S. Joseph Winston
Papers
5
Total Citations
15
H-Index
2
About
S. Joseph Winston is a robotics researcher whose work focuses on the critical intersection of automation and nuclear safety. His primary research areas include robotic path planning, inverse kinematics, and control systems for industrial inspection, particularly within the hazardous environments of fast breeder reactors. A major contribution is his development of a quintic interpolation joint trajectory for a serial two-axis robotic arm, designed for the precise inspection of steam generator tubes in the Prototype Fast Breeder Reactor (PFBR). This work, his most cited with 6 citations, directly addresses the challenge of navigating complex geometries to prevent dangerous sodium-water reactions. Winston has also advanced the field through his work on computed torque control methods and visual servoing-based self-calibration, which enhances the positioning accuracy of deployable robots. His research on optimal damping factors for least squares inverse kinematics and spatially hyper-redundant robots further demonstrates his commitment to solving the complex kinematic challenges of deploying robots in confined, high-stakes industrial settings, making nuclear power plant maintenance safer and more reliable.
Research Focus
Key Achievements
Top Papers
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- 2Computed Torque Control Method for Two-Axis Planar Serial Robotic Arm3 citations · 2021
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