PUBLICATIONS

Wayne J. Book, through June, 2008

 

A.        Published Books and Parts of Books

 

1.      Book, Wayne (ed.), Robotics Research and Advanced Applications, ASME November 1982.

2.      Book, Wayne and Dave Hardt (ed.,), Control of Manufacturing Processes and   Robotics,  ASME Special Publication, December 1983.

3.      Book, Wayne and Frank Paul (ed.), Modeling and Control of Compliant and Rigid Motion Systems, ASME Special Publications, DSC-Vol. 31.

4.      Book, Wayne, "Design of Teleoperators," Chapter in Handbook of Industrial Robotics, Shimon Nof (ed), John Wiley and Sons, Inc., pp. 138-157, 1985.

5.      Book, W.J., "Analysis of Massless Elastic Chains with Servo Controlled Joints," previously published in ASME Journal of Dynamic Systems, Measurement and Control, vol. 101, 1979, reprinted in IEEE publication Tutorial on Robotics, 2nd Edition, C.S.G. Lee, R.C. Gonzales and K.S. Fu, ed., 1986.

6.      Book, W.J. and Paul, F., ed. Modelling and Control of Compliant and Rigid Motion Systems. Vol. DSC‑Vol.31. 1991, The American Society of Mechanical Engineers: New York, N.Y.  187.

7.      Book, W.J., "Recursive Lagrangian Formulation of Flexible Manipulator Arms," reprint appearing in Robot Control: Dynamics, Motion Planning and Analysis, IEEE Press, M. Spong, F. Lewis, and C. Abdallah, ed.

8.      Sinha, Subash, and Wayne Book, ed., "Dynamics of Flexible Multibody Systems:  Theory and Experiment," ASME Special Publication (1992 Winter Annual Meeting).

9.      Cetinkunt, S. and W.J. Book, "Transfer Functions of Flexible Beams and Implications of Flexibility on Controller Performance," Telerobotics and Robotics in Space, S.B. Skaar, C.F. Rupff, American Institute of Aeronautics and Astronautics.  Progress in Astronautics and Aeronautics, Vol. 161, 1994, pp. 291-314.

10.    Girvin, L. and W.J. Book, “Analysis of Poles and Zeros for Tapered Link Designs,” Intelligent Control and Intelligent Automation, Advanced Studies of Flexible Robotic Manipulators:  Modeling, Design, Control, and Applications volume.  World Scientific Press, Fei-Yue Wang, ed-in-chief.  1996. 

11.    Book, W. J. and L. Love, Chapter in Handbook of Industrial Robotics, 2nd Ed. Shimon Nof (ed), John Wiley and Sons, Inc. 1999, pp 167-186.

12.    Book, W.J. “Robot Vibrations,” in Encyclopedia of Vibrations, S G Braun, D J Ewins and S S Rao, eds., Academic Press, 2001, pp 1055-1063.

13.    Book, W.J. “Flexible Robot Arms,” Chapter in Robotics Handbook, Thomas Kurfess, ed., by CRC Press, 2004.

14.    Book, W.J. and Alessandro DeLuca, “Flexible Arms” Chapter in Handbook on Robotics Research, Oussama Khatib and.Bruno Siciliano, ed.by Springer-Verlag, 2008.

 

B.        Refereed Publications

 

            Journal Papers (refereed)

 

1.      Book, Wayne, O. Maizza-Neto, and D.E. Whitney, "Feedback Control of Two Beam, Two Joint Systems with Distributed Flexibility," ASME Journal of Dynamic Systems Measurement and Control, vol. 97G, no. 4, pp. 424-431, December 1975.

2.      Book, Wayne, "Analysis of Massless Elastic Chains with  Servo Controlled Joints," Journal of Dynamics Systems Measurement and Control, vol. 101, no. 3, pp. 187-192, September 1979.

3.      Book, Wayne and Dirk Hannema, "Master Slave Manipulator Performance for Various Dynamic Characteristics and Positioning Task Parameters," IEEE Transactions on Systems Man and Cybernetics, vol. SMC-10, no. 11, pp. 767-771, November 1980.

4.      Book, Wayne, "A Perspective on Robotics Research and This Issue," Journal of Dynamic Systems Measurement and Control, vol. 103, no. 2, pp. 106-107, June 1981.

5.      Book, Wayne and Mark Majette, "Controller Design for Flexible Distributed Parameter Mechanical Arms via Combined State Space and Frequency Domain Techniques," Journal of Dynamic Systems Measurement and Control, pp. 245-249, December 1983.

6.      Book, Wayne, "Recursive Lagrangian Dynamics of Flexible Manipulators," The International Journal of Robotics Research, MIT Press, vol. 3, no. 3, pp. 87-106, 1984.

7.      Book, W.J., G. Hastings, and T. Alberts, "Design Strategies for High Speed, Lightweight Robots," Computers in Mechanical Engineering, September, 1986, pp. 26-33.

8.      Hastings, G. and W. Book, "Verification of a Linear Dynamic Model for Flexible Robotic Manipulators," IEEE Control Systems Magazine, vol. 7, no. 1, pp. 61-74, February 1987.

9.      Book, W., S. Krosner, and A. Haddad, "University and Industry Cooperation in the Development of a Curriculum," IEEE Control Systems Magazine, vol. 7, no. 7, pp. 48-53, February 1987.

10.    Chung, Y.-C., S.-S. Lu, and W. Book, "Modeling and Optimal Control of a Lightweight Bracing Manipulator," Journal of the Chinese Institute of Engineers, vol. 10, no. 3, pp. 241-250 (1987).

11.    Siciliano, B. and W. Book, "A Singular Perturbation Approach to Control of Lightweight Flexible Manipulators," International Journal of Robotics Research, vol. 7, no. 4, pp. 79-90, August, 1988.

12.    Cetinkunt, S. and W. Book, "Symbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints," Journal of Robotics and Computer Integrated Manufacturing, vol. 5, no. 4, pp. 301-310,  1989.

13.    Yuan, Bau-San, W. Book, and B. Siciliano, "Direct Adaptive Control of a One-Link Flexible Arm with Tracking," The Journal of Robotic Systems, vol. 6, no. 6, pp. 663-680, 1989.

14.    Cetinkunt, Sabri, and Wayne Book, "Flexibility Effects on the Control System Performance of Large Scale Robotic Manipulators," Journal of Astronomical Sciences, vol. 38, no. 4, Oct-Dec 1990, pp. 531-556.

15.        Cetinkunt, Sabri, and Wayne Book, "Performance Limitations of Joint Variable Feedback Controllers Due to Manipulator Structural Flexibility," IEEE Transactions on Robotics and Automation, vol. 6, no. 2, April 1990, pp. 219-231.

16.        Book, W.J., and Kwon, D.S., "Contact Control for Advanced Applications of Light Weight Arms," Journal of Intelligent and Robotic Systems, Vol. 6, No. 1, 1992.

17.        Yuan, B.S., W.J. Book, and J.D. Huggins, "Dynamics of Flexible Manipulator Arms:  Alternative Derivation, Verification, and Characteristics for Control," ASME Journal of Dynamic Systems Measurement and Control, September 1993, pp 394-404.

18.        Magee, David, and W.J. Book, "Control and Control Theory for Flexible Robots," Journal of the Society of Instrument and Control Engineers, Vol. 32, No. 4, April 1993, (invited paper) pp 309-317.

