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SELECTED PUBLICATIONS

Collaborative Robots, Human-Friendly Robots and Real-time Collision Avoidance

Zeng, L. and Bone, G. M., "Design of Elastomeric Foam-Covered Robotic Manipulators to Enhance Human Safety", Mechanism and Machine Theory, Vol. 60, pp. 1-27, 2013.
First Page (PDF file).

Zeng, L. and Bone, G. M., "Mobile Robot Collision Avoidance in Human Environments", International Journal of Advanced Robotic Systems, Vol. 10, Jan. 15, 2013.
Full paper(Open Access PDF file).

Zeng, L. and Bone, G. M., "Mobile Robot Navigation for Moving Obstacles with Unpredictable Direction Changes, Including Humans", Advanced Robotics, Vol. 46, pp. 1841-1862, 2012.
First Page (PDF file).

Bone, G. M. and Chen,X. "Position Control of Hybrid Pneumatic-Electric Actuators", Proceedings of 2012 American Control Conference (ACC 2012), pp.1793-1799, 2012.
First Page (PDF file).

Zeng, L. and Bone, G. M., "Collision Avoidance for Nonholonomic Mobile Robots among Dynamic Obstacles including Humans", Proceedings of the 2010 IEEE International Conference on Automation Science and Engineering , Toronto, Canada, May 2010, pp. 940-947.

Elshafie, M. and Bone, G. M., "Markerless Human Tracking for Industrial Environments", Proceedings of the 2008 IEEE CCECE Conference, Niagara Falls, Canada, May 2008, pp. 1139-1144.
First Page (PDF file)

Zeng, L., and Bone, G. M., "Design of Foam Covering for Robotic Arms to Ensure Human Safety", Proceedings of the 2008 IEEE CCECE Conference, Niagara Falls, Canada, May 2008, pp. 1145-1150.
First Page (PDF file)

Balan, L. and Bone, G. M.,"Real-time 3D Collision Avoidance Method for Safe Human and Robot Coexistence", Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, October 2006, pp. 276-282.
First Page (PDF file)

Balan, L. and Bone, G. M.,"Real-time 3D Collision Avoidance Method for Safe Human and Robot Coexistence", Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, October 2006, pp. 276-282.
First Page (PDF file)

Lu, Y. ,Zeng L. and Bone, G. M.,"Multisensor System for Safer Human-Robot Interaction", Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005, pp. 1779-1784.
First Page (PDF file)

Bone, G. M., Chan, P.W., and Lahey, M., "Powered Exoskeleton for Industrial Applications", Proceedings of the 14th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM2004), Toronto, Canada, July 2004, pp.400-407.
Presentation Overheads (PDF file)

Position Controlled Servo Pneumatic, Hybrid Pneumatic-Electric and Hydraulic Actuators

Ashby, G. and Bone, G. M., "Improved Hybrid Pneumatic-Electric Actuator for Robot Arms", Proceedings of the 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pp. 100-106, 2016.

Bone, G. M., Xue, M. and Flett J., "Position Control of Hybrid Pneumatic-Electric Actuators Using Discrete-Valued Model-Predictive Control", Mechatronics, Vol. 25, pp.1-10, 2015.
First Page (PDF file).

Jouppila, V. T., Gadsden, S. A., Bone, G. M., Ellman, A. U. and Habibi, S. R., "Sliding Mode Control of a Pneumatic Muscle Actuator System with a PWM Strategy", International Journal of Fluid Power, Vol. 15, pp. 19-31, 2014.
First Page (PDF file).

Bone, G. M. and Chen,X. "Position Control of Hybrid Pneumatic-Electric Actuators", Proceedings of 2012 American Control Conference (ACC 2012), pp.1793-1799, 2012.
First Page (PDF file).

Jouppila, V., Gadsden, A., Habibi, S., Bone, G., and Ellman, A., "Sliding Mode Controller and Filter Applied to a Pneumatic McKibben Muscle Actuator," ASME Technical Publication #IMECE2009-13024, 2009.

Sindrey, R. and Bone, G. M., "Position Tracking Control of a Miniature Water Hydraulic Rotary Actuator", ASME Journal of Dynamic Systems, Measurement and Control, Vol. 131, No. 6, 8 pages, 2009.
Abstract(PDF file).

