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List of contents and author index to volume 12, 1977
LIST
OF CONTENTS NUMBER
1
Ewald Heer: Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D. E. McGovern: An investigation of supervisory control of remote manipulation . . . . . . . . . I. Kato, Y. Kudo and K. Ichimaru: Artificial softness sensing-an automatic apparatus for measuring viscoelasticity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . J. L. Nevins and D. E. Whitney: Information and control issues of adaptable, programmable assembly systems for manufacturing and teleoperator applications . . . . . . . . . . . . . . . . . . . . . . . . . R. D. Schraft: Industrial robots in Europe- market, applications and developments . . . . . . A. B. Rechnitzer: Anoverview of non-U.S. underwater remotely manned manipulators . . M. H. Kaplan and A. A. Nadkarni: Control and stability problems of remote orbital capture G. W. Smith and W. L. DeRocher, Jr.: Orbital servicing and remotely manned systems . . . . . . . L. Kersten: The LEMMA concept: a new manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F. R. Erskine Crossley and F. G. Umholtz: Design for a three-fingered hand . . . . . . . . . . . A. R. Johnston: Proximity sensor technology for manipulator endeffectors . . . R. C. Gonzalez and B. A. Fittes: Gray-level transformations for interactive image enhancement A. J. Sword and W. T. Park: Location and acquisition of objects in unpredictable locations . . . . .
NUMBER
133 147 165 173 183 195
197 201 225 237 247 255 259
4
J.S.Rao:Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . N. F. Rieger and J. E. Gleason: Rotor-bearing dynamics-state-of-the-art . . . . . . . . . . . J. S. Rao and S. Banerjee: Coupled bending-torsional vibrations of rotating cantilever blades-method of polynomial frequency equation . . . . . . . . . . . . . . . . . . . . . . . . . . R. W. Shende: Synchronous steady state response of an overhung rotor with squeeze film damping P. A. Kulkami and B. V. A. Rao: Stability behaviour of finite MHD journal bearings . . . . . . . B. C. Majumdar: Zero-load stability of a rigid rotor supported on pressurized porous gas bearings . A. V. Krishna Murty and S. Sridhara Mm-thy: Finite element analysis of rotors . . . . . . . . . D. V. Singh, R. Sinhasan and A. Kumar: A variational solution of two lobe bearings . . . . . . . M. Swaminathan and J. S. Rao: Vbirations of rotating, pretwisted and tapered blades . . . . . . A. Mukherjee and J. S. Rao: Stiffness and damping coefficients of an inclined journal bearing . . . K. Eswaran, K. Ganapathi and H. Srinath: Vibration analysis of steam turbine discs . . . . . . . B. Dawson and M. Davies: An automatic root searching Myklestad procedure for vibration analysis
NUMBER
27 45 51 57 65 77 85 95 111 123
3
M. A. Chace: Biography-Joseph E. Shigley ........................ .............. Fan Y. Chen: A survey of the state of the art of cam system dynamics J. F. G. Darby: Proportions of rectilinear conchoid linkages .................. L. Van den Noortgate and J. De Fraine: A general computer aided method for designing high speed .............. cams avoiding the dangerous excitation of the machine structure ...... Krishna C. Gupta: A note on the optimum design of four bar crank-rocker mechanisms IFToMM Reports .................................... Announcement .....................................
NUMBER
11
2
R. G. Mitchiner and H. H. Mabie: The synthesis of 4-bar linkage coupler curves using derivatives of the radius of curvature-I. Straight path procedure . . . . . . . . . . . . . . . . . . . . . R. G. Mitchiner and H. H. Mabie: The synthesis of 4-bar linkage coupler curves using derivatives of the radius of curvature-II. Circular path procedure . . . . . . . . . . . . . . . . . . . . . M. M. Dranga and N. I. Manolescu: Matrix equation for the motion of planar mechanisms with one degree of mobility using transmission functions . . . . . . . . . . . . . . . . . . . . . . P. Meyer: Ein Zusammenhang der Quermassintegrale eines kinematisch erzeugten FHchenpaares H. Iyoi, M. Oka and T. Iyoi: Determination of an improved gear surface of helical gears for pumping action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Letter to the Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NUMBER
1 3
.
