Meet Dr. Andrew Goldenberg

Biography | Personal Information | Publications

Publications

Journal Publications | Proceedings Publications | Proceedings Publications (reviewed abstracts) | Patents
Books, Chapters in Books, UTMIE Series, Review Articles, and Non-Technical Articles

Journal Publications

  1. Matharoo, I., Peshko, I., and Goldenberg, A.A., "Robotic reconnaissance platform: I. Spectroscopic instruments with rangefinders", accepted for publication in Review of Scientific Instruments, October 2011.

  2. Liu, G., Liu, Y. and Goldenberg, A. A., "Design, Analysis and Control of a Spring Assisted Modular and Reconfigurable Robot", IEEE/ASME Transactions on Mechatronics Vol. 16, No. 4, pp. 695-706, August 2011.

  3. Ben-Tzvi, P., Goldenberg, A.A., Zu, J.W., "Articulated Hybrid Mobile Robot Mechanism with Compounded Mobility and Manipulation and On-Board Wireless Sensor/Actuator Control Interfaces", Mechatronics Journal, Vol. 20, Issue 6, pp. 627-639, September 2010.

  4. Goldenberg, A. A., Trachtenberg, J., Kucharczyk, W., Yang, Y., Haider, M., Sussman, M., Ma, L., and Weersink, R., “Robot-Assisted MRI-Guided Prostatic Interventions”, Robotica – Special Issue on Surgical Robotics, Vol. 28, Special issue 2, pp. 215-234, March 2010

  5. Mantegh, I., Jenkin, M.R.M., and Goldenberg, A. A., “Path Planning for Autonomous Mobile Robots Using the Boundary Integral Equation Method”, Journal of Intelligent and Robotic Systems, DOI 10.1007/s10846-010-9394-y, February 2010.

  6. Ben-Tzvi, P., Ito, S., and Goldenberg, A.A., “A Mobile Robot with Autonomous Climbing and Descending of Stairs”, Robotica, Vol. 27, Issue 02, pp. 171-188, February 2009.

  7. Ben-Tzvi, P., Goldenberg, A. A., and Zu, J. W., “Design and Analysis of a Hybrid Mobile Robot with Compounded Locomotion and Manipulation Capability”, ASME Transactions, Journal of Mechanical Design, Vol. 130, pp. 1-13, July 2008.

  8. Goldenberg, A. A., Trachtenberg, J., Kucharczyk, W., Yi, Y., Haider, M., Ma, L., Weersink, R., and Raoufi, C., “Robotic System for Closed-Bore MRI-Guided Prostatic Interventions”, IEEE/ASME on Mechatronics, Vol. 13, No. 3, pp. 374-379, June 2008.

  9. Raoufi, C., Goldenberg, A. A., and Kucharczyk, W., “Design and Control of a Novel Hydraulically/Pneumatically Actuated Robotic System for MRI-Guided Neurosurgery”, Journal of Biomedical Science and Engineering (JBISE), Vol. 1, pp. 61-74, June 2008.

  10. Liu, G., Abdul, S., and Goldenberg, A. A., “Distributed Control of Modular and Reconfigurable Robot with Torque”, Robotica, Volume 26, No. 1, pp. 75-84, January 2008.

  11. Wake, M., Najmabadi, P., and Goldenberg, A. A., “Blotting Pattern Optimization of Contact-based Microarray Spotting”, Journal of Association for Laboratory Automation, Volume 12, No. 2, pp. 83-89, April 2007.

  12. Najmabadi, P., Goldenberg, A. A., and Emili, A., “Hardware Flexibility of Laboratory Automation Systems: Analysis and New Flexible Automation Architectures”, Clinics in Laboratory Medicine, Volume 27, No. 1, pp. 1-28, March 2007.

  13. Ben-Tzvi, P., Ben Mrad, R., Goldenberg, A.A., “A Conceptual Design and FE Analysis of a Piezoceramic Actuated Dispensing System for Microdrops Generation in Microarray Applications”, Mechatronics Journal, Volume 17, No. 1, pp. 1-13, February 2007.

