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Georg Nawratil: Publications


Articles

  1. G. Nawratil: New Performance Indices for 6R Robot Postures. Proc. of the 1st EuCoMeS (M. Husty, H.P. Schröcker eds.), 12pp., Obergurgl February 21-26 2006, Austria, ISBN 3-901249-85-0 [Preprint]
  2. G. Nawratil: The Control Number as Index for Stewart Gough Platforms. Advances in Robot Kinematics – Mechanisms and Motion (J. Lenarcic, B. Roth eds.), pages 15-22, Springer, 2006, ISBN 1-4020-4940-4 [Preprint]
  3. G. Nawratil: New Performance Indices for 6R Robots. Mechanism and Machine Theory 42 (11) 1499-1511 (2007) [Preprint]
  4. G. Nawratil, H. Pottmann, and B. Ravani: Generalized Penetration Depth Computation based on Kinematical Geometry. Computer Aided Geometric Design 26 (4) 425-443 (2009) [Preprint]
  5. G. Nawratil and H. Pottmann: Subdivision Schemes for the fair Discretization of the Spherical Motion Group. Journal of Computational and Applied Mathematics 222 (2) 574-591 (2008) [Preprint]
  6. G. Nawratil: New Performance Indices for 6-dof UPS and 3-dof RPR Parallel Manipulators. Mechanism and Machine Theory 44 (1) 208-221 (2009) [Preprint]
  7. G. Nawratil: Results on Planar Parallel Manipulators with Cylindrical Singularity Surface. Advances in Robot Kinematics – Analysis and Design (J. Lenarcic, P. Wenger eds.), pages 321-330, Springer, 2008, ISBN 978-1-4020-8599-4 [Preprint]
  8. G. Nawratil: Main Theorem on Planar Parallel Manipulators with Cylindrical Singularity Surface. Proc. of 33. Süddeutsches Differentialgeometrie-Kolloquium (H. Havlicek, F. Manhart, B. Odehnal eds.), pages 35-57, TU Vienna, 2008, ISBN 978-3-902233-04-2 [Preprint]
  9. G. Nawratil: On the degenerated cases of architecturally singular planar parallel manipulators. Journal for Geometry and Graphics 12 (2) 141-149 (2008) [Preprint]
  10. G. Nawratil: All Planar Parallel Manipulators with Cylindrical Singularity Surface. Mechanism and Machine Theory 44 (12) 2179-2186 (2009) [Corresponding Technical Report]
  11. G. Nawratil: On the spin surface of RSSR mechanisms with parallel rotary axes. ASME Journal of Mechanisms and Robotics 2 (1) 011009 (2010) [Preprint]
  12. G. Nawratil: A new approach to the classification of architecturally singular parallel manipulators. Computational Kinematics (A. Kecskemethy, A. Müller eds.), pages 349-358, Springer, 2009, ISBN 978-3-642-01946-3 [Preprint]
  13. G. Nawratil: A remarkable set of Schönflies-singular planar Stewart Gough platforms. Computer Aided Geometric Design 27 (7) 503-513 (2010) [Corresponding Technical Report]
  14. G. Nawratil: Main Theorem on Schönflies-singular planar Stewart Gough platforms. Advances in Robot Kinematics – Motion in Man and Machine (J. Lenarcic, M.M. Stanisic eds.), pages 107-116, Springer, 2010, ISBN 978-90-481-9261-8 [Corresponding Technical Report]
  15. G. Nawratil: Special cases of Schönflies-singular planar Stewart Gough platforms. New Trends in Mechanisms Science – Analysis and Design (D. Pisla et al. eds.), pages 47-54, Springer, 2010, ISBN 978-90-481-9688-3 [Corresponding Technical Report]
  16. G. Nawratil: Stewart Gough platforms with non-cubic singularity surface. Mechanism and Machine Theory 45 (12) 1851-1863 (2010) [Preprint]
  17. G. Nawratil: Stewart Gough platforms with linear singularity surface. Proc. of 19th IEEE International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD'2010), pages 231-235, ISBN 978-1-4244-6884-3 [Preprint]
  18. G. Nawratil and H. Stachel: Composition of spherical four-bar-mechanisms. New Trends in Mechanisms Science – Analysis and Design (D. Pisla et al. eds.), pages 99-106, Springer, 2010, ISBN 978-90-481-9688-3 [Part of the cumulative Habilitation thesis]
  19. G. Nawratil: Reducible compositions of spherical four-bar linkages with a spherical coupler component. Mechanism and Machine Theory 46 (5) 725-742 (2011) [Part of the cumulative Habilitation thesis]