19.        Book, W.J., "Controlled Motion in an Elastic World," Journal of Dynamic Systems, Measurement and Control, 50th Anniversary  Issue, March 1993, pp 252-261.

20.        Book, W.J., "Structural Flexibility of Motion Systems in the Space Environment," IEEE Transactions on Robotics and Automation, special issue on Space Robotics, Vol. 9, No. 5, October 1993, pp. 524-530.

21.        Wang, J.J., S.Y. Liang, and W.J. Book, "Convolution Analysis of Milling Force Pulsation," ASME Journal of Engineering for Industry, Vol. 116, February 1994, pp 17-25.

22.        Kwon, D.-S., and W.J. Book, “A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator,” J. Dynamic Systems, Measurement, and Control, Vol. 116, pp. 193-200, June 1994, pp. 193-200.

23.        Cameron, J.M., and W.J. Book, "Modeling Mechanisms with Nonholonomic Joints Using the Boltzmann-Hamel Equations,” International Journal of Robotics Research, Vol 16, No. 1, February 1997, pp. 47-59.

24.        Book, W. J., D. M. Magee and S. Rhim, “Time-Delay Command Shaping Filters: Robust and/or Adaptive,” Journal of the Robotics Society of Japan, September, 1999, v17 n6, pp 7-15.

25.        Rhim, S. and W.J. Book, “Noise Effect on Time-domain Adaptive Command Shaping Methods for Flexible Manipulator Control,” IEEE Transactions on Control System Technology. v9 n1, Jan. 2001 pp 84-92.

26.        Book, W.J. and C. Watson, “Alternatives in the Generation of Time Domain Models of Fluid Lines using Frequency Domain Techniques,” Mathematics and Computers in Simulation, North-Holland Elsevier, v53 October 2000, pp 353-365.

27.        Rhim, S., A. Hu, N. Sadegh, W.J. Book, “Combining a Multirate Repetitive Learning Controller with Command Shaping for Improved Flexible Manipulator Control,” ASME J. of Dynamic Systems, Measurement, and Control, v123 n 3, September 2001, pp385-390.

28.        Book, Wayne, Kyle Koeppen and Matthew Rouse, “Virtual Access to a Hydraulic Experiment for System Dynamics and Controls Education,” Mechatronics, v 12 (2002), pp261-270, Pergamon.

29.        Munir, Saghir and Wayne Book, “Internet Based Teleoperation using Wave Variables with Prediction,” ASME/IEEE Transactions on Mechatronics,v7 n2, June 2002, p 124-133.

30.        Love, L.J. and W.J. Book, "Force Reflecting Teleoperation with Adaptive Impedance Control," IEEE Transactions on Systems, Man, and Cybernetics Part B: Cybernetics, Vol.34, No.1, pp.159-165, Feb. 2004.

31.        George, Lynanne and Wayne J. Book, “Inertial Vibration Damping of a Flexible Base Manipulator,” Transactions of the Japan Society of Mechanical Engineers, Series C, Vol. 46, No. 3, 2003, pp 798-806.

32.        Munir, Saghir and Wayne J. Book, “Control Techniques and Programming Issues for Time Delayed Internet Based Teleoperation,” ASME Journal of Dynamic Systems, Measurement, and Control, v125 n2, June 2003, pp205-214.

33.        George, Lynanne, and Wayne J. Book, “Inertial Vibration Damping Control of a Flexible Base Manipulator” IEEE/ASME Transactions on Mechatronics, v8 n2, June 2003, pp 268-271.

34.        Book, Wayne J. and Davin K. Swanson, “Reach Out and Touch Someone: Controlling Haptic Manipulators Near and Far,” Annual Reviews in Control, International Federation of Automatic Control, Elsevier Science (Oxford, UK), vol 28, pp 87-95, 2003.

35.        Rhim, Sungsoo and Wayne J. Book, “Adaptive Time-delay Command Shaping Filter for Flexible manipulator Control,” IEEE/ASME Transactions on Mechatronics, v9 n4, Dec. 2004, pp 619-626.

36.        Gao, Dalong and Wayne J. Book, “Steerability for Planar Dissipative Passive Haptic Interfaces,” IEEE/ASME Transactions on Mechatronics, v11 n2, April 2006.

37.        Ching, Ho and Wayne J. Book, “Internet-Based Bilateral Teleoperation Based on Wave Variable with Adaptive Predictor and Direct Drift Control,” ASME J. Dynamic Systems, Measurement and Control, v128 n1, March, 2006, pp 86-93.

38.        Krauss, Ryan and Wayne Book, “A Module for Modeling and Control Design of Flexible Robots,” Computing in Science and Engineering (IEEE CS and AIP), v9, n3, pp 41-45, May-June, 2007.

39.        Krauss, Ryan and Wayne Book, “Transfer Matrix Modeling of a Hydraulically Actuated Flexible Robot,” International Journal of Fluid Power, v8, n1, March 2007, pp 51-58.

40.        Kontz, Matthew and Wayne Book, “Electronic Control of Pump Pressure for a Small Haptic Backhoe,” International Journal of Fluid Power, v8, n2, pp 5-16 August 2007.

41.        Kontz, Matthew and Wayne Book, “Flow Control for Coordinated Motion and Haptic Feedback” International Journal of Fluid Power v8, n3, pp 13-24, Nov 2007.

42.        Shenouda, Amir and Wayne Book, “Optimal Mode Switching for a Hydraulic Actuator Controlled with Four-Valve Independent Metering Configuration”, International Journal of Fluid Power, v9, n1, March 2008, pp 35-44.

43.        Shenouda, Amir and Wayne Book, “Three-Valve Modulation for Velocity Control of a Hydraulic Actuator with Four-Valve Independent Metering Configuration ” submitted, International Journal of Fluid Power.

44.        Choi, Young Sang, Julie Jacko, Davin Swanson, Vladi Vidakovic, Kevin.Moloney and Wayne Book.  “Smoothness as a Subjective Workload Measure to Evaluate a Dissipative Passive Haptic Interface” submitted J. of Applied Ergonomics.

45.        Black, Benjamin and Wayne Book, “Dynamic Compensating Control of a Passive Haptic Master in Teleoperation,” submitted to ASME Journal of Computing Sciences and Information in Engineering special issue on Haptics, Tactile and Multimodal Interfaces.

46.        Krauss, Ryan and Wayne Book, “Transfer Matrix Modeling of Systems with Non-Collocated Feedback,” submitted Dec. 2007 to ASME Journal of Dynamic Systems, Measurement and Controls.

 

            Conference Papers (refereed)

 

1.      Book, Wayne, Daniel Whitney, and Paul Lynch, "Design and Control Considerations for Industrial and Space Manipulators," Proceedings of The Joint Automatic Control Conference, Austin, TX, 1974, pp. 591-598.

2.      Book, Wayne, "Dynamic Analysis of a Class of Mixed Lumped Distributed Parameter Systems via Numerical Techniques," Proceedings of The Joint Automatic Control Conference, Purdue University, West  Lafayette, IN, 1976, pp. 459-468.

3.      Book, Wayne, "Characterization of Strength and Stiffness Constraints on Manipulator Control," Theory and Practice of Robots and Manipulators, Elsevier North-Holland, Inc., 1977, pp. 37-45.

4.      Book, Wayne and Lawrence Field, "Experiments Relating Task and Manipulator Characteristics to Performance," Proceedings of The International Conference on Cybernetics and Society, Washington, D.C., 1977, pp. 225-226.