  14. Najjaran, H. and Goldenberg, A.A., “Real-time Motion Planning of an Autonomous Mobile Manipulator using a Fuzzy Adaptive Kalman Filter”, Robotics and Autonomous Systems, Vol. 55, No. 2, pp. 96-106, February, 2007.

  15. Najmabadi, P., Goldenberg, A.A., Emili, A., “Hardware Flexibility of Laboratory Automation Systems: Analysis and New Flexible Automation Architectures”, Journal of Association for Laboratory Automation, Volume 11, Number 4, pp. 203-216, August 2006.

  16. Najmabadi, P., Goldenberg, A.A., and Emili, A., “A Method for Hardware Flexibility Evaluation of Laboratory Automation Architectures”, Laboratory Focus Magazine, Vol. 11, Issue 4, pp. 8-10, July, 2006.

  17. Melek, W. W. and Goldenberg, A. A., “The development of a robust fuzzy inference mechanism”, International Journal of Approximate Reasoning, Vol. 39, No. 1, pp. 29-47, April 2005.

  18. Najjaran, H. and Goldenberg, A. A., “Landmine Detection Using an Autonomous Terrain-Scanning Robot”, International Journal of Industrial Robots, Vol. 32, No. 3, pp. 240-247, March 2005.

  19. Yeow, J.T.W., Yang, V.X.D., Chahwan, A., Gordon, M.L., Qi, B., Vitkin, I.A., Wilson, B. and Goldenberg, A.A., “Micromachined 2-D Scanner for 3-D Optical Coherence Tomography”, Journal of Sensors and Actuators, A: Physical, Vol. 17, No. 2, pp. 331-340, January 2005.

  20. Melek, W.W., Goldenberg, A. A. and Emami, M. R., “A fuzzy noise-rejection data partitioning algorithm”, International Journal of Approximate Reasoning, Vol. 38, No. 1, pp. 1-17, January 2005.

  21. Liu, G., Goldenberg, A.A. and Zhang, Y., “Precise Slow Motion Control of a Direct-Drive Robot Arm with Velocity Estimation and Friction Compensation”, Mechatronics Journal, Vol. 14, No. 7, pp. 821-834, Sept. 2004.

  22. Popovic, M. R., Liu, G. and Goldenberg, A. A., “Experimental Study on Low Velocity Friction Compensation and Tracking Control”, Automatic Control, University of Belgrade, Vol. 13, No. 2, pp. 17-22, 2003.

  23. Najmabadi, P., Goldenberg, A.A. and Emili, A., “Conceptual Design for an Automated High-Throughput Magnetic Protein Complex Purification Workcell”, Journal of the Association for Laboratory Automation (JALA), Vol. 8, No. 6, pp. 101-106, December 2003.

  24. Melek, W.W. and Goldenberg, A.A., “Neurofuzzy Control of Modular and Reconfigurable Robots”, IEEE/ASME Transactions on Mechatronics, Vol. 8, No. 3, pp. 381-389, September 2003.

  25. Moghaddam, M. and Goldenberg, A. A., “An Actuator-Level Robust Joint Torque Control of Robot with Harmonic Drive Transmission”, Scientia Iranica, Vol. 10, No. 2, pp. 194-202, April 2003.

  26. Yeow, T.W., Law, E. and Goldenberg, A. A., “SOI-Based 2-D MEMS L-Switching Matrix for Optical Networking”, IEEE Journal of Selected Topics in Quantum Electronics, Vol. 9, No. 2, March/April 2003.

  27. Yu, X. and Goldenberg, A. A., “Simulation of Contact Interaction of Nanometer Object Pushing Using AFM”, International Journal of Nonlinear Sciences and Numerical Simulation, Vol. 3, No. 4. pp. 621-626, August 2002.

  28. Yeow, T.W., Askari, V., Lu, Z., Kapps, A., Fraser, W., and Goldenberg, A.A., “An Expert System for Generation of Anti-G control Schedule for Jet Fighter Pilots”, International Journal of Expert Systems with Applications, vol. 22, no. 3, pp. 257-266, May 2002.

  29. Lin, S. and Goldenberg, A. A., “Robust Damping Control of Mobile Manipulators”, IEEE Transactions on Systems, Man and Cybernetics, Vol. 32: Part B, No. 1, pp. 126-132, February 2002.

