PUBLICATIONS
Imme Ebert-Uphoff


Proceedings and Book Chapters

  1. C.M. Gosselin and I. Ebert-Uphoff, editors, Proceedings of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Qu´ebec City, QC, Canada, Oct 2002. Published in two versions: Printed Proceedings (359 pages) and CD Proceedings.
  2. I. Ebert-Uphoff, C.M. Gosselin, D.W. Rosen, T. Laliberte, “Rapid Prototyping for Robotics”, book chapter in “Cutting Edge Robotics”, Pro Literatur Verlag, Mammendorf, Germany, 2005, pp. 17-46.
Journal Papers
  1. P. Bosscher, I. Ebert-Uphoff, “Disturbance Robustness Measures for Underconstrained Cable-Driven Robots”, IEEE Transaction on Robotics (submitted June ’06).
  2. P. Bosscher, A. Riechel, I. Ebert-Uphoff, “Wrench-Feasible Workspace Generation for Cable-Driven Robots”, IEEE Transaction on Robotics, vol. 22, no. 5, October 2006, pp. 890-902.
  3. K. Kozak, W. Singhose, I. Ebert-Uphoff, “Performance Measures for Input Shaping and Command Generation”, ASME Journal of Dynamic Systems, Measurement and Control, vol. 128, pp. 731-736, 2006.
  4. P.A. Voglewede, I. Ebert-Uphoff, “Overarching Framework for Measuring Closeness to Singularities of Parallel Manipulators”, IEEE Transactions on Robotics, vol. 21, no. 6, Dec 2005, pp. 1037 – 1045.
  5. P.A. Voglewede, I. Ebert-Uphoff, “Application of the Antipodal Grasp Theorem to Cable-Driven Robots”, IEEE Transactions on Robotics, vol. 21, no. 4, Aug 2005, pp. 713 – 718.
  6. A.X.H. Dang, I. Ebert-Uphoff, “Active Acceleration Compensation for Transport Vehicles Carrying Delicate Objects”, IEEE Transactions on Robotics, Vol. 20, No. 5, Oct 2004, pp. 830 – 839.
  7. P.A. Voglewede, I. Ebert-Uphoff, “Application of Workspace Generation Techniques to Determine the Unconstrained Motion of Parallel Manipulators”, ASME Journal of Mechanical Design, vol. 126, no. 2, March 2004, pp. 283-290.
  8. K. Kozak, I. Ebert-Uphoff, W. Singhose, “Locally Linearized Dynamic Analysis of Parallel Manipulators and Application of Input Shaping to Reduce Vibration”, ASME Journal of Mechanical Design, vol. 126, no. 1, Jan. 2004, pp. 156-168.
  9. I. Ebert-Uphoff, “Introducing Undergraduate Students to Parallel Manipulators Through Hands-on Experiments”, IEEE Robotics & Automation Magazine, special issue on “Robotics in Education”, Vol. 10, No. 3, pp. 13-19, Sept 2003.
  10. I. Ebert-Uphoff, K. Johnson, “Practical Considerations for the Use of Static Balancing for Parallel Kinematic Machines”, IMechE Journal of Multi-body Dynamics, Special issue, Vol. 216, Part K, pp. 73-85, 2002.
  11. I. Ebert-Uphoff, J.-K. Lee, H. Lipkin, “Characteristic Tetrahedron ofWrench Singularities for Parallel Manipulators with Three Legs”, IMechE Journal of Mechanical Engineering Science (Part C), Special issue on Spatial Mechamisms, Vol. 216, No. C1, pp. 81 - 93, 2002.
  12. I. Ebert-Uphoff, J.F. Gardner, W.R. Murray, R. Perez, “Preparing for the Next Century: The State of Mechatronics Education”, IEEE/ASME Transactions on Mechatronics, Vol. 5, No. 2, pp. 226-227, June 2000.
  13. I. Ebert-Uphoff, C.M. Gosselin, and T. Lalibert´e, “Static Balancing of Spatial Parallel Platform Mechanisms – Revisited”, ASME Journal of Mechanical Design, Vol. 122, No. 1, pp. 43-51, March 2000.
  14. I. Ebert-Uphoff and G. Chirikjian, “Discretely Actuated Manipulator Workspace Generation by Closed-Form Convolution”, ASME Journal of Mechanical Design, pp. 245-251, Vol 120, June 1998.
  15. G. Chirikjian and I. Ebert-Uphoff, “Numerical Convolution on the Euclidean Group with Applications to Workspace Generation”, IEEE Transactions on Robotics and Automation, pp. 123-136, Vol.14, No. 1, Feb. 1998.
  16. A. Pamecha, I. Ebert-Uphoff and G. Chirikjian, “UsefulMetrics for Modular RobotMotion Planning”, IEEE Transactions on Robotics and Automation, vol. 13, no. 4, pp. 531-545, August 1997.
  17. G. Chirikjian, A. Pamecha and I. Ebert-Uphoff, “Evaluating Efficiency of Self-Reconfiguration in a Class of Modular Robots”, Journal of Robotics Systems, vol. 13, no. 5, pp. 317-38, 1996.
  18. I. Ebert-Uphoff and G. Chirikjian, “Efficient Workspace Generation for Binary Manipulators with Many Actuators”, Journal of Robotics Systems, vol. 12, no. 6, pp. 383-400, 1995.
Refereed Conference Papers
  1. S.Wolff, I. Ebert-Uphoff, “Preliminary Results on Generating Assembly Sequences for Shape Display”, Proceedings of the ASME International 26th Computers and Information in Engineering Conference (CIE), Philadelphia, PA, Sept 10-13, 2006, paper number DETC2006-99233.
  2. P. Bosscher, I. Ebert-Uphoff, “Disturbance Robustness Mesasures for Underconstrained Cable-Driven Robots”, 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, May 15-19, 2006, pp. 4205-4212.
  3. I. Ebert-Uphoff, P.A. Voglewede, “On the Connections between Cable-Driven Robots, Parallel Manipulators and Grasping”, 2004 IEEE International Conference on Robotics and Automation, Vol. 5, pp. 4521-4526, New Orleans, LA, April 26 - May 1, 2004.
  4. P.A. Voglewede, I. Ebert-Uphoff, “Measuring ”Closeness” to Singularities for Parallel Manipulators”, 2004 IEEE International Conference on Robotics and Automation, Vol. 5, pp. 4539-4544, New Orleans, LA, April 26 - May 1, 2004.
