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Publications:  Prof Kaspar Althoefer

Sadati SMH, Shiva A, Herzig N, Rucker CD, Hauser H, Walker ID, Bergeles C, Althoefer K et al.(2020). Stiffness Imaging with a Continuum Appendage: Real-Time Shape and Tip Force Estimation from Base Load Readings. IEEE Robotics and Automation Letters vol. 5, (2) 2824-2831.
10.1109/LRA.2020.2972790
Ataka A, Abrar T, Putzu F, Godaba H, Althoefer K(2020). Model-based Pose Control of Inflatable Eversion Robot with Variable Stiffness. IEEE Robotics and Automation Letters1-1.
10.1109/lra.2020.2976326
https://qmro.qmul.ac.uk/xmlui/handle/123456789/63143
Althoefer K(2020). TMTDyn: A Matlab Package for Modeling and Control of Hybrid Rigid-Continuum Robots Based on Discretized Lumped System and Reduced-Order Models. International Journal of Robotics Research
10.1177/0278364919881685
https://qmro.qmul.ac.uk/xmlui/handle/123456789/62318
Dawood AB, Godaba H, Althoefer K (2019). Modelling of a soft sensor for exteroception and proprioception in a pneumatically actuated soft robot. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Conference: Annual Conference Towards Autonomous Robotic Systems vol. 11650 LNAI, 99-110.
10.1007/978-3-030-25332-5_9
https://qmro.qmul.ac.uk/xmlui/handle/123456789/64591
Godaba H, Putzu F, Abrar T, Konstantinova J, Althoefer K (2019). Payload capabilities and operational limits of eversion robots. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Conference: Annual Conference Towards Autonomous Robotic Systems vol. 11650 LNAI, 383-394.
10.1007/978-3-030-25332-5_33
https://qmro.qmul.ac.uk/xmlui/handle/123456789/62399
Zhang K, Althoefer K (2019). Designing Origami-Adapted Deployable Modules for Soft Continuum Arms. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Conference: 20th Towards Autonomous Robotic Systems (TAROS 2019) (London) from: 03/07/2019 to: 05/07/2019, vol. 11649 LNAI, 138-147.
10.1007/978-3-030-23807-0_12
https://qmro.qmul.ac.uk/xmlui/handle/123456789/59079
Hassan A, Godaba H, Althoefer K (2019). Design Analysis of a Fabric Based Lightweight Robotic Gripper. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Conference: Annual Conference Towards Autonomous Robotic Systems vol. 11649 LNAI, 16-27.
10.1007/978-3-030-23807-0_2
https://qmro.qmul.ac.uk/xmlui/handle/123456789/59476
Ataka A, Stilli A, Konstantinova J, Wurdemann HA, Althoefer K (2019). Kinematic Control and Obstacle Avoidance for Soft Inflatable Manipulator. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Conference: Annual Conference Towards Autonomous Robotic Systems vol. 11649 LNAI, 52-64.
10.1007/978-3-030-23807-0_5
https://qmro.qmul.ac.uk/xmlui/handle/123456789/59438
Fras J, Althoefer K (2019). Soft Fiber-Reinforced Pneumatic Actuator Design and Fabrication: Towards Robust, Soft Robotic Systems. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Conference: Annual Conference Towards Autonomous Robotic Systems vol. 11649 LNAI, 103-114.
10.1007/978-3-030-23807-0_9
https://qmro.qmul.ac.uk/xmlui/handle/123456789/59441
Li M, He B, Liang Z, Zhao C-G, Chen J, Zhuo Y, Xu G, Xie J et al.(2019). An Attention-Controlled Hand Exoskeleton for the Rehabilitation of Finger Extension and Flexion Using a Rigid-Soft Combined Mechanism. Front Neurorobot vol. 13, 34-34.
10.3389/fnbot.2019.00034
https://qmro.qmul.ac.uk/xmlui/handle/123456789/59402
Li W, Konstantinova J, Noh Y, Ma Z, Alomainy A, Althoefer K (2019). An elastomer-based flexible optical force and tactile sensor. RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics. 361-366.