  30. Yeow, T. W., Law, E. and Goldenberg, A. A. “MEMS Optical Switches”, IEEE Communications Magazine, Vol. 39 No. 11, pp. 158-163, Nov. 2001.

  31. Lin, S. and Goldenberg, A. A., “Neural Network Control of Mobile Manipulators”, IEEE Transactions on Neural Networks, Vol. 12, no. 5, pp. 1121-1113, Sept. 2001.

  32. Habibi, S.R., Pastrakuljic, V. and Goldenberg, A.A., “Experimental Analysis of a High Performance Hydrostatic Actuation System”, SAE Transactions, Journal of Commercial Vehicles, Vol. 109, pp. 367-377, 2001.

  33. Habibi, S. R. and Goldenberg, A. A. “Design of a New High Performance ElectroHydraulic Actuator”; IEEE/ASME Transactions on Mechatronics, Vol. 5, No. 2, pp. 158-164, June 2000.

  34. Zhou, T., Zu, J. W. and Goldenberg, A. A., “Modeling of Flexible Robot - Payload Systems Through Component Synthesis”, ASME Transactions, Journal of Dynamic Systems, Measurement and Control, Vol. 122, Issue 2, pp. 381-386, 2000.

  35. Emami, M. R., Goldenberg, A. A. and Turksen, I. B., “Systematic Design and Analysis of Fuzzy-Logic Control and Application to Robotics: Part I, Modeling”, Robotics and Autonomous Systems, Vol. 33 (2-3), pp. 65-88, 2000.

  36. Emami, M. R., Goldenberg, A. A. and Turksen, I. B., “Systematic Design and Analysis of Fuzzy-Logic Control and Application to Robotics: Part II, Control”, Robotics and Autonomous Systems, Vol. 33 (2-3), pp. 89-108, 2000.

  37. Emami, M. R., Goldenberg, A. A. and Turksen, I. B., “Fuzzy-Logic Control of Dynamic Systems: From Modeling to Design”, Engineering Application of Artificial Intelligence, Vol. 13, pp. 47-69, 2000.

  38. Popovic, M., Gorinevsky, D.M. and Goldenberg, A.A., “High Precision Positioning of a Mechanism with Nonlinear Friction Using a Fuzzy Logic Pulse Controller”, IEEE Trans. on Control Systems Technology, Vol. 8, No. 1, pp. 151-158, 2000.

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Proceedings Publications
 (published in full with review of complete paper)

  1. Zhang, W., Wang, M., Chen, W., and Goldenberg, A. A., "Application of Integrated Central and Distributed Decisions to Path Tracking Control of A Vision-based Intelligent Vehicle" Proceedings of the Conference on Technologies and Applications of Artificial Intelligence (TAAI 2010), Hsinchu, Taiwan, November 18 – 20, 2010

  2. Matharoo, I., Peshko, I., and Goldenberg, A. A., “Synergistically-Reliable Multi-Gas Photonic Sensors for Security Networks”, Proceedings of the 2010 Canadian Society for Mechanical Engineering Forum, Victoria, BC, June 7-9, 2010.

  3. Goldenberg, A. A., Trachtenberg, J., Sussman, M., Yi, Y., Lindner, U., Ma, L., Weersink, R., Kucharczyk, W. and Haider, M. “MRI-Guided Robot-Assisted Prostatic Interventions”, Proc. of the 24th International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS 2010), University Medical Center, Geneva, Switzerland, June 23-26, 2010.

  4. Raoufi, C., Goldenberg, A.A., Kucharczyk, W., “Inverse Kinematic and Control Architecture of a Slave Manipulator for MR-Guided Brain Biopsy”, ASME International Mechanical Engineering Congress & Exposition (IMECE 2008), Boston, Massachusetts, USA, Vol. 2, pp. 399-406, October 31 – November 6, 2008.

  5. Zhao, H., Ben-Tzvi, P., Lin, T., and Goldenberg, A.A., “Two-layer Sliding Mode Control of Pneumatic Position Synchro System with Feedback Linearization Based on Friction Compensation”, Proceedings of the 2008 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2008), Ottawa, Ontario, Canada, pp. 41-45, October 17-18, 2008.

