List of Refereed Conference Papers Published in Proceedings C246. Chu, H., Mills, J.K., Cleghorn, W.L.,”Auotmatic Micropart Re-orientation

Through Visiual Tracking for Automated Micro-assembly”, Proc. of ASME Int. Mechanical Engimeering Congress and Exposition, IMECE 2010, Nov. 12-18, 2010, Vancouver, BC.

C245. Markin, S., Mills, J. K., Perez, R., “Multiple Specification Longitudinal

Control of a Mini-Flying Wing”, submitted to Canadian Society for Mechanical Engineering Forum 2010, Victoria, BC, CSME Forum June 7-6, 2010.

C244. Huang, H., Sun, D., Mills, J.K., “A New Piezo-driven Ultrasonic Cell

Microinjection System”, Proc. IEEE Information and Automation (ICIA 2009) Conf., Harbin, Heilongjiang, China, June 20 -June 23, 2010. (Nominated for Best Conference Paper (one of 4 nominees).

C243. Chu, H., Mills, J.K., Cleghorn, W.L., “Dynamic tracking of Moving Objects

in Microassembly Thorugh Visual Servoing”, IEEE ICMA International Conf. on Mechatronics and Automation, August 4-7, 2010, Xi'an, China.

C241. Li, B., Mills, J.K., Cleghorn, W.L., “Vibration Suppression of a 3-PRR

Flexible Parallel manipulator Using Input Shaping”, IEEE ICMA International Conf. on Mechatronics and Automation Changun, Jilian, China, August 9-12, 2009.

C240. Wang, L., Mills, J.K., Cleghorn, W.L., “Robotic manipulation of Adhesive

Droplets for Application in Microassembly”, Proc. IEEE Information and Automation (ICIA 2009) Conf., Zhuhai, Macau, China, June 22-25, 2009.

C239. Zhang, X., Mills, J.K., Cleghorn, “Experimental Investigation on the

Vibration Control of a Paralle manipulator With Multiple Smart Flexible Links”, 2009 CCToMM Symposium on Mechanisms, Machines and Mechatronics, Quebec City, Quebec, Canada May 28-29, 2009.

C238. Wang, L., Mills, J.K., Cleghorn, W.L., “Micro-assembly of three-

dimensional rotary MEMS mirrors ”, SPIE Symposium on MOEMS-MEMS: Micro and Nanofabrication, Proceedings of SPIE - The International Society for Optical Engineering, v6464, January 20-25, 2009, San Jose, California, USA.

C237. Farahani, H., Mills, J.K., Cleghorn, W.L., “Design and Fabrication of a

Micromachined High Sensitivity Capacitive Sensor, Accepted Proc. 22nd Canadian Congress of Applied Mechanics, CANCAM ’09, Halifax, NS, Canada, May 31, - June 4, 2009.

C236. Rebello, J., Mills, J.K., Cleghorn, W.L., “Design and Analysis of MEMS Vibration Sensor, Accepted Auto’21 Conference, Hamilton, ON, Canada, Proc. 22nd Canadian Congress of Applied Mechanics, CANCAM ’09, Halifax, NS, Canada, May 31, - June 4, 2009.

C235. Song, B., Fan., C., Liu, Y.H., Mills, J.K. , Cai, X.,”Nonlinear System and

Control of the Model-scale Helicopter”, Proc. 7th IEEE International Conference on Control and Automation, Dec. 9-11, 2009, Christchurch, New Zealand.

C234. Chu, H., Mills, J.K., Cleghorn, W.L., “Microgripper Design for Use in

Parallel Microassembly Process”, CMC Annual Symposium, 13-14 October, 2009, Ottawa, ON, Canada.

C233. Hassanpour, P., Cleghorn, W.L., Esmailzadeh, E, Mills, J.K.,

“Experimental Analysis of Vibration of Micromachined Resonators”, Proc. 2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008, Nov. 1-6, 2008, Boston, Massachusetts, U.S.A.

C232. Hassanpour, P., Cleghorn, W.L., Esmailzadeh, E, Mills, J.K., “Nonlinear

Vibration of Micromachined Resonators With Attached Excitation/Detection Electrostatic Comb Drives”, Proc. 2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008, Nov. 1-6, 2008, Boston, Massachusetts, U.S.A.

C231. Wang, L., Mills, J.K., Cleghorn, W.L., “Assembly of Three-Dimensional

Microsystems Using a Hybrid Manipulation Strategy”, IEEE ICMA International Conf. on Mechatronics and Automation, Takamatsu, Kagawa, Japan, August 5-8, 2008.

C230. Zhang, X., Mills, J.K., Cleghorn, W.L., “Active Vibration Control of a 3-PRR

Parallel Manipulator With PZT Actuators and Sensors”, 2007 ASME International Design Engineering Technical Conferences (IDETC), 32nd Annual Mechanisms and Robotics Conf., New York, NY., August 3-6, 2008. (Presented by Ms. Wenjing Wang, Dept of Mech. Eng., Beijing University of Technology)

C229. Chu, H., Mills, J.K., Cleghorn, W.L., presented by Dr. Xiaoyun Wang,

“MEMS Capacitive Force Sensor For Use in Microassembly”, Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM ’08, Sofitel on Renmin Square, Xi’an, Xi’an China, July 2-5, 2008.

C228. Zhang, X., Mills, J.K., Cleghorn, W.L., “Dynamic Modelling and Active

Vibration Control of a 3-PRR Flexible Parallel Manipulator With PZT

Transducers”, Proc. 7th World Congress on Intelligent Control and Automation, WCICA 2008, Chongqing China, June 25-27, 2008.

C227. Zhang, X., Mills, J.K., Cleghorn, W.L., “Effect of Axial Forces on Lateral

Stiffness of a Flexible 3-PRR Parallel manipulator Moving With High Speed”, Proc. IEEE Information and Automation (ICIA 2008) Conf., ZhangJiaJie City, Hunan, China, June 20-23, 2008.

C226. Rebello, J., Mills, J.K., Cleghorn, W.L., “Design and Analysis of MEMS

Based Vibration Sensors, Auto’21 2008 Conference, London Convention Centre, London Ontario, Canada, June 2-4, 2008.

C225. Wang, L., Mills, J.K., Cleghorn, W.L., “Adhesive Mechanical Fastener

Design For Use In Microassembly”, Proc. IEEE Canadian Conference on Electrical and Computer Engineering, Niagara Falls, Ontario, Canada, May 4-7, 2008.

C224. Huang, H., Sun, D., Mills, J.K., Cheng, S.H., “Integrated Vision and Force

Control in Suspended Cell Injection System: Towards Automatic Batch Biomanipulation”, Proc. IEEE Int. Conf. On Robotics and Automation, Pasadena Conference Centre, Pasadena, CA, May 18-23, 2008.

C223. Ren, L., Wang, L., Mills, J.K., Sun, D., “Automatic Microassembly by

Vision-Based Control”, Proc. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, Oct. 29-Nov. 2, 2007.

C222. Zhang, X., Mills, J.K., Cleghorn, W.L., ”Investigation on the Effect of

Elastic Deformations on Rigid Body Motions of 3-PRR Flexible Parallel Manipulators”, Proc. 2007 IEEE International Conference on Mechatronics and Automation (ICMA 2007), Harbin, Heilongjiang, China August 5-8, 2007. Nominated for Best Paper Award

C221. Chu, H., Mills, J.K., Cleghorn, W.L., “Design of a High Sensitivity

Capacitive Force Sensor”, Proc. 7th IEEE International Conference on Nanotechnology, Hong Kong SAR, China, August 2-5, 2007.

C220. Anis, Y., Mills, J.K., Cleghorn, W.L., “Automated Microassembly Task

Execution Using Vision Based Feedback” Proc. IEEE International Conference on Information Acquisition, ICIA ’07, Jeju Island, Korea, July 7-9, 2007. Best Conference Paper Award.

C219. Wang, L., Ren, L., Mills, J.K., Cleghorn, W.L., “Automatic 3D Joining in

Microassembly”, Proc. IEEE International Conference on Information Acquisition, ICIA ’07, Jeju Island, Korea, July 7-9, 2007.

C218. Zhang, X., Mills, J.K., Cleghorn, W.L., “Study on Structural Vibration of a 3-PRR Flexible Parallel Manipulator”, 21st Canadian Congress of Applied Mechanics (CANCAM –07), Ryerson University, Toronto, Ontario, Canada, June 3-7, 2007.