.
’ 26;
. . . . . . . . . .
271 281 293 303 311 323 331 339 357 363
5
D. R. Wilt, D. L. Pieper, A. S. Frank and G. G. Glenn: An evaluation of manipulator systems . . . . . . . . . . . . . . . . . . . . M. S. Konstantinov: Inertiaforcesof robotsandmanipulators . . . . . J. F. Engelberger: Designing robots for industrial environments . . . .
control modes in high gain
. . . . . . . . . . . . . . . . . . : : : : : : : : :
373 387 403
ii
Contents
. . . . . . . . . V. Paeslack and H. Roesler: Design and control of a manipulator for tetraplegics L. A. Freedman, W. H. Crooks and P. P. Coan: TV requirements for manipulation in space . . . . . M. Kirkpatrick, N. L. Shields. Jr., T. B. Malone. R. G. Brye and P. N. Frederick: Manipulator system performancemeasurements . . . , , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F. C. Runge: Space tug/spacecraft/module exchanger . . . . . . . . . . . . . Gary D. Gordon: A user assessment of servicing in geostationary orbit . T. f. Gregory, W. P. Nelms and J. S. Karmarkar: Remoteiy piloted aircraft in the civil environment J. Charles and J. Vertut: Cable controlled deep submergence teleoperator system . . . . , . . . . . . . . . Eugene R. Palowitch and Peter H. Broussard: Some opportunities in teleoperated mining J. Lyman, A. Freedy and M. Solomonow: System integration of pattern recognition, adaptive aided, upper limb prostheses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . M. Vukobratovid, D. Stokie and D. Hristie: New control concept of anthropomorphic manipulators . . . . . . . . . . . . . . C. J. Ancker, Jr.: Stochastic modelling of remotely manned systems Antal K. Bejczy: Effect of hand-based sensors of manipulator control performance . . . . . . . . . . N. Estahrook, II. Wheeler, D. Uhler and D. Hackman: Development of deep-ocean work system
NUMBER
413 425 439 451 463 471 481 493 503 515 531 547 569
6
GeorgiaL. Winfrey and RichardC. Winfrey: Biography of Joseph Stiles Beggs . . . . . . . . . . Carl J. Lock and Michaei Savage: The design of the RGGR space crank rocker utilizing commercially joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Andrew D. Dimarogonas and Ajit Barman: Free dynamics and stability of the S-Spair of a free poston engine . . . . . . . . , . _. . . . . . . . . . . . . . . . . . . . . . . . . . . . Miroslav VBclavik and Zden&k Koloc: The simulation of some mechanisms on weaving machines . . . . . . . . . . . . . . . . . . . P. Lederer: Automatisierte Synthese ebener Koppelgetriebe Cemil Bagci: Synthesis of double-crank (drag-link) driven mechanisms with adjustable motion and dwelltimeratios . . . . . . . . . . . . , . . . . . . . . . . . . . . . . . . . . .