  6. Zhou, Q., Ben-Tzvi, P., Fan, D., and Goldenberg, A.A., “Design of Fast Steering Mirror Systems for Precision Laser Beams Steering”, Proceedings of the 2008 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2008), Ottawa, Ontario, Canada, pp. 144-149, October 17-18, 2008.

  7. Raoufi, C., Goldenberg, A. A., and Kucharczyk, W., “Design and Development of a Control System for a New Hydraulically/Pneumatically Actuated Tele-robot for MRI-Guided Interventions”, Proceedings of the 2008 International Conference on Embedded Systems and Applications (ESA'08), Las Vegas, Nevada, USA, July 14-17, 2008.

  8. Ben-Tzvi, P., Goldenberg, A. A., and Zu, J. W., “Design, Simulations and Optimization of a Tracked Mobile Robot Manipulator with Hybrid Locomotion and Manipulator Capabilities”, Proceedings of the 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, May 19-23, 2008

  9. Liu, G., He, X., Yuan, J., Abdul, S., and Goldenberg, A. A., “Development of Modular and Reconfigurable Robot Development of Modular and Reconfigurable Robot with Multiple Working Modes”, Proceedings of the 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, May 19-23, 2008

  10. Raoufi, C., Goldenberg, A. A., Kucharczyk, W., “A New Hydraulically/Pneumatically Actuated MR-Compatible Robot for MRI-Guided Neurosurgery”, Proceedings of the 2008 2nd International Conference on Bioinformatics and Biomedical Engineering (iCBBE2008), Shanghai, China, May 16-18, 2008

  11. Raoufi, C., Ben-Tzvi, P., Goldenberg, A. A., Kucharczyk, W., “A MR-Compatible Tele-Robotic System for MRI-Guided Intervention: System Overview and Mechanical Design”, Proceedings of the 2007 IEEE/RSJ Conference on Intelligent Robots and Systems, San Diego, California, November 2007.

  12. Ben-Tzvi, P., Goldenberg, A.A., and Zu, J.W., “Implementation of Sensors and Control Paradigm for a Hybrid Mobile Robot Manipulator for Search and Rescue Operations”, Proceedings of the 2007 IEEE International Workshop on RObotic and SEnsors Environments (ROSE 2007), Ottawa, Ontario, Canada, October 12-13, 2007.

  13. Ben-Tzvi, P., Ito, S., and Goldenberg, A.A., “Autonomous Stair Climbing with Reconfigurable Tracked Mobile Robot”, Proceedings of the 2007 IEEE International Workshop on RObotic and SEnsors Environments (ROSE 2007), Ottawa, Ontario, Canada, October 12-13, 2007.

  14. Ben-Tzvi, P., Raoufi, C., Goldenberg, A.A., and Zu, J.W., “Virtual Prototype Development and Simulations of a Tracked Hybrid Mobile Robot,” MSC. Software 2007 Virtual Product Development Conference, Detroit, Michigan, October 11-12, 2007.

  15. Ben-Tzvi, P., Goldenberg, A.A., and Zu, J.W., “A Novel Control Architecture and Design of Hybrid Locomotion and Manipulation Tracked Mobile Robot”, Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation (ICMA 2007), Harbin, China, August 5-8, 2007.

  16. Raoufi, C., Goldenberg, A. A., and Kucharczyk, W., “Control Paradigm and Design for a Novel MR-Compatible Tele-Robotic System for MRI-Guided Neurosurgery”, Proceedings of the 2007 IEEE Conference on Mechatronics and Automation (ICMA 2007), Harbin, China, August 5-8, 2007.

  17. Malik, S., Goldenberg, A.A., “Obstacle Surmounting and Manipulator Arm Simulation of a Tracked Mobile Robot”, MSC. Software 2006 Virtual Product Development Conference, Huntington Beach, California, July 2006.

  18. Malik, S., Lin, J., and Goldenberg, A.A., “Virtual Prototyping for Conceptual Design of a Tracked Mobile Robot”, IEEE 2006 Canadian Conference on Electrical and Computer Engineering, Ottawa, Ontario, Canada, May 2006.

