Recent Publications

  1. Lumia, R., "Using NASREM for Real-Time Sensory Interactive Robot Control," invited for special issue of Robotica, D. Gershon, ed., Volume 12, No. 2, March, 1994, pp. 127-135.
  2. Fiala, J.C., Lumia, R., "The Effect of Time Delay and Discrete Control on the Contact Stability of Simple Position Controllers," IEEE Transactions on Automatic Control, Volume 39, no. 4, 1994.
  3. Fiala, J.C., Lumia, R., Roberts, K.J., Wavering, A.J., "TRICLOPS: A Tool for Studying Active Vision," International Journal of Computer Vision, Volume 12, #2/3, 1994.
  4. Lumia, R., "Using NASREM for Telerobot Control System Development," Robotica, Volume 12, # 6, 1994, pp. 505-512.
  5. Schneiderman, H., Nashman, M., Wavering, A.J., Lumia, R., "Vision-Based Robotic Convoy Driving," Journal of Machine Vision Applications, (accepted), 1995.
  6. Lumia, R. "The Enhanced Machine Controller Architecture," International Symposium on Robotics and Manufacturing (ISRAM), Maui, HI, August 11-14, 1994.
  7. Albus, J.S., Quintero, R., Lumia, R., "An Overview of NASREM: The NASA/NBS Standard Reference Model for Telerobot Control System Architecture," AIAA Space Programs and Technologies Conference and Exhibit, Huntsville, AL, Sept. 27-29, 1994.
  8. Lumia, R., "Manufacturing: Workers, Technology, and Management," International Symposium on Intelligent Systems and Advanced Manufacturing, SPIE, Philadelphia, PA, Oct. 22-26, 1995.
  9. Michaloski, J.L., Backes, P.G., Lumia, R., "Integration of Sensor Feedback and Teleoperation into an Open Architecture Standard," SPIE, Philadelphia, PA, Oct. 22-26, 1995.
  10. Lumia, R., Shahinpoor, M., "Virtual Proceedings Over the Net," Proceedings of the 1996 Design and Manufacturing Grantees Conference, Albuquerque, NM, Jan. 2-5, 1996.
  11. Lumia, R., "Low-Cost Virtual Collaborative Environment Through Open System Technology," International Symposium on Robotics and Manufacturing (ISRAM), Montpellier, France, May 27-30, 1996.
  12. Lumia, R. "Controlling Mechanisms Over the Internet," International Symposium on Intelligent Systems and Advanced Manufacturing, SPIE, Boston, MA, Nov. 1996.
  13. Lumia, R., Alark, K., Saavedra, E., Joyce, B., "Low-Cost Virtual Collaborative Environment Through Open System Technology," Special Issue on Autonomous Control Engineering, International Journal for Intelligent Automation and Soft Computing, Vol. 3, No. 1, 1997, pp. 13-22.
  14. Lumia, R., Starr, G., Wood, J., Jones, B., Shohet, I.M., Ledman, E., "An Approach to Minimize Robotics System Development and Integration Time," International Conference on Robotics and Automation, Albuquerque, NM, April 20-25, 1997.
  15. Bowers, D., Montes, L., Ramos, A., Joyce, B., Lumia, R., "Demonstration of the Low-Cost Virtual Collaborative Environment (VCE)," URCTC `97 Conference, Albuquerque, NM, Feb. 16-19, 1997.
  16. Alark, K., Lumia, R., "Sensory Interactive Teleoperator Robotic Grasping," URCTC `97 Conference, Albuquerque, NM, Feb. 16-19, 1997.
  17. Lumia, R., Starr, G., Wood, J., Shohet, I., Jones, B., "Cycle-Time Reduction of Robotics-Based Systems in Design and Implementation," ANS Seventh Topical Meeting on Robotics and Remote Systems, Augusta, GA, April 27 - May 1, 1997.
  18. Montes, L., Bowers, D., Lumia, R., "Vision Algorithms for Distance and Shape Identification for Manipulation of Unmodeled Objects," URCTC `98 Conference, Huntsville, AL, Feb. 23 - 26, 1998.
  19. Lumia, R., Shahinpoor, M., "Design of a Microgripper Using Artificial Muscles," WAC `98, Anchorage, AK, May 10-14, 1998.