C217. Hassanpour, P., Cleghorn, W.L., Esmailzadeh, E, Mills, J.K., “Vibration of

an Euler Bernoulli Beam with a Guided Mass”, Proc. 21st Canadian Congress of Applied Mechanics (CANCAM), Ryerson University, Toronto, Ontario, Canada, June 3-7, 2007.

C216. Zhang, X., Mills, J.K., Cleghorn, W.L., “Structural Vibration Response

Analysis of a 3-PRR Flexible Parallel Manipulator Moving With High Speed”, Ninth IASTED International Conference on Control and Applications, Montreal, Quebec, Canada, May 30-June 1, 2007.

C215. Zhang, X., Mills, J.K., Cleghorn, W.L.,” Structural Vibration Control of a

Moving 3-PRR Flexible Parallel Manipulator with Multiple PZT Actuators and Sensors”, 2007 ASME International Design Engineering Technical Conferences (IDETC), Rio All-Suite Hotel & Casino, Las Vegas, Nevada, September 4-7, 2007.

C214. Huang, H., Sun, D., Mills, J.K., Cheng, S.H., “Automatic Suspended Cell

Injection Under Vision and Force Control Biomanipulation”, Proc. IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2007), Sanya, China, December 15-18, 2007. (Nominated for Best Paper Award)

C213. Hassanpour, P., Mills, J.K., Cleghorn, W.L., Esmailzadeh, E., ”Vibration

Analysis of Axially Loaded Euler-Bernoulli Beams With Guided Masses”, Proc. 2007 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, IDETC/CIE 2007, September 4-7, 2007, Rio All-Suite Hotel & Casino, Las Vegas, Nevada.

C212. Hassanpour, P., Cleghorn, W.L., Esmailzadeh, E, Mills, J.K., “Analytical

Model of Single Stage Compliant Mechanism With Flexible Lever Beam”, Proceedings of SPIE Reliability, Packaging, Testing, and Characterization of MEMS/MOEMS VI, v6464, January 20-25, 2007, San Jose, California, USA.

C211. Ren, L, Wang, L., Mills, J. K., Sun, D., “2-D Automatic Grasping Tasks

Performed by Visual Servo Control”, International Symposium on Industrial Electronics, (ISIE07), pp. 2119-2124, June 4-7, Centro Cultural and Centro Social, Caixanaova, Vigo, Spain.

C210. Chu, H.K., Mills, J.K., and Cleghorn, W.L., "Stereolithography as a Meso-Structure For Input Force Reduction to a Capacitive Force MEMS Sensor," Proceedings of SPIE - The International Society for Optical Engineering, v6464, 60640Q-1 – 60640Q-10, January 20-25, 2007, San Jose, California, USA.

C209. Huang, H., Sun, D., Mills, J.K., Li, W., “Visual-based Impedance Force

Control of Three-Dimensional Cell Injection Forces, Proc. IEEE International Conference on Robotics and Automation, Rome, Italy, April 10-14, 2007.

C208. Wang, L., Wang, X., Mills, J. K., Guo, S., “Visual Servo Control of IPMC

Actuator Based Micro-Robot”, Proceedings of International CANSMART Workshop, Smart Materials and Structures, pp.119-128, Toronto, Ontario, Canada, October 12-13, 2006.

C207. Huang, H., Sun, D., Mills, J.K., and Li, W.J., “A Visual Impedance Force

Control of A Robotic Cell Injection System”, Proc. International Conference on Robotics and Biomimetics, (ROBIO) Dec. 17-20, 2006, Kunming, China. Nominated for Best Paper.

C206. Ren, L., Mills, J. K., “Comparison of Control approaches on tracking

Control of a 3 DOF Parallel Robot: Experimental Results”, ”, Proc. 9th International Conference on Control, Automation and Vision, (ICARV ‘06) 2006, pp. 576-581, Grand Hyatt, Singapore, December 5-8, 2006.

C205. Wang, X., Mills, J. K., “Modal Control Design of Configuration Dependent

Linkage Vibration in a Parallel Robot Through Experimental Identification”, Proc. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, October 9-15, 2006.

C204. Ren, L, Mills, J. K., Sun, D., “Performance Improvement of Tracking

Control for a Planar Parallel Robot Using Synchronized Control”, Proc. 2006-2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2539-2544, Beijing, China, October 9-15, 2006.

C203. Bahadur, I., Mills, J.K., Towards Development of a One-Port Resonant

Sensor For Robotic-based Microassembly Force Measurement”, Proc. IEEE International Conference on Mechatronics and Automation, (ICMA 2006), HeNan University of Science and Technology, LouYang, HeNan, China, June 25-28, 2006.

C202. Liu, W., Mills, J.K., “MEMS Remote Centre of Compliance Design”, Proc.

IEEE International Conference on Mechatronics and Automation, (ICMA 2006), HeNan University of Science and Technology, LouYang, HeNan, China, June 25-28, 2006.

C201. Ren, L., Feng, Z., Mills, J. K., “A Self-Tuning Iterative calculation Approach for the Forward Kinematics of a Stewart Platform”, Proc. IEEE International Conference on Mechatronics and Automation, (ICMA 2006), pp. 2018-2023, HeNan University of Science and Technology, LouYang, HeNan, China, June 25-28, 2006.

C200. Wang, X., Wang, L., Guo, S., Mills, J.K., “A Test-bed for Visual Servo

Control of Artificial Muscle MicroRobot With Parallel Architecture”, Proc. IEEE International Conference on Mechatronics and Automation, (ICMA 2006), HeNan University of Science and Technology, LouYang, HeNan, China, June 25-28, 2006.

C199. Wang, X., Mills, J. K., “Modal Control of Configuration Dependent Linkage

Vibration in Closed-Loop Flexible-Link Mechanisms”, pp. 57-62, Proc. 17th IASTED International Conference on Control and Applications, Montreal, Quebec, Canada, May 24-26, 2006.

C198. Hassampour, P. Cleghorn, W.L., Esmailzadeh, E., Mills, J.K., “Modelling

and Analysis of Resonant Sensor Actuated by Bent Beam Thermal Actuator” Proc. 17th IASTED International Conference on Modelling and Simulation, Montreal, Quebec, Canada, May 24-26, 2006.

C197. Anis, Y., Mills, J. K., Cleghorn, W.L., “Active Microgripper Interface Used

in the Microassembly of MEMS”, Proc. IEEE Canadian Conference on Electrical and Computer Engineering (CCECE 2006) , Ottawa, Ontario, Canada, May 7-10, 2006.

C196. Chu, H, Mills, J. K., Cleghorn, W.L., “Design of a capacitive MEMS Sensor

for Automotive Circuit Disconnect”, Proc. Canadian Society of Mechanical Engineering (CSME) Forum 2006, 62:1-8, Kananaskis, Alberta, May 21-24, 2006.

C195. Shao, X., Sun, D., Mills, J. K., “A New Motion Control Hardware

Architecture With FPGA-Based IC Design for Robotic Hardware”, Proc. IEEE International Conference on Robotics and Automation, Orlando, FL, U.S.A., May 15-19, 2006.

C194. Anis, Y., Mills, J.K., Cleghorn, W.L.,” Measurement of MEMS

Microassembly Forces Using Computer Vision”, Proc. IEEE International Conference on Robotics and Automation, Orlando, FL, U.S.A., May 15-19, 2006.

C193. Ren, L., Mills, J.K., Sun, D., “Convex Synchronized Control for a 3-DOF

Planar Parallel Manipulator”, Proc. IEEE International Conference on Robotics and Automation, pp. 1129-1134, Orlando, FL, U.S.A., May 15-19, 2006.

C192. Dechev, N., Ren, L., Liu, W., Cleghorn, W.L., Mills, J.K., “Development of

a 6 Degree of Freedom Robotic Micromanipulator For Use in 3D MEMS Microassembly”, “ Proc. IEEE International Conference on Robotics and Automation, pp. 281-288, Orlando, FL, U.S.A., May 15-19, 2006.

C191. Wang, X., Mills, J.K.,” Dual-Modal Control of Configuration-Dependent

Linkage Vibration in a Smart Parallel Manipulator“ Proc. IEEE International Conference on Robotics and Automation, Orlando, FL, U.S.A., May 15-19, 2006.

C190. Wang, X., Mills, J.K., “Modal Control of Configuration-Dependent Linkage

Vibration in a Smart Parallel Manipulator”, Eighth IASTED International Conference on Control and Applications, Montreal, Quebec, May 24-26, 2006.

C189. Hassanpoor, P., Cleghorn, W.L., Esmailzadeh, E., Mills, J.K., “ Modeling and Analysis of MEMS –based Resonant Beam Sensor Actuated by Bent Beam Thermal Actuator”, International Symposium on MOEMS-MEEMS 2006 Micro and Nanofabrication , Proceedings of SPIE Reliability, Packaging, Testing, and Characterization of MEMS/MOEMS V, January 21-27, 2006, San Jose, California, USA.