  19. Najmabadi, P., Goldenberg, A.A., and Emili, A., “A System Concept for Flexible Implementation of Robotic-based Automation in Biotechnology Research Laboratories”, Proceedings of IEEE Int. Conf. on Robotics and Automation, Orlando, Florida, May, 2006.

  20. Najmabadi, P., Goldenberg, A.A., and Emili, A., “New Flexible Laboratory Automation System Concepts for Biotechnology Research Laboratories”, Proceedings of Lab Automation 2006 Conference, Palm Springs, California, January, 2006.

  21. Naidu, C.R.J and Goldenberg, A. A., “Design of Intelligent Systems: Measure of Information Content”, ASME Int. Design Eng. Technical Conf. & Computers and Inf. in Engineering Conference, Long Beach, California, USA, September 2005.

  22. Najmabadi, P., Goldenberg, A. A., and Emili, A., “A Scalable Robotic-based Lab. Automation System for Medium-sized Biotech. Laboratories”, IEEE Conf. on Automation Science and Engineering, Edmonton, Alberta, Canada, August 2005.

  23. Melek, W.W., Sadeghian, A.R. and Goldenberg, A.A., “A study of the generalization capability of a class of fuzzy inference systems”, Inf. Proc. and Manag. of Uncertainty in Knowledge Based Systems (IPMU 2004), Perugia, Italy, June 2004.

  24. Najmabadi, P., Goldenberg, A.A., and Emili, A., “Axiomatic Conceptual Design of a New and Generic Automation Robotic Workcell for Medium-sized Laboratories”, Lab Automation 2004 Conference, San Jose, California, USA, February, 2004.

  25. Qi, X., Toth, L., Goldenberg, A.A. and Kapps, A., “Modeling and Sim. of Dielectric Elastomer Transducers Using Ansys”, Int. Workshop on Smart Materials and Structures, Hotel Gouverneur, Ile Charron Montreal, Quebec, Canada, Oct. 2003.

  26. Silva J., Chau T., and Goldenberg A.A., “MMG-Based Multisensor Data Fusion for Prosthesis Control,” 25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Cancun, Mexico, September 2003.

  27. Melek, W.W. and Goldenberg, A. A., “Hierarchical Intelligent Control of Modular Manipulators; Part A: Neurofuzzy Control Design”, Proc. of the North American Fuzzy Information Processing Society (NAFIPS), July 2003.

  28. Melek, W.W. and Goldenberg, A. A., “Hierarchical Intelligent Control of Modular Manipulators; Part B: Reconfigurability and Experimental Validation”, Proc. of the North American Fuzzy Information Processing Society (NAFIPS), July 2003.

  29. Law, E., Yeow, T.W. and Goldenberg, A. A., “Enhanced Designs on MEMS L-Switching Matrix,” IEEE ICC2003, Anchorage, USA, May 2003.

  30. Yeow, T.W., Lim, K.Y., Wilson, B., and Goldenberg, A.A. “A Low-Voltage high-torque two-degree-of-freedom scanning micromirror for ECOM applications”, Proc. SPIE, Vol. 4833, pp. 34-43, February 2003.

  31. Yeow, T.W., Law, E. and Goldenberg, A.A. “Double-sided MEMS Mirrors for L-Switching Matrix” SPIE Micromachining and Microfabrication Symposia, San Jose, USA, January 2003.

  32. Yu, X. and Goldenberg, A. A., “Simulation of Contact Interaction of Nanometer Object Pushing Using AFM”, ICMNS May 2002.

  33. Zhou, T., Zu, J. W. and Goldenberg, A. A. “Modal Force Based Input Shaper for Vibration Suppression of Flexible Payloads”, ICRA 2002.

  34. Yeow, T.W., Lim, K.Y., Wilson, B., and Goldenberg, A.A. “A Low-Volt. Electrost. Act. MEMS Scanner for in vivo Biomed. Imag.,” 2nd Ann. Int. IEEE-EMBS Spec. Conf. on Microtech. in Med. & Biol., Madison, pp. 205-207, May 2002.