5.      Book, Wayne, "Analysis of Massless Elastic Chains with Servo Controlled Joints," The American Society of Mechanical Engineers Winter Annual Meeting, 1978.

6.      Book, Wayne, David Ruis, and Russell Polhemus, "A Microprocessor Controlled Robotic Exercise Machine for Athletics and Rehabilitation," Proceedings of The Joint Automatic Control Conference, 1979, pp 771-775.

7.      Book, Wayne and Mark Majette, "A Comparison of Natural Frequency Methods for Flexible Manipulator Arms," American Society of Mechanical Engineers Winter Annual Meeting, Paper No. 80-WA/DSC-19, November 1980.

8.      Book, Wayne, and David Ruis, "Control of a Robotic Exercise Machine," Proceedings of The Joint Automatic Control Conference, Paper WA-2A, 1981, 5 pp.

9.      Book, Wayne, and V. Sangveraphunsiri, "Design Studies on Robotic Device for Ultrasonic Inspection," Fourth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Elsevier, September 1981, pp. 211-219.

10.    Book, Wayne, and Mark Majette, "Controller Design for Flexible Distributed Parameter Mechanical Arms via Combined State Space and Frequency Domain Techniques," Robotics Research and Advanced Applications, ASME Winter Annual Meeting, 1982.

11.    Book, Wayne, "Efficient Simulation of Flexible Robot Arms," IFAC Symposium on Computer Aided Design of Multivariable Technological Systems, West Lafayette, IN, September 1982, pp. 5-17.

12.    Book, Wayne, and N. Punyapas, "Controlled Fluid  Recirculation for Efficient Hydraulic Actuation of Conservative Loads," Proceedings of the American Control Conference, June 1983, pp. 775-781.

13.    Book, Wayne, and V. Sangveraphunsiri, "An Approach to the Minimum Time Control of A Simple Flexible Arm," Control of Manufacturing Processes and Robotics, W. Book, D. Hardt (ed.), December 1983.

14.    Book, Wayne, V. Sangveraphunsiri, and S. Le, "The Bracing Strategy for Robot Operation," Joint IFToMM-CISM Symposium on the Theory of Robots and Manipulators (RoManSy), Udine, Italy, June 1984.

15.    Hastings, Gordon, and Wayne Book, "Experiments in the Control of a Flexible Robot Arm," ROBOTS 9 Exposition & Conference, Detroit, MI, June 2, 1985, pp. 20/45-20/57.

16.    Alberts, Thomas, Steve Dickerson, and Wayne Book, "Modeling and Control of Flexible Manipulators," ROBOTS 9 Exposition and Conference, Detroit, MI, June 2, 1985, pp. 1/59-1/73; also Paper No. MS 85-524, 1985.

17.    Hastings, Gordon, and Wayne Book, "Experiments in Optimal Control of a Flexible Arm," Proceedings of the American Control Conference, June 1985, pp. 728-729.

18.    Book, Wayne, Steve Dickerson, Gordon Hastings, Sabri Cetinkunt, and Tom Alberts, "Combined Approaches to Lightweight Arm Utilization," presented at 1985 ASME Winter Annual Meeting.  Published in Robotics and Manufacturing Automation, Max Donath and Ming Leu (eds.), November 17-22, 1985, pp. 97-107.

19.    Siciliano, Bruno, Bau-San Yuan, and Wayne Book, "Model Reference Adaptive Control of a One Link Flexible Arm," Proceedings of the 25th IEEE Conference on Decision and Control, Athens, Greece, December 10-12, 1986.

20.    Hastings, G. and W. Book, "Reconstruction and Robust Reduced-Order Observation of Flexible Variables," 1986 ASME Winter Annual Meeting, December 1986, Anaheim, CA.

21.    Alberts, T., S. Dickerson, and W. Book, "On the Transfer Function Modeling of Flexible Structures with Distributed Damping." 1986 ASME Winter Annual Meeting, December 1986, Anaheim, CA.

22.    Siciliano, B., W. Book, G. DeMaria, "An Integral Manifold Approach to Control of a One Link Flexible Arm," Proceedings of the 25th IEEE Conference on Decision and Control, December 10-12, 1986, Athens, Greece.

23.    Cetinkunt, S., B. Siciliano and W. Book, "Symbolic Modelling and Dynamic Analysis of Flexible Manipulators," Proceedings of the 1986 Conference on Systems, Man and Cybernetics,  pp. 798-803.

24.    Cetinkunt, Sabri, "Symbolic Modeling of Flexible Manipulators," Proceedings of the  1987 IEEE International Conference on Robotics and Automation,  Raleigh, NC, April 1987, pp. 2074-2080.

25.    Huggins, J., D. Kwon, J. Lee, and W. Book, "Alternative Modeling and Verification Techniques for a Large Flexible Arm," Proceedings of Conference on Applied Motion Control '87, June 16-18, 1987.

26.    Yuan, Bau-San, and W. Book, "A Robust Scheme for Direct Adaptive Control of Flexible Arms," presented at 1987 ASME Winter Annual Meeting, Nov., 1987, published in Modeling and Control of Robotic Manipulators and Manufacturing Processes, pp. 261-268.

27.    Hastings, Gordon, J. Dorsey, and W. Book, "Application of Balanced Realizations to Estimate Model Order Requirements for Flexible Manipulators," presented at the 1987 ASME Winter Annual Meeting, published in Modeling and Control of Robotic Manipulators and Manufacturing Processes, pp. 323-328.

28.    Yuan, Bau-San, Jae Weon Lee, and Wayne Book, "Dynamic Analysis and Control of Lightweight Arms with a Parallel Mechanism," Crossing Bridges: Advances in Flexible Automation and Robotics, Proceedings of 1988 U.S.A. - Japan Symposium on Flexible Automation, July 18-20, Minneapolis, MN, pp. 369-374.

29.    Cetinkunt, Sabri, and Wayne Book, "Performance of Lightweight Manipulators Under Joint Variable Feedback Control: Analytical Study of Limitations," Proceedings, 1988 American Control Conference, June 15-17, Atlanta, Georgia, pp. 543-548.

30.    Yuan, B.S. and W. Book, "Decentralized Adaptive Control of Robot Manipulators with Robust Stabilization Design,” Proceedings of the 1988 American Control Conference, June 15-17, Atlanta, GA,  pp. 102-107.

31.    Lee, Jae Won, J.D. Huggins and W.J. Book, "Experimental Verification of a Large Flexible Manipulator," Proceedings of the 1988 American Control Conference, June 15-17, 1988, Atlanta, GA, pp. 1021-1028.

32.    Kwon, Dong-Soo and W.J. Book, "A Framework for Analysis of a Bracing Manipulator with Staged Positioning," presented at 1988 ASME Winter Annual Meeting, Nov. 27-Dec. 2. 1988,  Published in proceedings volume: GOO463 Symposium on Robotics.

33.    Tsujisawa, T. and W. Book, "A Reduced Order Model Derivation for Lightweight Arms with A Parallel Mechanism," Proceedings, 1989 IEEE International Conference on Robotics and Automation, May 14-19, Scottsdale, AZ, pp. 728-735.

34.    Yuan, B.S. and W.J. Book, "Small Motion Experiments on a Large Flexible Arm with Strain Feedback," Proceedings of the 1989 American Control Conference, June 21-23, 1989, Pittsburgh, PA, pp. 2091-2095.