C188. Bahadur., I., Mills, J.K., Cleghorn, W.L., “Machined Resonant Force

Sensor for Passive Microgripping Applications: 3D Microassembl”, International Symposium on MOEMS-MEMS 2006 Micro and Nanofabrication, San Jose, CA, U.S., January 21-27, 2006.

C187. Anis, Y., Mills, J.K., Cleghorn, W.L., “Visual Force Measurement in

Assembly of MEMS Devices”, International Symposium on MOEMS-MEMS 2006 Micro and Nanofabrication, San Jose, CA, U.S., January 21-27, 2006.

C186. Anis, Y., Mills, J. K., Cleghorn, W.L., (Presented by Zhe Lu) “Modal

Analysis of Thermally Actuated Microgrippers used in Assembly of MEMS Devices”, Proc. 3rd International Conference on Computattional Intelligence, CIRAS 2005, December 14-16, 2005, Singapore.

C185. Bahadur, I., Mills, J. K., (Presented by Zhe Lu) “Design and Modeling of

an Electrostatic, Passive Microgripper for 3-D Microassembly”, Proc. 3rd International Conference on Computattional Intelligence, CIRAS 2005, December 14-16, 2005, Singapore.

C.184. Wang, X., Mills, J.K., “Modal Control of Configuration-Dependent Linkage

Vibration in a Smart Parallel Manipulator”, International CANSMART Workshop, Smart Materials and Structures, October 13, 2005, pp. 33-42, Toronto, Ontario, Canada.

C183. Bahadur, I.B., Anis, Y.H., Hassanpour, P., Cleghorn, W.L., Mills, J. K., Automated Cell Manipulation Using an Electrostatic Microgripper and Resonant Force Sensor for Cell Manipulation”, Proc. 4th Canadian Workshop on MEMS and Microfluidics, August 16-19, 2005, Ottawa, Ontario, Canada.

C182. Fu, K., Mills, J.K., “A Planar Parallel Manipulator – Dynamics Revisited

and Controller Design, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, August 2-6, 2005, Edmonton, Alberta, Canada.

C181. Anis, Y., Mills, J.K., Cleghorn, W.L., “Modal Analysis of Microgrippers

Used in Assembly of MEMS Devices”, Proceedings of the 2005 International Conference on MEMS, NANO and Smart Systems, (ICMENS’05), pp. 28 1-286, July 24-27, 2005, Banff, Alberta, Canada.

C180. Bahadur, I., Mills, J. K., Sun, Y., “A Micromachined Resonant Force

Sensor for a Compliant Passive Microgripper”, Proc. IEEE Int. Conference on Mechatronics and Automation, (ICMA 05), July 29-August 1, 2005, Niagara Falls, Ontario, Canada. (nominated for Best Paper (one of 10 finalists of 400 papers)

C179. Huang, H., Sun, D., Chen, W., Mills, J.K., “A Vision based Position Control

Methodology to Drive Mobile Robots Towards Target Positions”, Proc. IEEE International Conference on Robotics and Biomimetrics – Robio 2005, June 29-July 3, 2005, Hong Kong and Macau SAR.

C178. Kim, J., Mills, J. K., Popovic, M., “The Inverse Dynamics Solution of Arm-

Free Standing for Paraplegics”, Proc. 10th Annual Conference of the International FES Society, July 5-9, 2005, Montreal, Quebec, Canada.

C177. Dechev, N., Mills, J. K., Cleghorn, W.L., “Design of Grasping Interface for

Microgrippers and Micro-Parts Used in the Microassembly of MEMS”, Proc. IEEE Int. Conf. on Information Acquisition, (ICIA) June 27-July 3, 2005, Chinese University of Hong Kong and University of Macau, Hong Kong SAR. (nominated for Best Paper (one of 10 finalists of 160 papers)

C176. Wang, X., Mills, J.K., “Experimental Modal Identification of Configuration-

Dependent Vibration of Using Smart Material Transducers With Application to a Planar Parallel Robot”, To Appear, Proc. IEEE International Conference on Robotics and Biomimetrics – Robio 2005, June 29-July 3, 2005, Hong Kong and Macau SAR

C175. Anis, Y., Mills, J. K., Cleghorn, W.L., Poster session: “Design of MEMS

microgripepr for 3D MEMS assembly”, Auto’21 Highly Qualifies People

(HQP) Conf., University Institute of Technology, Oshawa, Ontario, May 10-12, 2005.

C174. Su, Y.X., Sun, D., Ren, L., Wang, X.Y., Mills, J.K., Nonlinear PD

Synchronized Control for Parallel Manipulators, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1386-1391, Barcelona, Spain, May, 2005.

C173. Ren, L, Sun, D., Mills, J. K., “Controller Design Applied to Planar Parallel

Manipulators For Trajectory Tracking Control“, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 980-985, Barcelona, Spain, May, 2005.

C172. Wang, X., Mills. J.K., “Active Control of Configuration Dependent Linkage

Vibration With Applications to a Planar Parallel Platform, Proc. IEEE Int. Conf. on Robotics and Automation, Barcelona, Spain, May, 2005.

C171. Dechev, N., Mills, J. K., Cleghorn, W.L., “Mechanical Fastener Designs for

Use in Microassembly of 3D Microstructures”, Proc. IMECE 2004, 2004 in ASME International Mechanical Engineering Congress and Exposition 2004, November 13–19, 2004, Anaheim, California, USA.

C170. Wang, X., Mills, J. K., “Substructuring Dynamic Modeling and Active

Vibration Control of a Smart Parallel Platform”, Proc. International Symposium on Advances in Robot Dynamics and Control, (ARDC) 2004 in ASME International Mechanical Engineering Congress and Exposition 2004, Paper Number: 2004-60411 November 13–19, 2004, Anaheim, California, USA.

C169. Wang, X., Mills, J. K., Yan, G., Lin, R., “An Active Vibration Control

Scheme Based on Primary Response Reconstruction Algorithm, 15th Int. Conf. On Adaptive Structures and Technologies, October 24-27, 2004, Atlantic-Oakes-By-The-Sea, Bar Harbor, Maine, U.S.A.

C168. Wang., X., Mills., J. K., “Experimental Modal Analysis of Flexible Linkages

in a “Smart Parallel Platform”, Proc. Int. CANSMART Workshop, Smart Materials and Structures, Thursday, October 21, 2004, Montreal, Quebec, Canada.

C167. Fu, K., Mills, J. K., Chen, W., Wang, Q., “Convex Integrated Design (CID)

Method in the Integrated Design of a Semi-Active Suspension Systems”, Proc. Int. Conference on Intelligent Mechatronics and Automation, Chengdu, China, August 26-31, 2004.

C166. Ren, L., Mills, J. K., Sun, D., “Adaptive Synchronization Control of a Planar

Parallel Manipulator”, Proceedings of the 2004 American Control Conference , Volume 5, 30 June-2 July 2004 Page(s):3980 - 3985 vol.5, June 30-July 2, 2004, Boston, MA, U.S.A.

C165. Ren, L., Mills, J. K., “Adaptive Synchronization Control For a Planar

Parallel Manipulator, To Appear Proc. 14th Int. Conference on Flexible Automation and Intelligent Manufacturing (FAIM), pp. 326-333, Toronto, Canada, July 12-14, 2004.

C164. Wang, X., Zhu, S., Mills, J. K., “DSP-Based Hierarchical Control

Implementation of a “Smart Parallel Platform” for Electronics Manufacturing”, Proc. 14th Int. Conference on Flexible Automation and Intelligent Manufacturing (FAIM), pp. 376-383, Toronto, Canada, July 12-14, 2004.

C163. Cleghorn, W.L., Mills, J.K., “Linkages of Undergraduate Students With

Industry: The MMO Connections Program at the University of Toronto”, 2004 American Society for Engineering Education Annual Conference, May, June 20-23, Salt Lake City, UT, U.S.A.

C162. Ren, L., Mills, J. K., Sun, D., “Trajectory Tracking Control of a Planar

Parallel Manipulator: Synchronization Control”, Proc. CSME FORUM, pp. 299-306, June 1-4, 2004, London, Ontario, Canada.

C161. Wang, X., Mills, J. K., “Craig-Brampton Modal Set Based Substructuring

Modelling of a Flexible Link Planar Parallel Platform”, Proc. CSME FORUM, June 1-4, 2004, London, Ontario, Canada.

