Graduate Work

• "Elements of Agility in Manufacturing", Ph.D. Dissertation (Mechanical Engineering), CWRU, January 1999.
• "An Object-Oriented Software Architecture for the Control of Flexible Parts Feeding Systems", M.S. Thesis (Computer Science), CWRU, January 2002.
• "Testing of Vibration Damping Bindings used on Alpine Ski Equipment", M.S. Thesis (Mechanical Engineering), CWRU, August 1993. 
  

Publications

• "An Object-Oriented Controller Architecture for Flexible Parts Feeding Systems", 2003 IEEE International Conference on Robotics and Automation  
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• "Guidelines for the Design of Robotic Gripping Systems", Assembly automation, Volume 23, Number 1, 2003, pp. 18-28.  
  Postscript(forthcoming), or PDF
• "Modeling and Throughput Prediction for Flexible Parts Feeders", 2000 IEEE International Conference on Robotics and Automation  
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• "Toward a Science of Flexible Feeding", 1999 IEEE International Conference on Advanced Intelligent Mechatronics.  
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• "Testing and Analysis of a Flexible Feeding System", 1999 IEEE International Conference on Robotics and Automation. 
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• "Design of a Flexible Parts Feeding System", 1997 IEEE International Conference on Robotics and Automation. 
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• "Gripper Design Guidelines for Modular Manufacturing", 1998 IEEE International Conference on Robotics and Automation. 
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• "Advances in Agile Manufacturing", 1997 IEEE International Conference on Robotics and Automation. 
  Postscript or PDF
• "Design of an Agile Manufacturing Workcell for Light Mechanical Assembly", 1996 IEEE International Conference on Robotics and Automation. 
  Postscript or PDF
• "An Agile Manufacturing Workcell Design", IIE Transactions on Design and Manufacturing, 1998 
  Postscript or PDF

Presentations

• "Testing and Analysis of a Flexible Feeding System", 1999 IEEE International Conference on Robotics and Automation
• "Gripper Design Guidelines for Modular Manufacturing", 1998 IEEE International Conference on Robotics and Automation
• "Design of a Flexible Parts Feeding System", 1997 IEEE International Conference on Robotics and Automation
• "Design of a Generic Parts Feeder for an Agile Manufacturing Workcell", 1996 RIA 4^th Annual Workshop on Flexible Parts Feeding for Automated Handling & Assembly
• "Tool Offsets and Vision Calibration: A Tutorial on the Use of Tool Offsets in a Flexible Manufacturing Workcell ", One day seminar presented to the Manufacturing Technology Center, Eaton Corporation, October 1997.