577 579
619
Ancker, Jr., C. J., 531
Bag&
c., 619
Banerjee, S., 271 Barman, A., 593 Bejczy, A. K., 547
Broussard, P. H., 493 rye, R. G., 439
Oka, Hackman, D., 569 Heer, E., 1 H&ii?, II,, 515
481
Crooks, W. H., 425 Darby, J. F. G,, 225
vies, M., 363 wson, B., 363 De Fraine, J,, 237 Rocher, Jr., W, L., 65 Dimarogonas, A. D., 593 Dran~$ M. M., I65 E~ge~berger, J, F., 403 Erskiae Crossley, F. R., ~~~~~k N 559 Eswarm, K., :57 F&es, B, A., 111
Fra& A. S., 373 Frederick, P. N., 439 Freedman, L. A., 425 Freedy, A., 503 G~a~t~~, K., 357 Gleason, J. E., 261 Gleam, G. G., 373
Gonz&ez, R. C., 111 Gordon, G. D., 463 Greg~~* T. J., 471 Gupta, K. C., 247
Saeslack, V., 413 Palowitih, E, R., 493 Park, W. T., 123 Pieper, D. L., 373
Ichimaru, K., 11
Iyoi, T., 183
Rae, Be Q, A., 293
3ohnston, A. R., 95
Rao, J. S., 1,271,331,339 ~~~~i~er~ A. B., 51 Rieger, N. F., 261 Roesler, A., 413 Run&e, F. C., 451
Chace, M, A, 197 Charles, J.,
‘, 183
Kaplan, M. H., 57 K~k~, J. S*, 471 Rata, I., 11 Kersten, L., 77
Kulkarni, P* A., 293 Kumar, A., 323
Lederer, P., 613 Lock, C. J., 579 Lack f., 503 abie, H. H., 133,147 Majumdar, B. C., 303 Malone, T. B., 439
Manolescu, N. X.,165 McGovern, D. E., 3 ~~~~r, P., 173 Mitchiner, R. G., 133,147 Mukherjee, A., 339
Nadkmi,
A. k, 57
Neims, IV. P., 471 Nevins, J. L., 27
Sava8e, M., 579 S&raft, R. D., 45 Shields, Jr., N. L., 439 Singh, D. V., 323 S~~~~~, R., 323 Smith, G. W., 65 S~lom~~ow, Me, 503 Sridhara May, S., 3 11 Srinath, H., 357 Stoki~, D., 525 Swaminathan, M., 331 Sword, A. J., 123
Uhler, D., 569 UmhQl~, F. G., 85
V&cfavik, M., 605 Van den Noortgate, L., 237 Vertut, J., 481
Vukobratovi&, M., 515 eeier, H,, 569 achy, D. E., 27 Wilt, D. R., 373 w~~y~ G. L, 577 Winfrey, R. C., 577
OF CONTENTS NUMBER
1
Ewald Heer: Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D. E. McGovern: An investigation of supervisory control of remote manipulation . . . . . . . . . I. Kato, Y. Kudo and K. Ichimaru: Artificial softness sensing-an automatic apparatus for measuring viscoelasticity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . J. L. Nevins and D. E. Whitney: Information and control issues of adaptable, programmable assembly systems for manufacturing and teleoperator applications . . . . . . . . . . . . . . . . . . . . . . . . . R. D. Schraft: Industrial robots in Europe- market, applications and developments . . . . . . A. B. Rechnitzer: Anoverview of non-U.S. underwater remotely manned manipulators . . M. H. Kaplan and A. A. Nadkarni: Control and stability problems of remote orbital capture G. W. Smith and W. L. DeRocher, Jr.: Orbital servicing and remotely manned systems . . . . . . . L. Kersten: The LEMMA concept: a new manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F. R. Erskine Crossley and F. G. Umholtz: Design for a three-fingered hand . . . . . . . . . . . A. R. Johnston: Proximity sensor technology for manipulator endeffectors . . . R. C. Gonzalez and B. A. Fittes: Gray-level transformations for interactive image enhancement A. J. Sword and W. T. Park: Location and acquisition of objects in unpredictable locations . . . . .
