Publications


Some of the papers listed below have links to downloadable pdf files. These files are provided solely for the educational use of faculty members or students that are pursuing graduate or undergraduate degrees in an accredited not-for-profit university. The files are not to be used by anyone involved in a for-profit enterprise or in other commercial uses.

2009

Tai, J., Rae, W., Nunn, J, and Larochelle, P., "Design and Implementation of Building Navigational Tools for the PantherBot Mobile Robot", Proceedings of the 2009 Florida Conference on Recent Advances in Robotics, Jupiter, Florida, May 21 - 22, 2009. Download the pdf file here.

2008

Ketchel, J. and Larochelle, P., "Self-Collision Detection in Spatial Closed Chains". ASME Journal of Mechanical Design, Vol. 130, No. 9, September 2008. Download the pdf file here.

Venkataramanujam, V. and Larochelle, P., "A Displacement Metric for Finite Sets of Rigid Body Displacements", Proceedings of the 2008 ASME International Design Engineering Technical Conferences, New York, New York, August 3 - 6, 2008. Paper # DETC2008-49554.  ASME Press. Download the pdf file here.

Larochelle, P., "Synthesis of Part Orienting Devices for Spatial Assembly Tasks", Proceedings of the 11th International Symposium on Advances in Robot Kinematics (ARK), Batz-sur-Mer, France, June 22-26, 2008.

Venkataramanujam, V. and Larochelle, P., "A Metric for Finite Sets of Displacements", Proceedings of the 2008 Florida Conference on Recent Advances in Robotics, Melbourne, Florida, May 8 - 9, 2008. Download the pdf file here.

Larochelle, P., Murray, A., Turner, M., Perkins, D., and Venkataramanujam, V., "PODS: Novel Devices for Spatial Assembly Tasks", Proceedings of the 2008 NSF Engineering Research and Innovation Conference, Knoxville, Tennessee, January 7-10, 2008.

2007

Schuler, J., Ketchel, J., and Larochelle, P., "Computer-Aided Modeling and Manufacturing of Spherical Mechanisms via a Novel Web Tool", ASME Journal of Computers and Information Science in Engineering, Vol. 7, No. 4, December 2007, pp. 339-346. Download the pdf file here.

Larochelle, P., Murray, A., and Angeles, J., "A Distance Metric for Finite Sets of Rigid-Body Displacements via the Polar Decomposition". ASME Journal of Mechanical Design, Vol. 129, No. 8, August 2007, pp. 883-886. Download the pdf file here.

Ketchel, J. and Larochelle, P., "Computer-Aided Manufacturing of Spherical Mechanisms", Mechanism and Machine Theory, Vol. 42, No. 2, February 2007, pp. 131-146.

Kulkarni, S., Tonapi, S., Larochelle, P., and Mitra, K., "Effect of Tracking Flat Reflector Using Novel Auxiliary Drive Mechanism on the Performance of Stationary Photovoltaic Module", Proceedings of the 2007 ASME International Mechanical Engineering Congress and Exposition, Seattle, Washington, November 11 - 15, 2007. Paper # IMECE 2007-42973.  ASME Press. Download the pdf file here.

Venkataramanujam, V. and Larochelle, P., "Approximate Motion Synthesis of Spherical Kinematic Chains", Proceedings of the 2007 ASME International Design Engineering Technical Conferences, Las Vegas, Nevada, September 4 - 7, 2007. Paper # DETC2007-34372.  ASME Press. Download the pdf file here.

Venkataramanujam, V. and Larochelle, P., "A Metric for Planar Displacements", Proceedings of the 2007 Florida Conference on Recent Advances in Robotics, Tampa, Florida, May 31 - June 1, 2007. Best Paper Award Recipient. Download the pdf file here.

Kamerling, D. and Larochelle, P., "Proposed Design of a Triped Robot", Proceedings of the 2007 Florida Conference on Recent Advances in Robotics, Tampa, Florida, May 31 - June 1, 2007. Download the pdf file here.