Rao, Z. and Bone, G. M., "Nonlinear Modeling and Control of Servo Pneumatic Actuators", IEEE Transactions on Control Systems Technology, Vol. 16, pp. 562-569, 2008.
First Page (PDF file).

Sindrey, R. and Bone, G. M., "Position Tracking Control of Miniature Low Pressure Water Hydraulic Cylinders", Proceedings of 2007 ASME International Mechanical Engineering Congress and Exposition (IMECE2007), Seattle, USA, Paper No. IMECE2007-41474 (7 pages), Nov. 2007.
First Page (PDF file).

Bone, G. M. and Ning, S., "Experimental Comparison of Position Tracking Control Algorithms for Pneumatic Cylinder Actuators", IEEE/ASME Transactions on Mechatronics, Vol. 12, pp.557-561, 2007.
First Page (PDF file).

Rao, Z. and Bone, G. M., "Modeling and Control of a Miniature Servo Pneumatic Actuator", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2006), Orlando, USA, pp.1806-1811, May 2006.
First Page (PDF file).

Ning, S. and Bone, G. M., "Experimental Comparison of Two Pneumatic Servo Position Control Algorithms", Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA 2005), Niagara Falls, Canada, pp.37-42, July 2005.
First Page (PDF file).

Ning, S. and Bone, G. M., "Development of a Nonlinear Dynamic Model for a Servo Pneumatic Positioning System", Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA 2005), Niagara Falls, Canada, pp.43-48, July 2005.
First Page (PDF file).

Chan, P.W., and Bone, G. M., "Servo Control of a Pneumatic Muscle Actuator", Proceedings of the 14th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM2004), Toronto, Canada, July 2004, pp.416-423.
Presentation Overheads (PDF file)

Ning. S., and Bone, G. M., "Methods for Higher Accuracy Pneumatic Servo Position Control", Proceedings of the 2002 CSME Forum , Kingston, Canada, May 2002, ISBN 0-9730900-1-4 (CD), 9 pages.
First Page (PDF file).

Ning, S. and Bone, G. M., "High Steady-State Accuracy Pneumatic Servo Positioning System with PVA/PV Control and Friction Compensation", Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington, DC, pp. 2824-2829, 2002.
First Page (PDF file).

Aziz, S.A. and Bone, G. M., "Automatic Tuning of Pneumatic Servo Actuators", Advanced Robotics, Vol. 13, No. 6, pp. 563-576, 2000.
First Page (PDF file).

Aziz, S.A. and Bone, G. M., "Automatic Tuning of an Accurate Position Controller for Pneumatic Actuators", Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, B.C., pp. 1782-1788, Oct. 1998.
First Page (PDF file).

Van Varseveld, R. and Bone, G. M., "Accurate Position Control of a Pneumatic Actuator Using On/Off Solenoid Valves", IEEE/ASME Transactions on Mechatronics, Vol.2, pp.195-204, 1997.
First Page (PDF file).

Van Varseveld, R. and Bone, G. M., "Accurate Position Control of a Pneumatic Actuator Using On/Off Solenoid Valves", Proceeding of the 1997 IEEE International Conference on Robotics & Automation, Albuquerque, NM, pp. 1196-1201, 1997.
First Page (PDF file).

Condition Monitoring

Flett, J. and Bone, G. M., "Fault detection and diagnosis of diesel engine valve trains", Mechanical Systems and Signal Processing, Vol. 72-73, pp. 316–327, 2016.

Mining Automation

Olsen, S. G. and Bone, G. M., "Model-based Control of Three Degrees of Freedom Robotic Bulldozing", ASME Journal of Dynamic Systems, Measurement and Control, Vol. 136, No. 2, 2014.
First Page (PDF file).

Bone, G. M., Olsen, S. G., and Ashby, G., “Robotic Dozing for Rapid Material Removal”, Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining, Montreal, Canada, August 2013.

Olsen, S. G. and Bone, G. M., "Development of a Hybrid Dynamic Model and Experimental Identification of Robotic Bulldozing", ASME Journal of Dynamic Systems, Measurement and Control, Vol. 135, No. 2, 2013.
First Page (PDF file).