  20. Lumia, R., Shahinpoor, M., "Microgripper Design Using Electro-active Polymers," Sixth Annual Symposium on Smart Structures and Materials, SPIE, Newport Beach, CA, March 1-5, 1999.
  21. Lumia, R., Wood, J., Starr, G., "Developing Solutions for Environmental Problems Through Competitive Simulation," American Nuclear Society 8th International Topical Meeting on Robotics & Remote Systems, Pittsburgh, PA, April 25-29, 1999.
  22. Lumia, R., Montes, L., Bowers, D., "Computing 3-D Object Location Using a Single Camera," World Automation Conference: International Symposium on Manufacturing and Applications (ISOMA), Maui, HA, June 11-14, 2000.
  23. Lumia, R., Starr, G., Wood, J., "Using Trinocular Vision to Build a Real-time World Model," IEEE Int. Conf. On Systems, Man, and Cybernetics, Nashville, TN, October 8-11, 2000.
  24. Lumia, R., Wood, J., Starr, G., "Grasping Strategies for Unknown Objects," American Nuclear Society Ninth International Topical Meeting on Robotics and Remote Systems, Seattle, WA, March 4-8, 2001. (accepted).
  25. Starr, G., Lumia, R., Wood, J., Liu, Y., Fricke, M., "Neuro-Fuzzy Techniques in the Synthesis of Enveloping Grasps," International Conference on Robotics and Automation, 2001. (submitted)
  26. Zhang, J., Lumia, R., "Image-Based Real-Time Visual Tracking of Unknown 3-D Motion," Robotics 2000: The 4th International Conference/Exposition on Robotics for Challenging Situations and Environments, Albuquerque, NM, March, 2000.
  27. Lumia, R., Montes, L., Bowers, D., "Computing 3-D Object Location Using a Single Camera," World Automation Conference: International Symposium on Manufacturing and Applications (ISOMA), Maui, HI, June 11-14, 2000.
  28. Lumia, R., Starr, G., Wood, J., "Using Trinocular Vision to Build a Real-time World Model," IEEE Int. Conf. On Systems, Man, and Cybernetics, Nashville, TN, October 8-11, 2000.
  29. M. Shahinpoor and R. Lumia, "Recent Development of A Microgripper Based on Artificial Muscles," Proceedings of NSF 2001 Design, Service and Manufacturing Conference, Tampa, Florida, January 7-10, 2001
  30. Lumia, R., Wood, J., Starr, G., "Grasping Strategies for Unknown Objects," American Nuclear Society Ninth International Topical Meeting on Robotics and Remote Systems, Seattle, WA, March 4-8, 2001.
  31. Starr, G., Liu, Y., Lumia, R., Wood, J., "Simulation-Based Grasp Planning using Neuro-Fuzzy Techniques," Robotics 2001, Albuquerque, NM.
  32. Zhang, J., Lumia, R., Starr, G., Wood, J., "A New Technique to Analyze the Stability of Visual Servoing Systems," IASTED International Conference on Robotics and Applications (RA 2001), Tampa, FL, November 19-22, 2001.
  33. Starr, G., Lumia, R., Wood, J., Liu, Y., "Robotic Grasp Planning using Neuro-Fuzzy Techniques," American Nuclear Society Tenth International Topical Meeting on Robotics and Remote Systems, Reno, NV, November 12-14, 2002.
  34. Jonnalagadda, K., Lumia, R., Starr, G., "Biclops: An Active Vision System," Robotics 2002: The 5th International Conference and Exposition on Robotics for Challenging Situations and Environments, Albuquerque, March 17-21, 2002.
  35. Y. Liu, G. Starr, J. Wood, R. Lumia, "Simulation-Based Grasp Planning using Neuro-Fuzzy Techniques," ASCE Conference on Space and Robotics, Albuquerque, NM, March 17-21, 2002.
  36. Jonnalagadda, K., Lumia, R., Starr, G., “Biclops: An Active Vision System,” Robotics 2002: The 5th International Conference and Exposition on Robotics for Challenging Situations and Environments, Albuquerque, March 17-21, 2002.
  37. Y. Liu, G. Starr, J. Wood, R. Lumia, “Simulation-Based Grasp Planning using Neuro-Fuzzy Techniques,” ASCE Conference on Space and Robotics, Albuquerque, NM, March 17-21, 2002.