10.1109/ROBOSOFT.2019.8722793
Abrar T, Putzu F, Konstantinova J, Althoefer K (2019). EPAM: Eversive pneumatic artificial muscle. RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics. 19-24.
10.1109/ROBOSOFT.2019.8722787
https://qmro.qmul.ac.uk/xmlui/handle/123456789/56849
Wang S, Housden RJ, Noh Y, Singh A, Lindenroth L, Liu H, Althoefer K, Hajnal J et al.(2019). Analysis of a customized clutch joint designed for the safety management of an ultrasound robot. Applied Sciences (Switzerland) vol. 9, (9)
10.3390/app9091900
https://qmro.qmul.ac.uk/xmlui/handle/123456789/59363
Ataka A, Lam HK, Althoefer K (2019). Magnetic-field-inspired navigation for quadcopter robot in unknown environments. Proceedings - IEEE International Conference on Robotics and Automation. vol. 2019-May, 6165-6171.
10.1109/ICRA.2019.8793682
Shafti A, Ataka A, Lazpita BU, Shiva A, Wurdemann HA, Althoefer K (2019). Real-time robot-assisted ergonomics. Proceedings - IEEE International Conference on Robotics and Automation. vol. 2019-May, 1975-1981.
10.1109/ICRA.2019.8793739
Shiva A, Sadati SMH, Noh Y, Fra¿ J, Ataka A, Würdemann H, Hauser H, Walker ID et al.(2019). Elasticity Versus Hyperelasticity Considerations in Quasistatic Modeling of a Soft Finger-Like Robotic Appendage for Real-Time Position and Force Estimation. Soft Robotics vol. 6, (2) 228-249.
10.1089/soro.2018.0060
https://qmro.qmul.ac.uk/xmlui/handle/123456789/55091
Matsuno T, Wang Z, Althoefer K, Hirai S(2019). Adaptive update of reference capacitances in conductive fabric based robotic skin. IEEE Robotics and Automation Letters vol. 4, (2) 2212-2219.
10.1109/LRA.2019.2901991
https://qmro.qmul.ac.uk/xmlui/handle/123456789/59361
Wang S, Housden J, Noh Y, Singh A, Back J, Lindenroth L, Liu H, Hajnal J et al.(2019). Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound. J Vis Exp (143)
10.3791/58811
https://qmro.qmul.ac.uk/xmlui/handle/123456789/59380
Ataka A, Shiva A, Lam H-K, Althoefer K (2019). Magnetic-field-inspired Navigation for Soft Continuum Manipulator. Conference: IEEE/RSJ International Conference on Intelligent Robots and Systems 2018 (Madrid, Spain) from: 01/10/2018 to: 05/10/2018,
10.1109/IROS.2018.8593592
https://qmro.qmul.ac.uk/xmlui/handle/123456789/57803
FRAS J, ALTHOEFER K (2019). Soft biomimetic prosthetic hand: Design, manufacturing and preliminary examination. Conference: International Conference on Intelligent Robots
10.1109/IROS.2018.8593666
https://qmro.qmul.ac.uk/xmlui/handle/123456789/54951
Ali A, Althoefer K, Konstantinova J (2019). Dynamic Response Characteristics in Variable Stiffness Soft Inflatable Links. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 11649 LNAI, 160-170.
10.1007/978-3-030-23807-0_14
Li W, Konstantinova J, Alomainy A, Althoefer K (2019). Elastomer-based touch sensor: Visualization of tactile pressure distribution. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 11650 LNAI, 87-98.
10.1007/978-3-030-25332-5_8
Aljaber F, Althoefer K (2019). Light Intensity-Modulated Bending Sensor Fabrication and Performance Test for Shape Sensing. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 11649 LNAI, 126-137.
10.1007/978-3-030-23807-0_11
Danabek D, Otaran A, Althoefer K, Farkhatdinov I (2019). Mobile robot trajectory analysis with the help of vision system. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 11650 LNAI, 273-279.