C160. Wang, X., Mills, J. K., “FEM-Based Active Vibration Control Design of

Flexible Linkages in a Planar Parallel Platform”, Proc. CSME FORUM, June 1-4, 2004, London, Ontario, Canada.

C159. Iu, H.,S., Cleghorn, W.L., Mills, J. K., “Computational Fluid Dynamics

Applications: Slosh Analysis of an Automotive Fuel Tank Model”, Proc. 12th Annual Conference on Computational Fluid Dynamics, May 9-11, 2004, Ottawa, Ontario, Canada.

C158. Wang, X., Mills, J. K., “A FEM Model For Active Vibration Control of

Flexible Linkages”, Proc. 2004 IEEE International Conference on Robotics and Automation , Volume 5, 26 April-1 May 2004, pp. 4308 – 4313, April 26 – May 1, 2004, New Orleans, U.S.A.

C157. Fu, K., Mills, J. K., Sun, D., “Convex Integrated Design (CID) Method:

Application to the Integrated Design of a Linear Positioning System”, Proc. IEEE Int. Conf. On Robotics and Automation, April 26 – May 1, 2004, New Orleans, U.S.A.

C156. Iu, S., Cleghorn , W.L. Mills, J. K., “Design and Analysis of Fuel Tank Baffles to Reduce the Noise generated From Fuel Sloshing”, SAE World Congress, 2004.

C155. Dechev, N., Cleghorn, W.L., Mills, J.K., Tether and Joint Design for Micro-

Components used in Microassembly of 3D Microstructures”, Proceedings SPIE Micromachining and Microfabrication, Photonics West 2004, San Jose, CA, Jan 25-29, 2004.

C154. N. Dechev, W. L. Cleghorn, James K. Mills, “Construction of a 3D MEMS

Microcoil Using Sequential Robotic Microassembly Operations”, Proc. ASME International Mechanical Engineering Congress and R&D Expo 2003, Washington, D.C, Nov 15-21, 2003.

C153. Dechev, N., Cleghorn, W.L., Mills, J.K., “Construction of 3D MEMS

Microstructures Using Robotic Microassembly”, Workshop Notes, Proc. IEEE/RSJ International Conf. on Intelligent Robots and Systems, Las Vegas, Nevada, U.S.A., October 27-31, 2003.

C152b.N. Dechev, W.L. Cleghorn, and J. K. Mills, “Microassembly of Micro-Parts

into 3D Microstructures using a Passive, Compliant Microgripper”, Poster presented at Canadian Workshop on Micro-ElectroMechanical Systems, Ottawa, Ontario, Canada, Aug 22nd, 2003.

C152. Wang, X., Mills, J. K., “Active Vibration Control of Parallel Platform Using

Piezoelectric Sensors and Actuators”, Proc. 6th CANSMART Int. Workshop and Smart Materials and Structures, pp. 159-168, Montreal, Canada, October 16-17, 2003.

C151. Fu, K., Mills, J.K., “The Convex Integrated Design (CID) Method:

Necessary and Sufficient Conditions For Existence of Solution”, Proc. IEEE Conf. on Robotics, Intelligent Systems and Signal Processing, Changsha, Hunan, China October 6-10, 2003.

C150.Golmakani, H., Mills, J. K., Benhabib, B., “Deadlock-free Optimal Routing

in Flexible Manufacturing Cells via Supervisory Control T2003, Washington, D.C., U.S.A.

C149. Park, E., Li, G., Mills, J.K., “Development of a Smart Robotic Gripper For

Shape and Vibration Control of Flexible Payloads: Theory and Experiments”, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2418-2423, Taipei, Taiwan, Sept. 14-19, 2003.

C148. Golmakani, H.,, Benhabib, B., Mills, J. K., “Development of a Supervisory

Control for an Automated Manufacturing System, Proc. IEEE Int. Conf. on Robotics and Automation, Taipei, Taiwan, pp. 169-174, Sept. 14-19, 2003.

C147. Dechev, N., Cleghorn, W.L., Mills, J. K., “Microassembly of 3-D MEMS

Structures Utilizing a MEMS Microgripper With a Robotic Manipulator”, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 3193-3199, Taipei, Taiwan, Sept. 14-18, 2003.

C146. Arzanpour, S., Mills, J. K., Cleghorn, W.L., “Three Fingered Flexible

Fixture Design”, Proc. Of ASME Design Engineering Technical Conferences, Computer and Information Conference, Chicago, Illinois, U.S.A., September 2-6, 2003.

C145. Kang, B.S., Mills, J. K., “Study on Piezoelectric Actuators in Vibration

Control of a Planar Parallel Manipulator”, Proc. IEEE/ASME Int. Conf. On Advanced Intelligent Mechatronics, Kobe, Japan, pp. 1268-1273, July 20-24, 2003.

C144. Park, E., Mills, J.K., “Integrated Closed-loop Modal Truncation and

Balanced LQG Control Synthesis For Vibration Control of Flexible Payloads”, Proc. IEEE Int. Conf. on Control and Automation, Montreal, Quebec, Canada, pp. 301-305, June 9-12, 2003.

C143. Dechev, N., Cleghorn, W.L., Mills, J.K., “Microassembly of MEMS Into 3D

Microstructures”, Proc. 19th Canadian Congress of Applied Mechanics (CANCAM 2003), Calgary, Alberta, Canada, June 1 - 6, 2003.

C142. Piras, G., Cleghorn, W.L., Mills, J. K., “Finite Element Analysis of High

Speed Parallel Planar Manipulator With Flexible Joints”, ”, Proc. 19th Canadian Congress of Applied Mechanics (CANCAM 2003), Calgary, Alberta, Canada, June 1 - 6, 2003.

C141. B. Kang, and J.K. Mills, "Two-Time Scale Control of a High Speed Planar

Parallel Manipulator With Structural Flexibility", Proc. 4th Asian Control Conference, Singapore, Sept. 25-27, 2002.

C140. Dong, H., Sun, D., Mills, J. K., A New Method for Synchronized Tracking

Control of Differential Mobile Robots and its Experimental Analysis", Proc. 2002 IEEE Int. Symposium on Intelligent Control, Vancouver, British Columbia, 27-30, October, 2002.

C139. I. Heerah, I., B. Kang, J. K. Mills, B. Benhabib, "Architecture Selection and

Singularity Analysis of a 3-Degree of Freedom Planar Parallel Manipulator", Proc. 27th Biennial Mechanisms and Robotics Conference, Montreal, Quebec, Sept. 29-Oct. 2, 2002.

C138. K. Fu and J. K. Mills, "Theoretical Evaluation of the Integrated Structure and Control Design Approach by Optimization Theory", Proc. Design Automation Conference, Montreal, Quebec, September, 2002.

C137. K. Fu, D. Sun, and J. K. Mills, "Simultaneous mechanical Structure and

Control System Design: Optimization and Convex Approaches", Proc. 2002 IEEE Int. Symposium on Intelligent Control, Vancouver, British Columbia, 27-30, October, 2002.

C136. Zhu J., Sun D., Tso S. K., and Mills S. K., “Vision guidance for a climbing

cleaning robot.” Proc. of 9th IEEE International Conference on Mechatronics and Machine Vision in Practice, Chiang Mai, Thailand, pp. 126-131, September 2002.

C135. Yeung, B., Mills, J. K., Development of a Six Degree-of-Freedom

Reconfigureable Gripper for Flexible Fixtureless Assembly, Proc. IEEE Int. Conference on Robotics and Automation, Washington, D.C., May 11-15, 2002.

C134. Sun D., and Mills J. K., “Adaptive synchronized control for coordination of

two robot manipulators.” Proc. of IEEE International Conference on Robotics and Automation, Washington DC, VA, pp. 976-981, May 2002.

C133. Park, E., Kang, B.S., Mills, J.K., "Two Time Scale Shape Control of

Flexible Payloads Grasped by Actuated Grippers", Proc. IEEE Int. Conference on Robotics and Automation, pp. 2449-2454, Washington, D.C., May 11-15, 2002.

C132. Park, E., Mills, J.K., "Dynamic Modelling of Flexible Payloads by

Actuated Grippers Using Component Mode Synthesis", Proc. IEEE Int. Conference on Robotics and Automation, pp. 2443-2448, Washington, D.C., May 11-15, 2002.

C131. Sun, D., Mills, J. K., "Adaptive Synchronized Control For Coordination of

Two Robot Manipulators", Proc. IEEE Int. Conference on Robotics and Automation, Washington, D.C., May 11-15, 2002.