35.    Book, W.J. and Soo-Han Lee, "Vibration Control of a Large Flexible Manipulator by a Small Robotic Arm," Proceedings of the 1989 American Control Conference, June 21-23, 1989, Pittsburgh, PA, pp. 1377-1380.

36.    Yuan, B.-S., W.J. Book, and J.D. Huggins, "Decentralized Adaptive Control of a Two Degree of Freedom Flexible Arm," Robotics Research - 1989, K. Youcef-Toumi and H. Kazerooni, eds., ASME DSC vol. 14, pp. 247-253, presented at 1989 ASME Winter Annual Meeting, Dec. 10-15, San Francisco, CA.

37.    Kwon, D.-S. and W. Book, "An Inverse Dynamic Method Yielding Flexible Manipulator State Trajectories," Proceedings of the 1990 American Control Conference, May 23-25, 1990, San Diego, CA.

38.    Lee, S.-H. and Wayne Book, "Robot Vibration Control Using Inertial Damping Forces," VIII CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators (Ro. Man. Sy. '90), July 2-6, 1990, Cracow, Poland.

39.    Yuan, B.-S., W.J. Book and J.D. Huggins, "Control of a Multi-Link Flexible Manipulator with a Decentralized Approach," Proceedings of the 11th IFAC World Congress, Vol. 9, August 13-17, 1990, Tallinn, Estonia, USSR, pp. 255-260.

40.    Lew, Jae Young, and W.J. Book, "Control and Applications of Cooperating Disparate Manipulators Relevant to Nuclear Waste Management," Proceedings of the American Nuclear Society 1990 Winter Meeting, No. 11-15, 1990, Washington, D.C.

41.    Book, W.J., "Modeling Design, and Control of Flexible Manipulator Arms: A Tutorial Review," Proceedings of the 29th IEEE Conference on Decision and Control, Honolulu, Hawaii, Dec. 5-7, 1990 pp 500-506.

42.    Lew, J.Y. and W.J. Book, "Control for Two Cooperative Disparate Manipulators," Proceedings of the American Nuclear Society 4th Topical Meeting on Robotics and Remote Systems, February 24-28, 1991,  Albuquerque, NM.

43.    Kwon, Dong-Soo and W.J. Book, "Tracking Control of Nonminimum-Phase Flexible Manipulation", published in Modeling and Control of Compliant and Rigid Motion Systems, W. Book and F. Paul, ed., ASME DSC-Vol. 31, pp. 27-38, December 1991.

44.    Lew, J.Y., J. Huggins, D. Magee, and W. Book, "Experimental Investigations of the Effects of Cutting Angle on Chattering of a Flexible Manipulator," published in Modeling and Control of Compliant and Rigid Motion Systems, W. Book and F. Paul, ed., ASME DSC-Vol 31, pp. 75-80, December 1991.

45.    Wang, J.‑J., Liang, S.Y. and W.J. Book, "Analysis of Milling Forces via  Angular Convolution," Proceedings of the 1991 ASME Winter Annual Meeting, Symposium on Sensors, Controls and Quality Issues in Manufacturing, PED‑Vol. 55, Atlanta, GA, 1991, pp.135‑150.

46.    Lew, J.‑Y., et al., "Experimental Investigations of the Effects of Cutting Angle on Chattering of a Flexible Manipulator," Proceedings of the 1991 ASME Winter Annual Meeting, Symposium on Modelling and Control of Compliant and Rigid Motion Systems, DSC‑Vol. 31, Atlanta, GA, 1991, pp.75‑80.

47.    Kwon, D.‑S. and W.J. Book, "Tracking Control of a Nonminimum‑Phase Flexible Manipulator," Proceedings of the 1991 ASME Winter Annual Meeting, Symposium on Modelling and Control of Compliant and Rigid Motion Systems,  DSC‑Vol. 31, Atlanta, GA, 1991, pp.27‑38.

48.    Obergfell, K. and W. J. Book, "End‑Point Control of a Two‑Link Flexible Manipulator Using the Landmark Tracking System," Proceedings of the 1992 Japan‑U.S.A. Symposium on Flexible Automation, San Francisco, CA,  July 1992, pp. 701-706.

49.    Wang, J.‑J., S. Y. Liang, and W. J. Book, "A Closed Form Frequency Domain Model for Tangential Cutting Force in Peripheral Milling," Proceedings of the 1992 Symposium on Physics of Machining Processes, 1992 ASME Winter Annual Meeting, Anaheim, CA, 1992.

50.    Lew, J.‑Y. and W. J. Book, "Dynamics of Two Serially Connected Manipulators," Proceedings of the 1992 ASME Winter Annual Meeting, Symposium on Manufacturing and Control Issues in a Robotic Assembly Workcell, Anaheim, CA, 1992, pp. 17-22.

51.    Magee, D.P. and W.J. Book, "Experimental Verification of Modified Command Shaping Using a Flexible Manipulator," Proceedings of the 1992 First International Conference on Motion and Vibration Control, Yokohama,  Japan, September 7‑11, 1992, pp.553‑558.

52.    Magee, D.P. and W.J. Book, "The Application of Input Shaping to a System with Varying Parameters," Proceedings of the 1992 Japan‑U.S.A. Symposium on Flexible Automation, San Francisco, CA, July, 1992, pp. 519-526.

53.    Girvin, D. and W.J. Book, "Numerical Analysis of Nonminimum Phase Zeros for Nonuniform Link Design," Proceedings of the 1992 ASME Winter Annual Meeting, Symposium on the Dynamics of Flexible Multibody Systems: Theory and Experiment, Anaheim, CA, 1992, pp. 5-11.

54.    Magee, D.P. and W.J. Book, "Eliminating Multiple Modes of Vibration in a Flexible Manipulator," Proceedings of the 1993 IEEE International Robotics and Automation Conference, Vol. 2, pp 474-479, Atlanta, GA, May 2‑7, 1993.

55.    Lew, J.Y. and W.J. Book, "Hybrid Control of Flexible Manipulators with Multiple Contacts," Proceedings of the 1993 IEEE International Robotics and Automation Conference, Vol. 2, pp 242-247, Atlanta, GA, May, 2‑7, 1993.

56.    Cameron, J.M., et al., "Reactive Control for Mobile Manipulation," Proceedings of the 1993 IEEE International Conference on Robotics and Automation , Vol. 2, pp 228-235, Atlanta, GA, May 2-7, 1993.

57.    Magee, D.P. and W.J. Book, "Implementing Modified Command Filtering to Eliminate Multiple Modes of Vibration," Proceedings, 1993 American Control Conference, San Francisco, CA, June 2-4, 1993, pp 2700-2703.

58.    Obergfell, K., W.J. Book, and J.D. Huggins, "Sensor Fusion for Long-Reach Manipulators: System Description and Initial Experiments," Proceedings of the 1993 Society for Experimental Mechanics "50th Anniversary" Spring Conference on Experimental Mechanics, June 7-9, 1993, Dearborn, MI, pp 1062-1070.

59.    Schmitt, P.R., J.E. Hogan, J.M. Cameron, and W.J. Book, “Integrated Modeling, Simulation, and Animation of Rigid Arms and Vehicles through Object-Oriented Programming,”  Proceedings of the 1994 MathMod Vienna, Feb. 2-4, 1994, Vienna, Austria.