  38. Starr, G., Lumia, R., Wood, J., Liu, Y., “Robotic Grasp Planning using Neuro-Fuzzy Techniques,” American Nuclear Society Tenth International Topical Meeting on Robotics and Remote Systems, Reno, NV, November 12-14, 2002.
  39. Lumia, R., Wood, J., Starr, G., “DOE University Research Program in Robotics ,” 48th Annual Conference on Bioassay, Analytical, and Environmental Radiochemistry (BAER), Las Vegas, NV, October 28 – November 1, 2002.
  40. Lumia, R., Wood, J., Starr, G., “Predicting Technical and Financial Viability of Waste Cleanup Projects Using RADDS,” 48th Annual Conference on Bioassay, Analytical, and Environmental Radiochemistry (BAER), Las Vegas, NV, October 28 – November 1, 2002.
  41. Lumia, R., Shahinpoor, M., “Ionic Polymeric Metal Composite Artificial Muscle Microgrippers,” First World Congress on Biomimetics and Artificial Muscles, Albuquerque, NM, December 9-11, 2002. (invited)
  42. Bowers, D., Lumia, R., “Manipulation of Unmodeled Objects Using Intelligent Grasping Schemes,” IEEE Transactions on Fuzzy Systems, Vol. 11, No. 3, June 2003.
  43. Jonnalagadda, K., Lumia, R., Starr, G., Wood, J., “Viewpoint Selection For Object Reconstruction Using Only Local Geometric Features,” IEEE International Conference on Robotics and Automation (ICRA), Taipei, Taiwan, September 13-19, 2003.
  44. Zhang, J., Lumia, R., Starr, G., Wood, J.,  “The Influence of Vision System Delay on the Stability of Visual Servoing Systems,” IEEE International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, October 27- November 1, 2003.
  45. Wood, J.E., Lumia, R., and Starr, G.P., “A Design-and-Drive System for Robots, Automation and Remote Systems in Hazardous Environments,” ANS 10th International Conference on Robotics in Hazardous Environments, Gainesville, FL, March 28 – April 1, 2004.
  46. Zhang, J., Lumia, R., Starr, G., Wood, J.,  “Sharing Inertia Load Between Multiple Robots with Active Compliant Grippers Using Trajectory Pre-Shaping,” IEEE International Conference on Robotics and Automation (ICRA), New Orleans, LA, April 26 – May 1, 2004.
  47. Smith, R., Starr, G., Lumia, R., Wood, J., “Preshaped Trajectories for Residual Vibration Suppression in Payloads Suspended from Multiple Robot Manipulators,” IEEE International Conference on Robotics and Automation (ICRA), New Orleans, LA, April 26 – May 1, 2004.
  48. B.M. Braun, G.P. Starr, R. Lumia, J.E. Wood, “A Framework for Implementing Cooperative Motion on Industrial Controllers,” IEEE Transactions on Robotics and Automation, Vol. 20, No. 3, June, 2004. 
  49. Deole, U., Lumia, R., Shahinpoor, M., “Grasping Flexible Objects Using Artificial Muscle Microgrippers,” World Automation Congress: International Symposium on Manufacturing and Applications (ISOMA), Seville, Spain, June 28 – July 2, 2004.
  50. Lumia, R., “Using Fuzzy Logic to Grasp Objects,” Lifetime Achievement Award, World Automation Congress, Seville, Spain, June 28 – July 2, 2004.
  51. Gatla, C., Lumia, R., Wood, J., Starr, G., “An Efficient Method to Compute Three Fingered Planar Object Grasps Using Active Contour Models,” IEEE International Conference on Intelligent Robots and Systems (IROS), Sendai, Japan, September 28 – October 2, 2004.
  52. Deole, U., Lumia, R., Shahinpoor, M., “Characterization of Impedance Properties of Ionic Polymer Metal Composite Actuators,”   Biomimetics, Artificial Muscles, and Nano-Bio 2004, Albuquerque, NM, December 6-8, 2004.
  53. Liu, Y-B, Starr, G., Wood, J., Lumia, R., “Spatial Grasp Synthesis of Complex Objects Using Model-Based Simulation,” Industrial Robot, Volume 32, No. 1, 2005.
  54. Starr, G., Wood, J., Lumia, R., “Rapid Transport of Suspended Payloads,” IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, April 18-22, 2005.