  20. G. Nawratil: Self-motions of TSSM manipulators with two parallel rotary axes. ASME Journal of Mechanisms and Robotics 3 (3) 031007 (2011) [Preprint]
  21. G. Nawratil: Flexible octahedra in the projective extension of the Euclidean 3-space. Journal for Geometry and Graphics 14 (2) 147-169 (2010) [Part of the cumulative Habilitation thesis]
  22. G. Nawratil: Types of self-motions of planar Stewart Gough platforms. Meccanica 48 (5) 1177-1190 (2013) [Preprint]
  23. G. Nawratil: Basic result on type II DM self-motions of planar Stewart Gough platforms. Mechanisms, Transmissions and Applications (E.Ch. Lovasz, B. Corves eds.), pages 235-244, Springer, 2011, ISBN 978-94-007-2726-7 [Corresponding Technical Report]
  24. G. Nawratil: Reducible compositions of spherical four-bar linkages without a spherical coupler component. Mechanism and Machine Theory 49 87-103 (2012) [Preprint]
  25. G. Nawratil: Necessary conditions for type II DM self-motions of planar Stewart Gough platforms. Journal for Geometry and Graphics 16 (2) 139-151 (2012) [Preprint, Corresponding Technical Report]
  26. G. Nawratil: Planar Stewart Gough platforms with a type II DM self-motion. Journal of Geometry 102 (1) 149-169 (2011) [Preprint]
  27. G. Nawratil: Self-motions of planar projective Stewart Gough platforms. Latest Advances in Robot Kinematics (J. Lenarcic, M. Husty eds.), pages 27-34, Springer, 2012, ISBN 978-94-007-4619-0 [Corresponding Technical Report]
  28. G. Nawratil: Review and recent results on Stewart Gough platforms with self-motions. Applied Mechanics and Materials 162 151-160 (2012) [Preprint]
  29. G. Nawratil: Comments on "Architectural singularities of a class of pentapods". Letter to the Editor, Mechanism and Machine Theory 57 139 (2012) [Preprint]
  30. G. Nawratil: On elliptic self-motions of planar projective Stewart Gough platforms. Transactions of the Canadian Society for Mechanical Engineering 37 (4) 1057-1071 (2013) [Preprint]
  31. G. Nawratil: Non-existence of planar projective Stewart Gough platforms with elliptic self-motions. Computational Kinematics (F. Thomas, A. Perez Garcia eds.), pages 49-57, Springer, 2013, ISBN 978-94-007-7213-7 [Preprint]
  32. G. Nawratil: Correcting Duporcq's theorem. Mechanism and Machine Theory 73 282–295 (2014) [Open Access]
  33. G. Nawratil: Flexible Oktaeder mit Fernelementen. Informationsblätter der Geometrie IBDG 31 (2) 28-30 (2012) [Preprint]
    Supplementary data: Nets for paper models 1, 2, 3, 4
  34. G. Nawratil: Generalizing the Control Number for 6-dof UCU Hexapods with classic or eccentric U-joints. Proc. of the Austrian Robotics Workshop (W. Kubinger, A. Hofmann, F. Praus eds.), Vienna, May 23-24 2013, Austria, pages 49-54, ISBN 978-3-200-03095-4 [Preprint]
  35. G. Nawratil: Introducing the theory of bonds for Stewart Gough platforms with self-motions. ASME Journal of Mechanisms and Robotics 6 (1) 011004 (2014) [Preprint]
  36. G. Nawratil: On Stewart Gough manipulators with multidimensional self-motions. Computer Aided Geometric Design 31 (7-8) 582-594 (2014) [Corresponding Technical Report]
  37. G. Nawratil: Congruent Stewart Gough platforms with non-translational self-motions. Proc. of 16th International Conference on Geometry and Graphics (H.-P. Schröcker, M. Husty eds.), Innsbruck, August 4-8 2014, Austria, pages 204-215, ISBN 978-3-902936-46-2 [Preprint]
    Supplementary data: Exemplary self-motions, Animation 1a, 1b, 1c, 2a, 2b, 2c, 3a, 3b, 3c, 4a, 4b, 4c, 5a, 5b, 5c
  38. G. Nawratil: On equiform Stewart Gough platforms with self-motions. Journal for Geometry and Graphics 17 (2) 163-175 (2013) [Preprint]
    Supplementary data: Exemplary self-motions, Animation 1a, 1b, 1c, 2a, 2b, 2c, 3a, 3b, 3c
  39. G. Nawratil: Kinematic Mapping of SE(4) and the Hypersphere Condition. Advances in Robot Kinematics (J. Lenarcic, O. Khatib eds.), pages 11-19, Springer, 2014, ISBN 978-3-319-06697-4 [Open Access, Erratum]