  35. Yeow, T. W., Law, E. and Goldenberg, A. A. “Micromachined L-Switching Matrix,” IEEE ICC2002, vol. 5, pp. 2848-2854, May, 2002.

  36. Zhang, Y., Liu, G. and Goldenberg, A. A. “Experiments on Friction Compensation with Estimated Velocity”, ICRA 2002.

  37. Toth, L. and Goldenberg, A.A., “Control System Design for a Dielectric Elastomer Actuator: The Sensory Subsystem”, Proceedings of the SPIE Vol. 4695, pp. 323-334, March 2002.

  38. Chen, W., Chinarov, V., Goldenberg, A. A. and Menzinger, M., “Bistable Gradient Network Applied to Robot Inverse Dynamic Control”, Proc. of 2001 IASTED, Inter. Conf. on Control and Applications, Banff, Alberta, June 2001.

  39. Najjaran, H., Kircanski, N. and Goldenberg, A. A., “Map Building for a Terrain Scanning Robot”, Proc. of ICRA 2001, Seoul, Korea, May 2001.

  40. Tischler, N. and Goldenberg, A. A., “Stiffness Control for Geared Manipulators”, Proc. of ICRA 2001, Seoul, Korea, May 2001.

  41. Habibi, S. R., Pastrakuljic, V., and Goldenberg, A. A., “Model Identification of a High Performance Hydrostatic Actuation System”, Proc. of the 2000 ASME IMECE-00, Orlando, FA, November 5-10, 2000.

  42. Lin, S. and Goldenberg, A. A. “Neural Network Control of Mobile Manipulators”, Proc. of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan, October 30 - November 5, 2000.

  43. Habibi, S. R., Pastrakuljic, V., and Goldenberg, A. A., “Model Ident. & Anal. of a High Perf. Hydrosta. Act. System”, Proc. of the 2000 SAE Int. Off-Highway & Powerplant Cong. & Exh. (SAE SP-1554, pp. 93-103), Milwaukee, Sept. 11-13, 2000.

  44. Lin, S. and Goldenberg, A. A., “Robust Damping Control of Wheeled Mobile Robots”, Proc. of ICRA 2000, San Francisco, May 2000.

  45. Najjaran, H., Kircanski, N. and Goldenberg, A. A., “Path Planning for a Terrain Scanner Robot”, Proc. of the 31st International Symposium on Robotics (pp. 132-137), Montreal, Canada, May 14-17, 2000.

  46. Zhou, T., Zu, J. W., and Goldenberg, A. A., “Vibration Controllability of Flexible Robot-Payload Systems”, Proc. of ICRA 2000, San Francisco, May 2000.

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Proceedings Publications
 (published in full with review of abstract only)

  1. Goldenberg, A. A. “AARM: An Arm for Internal Operations in Nuclear Reactors”, Proc. of 1st International Conference on Robotics Applied for the Power Industry, October 5-7, 2010, Montreal, PQ.

  2. Silva, J., Chau, T., Naumann, S., Heim, W. and Goldenberg, A.A., “Optimization of the Signal-to-Noise Ratio of Silicon-Embedded Microphones for MMG Signal Recording”, Proc. of Canadian Conference on Electrical and Computer Engineering, 2003.

  3. Yeow, T.W., Wilson, B. and Goldenberg, A.A., “A Two-Degree of Freedom MEMS Optical Scanner”, Proc. of Canadian Workshop on MEMS/Micromachining: Applying MEMS Research in Canada, August 2001.

  4. Yeow, T.W., Wilson, B., Law, E. and Goldenberg, A.A., “Optical MicroElectroMechanical Systems for Biomedical Imaging and Fibre-Optic Switches”, Proc. of the PRO 5th Annual Industry-Student Retreat, February 2001.

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Books, Chapters in Books, UTMIE Series, Review Articles, and Non-Technical Articles

  1. Goldenberg, A.A., “Prototyping of Robotic Systems: Methodology and Case Studies” chapter for the forthcoming IGI book - Prototyping of Robotic Systems: Applications of Design and Implementation, September 2011.

  2. Wong, L., Yeow, J. and Goldenberg, A.A., “MEMS-Based Optical Switches”, Chapter 6 in Optical Switches: Materials and Design, Woodhead Publishing Ltd., November 2009.