2006

Larochelle, P. "Guest Editorial- 2005 Mechanisms & Robotics Award,'' ASME Journal of Mechanical Design, Vol. 128, No. 1, January 2006, pp. 2-3. Download the pdf file here.

Schuler, J., Ketchel, J., and Larochelle, P., "SphinxCAM-Pro|E: Computer-Aided Modeling & Manufacturing of Spherical Mechanisms via the Web", Proceedings of the 2006 ASME International Design Engineering Technical Conferences, Philadelphia, Pennsylvania, September 10 - 13, 2006. Paper # DETC-99103.  ASME Press. Download the pdf file here.

Larochelle, P., Murray, A., and Turner, M., "PODS: Novels Devices for Spatial Assembly Tasks", Proceedings of the 2006 NSF Design, Service and Manufacturing Grantees and Research Conference, St. Louis, Missouri, July 24-27, 2006.

Larochelle, P., "A Polar Decomposition Based Displacement Metric for a Finite Region of SE(n)", Proceedings of the 10th International Symposium on Advances in Robot Kinematics (ARK), Lubljana, Slovenia, June 25-29, 2006.

Larochelle, P. and Ketchel, J., "Motion Planning for Collision Avoidance via Cylindrical Models of Rigid Bodies", Proceedings of the 16th International Symposium on Robot Design, Dynamics, and Control (ROMANSY), Warsaw, Poland, June 20-24, 2006.

Venkataramanujam, V. and Larochelle, P., "Approximate Motion Synthesis of Robotic Systems via a Polar Decomposition Based Displacement Metric", Proceedings of the 2006 Florida Conference on Recent Advances in Robotics, Miami, Florida, May 25-26, 2006. Download the pdf file here.

Tonapi, S. and Larochelle, P., "Design of a Mirror Positioning System to Enhance the Performance of a PV Array", Proceedings of the 2006 Florida Conference on Recent Advances in Robotics, Miami, Florida, May 25-26, 2006. Download the pdf file here.

Ketchel, J. and Larochelle, P., "Collision Detection of Cylindrical Rigid Bodies for Motion Planning", Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida, May 15-19, 2006. IEEE Press. Download the pdf file here.


2005

Larochelle, P., and Agius, A., "Interactive Visualization of the Coupler Surfaces of the Spatial 4C Mechanism", ASME Journal of Mechanical Design, Vol. 127, No. 6, November 2005, pp. 1122-1128. Download the pdf file here.

Turner, M., Murray, A., Perkins, D., and Larochelle, P., "Systematic Process for Constructing Spherical Four Bar Mechanisms", Proceedings of the 2005 ASME International Mechanical Engineering Congress and Exposition, Orlando, Florida, November 5 - 11, 2005. Paper # IMECE2005-80058.  ASME Press. Download the pdf file here.

Larochelle, P. and Murray, A., "Projection Metrics for Rigid-Body Displacements", Proceedings of the 2005 ASME International Design Engineering Technical Conferences, Long Beach, California, September 24 - 28, 2005. Paper # DETC2005-84698.  ASME Press. Download the pdf file here.

Ketchel, J. and Larochelle, P., "Collision Detection of Cylindrical Rigid Bodies Using Line Geometry", Proceedings of the 2005 ASME International Design Engineering Technical Conferences, Long Beach, California, September 24 - 28, 2005. Paper # DETC2005-84699.  ASME Press. Download the pdf file here.

Larochelle, P., "Unifying Assessment of Freshman Design Teams with Team Project Management", Proceedings of the 2005 ASEE Annual Conference and Exposition, Portland, Oregon, June 12-15, 2005. ASEE Press. Download the pdf file here.

Larochelle, P., Murray, A., and Turner, M., "PODS: Novels Devices for Spatial Assembly Tasks", Proceedings of the 2005 NSF Design, Service and Manufacturing Grantees and Research Conference, Scottsdale, Arizona, January 3-6, 2005.


2004

Ketchel, J. and Larochelle, P., "Line Based Collision Detection of Cylindrical Rigid Bodies", Proceedings of the 2004 ASME International Design Engineering Technical Conferences, Salt Lake City, Utah, September 28 - October 2, 2004. Paper # MECH-57473.  ASME Press. Download the pdf file here.