10.1007/978-3-030-25332-5_24
Omarali B, Palermo F, Valle M, Poslad S, Althoefer K, Farkhatdinov I (2019). Position and Velocity Control for Telemanipulation with Interoperability Protocol. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 11649 LNAI, 316-324.
10.1007/978-3-030-23807-0_26
https://qmro.qmul.ac.uk/xmlui/handle/123456789/57827
Althoefer K, Konstantinova J, Zhang K(2019). Preface.
Wang S, Housden J, Noh Y, Singh D, Singh A, Skelton E, Matthew J, Tan C et al. (2019). Robotic-assisted ultrasound for fetal imaging: Evolution from single-arm to dual-arm system. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 11650 LNAI, 27-38.
10.1007/978-3-030-25332-5_3
Putzu F, Konstantinova J, Althoefer K (2019). Soft particles for granular jamming. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 11650 LNAI, 65-74.
10.1007/978-3-030-25332-5_6
Bálint LAP, Macías LHP, Althoefer K (2019). Virtual Reality Simulator for Medical Auscultation Training. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 11649 LNAI, 386-398.
10.1007/978-3-030-23807-0_32
Ataka A, Shiva A, Lam HK, Althoefer K (2018). Magnetic-field-inspired Navigation for Soft Continuum Manipulator. IEEE International Conference on Intelligent Robots and Systems. 168-173.
10.1109/IROS.2018.8593592
Stilli A, Kolokotronis E, Fras J, Ataka A, Althoefer K, Wurdemann HA (2018). Static Kinematics for an Antagonistically Actuated Robot Based on a Beam-Mechanics-Based Model. IEEE International Conference on Intelligent Robots and Systems. 6959-6964.
10.1109/IROS.2018.8593674
https://qmro.qmul.ac.uk/xmlui/handle/123456789/59399
COTUGNO G, KONSTANTINOVA J, ALTHOEFER KA, Nanayakkara T(2018). Modelling the Structure of Object-Independent Human Affordances of Approaching to Grasp for Robotic Hands. PLoS ONE
10.1371/journal.pone.0208228
https://qmro.qmul.ac.uk/xmlui/handle/123456789/55017
PUTZU F, ABRAR T, ALTHOEFER K (2018). Plant-Inspired Soft Pneumatic Eversion Robot. Conference: BioRob 2018 (Enschede, Netherlands) from: 26/08/2018 to: 29/08/2018,
10.1109/BIOROB.2018.8487848
https://qmro.qmul.ac.uk/xmlui/handle/123456789/49376
ALTHOEFER KA(2018). Localised Online Learning-Based Control of a Soft Redundant Manipulator Under Variable Loading. Advanced Robotics
10.1080/01691864.2018.1528178
https://qmro.qmul.ac.uk/xmlui/handle/123456789/49414
Ataka A, Lam HK, Althoefer K (2018). Reactive Magnetic-Field-Inspired Navigation for Non-Holonomic Mobile Robots in Unknown Environments. Proceedings - IEEE International Conference on Robotics and Automation. 6983-6988.
10.1109/ICRA.2018.8463203
https://qmro.qmul.ac.uk/xmlui/handle/123456789/57804
OBADINA OO, THAHA MA, ALTHOEFER K, SHAHEED MH (2018). A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator System. Lecture Notes in Computer Science. Editors: Giuliani, M, Assaf, T, Giannaccini, ME, Conference: Towards Autonomous Robotic Systems (TAROS) 2018 (Bristol, UK) from: 25/07/2018 to: 27/07/2018, 28-39.
10.1007/978-3-319-96728-8_3
https://qmro.qmul.ac.uk/xmlui/handle/123456789/43165
Li W, Konstantinova J, Noh Y, Alomainy A, Althoefer K (2018). Camera-based force and tactile sensor. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Conference: TAROS vol. 10965 LNAI, 438-450.