  3. Goldenberg, A.A., “Robotics, Mechatronics, and Intelligent Automation” Chapter 20 in Marks' Standard Handbook for Mechanical Engineers, 11th Edition, Ed. Ali Sadegh, December 2006.

  4. Naidu, C.R.J.P. and Goldenberg, A.A., “Evaluation of Conceptual Design Alternatives of Automated Manufacturing Cells” Ch. 10 in Economic Evaluation for Advanced Technologies: Techniques & Case Studies, Gordon & Breach Publishers, 1999.

  5. Goldenberg, A.A. and Emami, M.R., “Kinematics and Dynamics of Robot Manipulators”, Handbook of Industrial Robotics, 2nd Edition, Ch. 6, Ed. S. Y. Nof, John Wiley & Sons, pp. 79-98, 1999.

  6. Popovic, M.R. and Goldenberg, A.A., “Modeling of Nonlinear Friction in Complex Mechanisms Using Spectral Analysis”, Experimental Robotics V - Lecture Notes in Control and Information Sciences 232, Ed. A. Casals et al., Springer, pp. 410-422, 1998.

  7. Popovic, M.R. and Goldenberg, A.A., “Accurate Positioning of Devices with Nonlinear Friction Using Fuzzy Logic Pulse Controller” Experimental Robotics V - Lecture Notes in Control and Information Sciences 223, Ed. O. Khatib et al., Springer, pp. 331-342, 1997

  8. Naidu, C.R.J.P. and Goldenberg, A.A., “Evaluation of Robot Application in Tooling Based on Information Modeling”, Manufacturing Science and Engineering, MED-Vol. 2-1, ASME, pp. 629-642, 1995.

  9. Kircanski, N.M. and Goldenberg, A.A., “An Experimental Study of Coordinated Robot Control in Presence of Joint Flexibility, Hysteresis & Friction”, Robotics & Manufacturing, Vol. 5, Ed. M. Jamshidi et al., ASME Press, pp. 163-168, 1994.

  10. Naidu, C.J.R.P. and Goldenberg, A.A., “An Approach for Automation of Wire Harnessing Process - Two Hands in One”, Robotics and Manufacturing, Vol. 5, Ed. M. Jamshidi et.al., ASME Press, pp, 229-234, 1994.

  11. Naidu, C.J.R.P., Goldenberg, A.A., “Investigation on Grasping and Manipulation for Design of Manufacturing Hand”, Advances in Manufacturing System: Design Modeling & Analysis, Manuf. Res. & Tech., Vol. 22, Elsevier, pp. 223-228, 1994.

  12. Mills, J.K. and Goldenberg, A.A., “Force & Position Control of Manipulators During Constrained Motion Tasks”, in Robot Cont.: Dynamics, Motion, Planning & Analysis, ed. M.W. Spong, F.L. Lewis, C.T. Abdallah, IEEE Press, pp. 304-320, 1993.

  13. Goldenberg, A.A., “Modeling the Interaction Between Robot and Environment”, NATO ASI Series F; Computer and Systems Science Vol. 52 Sensor Devices and Systems for Robotics, Springer Verlag, pp. 17 36, 1989.

  14. Anantharayanan, S.P., Goldenberg, A.A., Mylopoulos, J. “Design Specifications for an Intelligent Controller of Multiple Contact Dexterous Manipulation”, ASME Press Series: Recent Trends in Research, Education and Applications, Vol. 4.

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Patents

  1. Device for use in positioning an article precisely in a desired location - #2, U.S. Patent #5,255,948 issued Oct./93 (with J. Wiercienski, P. Kuzan and C. Szymczyk).

  2. Device for use in positioning an article precisely in a desired location - #1, U.S. Patent #5,255,949 issued Oct./93 (with J. Wiercienski, P. Kuzan and C. Szymczyk).

  3. Device for repairing underground pipe joints, European Patent #0660023 issued Jun./95 (with J. Wiercienski and P. Kuzan).

  4. Device for use in positioning an article precisely in a desired location - #1, Canadian Patent #2,053,057 issued Apr./96 (with J. Wiercienski, P. Kuzan and C. Szymczyk).