C130d. Park, E.J., Mills, J.K., "Control of flexible payloads grasped by actuated

grippers Undergoing Large Rigid-Body Motions, Part I: Dynamics”, Proc. ASME Int. Mechanical Engineering Congress & Exposition, Symposium on Dynamics, Acoustics and Sound, IMECE 2002, Paper No. 2-32407, New Orleans, LA, U.S.A., Nov. 17-22, 2002.

C130c. Park, E.J., Mills, J.K., "Control Of Flexible Payloads Grasped By

Actuated Grippers Undergoing Large Rigid-Body Motions, Part II: Controllability And Observability”, Proc. ASME Int. Mechanical Engineering Congress & Exposition, Symposium on Dynamics, Acoustics

and Sound, IMECE 2002, Paper No. 2-32408, New Orleans, LA, U.S.A., Nov. 17-22, 2002.

C130b. Dechev, N., Mills, J.K., Cleghorn, “Assembly of Micro-components Into

MEMS”, Poster – presented at Canadian Workshop on Micro-Electromechanical Systems, Ottawa, Ontario, Canada, 2001.

C130. Chen, W., Mills, J. K., Chu, J., Sun, D., "A Fuzzy Dynamic Uncertainty

Compensator For Industrial Robots During Trajectory Tracking Tasks", Proc. IFAC Conference on New Technologies for Computer Control 2001, Hong Kong, Nov. 19-22, 2001.

C129. Kang, B., Mills, J. K., "Dynamic Modelling and Vibration Control of High

Speed Planar Parallel Manipulators", Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Maui, Hawaii, Sept. 21-24, 2001.

C128. Lee, S.-J., Mills, J. K., Sun, D., "Multiple Simultaneous Specification

Control Design Method For High Speed AC Induction Motor With Applications to High Speed Manufacturing", Proc. 2001 IEEE International Conference on Mechatronics and Machine Vision In Practice, (M2VIP), pp. 36-41, August 27-29, 2001, Hong Kong.

C127b.Yu, E.C.K., Mills, J.K., Ng , W.T., "On-Chip Monitoring for Smart Power

Integrated Circuits," ISIC-2001 Tech. Dig., pp. 446-449, Singapore, Sept. 4-5, 2001.

C127. Sun D., and Mills J. K., “Torque Control of Sinusoidal PMAC Motors for

Direct-Drive Robots.” Proc. of IEEE International Symposium on Computational Intelligence in Robotics and Automation, Alberta, Canada, pp. 53-58, July-August 2001 (invited paper).

C126. Sun, D., Mills, J. K., "A Discrete Approach to Inner Current Loop Control

Design af PMAC Motor Control Systems", Proc. 2001 American Control Conference, Arlington, Virginia, U.S.A., pp. 2156-2160, June 25-27, 2001.

C125. Chen, W., Mills, J. K., Chu, J., Sun, D., "A Fuzzy Compensator For

Uncertainty of Industrial Robots", Proc. IEEE Int. Conference on Robotics and Automation, Seoul, Korea, , pp. 2968-2973, May 21-25, 2001.

C124. Kang, B., Chu, J., Mills, J. K., "Design of High Speed Planar Parallel

Manipuator and Multiple Simultaneous Specification Control", Proc. IEEE Int. Conference on Robotics and Automation, Seoul, Korea, May 21-25, 2001.

C123. Sun D., and Mills J. K., “Advanced Torque Control of Robot Manipulators Driven by AC Induction Motors”, Proc. of IEEE International Conference on Robotics and Automation, San Francisco, California, pp. 3537-3542, April 2000.

C122. Sun D., and Mills J. K., “Control of a Two-Manipulator System

Manipulating a Flexible Beam.” Proc. of The Sixth International Conference on Control, Automation, Robotics and Vision (ICARCV), Singapore, December 2000 (invited paper).

C121. Dechev, N, Cleghorn, W.L., Mills, J.K., “Techniques for Assembly of

MEMS Devices", Proc. International Symposium on Robotics and Automation", ISRA '2000, Monterrey, Mexico, November 10-12, 2000.

C120. Wang, M., and Mills, J.K., "Performance Variation of Neural Network

Controlled Systems Caused by Link Mass Uncertainty", Proc. Int. Conference on Neural Networks, Venice, Italy, July 25-27, 2000.

C119. Chen, W., Mills, J.K., Xu, Z., "Adaptive Neural Network Control For Semi-

Active Suspensions", Proc. 2000 Japan-USA Symposium on Flexible Manufacturing, Ann Arbor, MI, July 23-26, 2000.

C118. Sun, D. and Mills, J.K., " Control of Sinusoidal PMAC Motors in High

Speed Motions", Proc. 3rd World Congress on Intelligent Control and Automation, University of Science and Technology, Hefei, P.R. China, pp. 3126-3131, June 28-July 2, 2000

C117. Park, E., and Mills, J.K., "Six DOF Localization of Sheet Metal Parts in

Fixtureless Assembly, Proc. 31st Int. Symposium on Robotics, (ISR 2000), Montreal, Canada, May 14-17, 2000.

C116. Liu, H. and Mills, J.K., " Robot Tracking Control For Multiple Performance

Specifications Under System Uncertainty", Proc. IASTED Int. Conf. On Applied Simulation and Modelling, Banff, Canada, July 24-26, 2000.

C115. Cho, D. and Mills, J.K., "Multiple Simultaneous Specification Control of a

High-Speed Linear positioning System Driven by a DC Brushless Motor", Proc. 3rd Asian Control Conference, Shanghai, P.R. China, July 4-7, 2000.

C114. Liu, H. and Mills, J.K., "Multiple Specification Design in Flight Control

Systems", Proc. American Control Conference, Chicago, IL, June 28-30, 2000.

C113. Sun, D. and Mills, J.K., "AC Induction Motor Control Using an Advanced Flux Observer Design", Proc. American Control Conference, Chicago, IL, pp. 4430-4434, June 28-30, 2000.

C112. Chen, W., Mills, J.K., and Wu, L., "Neurofuzzy Adaptive Control For Semi-

Active Vehicle Suspension", Proc. IASTED Int. Conf. On Control and Applications, Cancun, Mexico, May 24-26, 2000.

C111. Sun, D., and Mills, J.K., "Advanced Torque Control of Robot Manipulators

Driven by AC Induction Motors", Proc. IEEE Int. Conf. On Robotics and Automation, San Francisco, CA, April 24-28, 2000.

C110. Sun D., and Mills J. K., “High-Accuracy Trajectory Tracking of Industrial

Robot Manipulator Using Adaptive-Learning Scheme.” Proc. of American Control Conference, San Diego, pp. 1935-1939, June 1999.

C109. Sun D., and Mills J. K., “PZT Actuator Placement For Structural Vibration

Damping Of High Speed Manufacturing Equipment.” Proc. of American Control Conference, San Diego, pp.1107-1111, June 1999.

C108. Park, E., and Mills, J.K., “An Automatic Part Localization System for

Automotive Sheet Metal Parts”, Proc. Workshop on Manipulation for Intelligent Automation, pp. 33-38, The City University of Hong Kong, Hong Kong, September 11, 1999.

C107. Wang, M., and Mills, J.K., “Performance Analysis of Neural Network

Control Scheme During Repetitive Task Execution, Proc. Int. Association of Management 17th Annual Int. Conference, San Diego, CA, August 6-8, 1999.

C106. Sun, D., and Mills, J.K., “Study on Piezoelectric Actuators in Control of a

Single Link Flexible Manipulator”, Proc. of 1999 IEEE Int. Conf. on Robotics and Automation, Detroit, MI, pp. 849-854, May, 1999.

C105. Xu, W., Yuen, Y.K. and Mills, J.K., "Application of Nonlinear

Transformations to A/F Ratio and Speed Control in an IC Engine", Proc. 1999 SAE Int. Congress and Exposition, Cobo-Center, Detroit, MI, March 1-4, 1999.

C104. Xu, W. and Mills, J.K., "A New Approach to the Position and Orientation

Calibration of Robots", Proc. 1999 International Symposium on Assembly and Task Planning (ISATP'99), July 21-24, 1999, Porto, Portugal.

C103. Chen, C.Y.P, Mills, J.K., “Generalization and System Sensitivity in

Feedback Control Systems”, Proc. Of 12th International Symposium on Intelligent Control, pp. 233-238, Istanbul, Turkey, July 16-18, 1997.

C102. Sun, D. and Mills, J.K., "Application of Smart Material Actuator for Control

of a Single Link Flexible Manipulator", Proc. 1999 International Federation of Automatic Control Congress (IFAC), Beijing, P.R.C., July 15-20, 1999.