60.    Cameron, J.M. and W.J. Book, "Optimal Path Planning for the Motion of a Wheel," 1994 IEEE International Conference on Robotics and Automation, May 8-13, 1994, San Diego, CA, pp 1574-1580.

61.    Lew, J., and W.J. Book, "Bracing Micro/Macro Manipulator Control," Proceedings of the 1994 IEEE International Conference on Robotics and Automation, May 8-13, 1994, San Diego, CA, pp 2362-2368.

62.    Magee, D., and W.J. Book, “Filtering Schilling Manipulator Commands to Prevent Flexible Structure Vibration,” Proceedings of the 1994 American Control Conference, Baltimore, MD, June 29-July 1, 1994, pp. 2538-2542.

63.    Obergfell, K., and W.J. Book, "End-Point Position Measurement of Long-Reach Flexible Manipulators," IFAC Symposium on Robot Control '94, Capri, Italy, September 19-21, 1994.

64.    Love, L.J., D.P. Magee, and W.J. Book, “A Comparison of Joint Control Algorithms for Teleoperated Pick and Place Tasks Using a Flexible Manipulator,” Proceedings of the 1994 IEEE International Conference on Systems, Man and Cybernetics, Vol. 2, San Antonio, TX, October 2-5, 1994, pp. 1257-1262.

65.    Love, L.J. and W.J. Book, “Design and Control of a Multiple Degree of Freedom Haptic Interface,” Proceedings of the 1994 ASME WAM, Nov. 6-11, 1994, Chicago, IL, pp 851-856.

66.    Magee, D.P. and W.J. Book, “Filtering Micro-Manipulator Wrist Commands to Prevent Flexible Base Motion,” Proceedings of the 1995 American Control Conference, June 21-23, 1995, Seattle, WA, pp 924-928.

67.    Love, L.J. and W.J. Book, “Environment Estimation for Enhanced Impedance Control,” Proceedings of the 1995 IEEE International Conference on Robotics and Automation, May 21-27, 1995, Nagoya, Japan, pp 1854-1859.

68.    Love, L.J. and W. J. Book, “Contact Stability Analysis of Virtual Walls”, 1995 International Mechanical Engineering Congress and Exposition (IMECE), November 20-25, 1995, San Francisco, CA, pp 698-694.

69.        Book, Wayne, J., Hobson Lane, Lonnie J. Love, David P. Magee, Klaus Obergfell, “A Novel Teleoperated Long-Reach Manipulator Testbed and its Remote Capabilities via the Internet”, 1996 IEEE International Conference on Robotics and Automation (ICRA), April 22-28, 1996, Minneapolis, MN, pp 1036-1041.

70.        Cannon, David W., David P. Magee, Wayne J. Book and Jae Y. Lew, “Experimental Study on Micro/Macro Manipulator Vibration Control”, Proceedings 1996 IEEE International Conference on Robotics and Automation (ICRA), April 22-28, 1996, Minneapolis, MN, pp 2549-2554

71.        Register, A., W.J. Book, and C.O. Alford, “Artificial Neural Network Control of a Nonminimum Phase Mechanical System”, 1996 IEEE International Conference on Robotics and Automation (ICRA), April 22-28, 1996, Minneapolis, MN, pp 1935-1940.

72.        Rocco, Paolo and Wayne J. Book, “Two-Time Scale Force/Position Control of Flexible Robots”, 1996 IEEE International Conference on Robotics and Automation (ICRA), April 22-28, 1996, Minneapolis, MN, pp 1941-1946.

73.        Love, L.L. and W.J. Book, “Adaptive Impedance Control for Bilateral Teleoperation of Long Reach, Flexible Manipulators”, 1996 International Federation on Automatic Control  (IFAC) conference July 1-5, 1996, San Francisco, CA, Vol. A pp 211-216.

74.        Obergfell, K. and W.J. Book, “Vision Sensing for Control of Long-Reach Flexible Manipulators”, 1996 Japan-U.S.A. Symposium on Flexible Automation  conference July, 1996, Boston, MA, pp 945-950.

75.        Book, W.J., R. Charles, H. Davis, and M. Gomes, “The Concept and Implementation of a Passive Trajectory Enhancing Robot”, 1996 International Mechanical Engineering Congress and Exposition (IMECE), November 17-22, 1996, Atlanta, GA, pp 633-638.

76.        Schmitt, Paul R. and Wayne J. Book, “Reactive Path Shaping:  Local Path Planning for Autonomous Mobile Robots,” Proceedings of the ASME Dynamic Systems and Control Division, DSC Vol. 58, at the 1996 International Mechanical Engineering Congress and Exposition (IMECE), November 17-22, 1996, Atlanta, GA, pp 639-646.

77.        Register, A., W. Book and C. O. Alford, “Neural Network Control of Nonminimum Phase Systems Based on a Noncausal Inverse,” Proceedings of the ASME Dynamic Systems and Control Division, DSC Vol. 58, at the 1996 International Mechanical Engineering Congress and Exposition (IMECE), November 17-22, 1996, Atlanta, GA, pp 781-788.

78.        Davis, Hurley and Wayne Book, “Passive Torque Control of a Redundantly Actuated Manipulator” Proceedings of the 1997 American Control Conference, June 4-6, 1997, Albuquerque, NM, 5 pp (on CD ROM).

79.        Gomes, Mario and Wayne Book, “Control Approaches for a Dissipative, Passive, Trajectory-Enhancing Robot,” Proceedings of the 1997 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, paper 92, 6 pp (on CD ROM),  June 16-20, 1997, Tokyo, Japan.

80.        Hogan, J. and W.J. Book, “Minimum Aisle Width Path planning for Automated Guided Vehicles (AGVS),” 1997 IASTED Conference on Robotics and Manufacturing, Cancun, Mexico, May 29-31, 1997.

81.        Rhim, Sungsoo and Wayne Book, “Vibration Cancellation in Complex Support Structures for Precision Robots,” DSC Vol. 61 Proceedings of the ASME Dynamic Systems and Control Division, presented at the ASME International Mechanical Engineering Congress and Exposition (IMECE), Dallas, TX, Nov. 16-21, 1997, pp 503-509.

82.        Munir, S., L. Tognetti and W.J. Book, “Experimental Evaluation of a New Braking System for Use in Passive Haptic Displays,” Proceedings, 1999 American Control Conference, San Diego, CA, June 1999, pp 4456-4460.

83.        Rhim, Sungsoo and Wayne J. Book, “Adaptive Command Shaping Using Adaptive Filter Approach in Time Domain,” Proceedings, 1999 American Control Conference, San Diego, CA, June 1999, pp 81-85.

84.        Obergfell, Klaus and Wayne Book, "Control of Flexible Manipulators Using Vision and Modal Feedback," presented at the International Conference on Recent Advances in Mechatronics (ICRAM'99), Istanbul, Turkey, May 22-27, 1999.

85.        Rhim, Sungsoo, Ai-Ping Hu, Nader Sadegh and Wayne Book, “Combining a Multirate Repetitive Learning Controller with Command Shaping for Improved Flexible Manipulator Control,” ASME IMECE Proceedings, November 1999.

86.        Swanson, Davin K., Eric Romagna, Wayne J. Book, and Andre’ Barraco, “Influence of Actuator Dynamics on Passive Haptic Interface Performance,” AIM ’99, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA September 19-23, 1999, pp 440-445.