  5. Pneumatic pressure regulation system, U.S. Patent #5,522,416 issued Jun./96 (with P. Farrell, D. Meidan).

  6. Modular, expandable and reconfigurable robot, U.S. Patent #5,523,662 issued Jun./96 (with N. Kircanski, P. Kuzan, R. Hui, J. Wiercienski and C. Zhou).

  7. Device for repairing pipe joints, U.S. Patent #5,527,169 issued Jun./96 (with J. Wiercienski and P. Kuzan).

  8. Anti-G suit with pressure regulator, U.S. Patent #5,536,232 issued Jul./96 (with P. Farrell and D. Meidan).

  9. Device for use in positioning an article precisely in a desired location - #2, Canadian Patent #2,053,047 issued Sept./96 (with J. Wiercienski, P. Kuzan and C. Szymczyk).

  10. Device for repairing pipe joints, Canadian Patent #2,111,876 issued Sept./97 (with J. Wiercienski and P. Kuzan).

  11. Cable feeding system and umbilical cable therefor, U.S. Patent #5,681,131 issued Oct./97 (with J. Wiercienski, P. Kuzan and D. Meidan).

  12. Modular, expandable and reconfigurable robot, Canadian Patent #2,122,650 issued Sept./98 (with N. Kircanski, P. Kuzan, R. Hui, J. Wiercienski and C. Zhou).

  13. Cable feeding system and umbilical cable therefor, Canadian Patent #2,177,127 issued Mar./99 (with J. Wiercienski, P. Kuzan and D. Meidan).

  14. Reconfigurable Modular Joint and Robots Produced Therefrom, U.S. Patent #6,084,373 issued Jul./00 (with N. Kircanksi, M. Kircanski and A. Seshan).

  15. Explosives Disposal Robot, U.S. Patent #6,113,343 issued Sept./00 (with N. Kircanski).

  16. Device for repairing pipes, U.S. Patent #6,142,187 issued Nov./00 (with J. Wiercienski and P. Kuzan).

  17. Automated Meat Grading Method and Apparatus, U.S. Patent #6,322,508 issued Nov./01 (with N. Kircanski and Z. Lu).

  18. A Cantilevered Manipulator for Autonomous Non-Contact Scanning of Natural Surfaces for the Deployment of Landmine Detectors, U.S. Patent #6,333,631 issued on Dec./01 (with Y. Das, K. Russell and N. Kircanski).

  19. High Precision Positioning Device and Method of Operating Same, U.S. Patent #6,347,259 issued Feb./02 (with N. Kircanski and P. Naidu).

  20. A High Precision Vision Guided Positioning Device, U.S. Patent #6,353,774 issued Mar./02 (with N. Kircanski and S. Raghibizadeh).

  21. Articulated Robotic Scanner For Mine Detection, Canadian Patent #2,339,924 issued on Aug./03 (with Y. Das, K. Russell and N. Kircanski).

  22. Sensory Feedback System for Electroactive Polymer Based Transducers, U.S. Patent #6,969,941 issued Nov. 29/05 (with L. Toth and A. Kapps).

  23. Stretched Rolled Electroactive Polymer Transducers and Method of Producing Same, U.S. Patent #7,038,357 issued May/06 (with A. Kapps and L. Toth)

  24. Reconfigurable Modular Joint and Robots Produced Therefrom, Canadian Patent #2,294,712 issued Jan./08 (with N. Kircanksi, M. Kircanski and A. Seshan).

  25. Mobile Robot Hybrid Communication Link, U.S. Patent #7,346,429 issued Mar/08 (with P. Kuzan, L. Gryniewski and G. D. Scott).

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  27. Variable Configuration Articulated Tracked Vehicle, US CIP Patent #7,600,592 (with J. Lin), issued Oct/09.

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  37. Mobile Robot, PCT Patent Application No. PCT/CA2011/050018 (with J. Lin), filed Jan/11.

  38. Manual Instrumented Medical Tool System, US Patent Application No. 12/878,840 (with J. Trachtenberg, Y. Yang and L. Ma), filed Sep/10

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