  5. P. Bosscher, I. Ebert-Uphoff, “A Stability Measure for Underconstrained Cable-Driven Robots”, 2004 IEEE International Conference on Robotics and Automation, Vol. 5, pp. 4943-4949, New Orleans, LA, April 26 - May 1, 2004.
  6. P. Bosscher, I. Ebert-Uphoff, “Wrench-Based Analysis of Cable-Driven Robots”, 2004 IEEE International Conference on Robotics and Automation, Vol. 5, pp. 4950-4955, New Orleans, LA, April 26 - May 1, 2004.
  7. A.T. Riechel, I. Ebert-Uphoff, “Force-Feasible Workspace Analysis for Underconstrained, Point-Mass Cable Robots”, 2004 IEEE International Conference on Robotics and Automation, Vol. 5, pp. 4956-4962, New Orleans, LA, April 26 - May 1, 2004.
  8. P. Bosscher, I. Ebert-Uphoff, “Digital Clay: Architecture Designs for Shape-Generating Mechanisms”, 2003 IEEE International Conference on Robotics and Automation, vol. 1, 2003, pp. 834-841.
  9. P. Bosscher, I. Ebert-Uphoff, “A Novel Mechanism for Implementing Multiple Collocated Spherical Joints”, 2003 IEEE International Conference on Robotics and Automation, vol. 1, 2003, pp. 336-341.
  10. K. Kozak, I. Ebert-Uphoff, P.A. Volgewede, W. Singhose, “Concept Paper: On the Significance of the Lowest Natural Frequency of a Parallel Manipulator as a Performance Measure for Concurrent Design”, Proceedings of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Qu´ebec City, QC, Canada, Oct 2002, pp. 112-118.
  11. K. Kozak, I. Ebert-Uphoff, “Review of the Role of Quasi-Coordinates for the Kinematic and Dynamic Modeling of Parallel Manipulators”, Proceedings of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Qu´ebec City, QC, Canada, Oct 2002, pp. 328-338.
  12. P.A. Voglewede, I. Ebert-Uphoff, “Two Viewpoints on the UnconstrainedMotion of ParallelManipulator at or near Singular Configurations”, IEEE International Conference on Robotics and Automation, Washington, D.C., pp. 503 - 510, May, 2002.
  13. K. Kozak, I. Ebert-Uphoff, W. Singhose, “Analysis of Varying Natural Frequencies and Damping Ratios of a Sample Parallel Manipulator Throughout Its Workspace Using Linearized Equations of Motion”, Symposium on Dynamics and Vibration of Robotic Systems, Proceedings of the ASME Design Engineering Technical Conferences, Pittsburgh, PA, Paper # DETC2001/VIB-21529, Sept 2001.
  14. V.K. Chan, I. Ebert-Uphoff, “Investigation of the Deficiencies of Parallel Manipulators in Singular Configurations Through the Jacobian Nullspace”, IEEE International Conference on Robotics and Automation, vol. 2, pp. 1313 - 1320, Seoul, Korea, May 2001.
  15. M. Decker, A. Dang, I. Ebert-Uphoff, “Motion Planning for Active Acceleration Compensation”, IEEE International Conference on Robotics and Automation, vol. 2, pp. 1257 - 1264, Seoul, Korea, May 2001.
  16. K. Johnson, I. Ebert-Uphoff, ”Development of a Spatial Statically-Balanced Parallel Platform Mechanism”, Proceedings of the Year 2000 Parallel Kinematic Machines International Conference and Second European-American PKM Forum, Ann Arbor, MI, pp. 143-159, Sept 2000.
  17. B. Geving, I. Ebert-Uphoff, ”Development of Technology to Support the Construction of Robotic Mechanisms in SLA Machines”. Part of a “Special Session on Rapid Prototyping of Mechanisms and Robotic Systems” at the 26th ASME BiennialMechanisms Conference, Paper Number DETC00/MECH-14207, Baltimore, MD, Sept 2000.
  18. B. Geving, A. Kataria, C. Moore, I. Ebert-Uphoff, T. Kurfess, D. Rosen, “Conceptual Design of a Generalized Stereolithography Machine”, ‘2000 Japan-USA Symposium on Flexible Automation’, paper # 2000JUSFA-13172, Ann Arbor, MI, July 23-26, 2000.
  19. C.M. Gosselin, J. Wang, T. Lalibert´e, I. Ebert-Uphoff, “On the Design of a Statically Balanced 6-DOF Parallel Manipulator”, the Tenth World Congress on the Theory of Machines and Mechanisms, Oulu, Finland, pp. 1045-1050, June 1999.
  20. I. Ebert-Uphoff, C.M. Gosselin, “Dynamic Modeling of a Class of Spatial Statically-Balanced Parallel Platform Mechanisms”, 1999 IEEE International Conference on Robotics and Automation, vol. 2, pp. 881–888, Detroit, MI, May 1999.
  21. I. Ebert-Uphoff, C.M. Gosselin, and T. Lalibert´e, “Static Balancing of a Class of Spatial Parallel Platform Mechanisms”, 1998 ASME Design Engineering Technical Conferences, DETC/MECH-5964, Atlanta, GA, Sept 1998.
  22. I. Ebert-Uphoff, C.M. Gosselin, “Kinematic Study of a new Type of Spatial Parallel Platform Mechanism”, 1998 ASME Design Engineering Technical Conferences, DETC/MECH-5962, Atlanta, GA, Sept 1998.
  23. G. Chirikjian and I. Ebert-Uphoff, “Discretely Actuated Manipulator Workspace Generation Using Numerical Convolution on the Euclidean Group”, vol. 1, pp. 742-749, IEEE Conference on Robotics and Automation, Leuven, Belgium, May 1998.
  24. I. Ebert-Uphoff and G. Chirikjian, “Discretely Actuated Manipulator Workspace Generation by Closed-Form Convolution”, ASME Mechanisms Conference, 96-DETC/MECH-1162, Irvine, CA, August 1996.
  25. I. Ebert-Uphoff and G. Chirikjian, “Inverse Kinematics of Discretely Actuated Hyper-Redundant Manipulators Using Workspace Densities”, IEEE Conference on Robotics and Automation, pp. 139-145, Minneapolis, Minnesota, April 1996.
  26. I. Ebert-Uphoff and G. Chirikjian, “Generation of Binary Manipulator Workspaces and Work Envelopes”, Proceedings of the Third IASTED International Conference on Robotics and Manufacturing, pp. 14-20, Cancun, Mexico, June 1995.