87.        Book, Wayne J., and J. C. Loper, “Inverse Dynamics for Commanding Micromanipulator Inertial Forces to Damp Macromanipulator Vibration,” 1999 IEEE, Robot Society of Japan International Conference on Intelligent Robots and Systems, October 17-21, 1999, Kyongju, Korea.

88.        Rhim, Sungsoo and Wayne J. Book, “Adaptation of Generalized Time-delay Command Shaper for Flexible Manipulator Control,” Proceedings 2000 IEEE International Conference on Robotics and Automation, May, 2000, San Francisco, CA, pp 1465-1471.

89.        Book, Wayne J. and Klaus Obergfell, “Practical Models for Practical Flexible Arms,” Proceedings 2000 IEEE International Conference on Robotics and Automation, May, 2000, San Francisco, CA, pp 835-842.

90.        Swanson, Davin K. and Wayne J. Book, “Torque Feedback Control of Dry Friction Clutches for a Dissipative Passive Haptic Interface.” Proceedings, 2000 Conference on Control Applications, September 25-27, 2000, Anchorage, Alaska, pp 736-741.

91.        Munir, Saghir and Wayne J. Book, “Wave Based Teleoperation with Prediction,” Proceedings, 2001 American Control Conference, Arlington, Virginia, June 25-27, pp 4605-4611.

92.        Munir, Saghir and Wayne J. Book, “Internet Based Teleoperation using Wave Variables with Prediction,” Proceedings, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics July 8-12, 2001, Como Italy pp 43-50.

93.        Book, Wayne J., Matthew Rouse and Kyle Koeppen, “Internet Access to a Fluid Power Mechatronics Laboratory,” Proceedings, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, July 8-12, 2001, Como, Italy pp 1112-1117.

94.        Swanson, Davin and Wayne J. Book, “Obstacle Avoidance Methods for a Passive Haptic Display,” Proceedings, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Como, Italy, pp 1187-1192.

95.        Cook, Nathan and Wayne J. Book, “Vibration Control of Industrial Food Packaging Machine: Initial Investigation,” Proceedings, Conference on Industrial Electronics, Technology and Automation, IETA 2001, 19-21 December 2001, Cairo, Egypt.

96.        Ballesteros, Mauricio and Wayne J. Book, “Implementation Alternatives for Dual Rate Control Systems with Command Shaping,” Proceedings of the 2002 American Control Conference, Anchorage, Alaska, May 8-10, 2002.

97.        George, Lynnane and Wayne J. Book, “Inertial Vibration Damping of a Flexible Base Manipulator,” Proceedings of the 2002 MoViC, Conference on Motion, Vibration and Control, Saitama, Japan, August 19-23, 2002 (also published in the Journal of the JSME).

98.        Cook, N. and Wayne J. Book, “Optimization to Limit Vibration of a Hypotrochoidally Driven Machine,” ASME International Mechanical Engineering Congress and Exhibition, November 17-22, 2002

99.        George, Lynanne and Wayne J. Book, “Inertial Vibration Damping Control for a Flexible Base Manipulator,” ASME International Mechanical Engineering Congress and Exhibition, November 17-22, 2002.

100.    George, Lynanne, Joel Fortgang and Wayne J. Book, “Practical Implementation of a Dead Zone Inverse in Hydraulic Systems,” ASME International Mechanical Engineering Congress and Exhibition, November 17-22, 2002.

101.    Book, W.J. and Matthew Kontz, “Teleoperation of a Hydraulic Forklift from a Haptic Manipulator over the Internet,” Proceedings, IFAC Symposium on Mechatronics, Berkeley, CA, December 9-11, 2002.

102.    Zhu, Haihong and Wayne J. Book, “Control Concepts for Digital Clay,” 2003 IFAC Symposium on Robot Control (SyRoCo 2003), Wroclaw, Poland, September, 2003, pp 405-410 (preprints), Final Proceedings forthcoming.

103.    Swanson, Davin K and Wayne J. Book, “Path-Following Control for Dissipative Passive Haptic Displays,” 11th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, March 22 and 23, Los Angeles, CA.

104.    Frame, Aimee Beargie, and Wayne J. Book, “Sliding Mode Control of a Non-Collocated Flexible System,” 2003 ASME International Mechanical Engineering Congress and Exhibition, Washington D.C., paper IMECE2003-41386.

105.    Jung, Sooyong and Wayne J. Book, “Hardware-in-the-Loop Simulation for Control Development in EHPV Applications,” 2003 ASME International Mechanical Engineering Congress and Exhibition, Washington D.C., paper IMECE200-43729.

106.    Kontz, Matthew and Wayne J. Book, ‘Position/Rate Haptic Control of a Hydraulic Forklift,” 2003 ASME International Mechanical Engineering Congress and Exhibition, Washington D.C., paper IMECE200-55051.

107.    Askins, Steven and Wayne J. Book, “Digital Clay: User Interaction Model for Control of a Fluidically Actuated Haptics Device,” First International Conference on Computational Method in Fluid Power Technology, Fluid Power Network International, Melbourne, Australia, Nov. 26-28, 2003, pp15-28.

108.    Reed, Matthew R. and Wayne J. Book, “Modeling and Control of an Improved Dissipative Passive Haptic Display” IEEE International Conference on Robotics and Automation, New Orleans, LA, April 26-May 1, 2004 (Finalist for best student paper award).

109.    Krauss, Ryan W. and Wayne J. Book, “Stability in Active Mass Damping Control of a Flexible Robot”, 2004 IEEE Aerospace Conference, Big Sky Montana, March 6-13, 2004.

110.    Zhu, Haihong and Wayne J. Book, “Speed Control and Position Estimation of Small Hydraulic Cylinders for Digital Clay Using PWM Method,” Japan-US Conference on Flexible Automation, Denver, Colorado, July, 19-21, 2004.

111.    Zhu, Haihong and Wayne J. Book, “Practical Stucture Design and Control for Digital Clay,” 2004 ASME International Mechanical Engineering Congress and Exhibition, Annaheim, CA, November 14-17, 2004, pp 1051-1058.

112.    Krauss, Ryan, Olivier Bruls and Wayne Book, “Two Competing Linear Models for Flexible Robots:  Comparison, Experimental Validation, and Refinement,” accepted for presentation at the 2005 American Control Conference, Portland, OR, June 8-10, 2005.

113.    Kontz, Matthew, Jonathan Beckwith and Wayne Book, “Evaluation of a Teleoperated Haptic Forklift,” Proceedings of the 2005 AIM Conference, Monterrey, CA, July 24-28, 2005.

114.    Tognetti, Lawrence and Wayne Book, “Improved Haptic Two-Port Networks through Force Feedback and Admittance/Impedance Network Duality,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Nov. 5-11, 2005, Orlando, FL, paper IMECE 2005-81400.

115.    Ching, Ho and Wayne Book, “Internet-Based Bilateral Teleoperation,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Nov. 5-11, 2005, Orlando, FL paper IMECE2005-81112.

116.    Driscoll, Scott and Wayne Book, “Electric Motors Coupled to Hydraulic Motors as Actuators for Hydraulic Hardware-in-the-Loop Simulation,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Nov. 5-11, 2005, Orlando, FL, paper IMECE2005-82124.

117.    Gao, Dalong and Wayne Book, “Principles of Steerability for Dissipative Passive Haptic Interfaces,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Nov. 5-11, 2005, Orlando, FL, paper IMECE2005-82107.