Olsen, S. G. and Bone, G. M., "Modelling of robotic bulldozing operations for autonomous control", Proceedings of the 2011 IEEE CCECE conference, Niagara Falls, Canada, May 2011, pp. 1188-1193.
First Page (PDF file).

Automated Inspection Using Machine Vision

Sills, K., Bone, G. M., and Capson, D., “Defect Identification on Specular Machined Surfaces”, Machine Vision and Applications, Vol. 25, pp. 377-388, 2014.

Sills, K., Capson, D., and Bone, G. M., "Specular-Reduced Imaging for Inspection of Machined Surfaces," Proceedings of the 2012 Ninth Conference on Computer and Robot Vision (co-sponsored by the IEEE),pp. 361-368, 2012.
First Page (PDF file).

Mehran, P., Demirli, K., Bone, G., and Surgenor, B., "Fuzzy machine vision based porosity detection," Proceedings of the Annual Meeting of the North American Fuzzy Information Processing Society (co-sponsored by the IEEE), NAFIPS 2009, Cincinnati, USA, June 14-17, 6 pages, 2009.

J. Killing, B. Surgenor, K. Yang and G. Bone, "On the Need for Robust Automated Inspection: Two Machine Vision Examples", Proceedings of the Second International Conference on Changeable, Agile, Reconfigurable and Virtual Production (CARV 2007), Toronto, Canada, July 21-24, 2007.

T. Norman, B. Surgenor, C. Mechefske, G. Bone, K. Demirli, Q. Sun and F. Xi, "A Neuro-Fuzzy Approach to a Machine Vision-based Parts Inspection Problem", Proceedings of the 2006 SAE World Congress, Detroit, USA, April 3-6, 2006.

Grasp Planning, Robotic Hands, Fixture Design and Gripper Design

Bone, G. M., Lambert, A. and Edwards, M., "Automated Modeling and Robotic Grasping of Unknown Three-Dimensional Objects", Proceedings of the 2008 IEEE International Conference on Robotics and Automation, Pasadena, USA, pp. 292-298, 2008.
First Page (PDF file).

Salimi, S., and Bone, G. M., "Kinematic Enveloping Grasp Planning Method for Robotic Dexterous Hands and Three-Dimensional Objects ", Robotica, Vol. 26, No. 3, pp.331-344, 2008.
First Page (PDF file).

Gopalakrishnan, K., Goldberg, K., Bone, G. M., Zaluzec, M. J., Koganti, R., Pearson, R., and Deneszczuk, P., "Unilateral Fixtures for Sheet-Metal Parts With Holes", IEEE Transactions on Automation Science and Engineering, Vol.1, pp.110-120, 2004.
First Page (PDF file)

Bender,P., and Bone, G. M., "Automated Grasp Planning and Execution for Real-world Objects using Computer Vision and Tactile Probing", International Journal of Robotics and Automation, Vol.19, No.1, pp.15-27, 2004.
First Page (PDF file)

Du, Y., and Bone, G. M., "Object Shape Exploration and Recognition in 2D using a Two-fingered Robotic Hand", Transactions of the Canadian Society for Mechanical Engineering, Vol. 27, No. 4, pp.375-387, 2004.
First Page (PDF file).
2002 Conference Presentation Overheads (PDF file).

Balan, L., and Bone, G. M., "Automated Gripper Jaw Design and Grasp Planning for Sets of 3D Objects", Journal of Robotic Systems, Vol.20, No.3, pp.147-162, 2003.
First Page (PDF file)

Bone, G. M., "Three Orthogonal Directions Movable Fingers for Holding and/or Manipulating a Three-Dimensional Object", United States Patent No. 6,273,483, Issued Aug.14, 2001.