10.1007/978-3-319-96728-8_37
https://qmro.qmul.ac.uk/xmlui/handle/123456789/43726
Caenazzo A, Althoefer K (2018). Hypertonic saline solution for signal transmission and steering in MRI-guided intravascular catheterisation. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Conference: TAROS vol. 10965 LNAI, 284-290.
10.1007/978-3-319-96728-8_24
https://qmro.qmul.ac.uk/xmlui/handle/123456789/57797
FRAS J, ALTHOEFER K (2018). Soft Pneumatic Prosthetic Hand. Conference: TAROS
10.1007/978-3-319-96728-8_10
https://qmro.qmul.ac.uk/xmlui/handle/123456789/53442
ALTHOEFER KA(2018). Reactive Magnetic-Field-Inspired Navigation Method for Robots in Unknown Convex 3-D Environments. IEEE Robotics and Automation Letters
10.1109/LRA.2018.2853801
https://qmro.qmul.ac.uk/xmlui/handle/123456789/55207
Mehta A, Mehta A, Velazquez-Pimentel D, Sadek S, Althoefer K (2018). Development of an adaptable, soft robot with an aortic diameter sensor to modulate blood flow in an extreme biological environment. 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018. 344-349.
10.1109/ROBOSOFT.2018.8404943
Sadati SMH, Naghibi SE, Althoefer K, Nanayakkara T (2018). Toward a low hysteresis helical scale Jamming interface inspired by teleost fish scale morphology and arrangement. 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018. 455-460.
10.1109/ROBOSOFT.2018.8405368
Al Jaber F, Althoefer K (2018). Towards creating a flexible shape senor for soft robots. 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018. 114-119.
10.1109/ROBOSOFT.2018.8404906
ALTHOEFER KA(2018). iCLAP: Shape Recognition by Combining Proprioception and Touch Sensing. Autonomous Robots
10.1007/s10514-018-9777-7
https://qmro.qmul.ac.uk/xmlui/handle/123456789/41825
FRAS J, Noh Y, Macias M, Wurdemann H, ALTHOEFER K (2018). Bio-inspired octopus robot based on novel soft fluidic actuator. Conference: IEEE International Conference on Robotics and Automation (ICRA)
10.1109/ICRA.2018.8460629
https://qmro.qmul.ac.uk/xmlui/handle/123456789/45344
ALTHOEFER KA(2018). Real-Time Vision-Based Stiffness Mapping. Sensors
10.3390/s18051347
https://qmro.qmul.ac.uk/xmlui/handle/123456789/39625
ALTHOEFER KA (2018). AirExGlove – A Novel Pneumatic Exoskeleton Glove for Adaptive Hand Rehabilitation in Post-Stroke Patients. Conference: International Conference on Soft Robotics
10.1109/ROBOSOFT.2018.8405388
https://qmro.qmul.ac.uk/xmlui/handle/123456789/39666
FRAS J, Macias M, Noh Y, ALTHOEFER K (2018). Fluidical bending actuator designed for soft octopus robot tentacle. Conference: 2018 IEEE International Conference on Soft Robotics (RoboSoft)
10.1109/ROBOSOFT.2018.8404928
https://qmro.qmul.ac.uk/xmlui/handle/123456789/42328
ALTHOEFER KA(2018). Antagonistic actuation and stiffness control in soft inflatable robots. Nature Reviews Materials
10.1038/s41578-018-0004-0
https://qmro.qmul.ac.uk/xmlui/handle/123456789/39265
Sadati SMH, Sullivan L, Walker ID, Althoefer K, Nanayakkara T(2018). Three-Dimensional-Printable Thermoactive Helical Interface With Decentralized Morphological Stiffness Control for Continuum Manipulators. IEEE Robotics and Automation Letters vol. 3, (3) 2283-2290.
