|2011 - Present||Professor, University of Dayton ‐ Department of Mechanical and Aerospace Engineering|
|2007 - 2011||Associate Director, University of Dayton ‐ University Honors Program|
|2003 - 2011||Associate Professor, University of Dayton ‐ Department of Mechanical and Aerospace Engineering|
|1997 - 2003||Assistant Professor, University of Dayton ‐ Department of Mechanical and Aerospace Engineering|
- MEE 522: Geometric Methods in Kinematics
- MEE 521: Kinematic Principles in Design
- MEE 520: Theoretical Kinematics
- MEE 321: Theory of Machines
- MEE 314: Computational Methods
|1996||Ph.D, University of California, Irvine ‐ Mechanical Engineering|
|1993||MS, University of California, Irvine ‐ Mechanical Engineering|
|1989||BS, Rose-Hulman Institute of Technology ‐ Mechanical Engineering|
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University of Dayton
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Dayton, OH 45469
Office Phone: 937-229-2201
Singularity Traces of Single Degree-of-Freedom Planar Linkages that Include Prismatic and Revolute Joints Journal of Mechanisms and Robotics (2016)
This paper extends the general method to construct a singularity trace for single degree-of-freedom (DOF), closed-loop linkages to include prismatic along with revolute joints. The singularity trace has been introduced in the literature as a ...
The Complete Solution of Alt–Burmester Synthesis Problems for Four-Bar Linkages Journal of Mechanisms and Robotics (2016)
Precision-point synthesis problems for design of four-bar linkages have typically been formulated using two approaches. The exclusive use of path-points is known as “path synthesis,” whereas the use of poses, i.e., path-points with orientation, is ...
A Function Generation Synthesis Methodology for All Defect-Free Slider-Crank Solutions for Four Precision Points Journal of Mechanisms and Robotics (2015)
The well-established methodology for slider-crank function generation states that five precision points can be achieved without structural error. The resulting designs, however, do not necessarily satisfy all of the kinematic requirements for designing a slider-crank ...
A Mechanical Regenerative Brake and Launch Assist Using an Open Differential and Elastic Energy Storage SAE International Journal of Alternative Powertrains (2015)
Regenerative brake and launch assist (RBLA) systems are used to capture kinetic energy while a vehicle decelerates and subsequently use that stored energy to assist propulsion. Commercially available hybrid vehicles use generators, batteries and motors ...
Improving Techniques in Statically Equivalent Serial Chain Modeling for Center of Mass Estimation Journal of Mechanisms and Robotics (2015)
Any articulated system of rigid bodies defines a statically equivalent serial chain (SESC). The SESC is a virtual chain that terminates at the center of mass (CoM) of the original system of bodies. An SESC ...
Development of a Spring-Based Automotive Starter SAE International Journal of Commercial Vehicles (2014)
Automotive starting systems require substantial amounts of mechanical energy in a short period of time. Lead-acid batteries have historically provided that energy through a starter motor. Springs have been identified as an alternative energy storage ...
Computing the Branches, Singularity Trace, and Critical Points of Single Degree-of-Freedom, Closed-Loop Linkages Journal of Mechanisms and Robotics (2013)
This paper considers single degree-of-freedom (DOF), closed-loop linkages with a designated input angle and one design parameter. For a fixed value of the design parameter, a linkage has input singularities, that is, turning points with ...
Kinematic Synthesis of Planar, Shape-Changing, Rigid Body Mechanisms for Design Profiles with Significant Differences in Arc Length Mechanism and Machine Theory (2013)
This paper presents a kinematic procedure to synthesize planar mechanisms capable of approximating a shape change defined by a general set of curves. These “morphing curves,” referred to as design profiles, differ from each other ...
A Closed-Form Solution for the Similarity Transformation Parameters of Two Planar Point Sets Journal of Mechanical Engineering and Technology (2013)
Image registration covers the set of techniques used in matching images of the same scene. A subset of the image registration problem, identifying the parameters in a similarity transformation, has emerged as useful in a ...
Design of Planar, Shape-Changing Rigid-Body Mechanisms for Morphing Aircraft Wings Journal of Mechanisms and Robotics (2012)
This paper presents a procedure to synthesize planar rigid-body mechanisms, containing both prismatic and revolute joints, capable of approximating a shape change defined by a set of morphing curves in different positions. The existing mechanization ...