Bone, G. M., and Du, Y., "Multi-Metric Comparison of Optimal 2D Grasp Planning Algorithms", Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, pp. 3061-3066, 2001.
First Page (PDF file)

van Varseveld, R. B., and Bone, G. M., "Design and Implementation of a Lightweight, Large Workspace, Non-Anthropomorphic Dexterous Hand", ASME Journal of Mechanical Design, Vol. 121, pp. 480-484, 1999.
First Page (PDF file)

Bender, P. A., and Bone, G. M., "Automated Grasping of Real-World Objects Using Visual and Tactile Information", Proceedings of the 1999 IASTED International Conference on Robotics and Applications, Santa Barbara, CA, pp. 41-46, 1999.
First Page (PDF file)

Plut, W. J., and Bone, G. M., "3-D Flexible Fixturing Using a Multi-Degree of Freedom Gripper for Robotic Fixtureless Assembly", Proceedings of the 1997 IEEE International Conference on Robotics & Automation, Albuquerque, NM, pp. 379-384, 1997.
First Page (PDF file)

Plut, W. J., and Bone, G. M., "Limited Mobility Grasps for Fixtureless Assembly", Proceedings of the 1996 IEEE International Conference on Robotics & Automation, Minneapolis, Minn., pp. 1465-1470, 1996.
First Page (PDF file).

Plut, W. J., and Bone, G. M., "Grasping of 3-D Sheet Metal Parts for Robotic Fixtureless Assembly", Proceedings of the 1996 CSME Forum - Engineering Applications of Mechanics, Hamilton, Ont., pp. 221-228, 1996.
First Page (PDF file).
Full Paper (PDF file)
.

Fixtureless Assembly (Multi-Robot Sensor-Guided Assembly)

Bone, G. and Capson, D., "Vision-Guided Fixtureless Assembly of Automotive Components", Robotics and Computer Integrated Manufacturing,Vol.19, pp. 79-87, 2003.
First Page (PDF file).

Bone, G. and Balan, L., "Gripper Design and Grasp Planning for Fixtureless Assembly", Robotics Today (SME),Vol.14, pp. 1-5, 2001.
First Page (PDF file).

Bone, G. and Balan, L., "Gripper Design and Grasp Planning for Fixtureless Assembly", Proceedings of the 31st International Symposium on Robotics (ISR 2000), Montreal, May 2000, pp. 326-331.
First Page (PDF file).

Bone, G. M. and Yuen, K.M, "Technologies for Flexible Fixturing and Higher Speed Part Handling in Automated Automotive Sheet Metal Assembly", 1998 ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, Nov. 1998.
First Page (PDF file).

Yuen, K. M., and Bone, G. M., "Robotic Assembly of Flexible Sheet Metal Parts", Proceedings of the 1996 IEEE International Conference on Robotics & Automation, Minneapolis, Minn., pp. 1511-1516, 1996.
First Page (PDF file).

Yuen, K. M., and Bone, G. M., "Control of Robotic Fixtureless Assembly", Proceedings of the 1996 CSME Forum - Eng. Apps. of Mechanics, Hamilton, Ont., pp. 213-220, 1996.
First Page (PDF file)
.

Bone, G. M., and Yuen, K. M., "Multisensor-Based Detection of Contact State for Automated Sheet Metal Assembly", Manufacturing Science and Engineering, ASME Publication MED-Vol.2-2, ASME IMECE, San Francisco, pp.1131-1144, 1995.
First Page (PDF file).

Advanced Control Systems

Elfizy, A. T., Bone, G. M. and Elbestawi, M. A., "Design and Control of a Dual-Stage Feed Drive", International Journal of Machine Tools and Manufacture, Volume 45, pp. 153-165, 2005.
First Page (PDF file).

Elfizy, A. T., Bone, G. M. and Elbestawi, M. A., "Model-based Controller Design for Machine Tool Direct Feed Drives", International Journal of Machine Tools and Manufacture, Volume 44, pp. 465-477, 2004.
First Page (PDF file).

Elfizy, A.T., Bone, G.M, and Elbestawi, M.A., "On The Use of Multiple Linear Models for the Control of Nonlinear Piezoelectric Actuators", Proceedings of the 14th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM2004), Toronto, Canada, July 2004, pp.59-64.
Presentation Overheads (PDF file)

Aly, M. F., Bone, G. M. and Veldhuis, S. C., "Fast Response Control for Machine Tool Feed Drives", Transactions of NAMRI/SME , Volume 31, pp. 303-310, 2003.
First Page (PDF file).