  40. M. Gallet, G. Nawratil and J. Schicho: Bond theory for pentapods and hexapods. Journal of Geometry 106 (2) 211-228 (2015) [arXiv:1404.2149]
  41. M. Gallet, G. Nawratil and J. Schicho: Möbius Photogrammetry. Journal of Geometry 106 (3) 421-439 (2015) [arXiv:1408.6716]
    Erratum: Journal of Geometry 106 (3) 441-442 (2015)
  42. G. Nawratil and J. Schicho: Pentapods with Mobility 2. ASME Journal of Mechanisms and Robotics 7 (3) 031016 (2015) [arXiv:1406.0647]
    Supplementary data: Maple Worksheets of the General Case [mws, pdf] and the Special Case [mws, pdf] discussed in the Appendix
  43. G. Nawratil and J. Schicho: Self-motions of pentapods with linear platform. Robotica 35 (4) 832-860 (2017) [arXiv:1407.6126]
    Supplementary data: Animations of Example 1 and Example 2
  44. G. Nawratil: On the Self-Mobility of Point-Symmetric Hexapods. Symmetry 6 (4) 954-974 (2014) [Open Access]
  45. G. Nawratil: Fundamentals of quaternionic kinematics in Euclidean 4-space. Advances in Applied Clifford Algebras 26 (2) 693-717 (2016)
  46. G. Nawratil: Quaternionic approach to equiform kinematics and line-elements of Euclidean 4-space and 3-space. Computer Aided Geometric Design 47 150-162 (2016)
  47. M. Gallet, G. Nawratil and J. Schicho: Liaison Linkages. Journal of Symbolic Computation 79 (1) 65-98 (2017) [arXiv:1510.01127]
    Supplementary data: Animation of the given Example and Maple Worksheets of the proofs of Proposition 3.1 [mws, pdf] and Proposition 3.2 [mws, pdf]
  48. G. Nawratil: On the line-symmetry of self-motions of linear pentapods. Advances in Robot Kinematics 2016 (J. Lenarcic, J.-P. Merlet eds.), pages 149-159, Springer, 2017, ISBN 978-3-319-56801-0 [HAL version, Extended version on arXiv:1510.03567]
    Supplementary data: Maple Worksheet of the example given in the Appendix of the extended version [mws, pdf]
  49. B. Aigner and G. Nawratil: Planar Stewart Gough platforms with quadratic singularity surface. New Trends in Mechanisms Science – Theory and Industrial Applications (P. Wenger, P. Flores eds.), pages 93-102, Springer, 2016, ISBN 978-3-319-44155-9 [Corresponding Technical Report]
  50. G. Nawratil and J. Schicho: Duporcq Pentapods. ASME Journal of Mechanisms and Robotics 9 (1) 011001 (2017) [Corresponding arXiv paper]
  51. M. Gallet, G. Nawratil, J. Schicho and J.M. Selig: Mobile Icosapods. Advances in Applied Mathematics 88 1-25 (2017) [arXiv:1603.07304]
    Supplementary data: Animation of the given example and Maple code for generating statistical data on the number of real legs
  52. G. Nawratil: Point-models for the set of oriented line-elements – a survey. Mechanism and Machine Theory 111 118-134 (2017)
  53. G. Nawratil: Parallel manipulators in terms of dual Cayley-Klein parameters. Computational Kinematics (S. Zeghloul et al. eds.), pages 265-273, Springer, 2017, ISBN 978-3-319-60866-2 [Preprint]
  54. A. Rasoulzadeh and G. Nawratil: Rational Parametrization of Linear Pentapod's Singularity Variety and the Distance to it. Computational Kinematics (S. Zeghloul et al. eds.), pages 516-524, Springer, 2017, ISBN 978-3-319-60866-2 [Extended version on arXiv:1701.09107]
  55. G. Nawratil and A. Rasoulzadeh: Kinematically Redundant Octahedral Motion Platform for Virtual Reality Simulations. Proc. of 12th IFToMM International Symposium on Science of Mechanisms and Machines, Springer (accepted) [Extended version on arXiv:1704.04677]
    Supplementary data: Animation of the example given in Fig. 3 of the extended version
  56. G. Nawratil: Kinematic interpretation of the Study quadric's ambient space. (2017) [arXiv:1708.02622]
  57. G. Nawratil: Alternative interpretation of the Plücker quadric's ambient space and its application. Technical Report No. 230, Geometry Preprint Series, TU Vienna (2017)