Singularity Free Revolute-Prismatic-Revolute and Spherical-Prismatic-Spherical Chains for Actuating Planar and Spherical Single Degree of Freedom Mechanisms Journal of Mechanisms and Robotics (2012)
Given a single degree of freedom mechanism, a moving reference frame attached to any link has a motion that can be described with a single parameter. A point relative to this moving frame is sought ...
Estimation of the Centre of Mass from Motion Capture and Force Plate Recordings: A Study on the Elderly Applied Bionics and Biomechanics (2011)
The estimation of the centre of mass position in humans is usually based on biomechanical models developed from anthropometric tables. This method can potentially introduce errors in studies involving elderly people, since the ageing process ...
Pole Arrangements that Introduce Prismatic Joints into the Design Space of Four- and Five-Position Rigid-Body Synthesis Mechanism and Machine Theory (2010)
Although a general five-position, rigid-body guidance problem admits a discrete number of revolute–revolute (RR) dyads, this paper identifies arrangements of five task positions that result in a center-point curve. For these special arrangements, a one-dimensional ...
Slider-Cranks as Compatibility Linkages for Parametrizing Center-Point Curves Journal of Mechanisms and Robotics (2010)
In synthesizing a planar 4R linkage that can achieve four positions, the fixed pivots are constrained to lie on a center-point curve. It is widely known that the curve can be parametrized by a 4R ...
Estimation of the Center of Mass: From Humanoid Robots to Human Beings Transactions on Mechatronics (2009)
This paper presents a new technique for estimating the center of mass of articulated rigid body systems. This estimation technique uses the statically equivalent serial chain, a serial chain representation of any multilink branched chain ...
Synthesis of Planar Rigid-Body Mechanisms Approximating Shape Changes Defined by Closed Curves Journal of Mechanical Design (2009)
This paper presents a procedure to synthesize planar linkages, composed of rigid links and revolute joints, that are capable of approximating a shape change defined by a set of closed curves possessing similar arc lengths. ...
Assessing Position Order in Rigid Body Guidance: An Intuitive Approach to Fixed Pivot Selection Journal of Mechanical Design (2008)
Several established methods determine if an RR dyad will pass through a set of finitely separated positions in order. The new method presented herein utilizes only the displacement poles in the fixed frame to assess ...
Singularity Analysis of an Extensible Kinematic Architecture: Assur Class N, Order N-1 Journal of Mechanisms and Robotics (2008)
This paper presents an analysis to create a general singularity condition for a mechanism that contains a deformable closed contour. This kinematic architecture is particularly relevant to rigid-link, shape-changing mechanisms. Closed contour shape-changing mechanisms will ...
Mechanization of a High Aspect Ratio Wing for Aerodynamic Control Journal of Intelligent Material Systems and Structures (2008)
Investigations are conducted to mechanize a controlled spanwise-varying airfoil camber change for a high aspect ratio wing, resulting in optimized aerodynamic performance for a aircraft that changes weight by 50% over its mission. Mechanisms to ...
Kinematic Synthesis of Planar, Shape-Changing Rigid-Body Mechanisms Journal of Mechanical Design (2008)
This paper presents a kinematic procedure to synthesize planar mechanisms, composed of rigid links and revolute joints, capable of approximating a shape change defined by a set of curves. These “morphing curves”, referred to as ...
Synthesizing Single DOF Linkages via Transition Linkage Identification Journal of Mechanical Design (2007)
A linkage is partially classified by identifying those links capable of unceasing and drivable rotation and those that are not. In this paper, we examine several planar single degree-of-freedom linkages to identify all changes to ...
A Distance Metric for Finite Sets of Rigid-Body Displacements via the Polar Decomposition Journal of Mechanical Design (2006)
An open research question is how to define a useful metric on the special Euclidean group SE(n) with respect to: (1) the choice of coordinate frames and (2) the units used to measure linear and ...
Burmester Lines of Spatial Five Position Synthesis from the Analysis of a 3-CPC Platform Journal of Mechanical Design (1999)
This paper presents a new technique for determining the fixed axis for a spatial CC chain that guides a rigid body through five finitely separated positions, termed a Burmester Line. It is known that there ...
A Planar Quaternion Approach to the Kinematic Synthesis of a Parallel Manipulator Robotica (1997)
In this paper we present a technique for designing planar parallel manipulators with platforms capable of reaching any number of desired poses. The manipulator consists of a platform connected to ground by RPR chains. The ...