C101. Clark, C., Chen, P.C.Y. and Mills, J.K., "Robotic System Sensitivity to

Neural Network Learning Rate", Proc. IEEE Hong Kong Symposium on Robotics and Control, Hong Kong, July 2,3, 1999.

C100. Clark, C. and Mills, J.K., "Comparison of Performance of Neural Network

Controller Architectures: Error Back-Propagation, Mixture of Expert, and 'Move' Neural Network Architectures on Industrial Robot Trajectory Following Tasks", Proc. of International Conference on Advanced Manufacturing Technology, Xi'an, P.R.C., June 16-18, 1999.

C99. Sun, D. and Mills, J.K., "High Accuracy Trajectory Tracking of Industrial

Robot Manipulator Using Adaptive-Learning Scheme", Proc. of American Control Conference, San Diego, U.S.A., June, 1999.

C98. Sun, D. and Mills, J.K., "Study on Piezoelectric Actuators in Control of a

Single Flexible Link Manipulator", Proc. of American Control Conference, San Diego, U.S.A., June, 1999.

C97. Liu, H.T. and Mills, J.K., "Multiple performance Analysis of Robot Task

Space Control, Proc. of International Conference on Modelling, Identification and Control, Innsbruck, Austria, Feb. 15-18, 1999.

C96. Sun D., Mills J. K., and Liu Y. H., “Hybrid position and force control of two

industrial robots manipulating a flexible sheet: Theory and Experiment.” Proc. of IEEE International Conference on Robotics and Automation, Leuven, Belgium, pp. 1835-1840, 1998.

C95. Sun D., and Mills J. K., “Adaptive learning control of robotic systems with model uncertainties.” Proc. of IEEE International Conference on Robotics and Automation, Leuven, Belgium, pp. 1847-1852, 1998.

C94. Sun, D. and Mills, J.K., "Position Control of Multiple Robots Manipulating a

Flexible Payload", Proc. American Control Conference, Philadelphia, Pennsylvania, pp. 456-460, June, 1998.

C93. Sun, D. and Mills, J.K., "Combined PD feedback and Distributed

Piezoelectric-Polymer Vibration Control of a Single Link Flexible Manipulator", Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Victoria, B.C., Canada, pp. 667-672, September, 1998.

C92. Sun, D. and Mills, J.K., "An Approach to Multi-Robot Control Using

Structural Flexibility in Gripper Design", Proc. 1998 Japan-USA Symposium on Flexible Automation, Ohtsu, Japan, pp.1039-1047, July 13-15, 1998.

C91. Sun, D. and Mills, J.K. and Liu, Y.H., "Performance Improvement of

Industrial Robot Trajectory Tracking Using Adaptive-Learning Scheme", Proc. 1998 Symposium on Image, Speech, Signal Processing and Robotics, Hong Kong, Vol. 1, pp. 261-266, May, 1998.

C90. Sun, D., Mills, J.K. and Liu, Y., "Position Control of Multiple Robots

Manipulating a Flexible Payload", Proc. of American Control Conference, Philadelphia, PA., June 24-26, 1998.

C89. Liu, H.T. and Mills, J.K., "Multiple Simultaneous Specifications Control

Problem and Its Application", Proc. of American Control Conference, Philadelphia, PA., June 24-26, 1998.

C88. Liu, H.T. and Mills, J.K., "Robustness of Robot Tracking Control With

Feedback Linearization", IASTED International Conference Intelligent Systems and Control, Halifax, N.S., June 1-4, 1998.

C87. Liu, H.T. and Mills, J.K., "Robotool: A Simulation Software For Robot

Performance Analysis", Proc. CSME FORUM, Toronto, Ontario, May 19-22, 1998.

C86. Clark, C. and Mills, J.K., "Increasing Production of Robot Manipulators

with Neural Networks", Proc. CSME FORUM, Toronto, Ontario, May 19-22, 1998.

C85. Ogilvie, A. and Mills, J.K., "Real Time Neural Network Control:

Implementation and Experimentation", Proc. CSME FORUM, Toronto, Ontario, May 19-22, 1998.

C84. Wu, G., Mills, J.K., Benhabib, B., "Controllability and Observability of

Flexible Payloads Manipulated by Rigid Arm Robots", Proc. CSME FORUM, Toronto, Ontario, May 19-22, 1998.

C83. Sun, D., Mills, J.K., Liu, Y., "Hybrid Position and Force Control of Two

Industrial Robots Manipulating a Flexible Sheet: Theory and Experiment ", Proc. IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 16-21, 1998.

C82. Sun, D., Mills, J.K., "Adaptive Learning Control of Robotic Systems With Model Uncertainties", Proc. IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 16-21, 1998.

C81. Chen, P.C.Y., Ogilvie, A., Clark, C., Zhou, K., Mills, J.K., "Development of

a Neural Network Module for Improving the Performance of a Commercial Robot", Proceeding of World Automation Congress, Anchorage, Alaska, May 9-14, 1998.

C80. Sun, D., Liu, Y., Mills, J.K., "Position and Force Tracking of a Two-

Manipulator System Handling a Flexible Beam", Third ECPD Int. Conference on Advanced Robotics, Intelligent Automation and Active Systems, Bremen, Germany, September 15-17, 1997.

C79. Sun, D., Liu, Y., Mills, J.K "Cooperative Control of a Two-Manipulator

System Handling a Flexible Object", Proc. IEEE/RSJ Int. Conference on Intelligent Robots and Systems, Innovative Robotics for Real World Applications", Grenoble, France, September 7-11, 1997.

C78. Chen, P.C.Y., Mills, J.K., "Modeling of Neural Networks in Feedback

Systems Using Describing Functions", Proc. IEEE International Conference on Neural Networks, Houston, TX, June 9-12, pp. 733-738, 1997.

C77. Liu, H.T, Mills, J.K., "Controller design For Multiple Simultaneous

Specifications With Applications to Robotic Systems", Proc. IEEE International Conference on Robotics and Automation, Albuquerque, MN, May 12-16, 1997.

C76. Chen, P.C.Y., Mills, J.K., "A Methodology For Analysis of Neural Network

Generalization in Control Systems", Proc. of American Control Conference, Albuquerque, MN, June 4-6, pp. 1091-1095, 1997.

C75. Laliberte, M. and Mills, J.K., "Payload Alignment Control Using Task

Moment Feedback for Multi-Robot Assembly Operations", Proc. of International Conference on Manufacturing Automation, Hong Kong, April 28-30, 1997.

C74. Fielding, T. and Mills, J.K., "Force Control Using Virtual Trajectory

Generation", To appear, Proc. of International Conference on Manufacturing Automation, Hong Kong, April 28-30, 1997.

C73. Lauzon, S., Mills, J.K. and Benhabib, B., "Implementation of a Controlled-

Automata Based Manufacturing Supervisory Controller", Proc. of Robotics, CAD/CAM and Factories of the Future Conference, London, England, August 14-16, 1996.

C72. Liu, H. and Mills, J.K., "Robot Control System Design: Performance

Oriented Approach", Proc. ASME International 1996 Japan-U.S.A. Symposium on Flexible Automation, Boston, Massachusetts, July 8-10, 1996.

C71.† Chen, P.C.Y. and Mills, J.K., "Synthesis of Neural Networks and PID

Controllers: Experiments on Motor and Robot Trajectory Tracking", Proc. IEEE-SMC 1996 IMACS Multi-conference on Computational Engineering in Systems Applications, Lille, France, July 9-12, 1996.

C70. Nguyen, W. and Mills, J.K., "Robotic Assembly of Automotive Bodies

Without Fixtures: Flexible Fixtureless Assembly", Proc. of the International Symposium on Automotive Technology and Automation, Florence, Italy, June 3-6, 1996.

C69.† Nguyen, W. and Mills, J.K., "Fixtureless Assembly: Multi-Robot

Manipulation of Flexible Payloads", Proc. Sixth International Symposium on Robots and Manufacturing at Second World Automation Congress, Montpellier, France, May 27-30, 1996.

C68.† Chen, P.C.Y. Smith, K.C. and Mills, J.K., "Neural Network Learning

Control For Position and Force Regulation of Multi-Manipulator Systems", Proc. Sixth International Symposium on Robots and Manufacturing at Second World Automation Congress, Montpellier, France, May 27-30, 1996.

C67.† Chen, P.C.Y., Mills, J.K. and Vukovich, G., "Neural Network Learning and

Generalization for Performance Improvement of Industrial Robots", Proc. of the 1996 Canadian Conference on Electrical and Computer Engineering, Calgary, May 26-29, 1996.