NUMBER
133 147 165 173 183 195
197 201 225 237 247 255 259
4
J.S.Rao:Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . N. F. Rieger and J. E. Gleason: Rotor-bearing dynamics-state-of-the-art . . . . . . . . . . . J. S. Rao and S. Banerjee: Coupled bending-torsional vibrations of rotating cantilever blades-method of polynomial frequency equation . . . . . . . . . . . . . . . . . . . . . . . . . . R. W. Shende: Synchronous steady state response of an overhung rotor with squeeze film damping P. A. Kulkami and B. V. A. Rao: Stability behaviour of finite MHD journal bearings . . . . . . . B. C. Majumdar: Zero-load stability of a rigid rotor supported on pressurized porous gas bearings . A. V. Krishna Murty and S. Sridhara Mm-thy: Finite element analysis of rotors . . . . . . . . . D. V. Singh, R. Sinhasan and A. Kumar: A variational solution of two lobe bearings . . . . . . . M. Swaminathan and J. S. Rao: Vbirations of rotating, pretwisted and tapered blades . . . . . . A. Mukherjee and J. S. Rao: Stiffness and damping coefficients of an inclined journal bearing . . . K. Eswaran, K. Ganapathi and H. Srinath: Vibration analysis of steam turbine discs . . . . . . . B. Dawson and M. Davies: An automatic root searching Myklestad procedure for vibration analysis
NUMBER
27 45 51 57 65 77 85 95 111 123
3
M. A. Chace: Biography-Joseph E. Shigley ........................ .............. Fan Y. Chen: A survey of the state of the art of cam system dynamics J. F. G. Darby: Proportions of rectilinear conchoid linkages .................. L. Van den Noortgate and J. De Fraine: A general computer aided method for designing high speed .............. cams avoiding the dangerous excitation of the machine structure ...... Krishna C. Gupta: A note on the optimum design of four bar crank-rocker mechanisms IFToMM Reports .................................... Announcement .....................................
NUMBER
11
2
R. G. Mitchiner and H. H. Mabie: The synthesis of 4-bar linkage coupler curves using derivatives of the radius of curvature-I. Straight path procedure . . . . . . . . . . . . . . . . . . . . . R. G. Mitchiner and H. H. Mabie: The synthesis of 4-bar linkage coupler curves using derivatives of the radius of curvature-II. Circular path procedure . . . . . . . . . . . . . . . . . . . . . M. M. Dranga and N. I. Manolescu: Matrix equation for the motion of planar mechanisms with one degree of mobility using transmission functions . . . . . . . . . . . . . . . . . . . . . . P. Meyer: Ein Zusammenhang der Quermassintegrale eines kinematisch erzeugten FHchenpaares H. Iyoi, M. Oka and T. Iyoi: Determination of an improved gear surface of helical gears for pumping action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Letter to the Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NUMBER
1 3
.
.
’ 26;
. . . . . . . . . .
271 281 293 303 311 323 331 339 357 363
5
D. R. Wilt, D. L. Pieper, A. S. Frank and G. G. Glenn: An evaluation of manipulator systems . . . . . . . . . . . . . . . . . . . . M. S. Konstantinov: Inertiaforcesof robotsandmanipulators . . . . . J. F. Engelberger: Designing robots for industrial environments . . . .
control modes in high gain
. . . . . . . . . . . . . . . . . . : : : : : : : : :
373 387 403
ii
Contents
. . . . . . . . . V. Paeslack and H. Roesler: Design and control of a manipulator for tetraplegics L. A. Freedman, W. H. Crooks and P. P. Coan: TV requirements for manipulation in space . . . . . M. Kirkpatrick, N. L. Shields. Jr., T. B. Malone. R. G. Brye and P. N. Frederick: Manipulator system performancemeasurements . . . , , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F. C. Runge: Space tug/spacecraft/module exchanger . . . . . . . . . . . . . Gary D. Gordon: A user assessment of servicing in geostationary orbit . T. f. Gregory, W. P. Nelms and J. S. Karmarkar: Remoteiy piloted aircraft in the civil environment J. Charles and J. Vertut: Cable controlled deep submergence teleoperator system . . . . , . . . . . . . . . Eugene R. Palowitch and Peter H. Broussard: Some opportunities in teleoperated mining J. Lyman, A. Freedy and M. Solomonow: System integration of pattern recognition, adaptive aided, upper limb prostheses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . M. Vukobratovid, D. Stokie and D. Hristie: New control concept of anthropomorphic manipulators . . . . . . . . . . . . . . C. J. Ancker, Jr.: Stochastic modelling of remotely manned systems Antal K. Bejczy: Effect of hand-based sensors of manipulator control performance . . . . . . . . . . N. Estahrook, II. Wheeler, D. Uhler and D. Hackman: Development of deep-ocean work system
NUMBER
413 425 439 451 463 471 481 493 503 515 531 547 569
6
GeorgiaL. Winfrey and RichardC. Winfrey: Biography of Joseph Stiles Beggs . . . . . . . . . . Carl J. Lock and Michaei Savage: The design of the RGGR space crank rocker utilizing commercially joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Andrew D. Dimarogonas and Ajit Barman: Free dynamics and stability of the S-Spair of a free poston engine . . . . . . . . , . _. . . . . . . . . . . . . . . . . . . . . . . . . . . . Miroslav VBclavik and Zden&k Koloc: The simulation of some mechanisms on weaving machines . . . . . . . . . . . . . . . . . . . P. Lederer: Automatisierte Synthese ebener Koppelgetriebe Cemil Bagci: Synthesis of double-crank (drag-link) driven mechanisms with adjustable motion and dwelltimeratios . . . . . . . . . . . . , . . . . . . . . . . . . . . . . . . . . .
