME Design Engineering Technical Conferences, Chicago, IL, Sept. 2-6, DETC2003/MECH-48805, 2003

“Development of a Spatial Compliant Manipulator,” with J. Beard, N. Lobontiu, E. O’Malley, M. Samuelson and J. Paine, International Journal of Robotics and Automation, Vol. 17, Issue 1, pp. 63-72, 2002

“Genetic Programming Techniques for Designing Compliant Mechanisms,” with R. Parsons, International Journal of Structural and Multidisciplinary Optimization, Vol. 24, Issue 1, pp. 78-86, 2002

“Optimization and Control of a Spatial Compliant Manipulator,” J. Beard, M. Stefanick, D. Bennett, N. Lobontiu, and J. Paine, Proc. of the 2002 ASME Design Engineering Technical Conferences, Montreal, Canada, DETC2002/MECH-34201, 2002

“Development of Parallel Architecture Spatial Compliant Manipulators,” with J.W. Beard, R.D. Parsons, N. Lobontiu, M. Paine, and J. Paine, ASME 2001 Design Engineering Technical Conference, Pennsylvania, September 9-12, 2001

 

Mechanisms for Manufacturing Applications

“Investigation of the Parameters Governing Linkage-Based Rocking Chairs,” with J.W. Beard and R. R. Soper, DETC’00, The ASME 2000 Design Engineering Technical Conferences, Baltimore Maryland, Sept 10-13, 2000, DETC2000/MECH-14196

“Approximate Periods of Cam-Based and Linkage-Based Rocking Chairs,” with R.R. Soper and T.R. Johnston, Proceedings of the 8th Conference on Nonlinear Vibrations, Stability, and Dynamics of Structures, Blacksburg, VA, July 23-27, 2000

“Velocity Analysis of Parallel Manipulators by Truss Transformations,” with R.R. Soper and C.F. Reinholtz, Mechanism and Machine Theory, Vol. 34, pp. 345-357, 1999

“Contention Avoidance in Over-Constrained, Highly-Redundant Parallel Manipulators,” with R.R. Soper, and C.F. Reinholtz, DETC’99, the 1999 ASME Design Engineering Technical Conferences, Las Vegas, Nevada, September 1999

“Synthesis of Multi-Degree-of-Freedom Force Synthesis Mechanisms,” with C.F. Reinholtz and R.R. Soper, ASME Journal of Mechanical Design, 1998

“The Mathematics of Manipulator Statics: Minimum Principles, Duality, and Underlying Linear Symmetry,” with R.R. Soper, C.F. Reinholtz and D. Gao, Proceedings of the Fifth National Applied Mechanisms & Robotics Conference, Cincinnati, Ohio, October 12-15, 1997

“Maximum Number of Precision Positions in Nonclassical Linkage Synthesis,” with R.R. Soper and C.F. Reinholtz, Proceedings of the Fifth National Applied Mechanisms & Robotics Conference, Cincinnati, Ohio, October 12-15, 1997

“Design of User-Weight-Based Exercise Machines,” with D.J. Coombs, R.R. Soper and C.F. Reinholtz, Proceedings of the Fifth National Applied Mechanisms & Robotics Conference, Cincinnati, Ohio, October 12-15, 1997