C66. Nguyen, W. and Mills, J. K., "Multi-Robot Control For Flexible Fixtureless

Assembly With Applications to Automotive Assembly", Proc. of the 1996 Canadian Society of Mechanical Engineering FORUM, May 7-9, 1996, Hamilton, Ontario, Canada.

C65. Fielding, T. and Mills, J.K., "Force Control Using Virtual Trajectory

Generation", Proc. of the 1996 Canadian Society of Mechanical Engineering FORUM, May 7-9, 1996, Hamilton, Ontario, Canada.

C64. Chen, P.C.Y., Mills, J.K. and Vukovich, G., "Real Time Neural Network

Learning Control of DC Motors For Industrial Processes", Proc. of the 1996 Canadian Society of Mechanical Engineering FORUM, May 7-9, 1996, Hamilton, Ontario, Canada

C63. Hujic, D., Croft, E.A. Mills, J.K. and Benhabib, B., "An APPE Tracker Hybrid System for Vision Based Grasping of Moving Objects", Proc. of the 1996 Canadian Society of Mechanical Engineering FORUM, May 7-9, 1996, Hamilton, Ontario, Canada.

C62. Liu, H.T. and Mills, J.K., "A New Controller Design Methodology and Its

Application to Robot Control Systems", Proc. of the 1996 Canadian Society of Mechanical Engineering FORUM, May 7-9, 1996, Hamilton, Ontario, Canada.

C61. Nguyen, W.H. and Mills, J.K., "Multi-Robot Control For Flexible Fixtureless

Assembly of Flexible Sheet Metal Auto Body Parts", Proc. IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, April 22-28,1996.

C60. He. D., Hujic, D., Mills, J.K. and Benhabib, B., "Moving Object Recognition

Using Premarking and Active Vision", Proc. IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, pp. 1980-1985, April 22-28,1996.

C59. Hujic, D., Zak, G., Croft, E., Fenton, R.G., Mills, J.K. and Benhabib, B.,

"An Active Prediction, Planning and Execution System for Interception of Moving Objects", Proc. IEEE International Symposium on Assembly and Task Planning, Pittsburgh, Pennsylvania, pp. 347-352, August 10-11, 1995.

C58. Mills, J.K. and Ing, J., "Robotic Fixturless Assembly of Sheet Metal Parts

Using Dynamic Finite Element Models: Modelling and Simulation", Proc. IEEE Int. Conference on Robotics and Automation, Nagoya, Japan, May 21-27, 1995.

C57. Mills, J.K. and Nguyen, W., "Automatic Generation of Nonlinear Task-

Based Transformations for Robot Contact Control Implementation", Proc. IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 21-27, 1995.

C56. Baines, P. and Mills, J.K., "Feedback Linearized Joint Torque Control of a

Geared, DC Motor Driven Industrial Robot", Proc. IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 21-27, 1995.

C55. Lauzon, S., , Ma, A.K.L., Mills, J.K. and Benhabib, B., "On Implementing a

Discrete-Event-System Based Supervisory Controller for a Flexible Manufacturing System", Proc. IEEE International Conference on Robotics and Automation, Nagoya, Japan, pp. 1429-1434, May 21-27, 1995.

C54. Chen, P.C., Mills, J.K. and Smith K.C., "An Approach to Uncertainty Compensation Using a Neural Network For Multi-Manipulator System Control", Proc. International Conference on Intelligent Robots and Systems, Munich, Germany, Sept. 12-16, 1994.

C53.† Mills, J.K. and Lawryshyn, Y., "Robot Link and Contact Surface Dynamic

Interaction: An Experimental Study of Contact Task Instability", Proc. Fifth International Symposium on Robotics and Manufacturing, Wailea, Hawaii, U.S.A., August 15-17, 1994.

C52.† Chen, P.C., Mills, J.K. and Smith, K.C., "Neural Networks for Performance

Improvement in Robot Control During General Task Execution", Proc. AIAA Guidance, Navigation and Control Conference, Scottsdale, AZ, Aug. 1-3, 1994.

C51. Chen, P.C., Mills, J.K. and Smith, K.C., "Experimental Implementation of

an Approach to Robot Compliant Motion Control Using a Neural Network", Proc. of Conference on Data, Knowledge and Systems, Hong Kong, May 2-4, 1994.

C50. Kapitanovsky, A., Goldenberg, A.A. and Mills, J.K., "An Approach to

Classification, Analysis and Feedback Control of Kinematic Drift in Free-floating Manipulators", Proc. IEEE Int. Conference on Robotics and Automation, San Diego, CA, pp.83-88, May 8-13, 1994.

C49.† Chen, P.C., Mills, J.K. and Smith, K.C., "Parameter Uncertainty

Compensation in Compliant Motion Control of a Robotic Manipulator Using Neural Networks", Proc. Third Guangdong-Hong Kong Symposium on the Application of Mechatronics, Hong Kong, April 26-27, 1994

C48. Kapitanovsky, A., Goldenberg, A.A. and Mills, J.K., "Design of Smooth

Dynamic Feedback for Stabilization of Non-holonomic Systems", Proc. of the 32nd IEEE Conference on Decision and Control, pp. 965-970, San Antonio, 1993.

C47. Kapitanovsky, A., Goldenberg, A.A. and Mills, J.K., "Smooth Dynamic

Feedback Design for Non-holonomic Systems, with Application to Free-flying Manipulators", Abstract and poster for IRIS-PRECARN Conference, Ottawa, 1993.

C46.† Chen, C.Y.P., Mills, J.K. and Smith, K.C., "Parameter Uncertainty

Compensation in Robot Trajectory Tracking: A Neural Network Approach", Proc. International IEEE Systems, Man and Cybernetics Conference 1993, Le Touquet, France, October 17-20, 1993.

C45. Goldenberg, A.A., Strassberg, S. and Mills, J.K., "Experimental Evaluation of a New Control Method for Bilateral Teleoperating Systems", Proc. IEEE Systems, Man and Cybernetics Conference 1993, Le Touquet, France, October 17-20, 1993.

C44. Kapitanovsky, A., Mills, J.K. and Goldenberg, A.A., "Nonlinear Dynamic

Feedback Technique for Motion Control In Holonomic Robotic Systems", Proc. of the 8th IEEE International Symposium on Intelligent Control, Chicago, Illinois, pp, 28-33, August 25-27, 1993.

C43. Kapitanovsky, A., Mills, J.K. and Goldenberg, A.A., "Unified Control of

Contact and Joint Space Drift In Multifingered Robot Hands", Proc. of the 8th International Symposium on Intelligent Control, Chicago, Illinois, pp. 113-118, August 25-27, 1993.

C42. Chen, C.Y.P., Mills, J.K., and Smith, K.C., "On the Dynamics of a Neural

Network For Robot Trajectory Tracking", Proc. 1993 IEEE/RST International Conference on Intelligent Robots and Systems, Yokohama, Japan, July 26-30, 1993.

C41. Tsang, R. and Mills, J.K., "Experimental Results of Integral Manifold

Control of Rubbertuator Actuated Manipulator", Proc. ICAM'93 2nd International Conference on Advanced Mechatronics, Tokyo, Japan, August 2-4, 1993.

C40. Kapitanovsky, A., Goldenberg, A.A. and Mills, J.K., "Dynamic Control

Technique for Non-holonomic Systems", Proc. International Federation of Automatic Control Congress, Vol. 4, pp. 98-102, Sydney, Australia, July 18-23, 1993.

C39. Kapitanovsky, A., Goldenberg, A.A. and Mills, J.K., "Unified Control of

Contact and Joint Space Drift in Multifingered Robot Hands", Proc. International Conference CAD/CAM, Robotics and Factories of the Future, (CARS & FOF '93), St. Petersburgh, Russia, May 17-20, 1993.

C38. Kapitanovsky, A., Mills, J.K. and Goldenberg, A.A., "Systematic Synthesis

of Motion Controllers for Non-holonomic Systems with Applications to Space Based Manipulators", Proc. Fourth Conference on Intelligent Robotic Systems for Space Exploration, Troy, New York, 1992.

C37. Chen, P.C.-Y., Mills, J.K. and Smith, K.C., "On the Performance of a

Neural-Network Based Uncertainty Compensation Scheme for Robot Trajectory Tracking", Proc. 1992 International Joint Conference on Neural Networks, Beijing, China, November 3-6, 1992.

C36. Kapitanovsky, A., Goldenberg, A.A. and Mills, J.K., "Dynamic Control of Non-holonomic Motion in Spacecraft/Manipulator Systems", Proc. 1992 IEEE International Conference on Systems, Man and Cybernetics, pp. 1419-1424, Chicago, IL, October, 1992.