Larochelle, P., Murray, A., and Angeles, J., "SVD and PD Based Projection Metrics on SE(n)", Proceedings of the 9th International Symposium on Advances in Robot Kinematics (ARK), Sestri Levante, Italy, June 28 - July 1, 2004.

Larochelle, P., Engblom, J., Gutierrez, H., "A Cornerstone Freshman Design Experience", Proceedings of the 2004 ASEE Annual Conference and Exposition, Salt Lake City, Utah, June 20-24, 2004. ASEE Press. Download the pdf file here.


2003

Larochelle, P., "Approximate Motion Synthesis of Open and Closed Chains via Parametric Constraint Manifold Fitting: Preliminary Results", Proceedings of the 2003 ASME International Design Engineering Technical Conferences, Chicago, Illinois, September 2 - 6, 2003. Paper # DETC2003/DAC48814.  ASME Press. Download the pdf file here.

Larochelle, P., "Interactive Visualization of Line Congruences", Proceedings of the Symposium Celebrating the 70th Birthday of Bernard Roth. Stanford University, Palo Alto, California, May 2003. Download the pdf file here.


2002

Kihonge, J., Vance, J. and Larochelle, P., "Spatial Mechanism Design in Virtual Reality with Networking,'' ASME Journal of Mechanical Design, Vol. 124, No. 1, September 2002, pp. 435-440. Download the pdf file here.

Larochelle, P., Vance, J. and Kihonge, J., "Interactive Viualization of Line Congruences for Spatial Mechanism Design", ASME Journal of Computers and Information Science in Engineering, Vol. 2, No. 3, September 2002, pp. 208-213. Download the pdf file here.

Larochelle, P. and Agius, A., "Spasur- Interactive Visualization of the Coupler Surfaces of the Spatial 4C Mechanism", Proceedings of the 2002 ASME International Design Engineering Technical Conferences, Montreal, Canada, September 29 - October -2, 2002.  ASME Press. Download the pdf file here.

Larochelle, P., Vance, J., and Dorozhkin, D., "Designing Spatial Mechanisms Using Virtual Reality", Proceedings of the 2002 ASME International Design Engineering Technical Conferences, Montreal, Canada, September 29 - October 2, 2002.  ASME Press. Download the pdf file here.

Larochelle, P. and Dees, S., "Approximate Motion Synthesis using an SVD based Distance Metric", Proceedings of the 8th International Symposium on Advances in Robot Kinematics (ARK), Caldes de Malavella, Spain, June 24 - June 28, 2002.

Larochelle, P. and Agius, A., "A Study of the Coupler Surfaces of the Spatial 4C Mechanism", Proceedings of the 2002 Florida Conference on Recent Advances in Robotics, Miami, Florida, May 23 - 24, 2002.

Vance, J. and Larochelle, P., "VR Spatial: A Virtual Environment for Spatial Mechanism Design", Proceedings of the 2002 NSF Design, Service and Manufacturing Grantees and Research Conference, San Juan, Puerto Rico, January 7-10, 2002.


2001

Larochelle, P., Dees, S., and Ketchel, J., "Fan Structure Having a Spherical Four-Bar Mechanism", US Patent Number 6,213,715 issued April 10, 2001. United States Patent and Trademark Office. Download the pdf file here.

Kihonge, J., Vance, J. and Larochelle, P., "Spatial Mechanism Design in Virtual Reality with Networking", Proceedings of the ASME 2001 International Design Engineering Technical Conferences, Pittsburgh, Pennsylvania, September 9-12, 2001. ASME Press. Download the pdf file here.

Larochelle, P., "Designing Robotic Mechanisms for Four Pose Motion Generation", Proceedings of the 2001 Florida Conference on Recent Advances in Robotics, Tallahassee, Florida, May 10-11, 2001.

Vance, J. and Larochelle, P., "Creating a Virtual Environment for Spatial Mechanism Design", Proceedings of the 2001 NSF Design, Service and Manufacturing Grantees and Research Conference, Tampa, Florida, January 7-10, 2001.