  55. Lumia, R., “Fuzzy Logic Grasping,” invited presentation at University of Naples, PRISMA Lab, May 20, 2005.
  56. Wood, J., Lumia, R., Starr, G., “Simulation-based System Realization for Semiautonomous Tasks in Hazardous Environments,” ANS 2005 Annual Meeting, San Diego, CA, June 5-9, 2005.
  57. Zhang, J., Lumia, R., Wood, J., Starr, G., “Achieving Deterministic, Hard Real-time Control on a PC: A General Configuration Guideline,” IEEE International Conference on Systems, Man, and Cybernetics, the Big Island, Hawaii, October 10-12, 2005.
  58. Lumia, R., Wood, J., Gatla, C., Gehrmann, G., Starr, G., “Rapid Robot Trajectory Definition for Hazardous Environments,” ANS Topical Meeting: 11th Robotics and Remote Systems for Hazardous Environments, Salt Lake City, UT, February 12-15, 2006.
  59. Zameroski, D., Starr, G., Wood, J., Lumia, R., “Swing-free Trajectory Generation for Dual Cooperative Manipulators Using Dynamic Programming, IEEE International Conference on Robotics and Automation (ICRA), Orlando, FL, May 15-19, 2006.
  60. Deole, U. ,Lumia, R., Shahinpoor, M., “Design and Test of IPMC Artificial Muscle Microgrippers,” Proceedings of 3rd World Congress: Biomimetics, Artificial Muscles and Nano-Bio (http://www.world-congress.net/), Lausanne, Switzerland, May 25-27, 2006.
  61. Deole, U., Lumia, R., Shahinpoor, M., Bermudez, M., “Design and Test of Artificial Muscle Microgripper,” Journal of Micromechatronics, 2006, accepted.
  62. Zameroski, D., Starr, G., Wood, J., Lumia, R., “Rapid Swing-Free Transport of Doubly Suspended Objects Using Dynamic Programming,” ASME Journal of Dynamic Systems, Measurement, and Control, submitted.
  63. Gatla, C., Lumia, R., Wood, J., Starr, G., “An Automated Method to Calibrate Industrial Robots using a Virtual Closed Kinematic Chain,” IEEE Transactions on Robotics and Automation, accepted.
  64. Cortez, R.A., Papageorgiou, X., Tanner, H.G., Klimenko, A.V., Borozdin, K.N., Lumia, R., Wood, J., Priedhorsky, W.C., “Smart Radiation Sensor Management: Nuclear Search and Mapping using Mobile Robots,” IEEE Robotics and Automation Magazine,” accepted.
  65. Deole, U., Lumia, R., “Measuring the Load-Carrying Capability of IPMC Microgripper Fingers,” Industrial Electronics Conference (IECON), Paris, France, November 7-10, 2006, pp. 2933-2938.  
  66. Gatla, C., Lumia, R., Wood, J., Starr, G., “Calibrating Pan-Tilt Cameras in Hand-Eye Systems Using a Single Point,” IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, April 10-14, 2007, pp. 3186-3191.
  67. Bowling, D., Starr, G., Wood, J., Lumia, R., “Wideband Suppression of  Motion-Induced Vibration,” IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, April 10-14, 2007.
  68. Williams, C., Starr, G., Wood, J., Lumia, R., “Curvilinear Transport of Suspended Payloads,” IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, April 10-14, 2007.
  69. Kolb, G.J., Davenport, R., Gorman, D., Lumia, R., Thomas, R., Donnelly, M., “Heliostat Cost Reduction,” Proc. Energy Sustainability Conference, Long Beach, CA, June 27-30, 2007.
  70. Gatla, C., Lumia, R., Wood, J., Starr, G., “Calibration of Industrial Robots by Magnifying Errors on a Distant Plane,” IEEE International Conference on Intelligent Robots and Systems (IROS), San Diego, CA, October 29 – November 2, 2007.
  71. Starr, G., Wood, J., Lumia, R., Bowling, D., “Vibration-Free Transport of Non-Rigid Objects in DOE Settings,” ANS/ENS International Winter Meeting and Nuclear Technology Expo,, Washington, DC, November 11 - 15, 2007, accepted.
  72. Lumia, R., Shahinpoor, M., “IPMC Microgripper Research and Development,” 4th World Congress on Biomimetic, Artificial, Muscles, and Nano-Bio, Cartagena, Spain, November 6-9, 2007.