C35. Kapitanovsky, A., Mills, J.K. and Goldenberg, A.A., "Kinematic Control of

Non-holonomic Drift and Its Application to 3-D Rolling Manipulation: Task Gradient Technique", Proc. IEEE International Symposium on Intelligent Control, pp. 293-298, Glasgow, Scotland, October, 1992.

C34.† Mills, J.K., "Fixtureless Assembly: Multi-robot Manipulation of Distributed

Parameter Payloads", IMAC/SICE International Symposium on Robotics, Mechatronics and Manufacturing Systems '92, Kobe, Japan, September 16-20, 1992.

C33.† Chen, P.C.Y., Mills, J.K. and Smith, K.C., "Uncertainty Compensation in

the Control of Robotic Systems: A Neural Network Approach", Proc. Canadian Conference on Electrical and Computer Engineering (CCECE-92), Toronto, Ontario, September 13-16, 1992.

C32.† Mills, J.K., "Robotic Manipulator Control of Generalized Force and

Position", Proc. International Conference on Manufacturing Automation, Hong Kong, August 10-12, 1992.

C31. Kapitanovsky, A., Goldenberg, A.A. and Mills, J.K., "Drift Spaces in

Multifingered Robot Hands and Methods for Drift Compensation", Proc. Japan-USA Symposium on Flexible Automation, pp. 813-820, San Francisco, CA, July 11-13, 1992.

C30. Mills, J.K., "Multi-Manipulator Control for Fixtureless Assembly of

Elastically Deformable Parts", 1992 Japan - U.S.A. Symposium on Flexible Automation, San Francisco, CA, July 11-13, 1992.

C29. Strassberg, Y, Goldenberg, A.A. and Mills, J.K., "A New Control Scheme

for Bilateral Teleoperating Systems: Performance Evaluation and Comparison", Proc. Fifth International Workshop on "Intelligent Robots and Systems", Rayleigh, NC, July 7-10, 1992.

C28. Yanovski, G., Davison, E.J., Lokhorst, D.M. and Mills, J.K., "Experiment

Analysis of a Robust Centralized/Decentralized Controller for Robotic Manipulators", Proc. 1992 IEEE International Conference on Intelligent Robots and Systems, Raleigh, N.C., July 7-10, 1992.

C27. Strassberg, S., Goldenberg, A.A. and Mills, J.K., "A New Control Scheme

for Bilateral Teleoperating Systems: Lyapunov Stability Analysis", Proc.

IEEE International Conference on Robotics and Automation, Nice, France, May 8-10, 1992. Automation, San Francisco, CA, July 11-13, 1992.

C26. Notash, L., Fenton, R.G. and Mills, J.K., "Sensitivity Analysis of System

Coefficients to Aid the Design of Cam Mechanisms", Proc. Second National Applied Mechanisms and Robotics Conference, Cincinatti, Ohio, November 3-6, 1991.

C25. Mills, J.K. and Liu, G.J., "Robotic Manipulator Control of Generalized

Contact Force and Position", Proc. Fourth International Workshop on "Intelligent Robots and Systems", Osaka, 1991.

C24. Notash, L., Fenton, R.G. and Mills, J.K., "Optimum Design of Flexible Cam

Systems", Eighth Annual World Congress on the Theory of Machines and Mechanisms, Prague, Checkoslovakia, August 1991.

C23. Mills, J.K. and Lokhorst, D.M., "Experimental Results in Manipulator

Contact Task Control", IEEE International Conference on Robotics and Automation, Sacramento, California, 1991.

C22. Vukovich, G. and Mills, J.K., "Dynamics, Stability and Control Issues of

Elastic Joint Manipulators During Contact With a Stiff Environment", IEEE Conference on Decision and Control, Honolulu, Hawaii, December 5-7, 1990.

C21. Strassberg, S., Goldenberg, A.A. and Mills, J.K., "A New Decoupled

Control Scheme For Teleoperator Systems", ASME Winter Annual Meeting Dallas, TX, November 25-30, 1990.

C20. Mills, J.K., "Hybrid Actuation of Robotic Manipulators: An Integral Manifold

Control Approach", 5th International Symposium on Intelligent Control, Philadelphia, Sept. 5-7, 1990.

C19. Mills, J.K., "A Generalized Lyapunov Approach to Robotic Manipulator

Stability During Transition To and From Contact Tasks", Japan-U.S.A. Symposium on Flexible Manufacturing, July 9-11, Kyoto, Japan, 1990.

C18. Lokhorst, D., Mills, J.K. and Kuzan, P., "A Facility For Experiments in

Robot Task Control", Proc. CSME FORUM 1990, Toronto, June 4-9, 1990. C17. Mills, J.K., "Stability and Control of Robotic Manipulators During Collision

and Contact/Noncontact Task Transition", Proc. CSME FORUM 1990, Toronto, June 4-9, 1990.

C16. Mills, J.K., "Hybrid Actuator For Robot Manipulators: Design, Control and Performance", Proc. IEEE International Conference on Robotics and Automation, Cincinatti, May 13-18, 1990.

C15. Lokhorst, D. and Mills, J.K., "Implementation of a Discontinuous Control

Law on a Robotic Manipulator During Collision With a Stiff Environment", Proc. IEEE International Conference on Robotics and Automation, Cincinatti, May 13-18, 1990.

C14. Mills, J.K., "Manipulator Transition To and From Contact Tasks: A

Discontinuous Control Approach", Proc. IEEE International Conference on Robotics and Automation, Cincinatti, May 13-18, 1990.

C13. Mills, J.K., "Control of Robotic Manipulators With Flexible Joints During

Constrained Motion Task Execution", Proc. IEEE Conference on Decision and Control, Tampa, Florida, pp. 1676-1681, December 13-15, 1989.

C12. Mills, J.K., "Systemic Properties of Robotic Manipulators During

Compliant Motion Task Execution and Their Impact on Controller Design", Proc. Fourth International Symposium on Intelligent Control, Albany, New York, pp. 160-165, September 25-27, 1989.

C11.† Mills, J.K., "Local Asymptotic Stability of a General Class of Robot

Manipulator Control Laws During Free and Compliant Motion", 2nd International Conference on Robotics, Dubrovnik, Yugoslavia, June 26-28, 1989.

C10. Mills, J.K., "Joint Asymptotic Stability of Robotic Manipulators During

Compliant and Free Motion", Proc. 1989 IEEE International Conference on Control and Applications, Jerusalem, Israel, pp. TP3-3 - TP 3-4, April 3-6, 1989.

C9. Mills, J.K., "Dynamic Modeling of Robotic Manipulators with a

Force-Torque Sensor During Compliant Motion", Proc. IEEE International Conference on Robotics and Automation, pp. 1672-1677, May 14-19, Scottsdale, Arizona, 1989.

C8. Mills, J.K., "Constrained Manipulator Dynamic Models and Hybrid

Control", Proc. 1988 IEEE Int. Symp. on Intelligent Control, Arlington, Virginia, pp. 424-429, August, 1988.

C7.† Mills, J.K. and Goldenberg, A.A., "Constrained Motion Control of Robotic

Manipulators", Proc. International Conference on the Robotics, Dubrovnik, Yugoslavia, August, 1987.

C6. Mills, J.K. and Goldenberg, A.A., "Connective Stability of a Class of Robotic Manipulators", Proc. IFAC World Congress, pp. 185-289, Munich, West Germany, August 1987.

C5. Mills, J.K. and Goldenberg, A.A., "Force and Position Control of

Constrained Manipulators", Proc. 1987 IEEE International Symposium on Intelligent Control, Drexel University, Philadelphia, Pennsylvania, January 1987.

C4. Mills, J.K. and Goldenberg, A.A., "Robust Control of Robotic Manipulators

with Task Space Feedback", Proc. 1986 Conference on Decision and Control, pp. 423-428, Athens, Greece, December 1986.

C3.† Mills, J.K. and Goldenberg, A.A., "Robust Control of Robotic Manipulators

with Joint Feedback", ASME-Robotics: Theory and Applications, pp. 43-50, Anaheim, December 1986.

C2. Mills, J.K. and Goldenberg, A.A., "Further Results on a New Robust

Robot Controller", Recent Trends in Robotics: Modelling, Control and Applications, North Holland, pp. 435-440, Albuquerque, New Mexico, November 1986.

C1. Mills, J.K. and Goldenberg, A.A., "A New Robust Robot Controller", Proc.

IEEE International Conference on Robotics and Automation, San Francisco, California, pp. 740-745, April 1986.

________________________ † Invited Paper