2000

Tse, D. and Larochelle, P., "Approximating Spatial Locations with Spherical Orientations for Spherical Mechanism Design,'' ASME Journal of Mechanical Design, Vol. 122, No. 4, December 2000, pp. 457-463. Download the pdf file here.

Larochelle, P., "Circuit and Branch Rectification of the Spatial 4C Mechanism", Proceedings of the ASME 2000 International Design Engineering Technical Conferences, Baltimore, Maryland, September 10-13 2000. ASME Press. Download the pdf file here.

Larochelle, P. and Vance, J., "Interactive Visualization of the Line Congruences Associated with Four Finite Spatial Positions", Proceedings of the Symposium Commemorating the Legacy, Works, and Life of Sir Robert Stawell Ball upon the 100th anniversary of the publication of his seminal work A Treatise on the Theory of Screws. University of Cambridge, Trinity College, England, July 9-11, 2000. Download the pdf file here.

Larochelle, P., "Approximate Motion Synthesis via Parametric Constraint Manifold Fitting", Proceedings of the 7th International Symposium on Advances in Robot Kinematics (ARK), Piran-Portoroz, Slovenia, June 26-30, 2000.

Larochelle, P., "Approximate Motion Synthesis via Parametric Constraint Manifold Fitting of the Planar RR Dyad", Proceedings of the 2000 Florida Conference on Recent Advances in Robotics, Boca Raton, Florida, May 4-5, 2000.

Larochelle, P., "Design of Robotic Systems for Maximum Performance via Time-Optimal Control", DARPA Workshop on Exoskeletons for Human Performance Augmentation, Herndon, Virginia, March 1-3, 2000.

Larochelle, P. and Vance, J., "Creating a Virtual Environment for Spatial Mechanism Design", Proceedings of the 2000 NSF Design and Manufacturing Research Conference, Vancouver, British Columbia, January 3-6, 2000.


1999

Ge, Q. Jeffrey and Larochelle, P., "Algebraic Motion Approximation with NURBS Motions and its Application to Spherical Mechanism Synthesis", ASME Journal of Mechanical Design, Vol. 121, No. 4, December 1999, pp. 529-532.

Furlong, T., Vance, J., and Larochelle, P., "Spherical Mechanism Synthesis in Virtual Reality'', ASME Journal of Mechanical Design Vol.121, No.4, December 1999, pp.515-520.

Larochelle, P., "On the Geometry of Approximate Bi-Invariant Projective Displacement Metrics,'' Proceedings of the 10th World Congress of the Theory of Machines and Mechanisms, Oulu, Finland, June 20-24, 1999. Vol.2, pp.548-553.

Tse, D. and Larochelle, P., "Osiris: A New Generation Spherical and Spatial Mechanism CAD Program,'' Proceedings of the 1999 Florida Conference on Recent Advancements in Robotics, Gainesville, Florida, April 29-30, 1999.

Vance, J. and Larochelle, P., "Spatial Mechanism Design in a Virtual Environment,'' Proceedings of the 1999 NSF Design and Manufacturing Grantees Conference, Long Beach, California, January 5-8, 1999.


1998

Proceedings of the 1998 Florida Conference on Recent Advances in Robotics, Melbourne, Florida, March 26-27, 1998. Edited by P.M. Larochelle, Conference Chair.

Larochelle, P., "Spades - Software for for Synthesizing Spatial 4C Mechanisms", Proceedings of the 1998 ASME Design Engineering Technical Conferences, Atlanta, Georgia, September 13-16, 1998. MDI Software Simulation Award Recipient. ASME Press. Download the pdf file here.

Tse, D. and Larochelle, P., "A New Method of Task Specification for Spherical Mechanism Design'', Proceedings of the 1998 ASME Design Engineering Technical Conferences, Atlanta, Georgia, September 13-16, 1998. ASME Press. Download the pdf file here.

Ketchel, J. and Larochelle, P., "SPHINXCAM: Computer-Aided Manufacturing for Spherical Mechanisms'', Proceedings of the 1998 ASME Design Engineering Technical Conferences, Atlanta, Georgia, September 13-16, 1998. ASME Press. Download the pdf file here.