118.    Kontz, M.E., J.D. Huggins, Wayne Book and Frankel J.G., “Improved Control of Open-Center Systems for Haptic Applications,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Nov. 5-11, 2005, Orlando, FL, paper IMECE2005-81910. DSC-Vol. 74-1,  pp 823-831 (Awarded best paper by the Fluid Power Systems and Technology Division).

119.    Zhu, Haihong and Wayne Book, “Practical Embedding and Multiplexing Large Scale Sensor Arrays for Digital Clay,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Nov. 5-11, 2005, Orlando, FL, paper IMECE2005-80854.

120.    Shenouda, Amir and Wayne Book “,”Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Nov. 5-11, 2005, Orlando, FL, paper IMECE2005-

121.    Shenouda, Amir and Wayne Book, “Energy Saving Analysis Using a Four-Valve Independent Metering Configuration Controlling a Hydraulic Cylinder,” SAE Commercial Vehicle Engineering Conference and Exhibition, Nov 1-3, 2005, Chicago, IL, paper 05CV-88.

122.    Tognetti, Lawrence J., and Wayne J. Book, “Effects of Increased Device Dissipation on Haptic Two-Port Network Performance,” Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida, May 15-19, 2006, pp 3304-3311.

123.    Zhu, Haihong and Wayne J. Book, “Digital Clay: Next Generation Human-computer Interface,” Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida, May 15-19, 2006, (Video and Abstract).

124.    Book, Wayne J., and Haihong Zhu, “Haptic Surfaces through Mechatronic Design,” Poceedings of 2nd IEEE International Conference on Robotics, Automation and Mechatronics, June 7-9, 2006, Bangkok, Thailand, pp 896-902.

125.    Zhu, Haihong and Wayne J. Book, “Construction and Control of Massive Hydraulic Miniature-actuator-sensor Array,” Proceedings of the 2006 IEEE Conference on Computer Aided Control Systems Design, Munich, Germany, October 4-6, 2006, pp 820-825.

126.    Zhu, Haihong, Brittyn Paul, and Wayne J. Book, “Control Issues of Digital Clay – Massive Hydraulic Actuator Array for Man-machine Communication,” Proceedings 2006 ASME International Mechanical Engineering Congress and Exposition, Nov. 5-10, 2006, Chicago, IL, paper IMECE2006-15340.

127.    Kontz, M.E., W.J. Book and J.G. Frankel, “Pressure Based Exogenoud Force Estimation,” Proceedings 2006 ASME International Mechanical Engineering Congress and Exposition, Nov. 5-10, 2006, Chicago, IL, paper IMECE2006-14441.

128.    Ching, Ho and Wayne J. Book, “Human Evaluation of Internet-Based Bilateral Teleoperation Using Wave Variables with Adaptive Predictor and Direct Drift Control,” Proceedings 2006 ASME International Mechanical Engineering Congress and Exposition, Nov. 5-10, 2006, Chicago, IL, paper IMECE2006-14721.

129.    Zhu, Haihong and Wayne Book, “Active Shielding for a Novel Sensor,” Proceedings 2007 ASME International Mechanical Engineering Congress and Exposition, Nov. 2007, Seattle, WA, paper IMECE2007-42574.

130.    Kontz, Matthew, M.C. Herrera, J.D. Huggins and Wayne Book, “Impedance Shaping for Improved Feel in Hydraulic Systems,” Proceedings 2007 ASME International Mechanical Engineering Congress and Exposition, Nov. 2007, Seattle, WA, paper IMECE2007-41712.

131.    Krauss, R.W. and W.J. Book, “A Python Software Module for Automated Identification of Systems Modeled with the Transfer Matrix Method,” Proceedings 2007 ASME International Mechanical Engineering Congress and Exposition, Nov. 2007, Seattle, WA.

132.    Zhu, H., J.D. Huggins , and W.J. Book, “Control Issues of Digital Clay – Massive Hydraulic Actuator Array for Man-machine Communication,” accepted keynote paper, Proceedings of the 17th International Federation of Automatic Control World Congress, Seoul, Korea, July 6-11, 2008.

133.    Black, Benjamin and Wayne Book, “Judging the Effectiveness of a Passive Haptic Device in Teleoperation Based on the Average Angular Error in Force Generation,” World Haptics Symposium, Reno, NV, March 8-14. 

 

 

C.        Other Publications

 

Published Papers (not fully refereed)

 

1.      Book, Wayne, and Russell C. Jones, "Systems Methodology in Urban  Construction," National Aeronautics and Space Administration Technology  Utilization Survey, Civil Engineering, Massachusetts Institute of Technology, 1971.

2.      Book, Wayne, and Russell C. Jones, "Utilization of New Materials Technology in Urban Construction," National Aeronautics and Space Administration Technology Utilization Survey, Civil Engineering, Massachusetts Institute of Technology, 1972.

3.      Book, Wayne, "Study of Design and Control of Remote Manipulators, Part II: Vibration Considerations in Manipulator Design," Final Report on NASA Contract NA58-28055, Department of Mechanical Engineering, Massachusetts Institute of Technology, February 15, 1973.

4.      Book, Wayne, "Tradeoffs in Manipulator Structure and Control, Part I: Summary Part II: Modeling, Design, and Control of Flexible Manipulator Arms; Part IV: Flexible Manipulator Analysis Program," Final Report for NASA Contract NASA-28-055, Department of Mechanical Engineering, Massachusetts Institute of Technology, 1974.

5.      Book, Wayne, "Simplified Models for Flexible Manipulator Analysis," Final Report NASA/American Society of Engineering Education, Summer Faculty Fellowship Program Johnson Space Center, August 1976.

6.      Book, Wayne, "Models of Manipulators and Manipulation," National Science Foundation, Workshop on the Impact on the Academic Community of Required Research Activity for Generalized Robotic Manipulators, Gainesville, FL 1978.

7.      Book, Wayne, Mark Majette, and Kong Ma, "Distributed Systems Analysis Package (DSAP) and Its Application to Modeling Flexible Manipulators," Final Report, Subcontract No. 551 to Charles Stark Draper Laboratory, Contract NAS9-13809 to NASA, July 1979.

8.      Book, Wayne, Allan Pierce, and W. James Hadden, "Underwater Acoustic Signatures of Helicopters," Final Report Contract No. 61339-75-C-0122, Delivery Order No. HR-41, Naval Coastal Systems Center, June 1980.

9.      Book, Wayne, Mark Majette, and Kong Ma, "Frequency Domain Analysis of the Space Shuttle Manipulator Arm and Its Payloads," Final Report, Subcontract No. 586 to Charles Stark Draper Laboratory, Contract NAS9-13809 to NASA, February 1981.

10.    Book, Wayne, "Recursive Lagrangian Dynamics of Flexible Manipulator Arms via Transformation Matrices," Technical Report CMU-RI-TR-83-23, Carnegie-Mellon University, The Robotics Institute.

11.    Book, Wayne, "CIMS 1984 Annual Report," Georgia Institute of Technology, December 1984.

12.    Henneman, R., W. Book, et. al., "Georgia Institute of Technology Integrated Manufacturing Systems Progress Report, 1985/96" January 1987.

13.    Book, W.J., "Controlled Motion in An Elastic World -- Final Report."  NASA Grant NAG1-623.  November 15, 1985 - December 31, 1992.