577 579
619
Ancker, Jr., C. J., 531
Bag&
c., 619
Banerjee, S., 271 Barman, A., 593 Bejczy, A. K., 547
Broussard, P. H., 493 rye, R. G., 439
Oka, Hackman, D., 569 Heer, E., 1 H&ii?, II,, 515
481
Crooks, W. H., 425 Darby, J. F. G,, 225
vies, M., 363 wson, B., 363 De Fraine, J,, 237 Rocher, Jr., W, L., 65 Dimarogonas, A. D., 593 Dran~$ M. M., I65 E~ge~berger, J, F., 403 Erskiae Crossley, F. R., ~~~~~k N 559 Eswarm, K., :57 F&es, B, A., 111
Fra& A. S., 373 Frederick, P. N., 439 Freedman, L. A., 425 Freedy, A., 503 G~a~t~~, K., 357 Gleason, J. E., 261 Gleam, G. G., 373
Gonz&ez, R. C., 111 Gordon, G. D., 463 Greg~~* T. J., 471 Gupta, K. C., 247
Saeslack, V., 413 Palowitih, E, R., 493 Park, W. T., 123 Pieper, D. L., 373
Ichimaru, K., 11
Iyoi, T., 183
Rae, Be Q, A., 293
3ohnston, A. R., 95
Rao, J. S., 1,271,331,339 ~~~~i~er~ A. B., 51 Rieger, N. F., 261 Roesler, A., 413 Run&e, F. C., 451
Chace, M, A, 197 Charles, J.,
‘, 183
Kaplan, M. H., 57 K~k~, J. S*, 471 Rata, I., 11 Kersten, L., 77
Kulkarni, P* A., 293 Kumar, A., 323
Lederer, P., 613 Lock, C. J., 579 Lack f., 503 abie, H. H., 133,147 Majumdar, B. C., 303 Malone, T. B., 439
Manolescu, N. X.,165 McGovern, D. E., 3 ~~~~r, P., 173 Mitchiner, R. G., 133,147 Mukherjee, A., 339
Nadkmi,
A. k, 57
Neims, IV. P., 471 Nevins, J. L., 27
Sava8e, M., 579 S&raft, R. D., 45 Shields, Jr., N. L., 439 Singh, D. V., 323 S~~~~~, R., 323 Smith, G. W., 65 S~lom~~ow, Me, 503 Sridhara May, S., 3 11 Srinath, H., 357 Stoki~, D., 525 Swaminathan, M., 331 Sword, A. J., 123
Uhler, D., 569 UmhQl~, F. G., 85
V&cfavik, M., 605 Van den Noortgate, L., 237 Vertut, J., 481
Vukobratovi&, M., 515 eeier, H,, 569 achy, D. E., 27 Wilt, D. R., 373 w~~y~ G. L, 577 Winfrey, R. C., 577