Murray, A. and Larochelle, P., "A Classification Scheme for Planar 4R, Spherical 4R, and Spatial RCCC Linkages to Facilitate Computer Animation'', Proceedings of the 1998 ASME Design Engineering Technical Conferences, Atlanta, Georgia, September 13-16, 1998. ASME Press. Download the pdf file here.

Furlong, T., Vance, J., and Larochelle, P., "Spherical Mechanism Synthesis in Virtual Reality'', Proceedings of the 1998 ASME Design Engineering Technical Conferences, Atlanta, Georgia, September 13-16, 1998. ASME Press. Download the pdf file here.

Ge, Q. and Larochelle, P., "Algebraic Motion Approximation with NURBS Motions and its Application to Spherical Mechanism Synthesis", Proceedings of the 1998 ASME Design Engineering Technical Conferences, Atlanta, Georgia, September 13-16, 1998. ASME Press. Download the pdf file here.

Parouty, J. and Larochelle, P., "Using Bézier Motion Interpolation for Robot Trajectory Generation", Proceedings of the 1998 IASTED International Conference- Robotics and Manufacturing, Banff, Alberta. Canada, July 26-29, 1998.

Ketchel, J. and Larochelle, P., "1997 F.I.R.S.T. Robot Competition: Team 90", Proceedings of the 1998 Florida Conference on Recent Advances in Robotics, Melbourne, Florida, March 26-27, 1998. Florida Institute of Technology, College of Engineering, pp.1-7.

Parouty, J. and Larochelle, P., "Bézier Interpolation of Spatial Positions", Proceedings of the 1998 Florida Conference on Recent Advances in Robotics, Melbourne, Florida, March 26-27, 1998. Florida Institute of Technology, College of Engineering, pp.8-13.

Tse, D. and Larochelle, P., "On Realizing Spatial Motions with Spherical Mechanisms", Proceedings of the 1998 Florida Conference on Recent Advances in Robotics, Melbourne, Florida, March 26-27, 1998. Florida Institute of Technology, College of Engineering, pp.39-47.

Larochelle, P., Vance, J., and McCarthy, J.M., "Creating a Virtual Reality Environment for Spherical Mechanism Design", Proceedings of the 1998 NSF Design and Manufacturing Grantees Conference, Monterrey, Mexico, January 5-8, 1998. pp.83-84.


1997

Larochelle, P., "Design of Cooperating Spherical RPR Robots", Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, April 20-25, 1997. OmniPress. Download the pdf file here.

Boyer, D., Ketchel, J., Pérez-Núñez, E., and Larochelle, P., "A Modular Robot Arm Design", Proceedings of the 1997 Florida Conference on Recent Advances in Robotics, Miami, Florida, April 10-11, 1997. Florida International University, College of Engineering and Design, pp.19-23.

Larochelle, P., "Dynamic Performance Study of Cooperating SAM Robots", Proceedings of the 1997 Florida Conference on Recent Advances in Robotics, Miami, Florida, April 10-11, 1997. Florida International University, College of Engineering and Design, pp.75-79.

Larochelle, P., Vance, J., and McCarthy, J.M., "A Virtual Reality Environment for Spherical Mechanism Design", Proceedings of the 1997 NSF Design and Manufacturing Grantees Conference, Seattle, Washington, January 7-10, 1997. pp.85-86.


1996

Larochelle, P., "Synthesis of Planar RR Dyads by Constraint Manifold Projection", Proceedings of the 1996 ASME Mechanisms Conference, Irvine, California, August 18-22, 1996. ASME Press. Download the pdf file here.

Larochelle, P., "Mechatronic Design and Manufacture: A Capstone Design Experience", Proceedings of Mechatronics '96, San Francisco, California, June 13-15, 1996. ISBN# 0-9652749-0-X, pp.59-63.

Larochelle, P., "Payload Maximization for Independent and Cooperating Manipulator Systems", Proceedings of the 1996 Florida Conference on Recent Advances in Robotics, Boca Raton, Florida, April 11-12, 1996. Florida Atlantic University, College of Engineering, pp.266-280.