14.  Lew, J.Y., D.W. Cannon, D.P. Magee, W.J. Book, “Structural Vibration Control of Micro/Macro-Manipulator Using Feedforward and Feedback Approaches”.  prepared for U.S. Department of Energy, Pacific Northwest Laboratory, Contract DE-AC06-76RLO 1830, September 1995

15.  Book, Wayne, “Haptics Gets a Feel for the Job at Georgia Tech,” Hydraulics and Pneumatics Magazine, February, 2004.

 

Conference Presentations with Proceedings (not fully refereed)

 

1.      Book, Wayne, "Computer Integrated Manufacturing Systems (CIMS) Program at Georgia Institute of Technology," FOCUS on Manufacturing Technology Conference, Atlanta, GA, March 30, 1984.

2.      Sangveraphunsiri, Viboon, Wayne Book, and Steve Dickerson, "Considerations in Selection of DC Motors for Lightweight Arms," 1984 ASME Computers in Engineering Conference, Las Vegas, NV, June 1984.

3.      Book, Wayne, "New Concepts in Lightweight Arms," Second International Symposium on Robotics Research, Tokyo, Japan, August 1984, pp. 203-205.

4.      Cetinkunt, Sabri, and Wayne Book, "Optimum Control of Flexible Arms on Fixed Paths," The Third Army Conference on Applied Mathematics and Computing, Atlanta, GA, May 13, 1985.

5.      Alberts, Thomas, Gordon Hastings, Wayne Book, and Steve Dickerson, "Experiments in Optimal Control of a Flexible Arm with Passive Damping," Fifth VPI & SU/AIAA Symposium on Dynamics & Control of Large Structures, Blacksburg, VA, June 12, 1985.

6.      Book, Wayne and Sabri Cetinkunt, "Near Optimum Control of Flexible Robot Arms on Fixed Paths," 1985 IEEE Conference on Decision and Control, Ft. Lauderdale, FL, December 11-13, 1985.

7.      Book, Wayne, Abraham Haddad, and Stephen Krosner, "University and Industry Cooperation in the Development of a Curriculum for Integrated Manufacturing Systems Engineering," 1985 IEEE Conference on Decision and Control, Ft. Lauderdale, FL, December 11-13, 1985.

8.      Book, Wayne, "Modeling and Control Problems in Light-Weight, High Speed Robot Arms," Workshop on Kinematics, Dynamics, and Control of Mechanisms and Manipulators, sponsored by U.S. Army Research Office, Troy, N.Y., June 26, 1986.

9.      Alberts, Thomas E., Wayne Book, and Steve Dickerson, "Experiments in Augmenting Active Control of a Flexible Structure with Passive Damping," AIAA 24th Aerospace Sciences Meeting, Reno, NV, January 6-9, 1986, 8 pp.

10.    Cetinkunt, S., B. Siciliano, and W. Book, "Symbolic Modelling and Dynamic Analysis of Flexible Manipulators," Proceedings of the 1986 Conference on  Systems, Man and Cybernetics, pp. 798-803.

11.    Book, W., "Low Cost Automation with Lighter Versatile Machines," Proceedings of the 1986 International Federation on Automatic Control  (IFAC) Symposium on Low Cost Automation, Valencia, Spain, November 29, 1986.

12.    Craig, James I., W.J. Book, and A. Myklebust, "The IBM CIMS Curriculum Development and Equipment Grant Programs - University Perspective," 1987 UPCAEDM Conference, The Ohio State University, June 1987.

13.    Lee, J.-W. and W. Book, "Efficient Dynamic Models for Flexible Robots." Proceedings, Seventh VPI & SU Symposium on Dynamics and Control of Large Structures, May 8-10, 1989.

14.    Book, W.J. and J.-J. Wang, "Combining Research and Precision in Robotic Device," Conference Record, Southcon/90 pp. 124-129, March 20-22, 1990, Orlando, FL.

15.    Book, W.J., L.J. Love, and M. Farah, “A Teleoperation Testbed for Nuclear Waste Restoration,” Proceedings, Spectrum‘94: International Topical Meeting on Nuclear and Hazardous Waste Management, Aug. 14-18, 1994, Atlanta, GA, pp 1017-1021.

16.    Hogan, J.E. and W.J. Book, “Simulation, Animation, and Control of Multi-Body Mechanisms,” Proceedings, Spectrum‘94: International Topical Meeting on Nuclear and Hazardous Waste Management, Aug. 14-18, 1994, Atlanta, GA, pp 1068-107l.

17.    Davis, H. and W.J. Book, “An Investigation of a Passively Controlled Haptic Interface,” Proceedings of the ANS Sixth Topical Meeting on Robotics and Remote Systems, Augusta, GA, April 27 - May 1, 1997, pp 982-989

18.        Magee, David, David Cannon, and Wayne Book, “Combined Command Shaping and Inertial Damping for Flexure Control,” invited paper, Proceedings of the 1997 American Control Conference, June 4-6, 1997, Albuquerque, NM, pp 1330-1334

19.        Book, Wayne and Cody Watson, “Alternatives in the Generation of Time-Domain Models of Fluid LinesUsing Frequency Domain Techniques,” Proceedings, 3rd MATHMOD Vienna, IMACS Symposium on Mathematical Modelling, February 2-4, 2000, Vienna, Austria, pp325-333.

20.        Young, W. Martin and Wayne Book, “Comparing Active and Passive Haptic Displays with Psychophysics Experiments,” Proceedings of Mechatronics 2000, The 7th Mechatronics Forum International Conference.

21.        Arestides, Peter, Curtis Sharif and Wayne Book, “Advanced Motion Control Implemention Using Windows NT and Real-Time Extensions,” Proceedings of Mechatronics 2000, The 7th Mechatronics Forum International Conference, September 6-8, 2000, Atlanta, GA.

22.        Dickerson, Stephen and Wayne Book, “Control Systems for Placement with Human-Like Properties,” Proceedings of Mechatronics 2000, The 7th Mechatronics Forum International Conference, September 6-8, 2000, Atlanta, GA.

23.        Book, Wayne, Kyle Koeppen and Matthew Rouse, “Virtual Access to a Hydraulic Experiment for System Dynamics and Controls Education,” Proceedings of Mechatronics 2000, The 7th Mechatronics Forum International Conference, September 6-8, 2000, Atlanta, GA. (under review for journal special issue.)

24.        Rhim, Sungsoo and Wayne Book, “Noise Effect on Time-domain Adaptive Command Shaping Methods for Flexible Manipulator Control,” Proceedings of Mechatronics 2000, The 7th Mechatronics Forum International Conference, September 6-8, 2000, Atlanta, GA.

25.        Book, Wayne and Davin Swanson, “Reach Out And Touch Someone: Controlling Haptic Manipulators Near And Far,” Plenary paper and presentation, Proceedings of 7th IFAC Symposium on Robot Control, SYROCO ’03, September 1-3, 2003, Wroclaw, Poland, pp 13-21.

26.        Book, Wayne J., Steve Dickerson and Scott Coleman, “Optimal Arbitrary Time-Delay Filtering via Distributed Control,” interactive session with demonstration, American Control Conference, Boston, MA, June 30-July 2, 2004.

27.        Zhu, Haihong and Wayne J. Book, “Motion of Digital Clay Surfaces,” interactive session with demonstration, American Control Conference, Boston, MA, June 30-July 2, 2004.