Publications

A few are available in compressed Postscript format by selecting the titles on this page. Most others can be obtained by contacting me.

Journals:

• D. Marhefka and D. E. Orin "Dynamic Simulation of Running Machines Containing Kinematic Loops: Part I - Algorithm," submitted to IEEE Transactions on Robotics and Automation, May 2001.
• D. Marhefka and D. E. Orin "Dynamic Simulation of Running Machines Containing Kinematic Loops: Part II - Applications," submitted to IEEE Transactions on Robotics and Automation, May 2001.
• S. McMillan, D. E. Orin, and R. B. McGhee, "A Computational Framework for Simulation of Underwater Robotic Vehicle Systems," in the Special Issue of the Journal of Autonomous Robots on Autonomous Underwater Robots, vol. 3, pp. 253-268, 1996.
• S. McMillan and D. E. Orin, "Efficient Computation of Articulated-Body Inertias Using Successive Axial Screws," in IEEE Transactions on Robotics and Automation, pp. 606-611, August 1995.
• S. McMillan, D. E. Orin, and R. B. McGhee, "Efficient Dynamic Simulation of an Underwater Vehicle with a Robotic Manipulator," IEEE Transactions on Systems, Man, and Cybernetics, pp. 1194-1206, August 1995.
• S. McMillan, P. Sadayappan, and D. E. Orin, "Parallel Dynamic Simulation of Multiple Manipulator Systems: Temporal vs. Spatial Methods", IEEE Transactions on Systems, Man, and Cybernetics, vol. 24, no. 7, pp. 982-990, July 1994.
• S. McMillan, P. Sadayappan, and D. E. Orin, "Efficient Dynamic Simulation of Multiple-Manipulator Systems with Singular Configurations", IEEE Trans. on Systems, Man, and Cybernetics, vol. 24, no. 2, pp. 306-313, February 1994.
• S. McMillan, D. E. Orin, and P. Sadayappan, "Towards Super-Real-Time Simulation of Robotic Mechanisms Using a Parallel Integration Method", IEEE Transactions on Systems, Man, and Cybernetics, vol. 22, no. 2, pp. 384-391, March/April 1992.

Conferences, Symposia, and Workshops:

• Y. Kanayama, R. B. McGhee, K. Yoneda, K. Suzuki, S. McMillan, H. Takahashi, and M. Iwasaki, "An International Joint Research Project on an Autonomous Underwater Walking Robot," in Proc. International Symposium on Coastal Ocean Space Utilization, (Yokohama, Japan), May/June 1995.
• S. McMillan, D. E. Orin, and R. B. McGhee, "Object-Oriented Design of a Dynamic Simulation for Underwater Robotic Vehicles", in IEEE Int. Conf. on Robotics and Automation, (Nagoya, Japan), pp. 1886-1893, May 1995.
• A. J. Healey, S. McMillan, R. B. McGhee, and D. Jenkins, "BUGS: Basic UXO Gathering System", in Proc. 1995 Autonomous Vehicles in Mine Countermeasures Symposium, (Monterey, CA), pp. 8-32 -- 8-37, April 1995.
• S. McMillan, D. E. Orin, and R. B. McGhee, "Efficient Dynamic Simulation of an Unmanned Underwater Vehicle with a Manipulator", in IEEE Int. Conf. on Robotics and Automation, (San Diego, CA), pp. 1133-1140, May 1994.
• S. McMillan, P. Sadayappan, and D. E. Orin, "Parallel Methods for Dynamic Simulation of Multiple Manipulator Systems", in Proc. 5th Annual Workshop on Aerospace Computational Control, (Santa Barbara, CA), pp. 267-281, August 1992.
• S. McMillan, P. Sadayappan, and D. E. Orin, "Efficient Dynamic Simulation of Multiple-Manipulator Systems with Singularities", in IEEE Int. Conf. on Robotics and Automation, (Nice, France), pp. 299-304, May 1992.
• S. McMillan, D. E. Orin, and P. Sadayappan, "Real-Time Robot Dynamic Simulation on a Vector/Parallel Supercomputer", in IEEE Int. Conf. on Robotics and Automation, (Sacramento, CA), pp. 1836-1841, April 1991.
• S. McMillan, D. E. Orin, and P. Sadayappan, "Parallel Real-Time Dynamic Simulation of Robots", in ASCE Engineering Mechanics Specialty Conference: Mechanics Computing in 1990's and Beyond, (Columbus, OH), May 1991.

Book Chapters:

• S. McMillan, D. E. Orin, and R. B. McGhee, "DynaMechs: An Object Oriented Software Package for Efficient Dynamic simulation of Underwater Robotic Vehicles." in Underwater Robotic Vehicles: Design and Control, J. Yuh (ed.), TSI Press, pp 73-98, 1995.

Dissertations:

• S. McMillan, Computational Dynamics for Robotic Systems on Land and Under Water, Ph.D. Thesis, The Ohio State University, Columbus, OH, Summer 1994.

  Also available by the chapter:

  • Preface
  • Chapter 1: Introduction
    Part 1: Multiple Chain Dynamic Simulation on Land
  • Chapter 2: Dynamics of Multiple Manipulator Systems: An Operational Space Approach
  • Chapter 3: Parallel Simulation: Spatial and Temporal Methods
  • Chapter 4: Systems with Singular Configurations
  • Chapter 5: Efficient Simulation of Multilegged Vehicles
    Part 2: Underwater Robotic Vehicle Simulation
  • Chapter 6: Hydrodynamic Forces on a Submerged Rigid Body
  • Chapter 7: Efficient Simulation of Underwater Robotic Vehicle Systems
  • Chapter 8: DynaMechs: An Object Oriented Robot Simulation Package
  • Chapter 9: Summary and Conclusions
  • Appendix A: Efficient Transformations with Modified Denavit-Hartenberg Parameters
  • Appendix B: Efficient Single, Open Chain Robotics Algorithms
  • References
  
  
• D. Marhefka, Fuzzy Control and Dynamic Simulation of a Quadruped Galloping Machine, Ph.D. Thesis, The Ohio State University, Columbus, OH, Summer 2000.