Larochelle, P., "Performance Evaluation of an Adaptive PD Robot Controller", Proceedings of the 1996 IASTED International Conference- Applications of Control and Robotics, Orlando, Florida, January 8-10, 1996. IASTED-ACTA Press, pp.91-94.


1995

Larochelle, P. and McCarthy, J.M., "Planar motion synthesis using an approximate bi-invariant metric", ASME Journal of Mechanical Design, Vol.117, No. 4, December 1995. pp646-651.

Larochelle, P., "On the design of spatial 4C mechanisms for rigid body guidance through four positions", Proceedings of the 1995 ASME Design Automation Conference, Boston, Massachusetts, September 17-21, 1995. ASME Press, DE-82:825-832.

Larochelle, P., "Design of 3-dof Spherical Robotic Mechanisms", Proceedings oF the 9th World Congress on the Theory of Machines and Mechanisms, Milano, Italy, August 29 - September 2, 1995. Vol.3, pp.1826-1830. Download the pdf file here.

Larochelle, P., "Integrating Spatial Motion Generation into the Engineering Curriculum" Proceedings of the 1995 ASEE Annual Conference and Exposition, Anaheim, California, June 25-28, 1995. ASEE Press,Vol.2, pp.1913-1918.


1994

Larochelle, P. and McCarthy, J.M., "Designing planar mechanisms using a bi-invariant metric in the image space of SO(3)", Proceedings of the 1994 ASME Mechanisms Conference, Minneapolis, Minnesota, September 11-14, 1994. ASME Press, Vol.DE-70, pp.221-228.

Larochelle, P. and McCarthy, J.M., "Design of the spatial 4C mechanism for rigid body guidance", Proceedings of the 1994 ASME Mechanisms Conference, Minneapolis, Minnesota, September 11-14, 1994. ASME Press, Vol.DE-70, pp.135-142.


1993

Larochelle, P., and McCarthy, J.M., "Payload study of wheelchair mounted cooperating robots", Proceedings of the Fifth International Symposium on Robotics and Manufacturing, Maui, Hawaii, August 14-17, 1994. TSI Press.

Larochelle, P., McCarthy, J.M., and Bobrow, J., "Determining maximum payloads for cooperating robots under time-optimal control", Journal of Robotics and Computer Integrated Manufacturing, Vol.10, No.6, December 1993, pp.437-443.

Larochelle, P., and McCarthy, J.M., "Teaching spatial visualization via spherical mechanism design", Proceedings of the 1993 ASEE Engineering Design Graphics Division Conference, Akron, Ohio, October 31-November 2, 1993.

Larochelle, P., Dooley, J., Murray, A., and McCarthy, J.M., "SPHINX- Software for synthesizing spherical mechanisms", Proceedings of the 1993 NSF Design and Manufacturing Systems Conference, Charlotte, North Carolina, January 6-8, 1993. SME Press, Vol.1, pp.607-612.


1992

Larochelle, P. and McCarthy, J.M., "Trajectory planning for cooperating robots using maximum payload under time-optimal control", Proceedings of the Fourth International Symposium on Robotics and Manufacturing, Sante Fe, New Mexico, November 11-13, 1992. Robotics and Manufacturing, Recent Trends in Research, Education, and Applications. ASME Press, Vol.4, pp.325-332.

Larochelle, P. and McCarthy, J.M., "Static analysis of spherical nR kinematic chains with joint friction", Proceedings of the 1992 ASME Mechanisms Conference, Scotsdale, Arizona, September 13-16, 1992. ASME Press, Vol.DE-47, pp.173-178. Download the pdf file here.


1991

Larochelle, P. and McCarthy, J.M., "Performance evaluation of cooperating robot movements using maximum load under time-optimal control", Proceedings of the 1991 IEEE Conference on Robotics and Automation, Sacramento, California, April 9-11, 1991. IEEE Computer Society Press, Vol.3, pp.2612-2617. Download the pdf file here.





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Written by: PML