Refereed Conference Video
  1. I. Ebert-Uphoff, A.X.H. Dang, R.W. Bush, “The Theoretical and Experimental Development of an Active Acceleration Compensation Platform for the Transport of Delicate Objects”, Video Proceedings of the 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA, April 26 - May 1, 2004.

Non-Refereed Conference Papers
  1. A.T. Riechel, P. Bosscher, H. Lipkin, I. Ebert-Uphoff, “Concept Paper: Cable-Driven Robots for Use in Hazardous Environments”, 10th International Conference on Robotics & Remote Systems for Hazardous Environments, Florida, March 2004.
  2. Jarek Rossignac, Mark Allen, Wayne J. Book, Ari Glezer, Imme Ebert-Uphoff, Chris Shaw, David Rosen, Stephen Askins, Jing Bai, Paul Bosscher, Joshua Gargus, ByungMoon Kim, Ignacio Llamas, Austina Nguyen, Guang Yuan, Haihong Zhu, “Finger Sculpting with Digital Clay: 3D Shape Input and Output through a Computer-Controlled Real Surface”, Proceedings of the Shape Modeling International Conference, Seoul, Korea, May 12-16, 2003.
  3. I. Ebert-Uphoff, J.-K. Lee, H. Lipkin, “Characteristic Tetrahedron ofWrench Singularities for Parallel Manipulators with Three Legs”, presented at Ball 2000 Symposium, Cambridge, GB, July 2000.

Technical Reports

  1. I. Ebert-Uphoff, “Measuring Connection Strengths and Link Strengths in Discrete Bayesian Networks”, Technical Report, Georgia Tech, College of Computing, GT-IIC-07-01, January 2007.
  2. Sebastien J. Wolff, Imme Ebert-Uphoff, Harvey Lipkin, “Statically Stable Assembly Sequence Generation for Many Identical Assembly Blocks”, Technical Report, Georgia Tech, College of Computing, GIT-IC-07-06, October 2007.


Last updated:  November 2007.