Theses

  1. G. Nawratil: Zur Geometrie von Stewart Gough Plattformen. Master thesis. Institute of Discrete Mathematics and Geometry, TU Vienna, 2004, Supervisor: H. Stachel
  2. G. Nawratil: Neue kinematische Performance Indizes für 6R Roboter und Stewart Gough Plattformen. Doctoral thesis. Institute of Discrete Mathematics and Geometry, TU Vienna, 2007, Reviewer: H. Stachel, M. Husty
  3. G. Nawratil: Flexible octahedra in the projective extension of the Euclidean 3-space and their application. Habilitation thesis. Institute of Discrete Mathematics and Geometry, TU Vienna, 2011

Miscellaneous

  1. G. Nawratil: Self-motions of parallel manipulators associated with flexible octahedra. Extended Abstract and Slides were published in Proc. of the Austrian Robotics Workshop (M. Hofbaur, M. Husty eds.), Hall in Tyrol, May 23-24 2011, Austria, pages 232-248, ISBN 978-3-9503191-0-1
  2. E. Vyskocil, S. Pfaffenberger, C. Kollmann, A. Gleiss, G. Nawratil, S. Kastl, E. Unger, K. Aumayr, O. Schuhfried, K. Huber, J. Wojta, and M. Gottsauner-Wolf: Thermal Effects of Diagnostic Ultrasound in an Anthropomorphic Skull Model. European Journal of Ultrasound 33 (7) E313-E320 (2012), PMID: 22744443
  3. S. Pfaffenberger, E. Vyskocil, C. Kollmann, E. Unger, C. Kaun, S. Kastl, C. Woeber, G. Nawratil, K. Huber, G. Maurer, M. Gottsauner-Wolf, and J. Wojta: Transtemporal Ultrasound Application Potentially Elevates Brain Temperature: Results of an Anthropomorphic Skull Model. European Journal of Ultrasound 34 (1) 51-57 (2013), PMID: 22872379
  4. V. Šimonka, G. Nawratil, A. Hössinger, J. Weinbub and S. Selberherr: Geometrical Aspects of Three-Dimensional Silicon Carbide Oxidation Growth Rate Modeling. Proc. of the Joint International EUROSOI Workshop and International Conference on Ultimate Integration on Silicon (EUROSOI-ULIS), Vienna, January 25-27 2016, Austria, pages 128-129, ISBN 978-3-901578-29-8 [Poster]
  5. V. Šimonka, G. Nawratil, A. Hössinger, J. Weinbub and S. Selberherr: Anisotropic interpolation method of silicon carbide oxidation growth rates for three-dimensional simulation. Solid-State Electronics 128 135–140 (2017)

Quick Links


Hellmuth Stachel
Arvin Rasoulzadeh
G. Nawratil: Talks
G. Nawratil: Teaching
G. Nawratil: Theses
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External Links


Matteo Gallet
Manfred Husty
Helmut Pottmann
Bahram Ravani
Josef Schicho
Jon M. Selig

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Last modified on November 9th, 2017.