Alba Perez Gracia - Publications

Journal Papers

  • Lai, J.C.K., Schoen, M.P., Perez-Gracia, A., Naidu, D.S., and Leung, S.W., "Prosthetic Devices: Challenges and Implications of Robotic Implants and Biological Interfaces", Proc. of the Inst. of Mechanical Engineers, Vol. 221, Part H: Journal of Engineering in Medicine (Special Issue on Micro and Nano Technologies in Medicine). 210:173-183, London, UK, 2007.
  • Sato, C., Martinez, R.G., Shields, M.S., Perez-Gracia, A., and Schoen, M.P., "Characterization of Bacterial Growth in Single-Chamber Microbial Fuel Cell", submitted to Int. Journal of Environment and Waste Management, 2006.
  • Perez Gracia, A. and McCarthy, J.M., "The Kinematic Synthesis of Spatial Serial Chains Using Clifford Algebra Exponentials", Proc. of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science., 220(7):953-968, 2006 Proofs (pdf) .
  • Perez, A. and McCarthy, J.M., "Clifford Algebra Exponentials and Planar Linkage Synthesis Equations", ASME Journal of Mechanical Design, 127(5): 931-940, 2005 (pdf) .
  • Perez, A. and McCarthy, J.M., "Geometric Design of RRP, RPR and PRR Serial Chains", Mechanism and Machine Theory, 40(11):1294-1311, November 2005. Proof (pdf).
  • Perez, A. and McCarthy, J.M., "Dual Quaternion Synthesis of Constrained Robotic Systems", ASME Journal of Mechanical Design, 126(3): 425-435, 2004 (pdf) .
  • Perez, A. and McCarthy, J.M., "Dimensional Synthesis of Bennett Linkages", ASME Journal of Mechanical Design, 125(1): 98-104, March 2003 (pdf) .
  • Collins, C.L., McCarthy, J.M., Perez, A. and Su, H., "The Structure of an Extensible Java Applet for Spatial Linkage Synthesis", ASME Journal of Computing and Information Science and Engineering, 2(1): 45-49, 2002 (pdf) .
  • Perez, A. and McCarthy, J.M., "Bennett's Linkage and the Cylindroid", Mechanism and Machine Theory, 37(11): 1245-1260, November 2002 (pdf) .



Conference Proceedings

  • Knight, B.M., Schoen, M.P., and Perez Gracia, A., "Distributed Actuation and Shape Control of Ionic Polymer Metal Composites", Proc. of IMECE, Int. Mechanical Engineering Congress and Exposition, Chicago, IL, November 2006.
  • Duraisamy, K., Perez Gracia, A. and Schoen, M.P., "Vison-Based Kinematic Synthesis of Hand Motion", Proc. of IMECE, Int. Mechanical Engineering Congress and Exposition, Chicago, IL, November 2006.
  • Villa-Uriol, M.C., Perez Gracia, A. and Kuester, F., "Humanoid Synthesis Using Clifford Algebra", 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida, May 15-19, 2006 (pdf) .
  • Duraisamy, K., Isebor, O., Perez, A., Schoen, M.P. and Naidu, D.S., "Kinematic Synthesis for Smart Hand Prosthetics", BioRob 2006: 1st IEEE/RAS Int. Conf. on Biomedical Robotics and Biomechatronics, Pisa, Italy, February 20-22, 2006 (pdf) .
  • Soh, G.S., Perez Gracia, A. and McCarthy, J.M., "The Kinematic Synthesis of Mechanically Constrained Planar 3R Chains", Proc. of the EuCoMeS, 1st European Conference on Mechanism Science, Obergurgl, Austria, February 21-26, 2006 (pdf) .
  • Perez, A. and McCarthy, J.M., "Sizing a Serial Chain to Fit a Task Trajectory Using Clifford Algebra Exponentials", 2005 IEEE International Conference on Robotics and Automation, Barcelona, April 18-22, 2005 (pdf) .
  • 12. Wolbrecht, E., Su, H.-J., Perez, A. and McCarthy, J.M., "Geometric Design Of Symmetric 3-RRS Constrained Parallel Platforms," ASME International Mechanical Engineering Congress and Exposition , Anaheim , CA , November 13-19, 2004.
  • Perez, A., Su, H.J. and McCarthy, J.M., "Synthetica 2.0: Software for the Synthesis of Constrained Serial Chains", 2004 ASME Design Engineering Technical Conferences, Salt Lake City, September 2004 (pdf) .
  • Villa-Uriol, M.C., Kuester, F., Bagherzadeh, N., Perez, A. and McCarthy, J.M., "Kinematic Synthesis of Avatar Skeletons from Visual Data", Advances in Robot Kinematics, Sestri-Levante, June 2004, J. Lenarcic and C. Galletti, eds., Kluwer Academic Publishing, 2004 (pdf) .
  • Perez, A. and McCarthy, J.M., "Dimensional Synthesis of CRR Serial Chains", 2003 ASME Design Engineering Technical Conferences, Chicago, IL, September 2003 (pdf) .
  • Perez, A. and McCarthy, J.M., "Dimensional Synthesis of RPC Serial Robots", ICAR 2003: International Conference on Advanced Robotics, Coimbra, June 2003 (pdf) .
  • Perez, A. and McCarthy, J.M., "Dual Quaternion Synthesis of a Parallel 2-TPR Robot", Proc. of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec City, October 3-4, 2002 (pdf) .
  • Perez, A., McCarthy, J.M. and Bennett, B., "Dual Quaternion Synthesis of Constrained Robots", Advances in Robot Kinematics 2002, Caldes de Malavella, June 2002, (J. Lenarcic and F. Thomas,eds.), Kluwer Academic Publishing, 2002 (pdf) .
  • Perez, A., McCarthy, J.M., "Dimensional Synthesis of Bennett Linkages", 2000 ASME Design Engineering Technical Conferences, Baltimore, September 2000 (pdf) .
  • Perez, A. and McCarthy, J.M., "Dimensional Synthesis of Spatial RR Robots", Advances in Robot Kinematics, (J. Lenarcic and M.M. Stanisic, eds.), Kluwer Academic Publishers, June 2000 (pdf) .



PhD Dissertation



Presentations

  • Presentation at the Design Engineering Technical Conf. 2000: Dimensional Synthesis of Bennett Linkages (pdf)
  • Presentation at the Int. Conf. of Advanced Robotics 2003: Dimensional Synthesis of RPC Serial Robots (ppt)
  • Invited seminar, Catholic University of America: Dual Quaternion Synthesis of Constrained Robotic Systems. December 2003. (ppt)
  • Presentation at the Design Engineering Technical Conf. 2004: Synthetica 2.0:Software for the Synthesis of Constrained Serial Chains (ppt)
  • Presentation at the Int. Conf. on Robotics and Automation 2005: Sizing a Serial Chain to Fit a Task Trajectory Using Clifford Algebra Exponentials (ppt)



Reports and Memos

  • Internal Report: Smart Prosthetics: Literature Review June 2006. (pdf)