Nye, T.J., Elbadan, A. M. and Bone, G. M., "Real-Time Process Characterization of Open Die Forging For Adaptive Control", ASME Journal of Engineering Materials Technology, Vol. 123, pp. 511-516, 2001.
First Page (PDF file).

Nye, T.J., Elbadan, A. M. and Bone, G. M., "Real-Time Process Characterization Of Open Die Forging For Adaptive Control", Proceedings of 2000 ASME IMECE Symposium on Advances in Metal Forming, Manufacturing Engineering Division, MED-Vol. 10, pp 777-782, Orlando, FL, November 5-10, 2000.

Bone, G. M., and Clayton, P., "An Iterative Learning Control Algorithm for Improving Robot and Machine Tool Path Tracking", Proceedings of the 17th Canadian Congress of Applied Mechanics - CANCAM 99, Hamilton, Canada, May 30-June 3, pp. 341-342, 1999.
First Page (PDF file).
Full Paper (PDF file)
.

Bone, G. M., "A Novel Iterative Learning Control Formulation of Generalized Predictive Control", Automatica, Vol.31, No.10, pp.1483-1487, 1995.
First Page (PDF file).

Bone, G. M., and Elbestawi, M. A., "Sensing and Control for Automated Robotic Edge Deburring", IEEE Trans on Industrial Electronics, Vol. 41, No. 2, pp. 137-146, 1994.
First Page (PDF file).

Bone, G. M., Elbestawi, M. A., Liu, L., Sinha, N. K., "Adaptive Robotic Deburring," Proceedings of the IFAC Conference on Adaptive Systems in Control and Signal Processing, Glasgow, UK, pp. 311-316, April 1989.
First Page (PDF file).

Ultrasonic Assisted Machining

Chang, S.S.F, and Bone, G. M., "Burr Height Model for Vibration Assisted Drilling of Aluminum 6061-T6," Precision Engineering, Vol. 34, No. 3, pp. 369-375, 2010.

Chang, S.S.F, and Bone, G. M., "Thrust Force Model for Vibration-assisted Drilling of Aluminum 6061-T6," International Journal of Machine Tools and Manufacture, Vol. 49, No. 14, pp. 1070-1076, 2009.

Chang, S.F.,and Bone, G. M., "Burr Size Reduction in Drilling by Ultrasonic Assistance", Robotics and Computer-Integrated Manufacturing, Vol.21, pp.442-450, 2005.
First Page (PDF file)

Chang, S.F.,and Bone, G. M., "Ultrasonic Assisted Drilling", Proceedings of the 14th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM2004), Toronto, Canada, July 2004, pp.595-602.
Presentation Overheads (PDF file)

Robotic Deburring

Bone, G. M., and Elbestawi, M. A., "Dual-Sensor Based Robotic Deburring", ASME Journal of Manufacturing Science and Engineering, Vol.118, No.3, pp.439-441, 1996.
First Page (PDF file).

Bone, G. M., and Elbestawi, M. A., "Sensing and Control for Automated Robotic Edge Deburring", IEEE Trans on Industrial Electronics, Vol. 41, No. 2, pp. 137-146, 1994.
First Page (PDF file).

Bone, G. M., Elbestawi, M. A., Lingarkar, R., and Liu, L., "Force Control for Robotic Deburring", ASME Journal of Dyn. Syst., Meas. and Cont., Vol. 113, pp. 395-400, 1991.
First Page (PDF file).

Elbestawi, M. A., Bone, G. M., and Tam, P. W., "An Automated Planning, Control, and Inspection System for Robotic Deburring", Annals of the CIRP, Vol. 41/1/1992, pp. 397-401, 1992.
First Page (PDF file).

Bone , G. M., and Elbestawi, M. A., "Active End Effector Control of a Low Precision Robot in Deburring", Robotics and Computer-Integrated Manufact., Vol. 8, No. 2, pp. 87-96, 1991.
First Page (PDF file).

Bone, G. M., and Elbestawi, M. A., "Robotic Force Control for Deburring Using an Active End Effector", Robotica, Vol. 7, pp. 303-308, 1989.
First Page (PDF file).

Parallel Manipulators

Li, Y., and Bone, G. M., "Are Parallel Manipulators More Energy Efficient?", Proceedings of the 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp.41-46, 2001.
First Page (PDF file).


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