10.1109/LRA.2018.2805163
https://qmro.qmul.ac.uk/xmlui/handle/123456789/55208
Abidi H, Gerboni G, Brancadoro M, Fras J, Diodato A, Cianchetti M, Wurdemann H, Althoefer K et al.(2018). Highly dexterous 2-module soft robot for intra-organ navigation in minimally invasive surgery. International Journal of Medical Robotics and Computer Assisted Surgery vol. 14, (1)
10.1002/rcs.1875
https://qmro.qmul.ac.uk/xmlui/handle/123456789/28526
Ataka A, Shiva A, Lam HK, Althoefer K, Kosecka J (2018). Magnetic-field-inspired Navigation for Soft Continuum Manipulator. 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS). 8061-8066.
Stilli A, Althoefer K, Wurdemann HA(2018). Soft robotics. Bio-inspired antagonistic stiffening. Biosystems and Biorobotics, vol. 23,
Lee KH, Fu DKC, Leong MCW, Chow M, Fu HC, Althoefer K, Sze KY, Yeung CK et al.(2017). Nonparametric Online Learning Control for Soft Continuum Robot: An Enabling Technique for Effective Endoscopic Navigation. Soft Robotics vol. 4, (4) 324-337.
10.1089/soro.2016.0065
https://qmro.qmul.ac.uk/xmlui/handle/123456789/31392
Stopforth R, Davrajh S, Althoefer K (2017). Low cost soft endoscope robotic probe. 2017 IEEE AFRICON: Science, Technology and Innovation for Africa, AFRICON 2017. 1414-1419.
10.1109/AFRCON.2017.8095689
Konstantinova J, Cotugno G, Stilli A, Noh Y, Althoefer K, IEEE (2017). Object Classification Using Hybrid Fiber Optical Force/Proximity Sensor. 2017 IEEE SENSORS. Conference: IEEE Sensors Conference from: 29/10/2017 to: 01/11/2017, 543-545.
10.1109/ICSENS.2017.8234057
https://qmro.qmul.ac.uk/xmlui/handle/123456789/25316
ALTHOEFER KA, Sareh S, Li M, Noh Y, Tramacere F, Sareh P, Mazzolai B, Kovac M(2017). Anchoring like octopus: biologically inspired soft artificial sucker. Journal of the Royal Society Interface vol. 14, (135)
10.1098/rsif.2017.0395
https://qmro.qmul.ac.uk/xmlui/handle/123456789/28443
KONSTANTINOVA J, Stilli, Althoefer(2017). Fingertip Fiber Optical Tactile Array with Two-Level Spring Structure. Sensors vol. 17, (10)
10.3390/s17102337
https://qmro.qmul.ac.uk/xmlui/handle/123456789/28310
Sareh S, Althoefer K, Li M, Noh Y, Tramacere F, Sareh P, Mazzolai B, Kovac M(2017). Anchoring like octopus: Biologically inspired soft artificial sucker. Journal of the Royal Society Interface vol. 14, (135)
10.1098/rsif.2017.0395
https://qmro.qmul.ac.uk/xmlui/handle/123456789/28515
ALTHOEFER KA, fras J, noh Y, Wurdemann H (2017). Soft fluidic rotary actuator with improved actuation properties. Conference: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems
10.1109/IROS.2017.8206448
https://qmro.qmul.ac.uk/xmlui/handle/123456789/25707
Sadati SMH, Naghibi SE, Walker ID, Althoefer K, Nanayakkara T(2017). Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin Methods. IEEE Robotics and Automation Letters vol. 3, (1) 328-335.
10.1109/LRA.2017.2743100
https://qmro.qmul.ac.uk/xmlui/handle/123456789/25925
Stilli A, Grattarola L, Feldmann H, Wurdemann HA, Althoefer K (2017). Variable Stiffness Link (VSL): Toward inherently safe robotic manipulators. Proceedings - IEEE International Conference on Robotics and Automation. Conference: IEEE International Conference on Robotics and Automation4971-4976.
10.1109/ICRA.2017.7989578
https://qmro.qmul.ac.uk/xmlui/handle/123456789/25705
KONSTANTINOVA J, Krivic S, Stilli A, Piater J, Althoefer K (2017). Autonomous Object Handover using Wrist Tactile Information. Conference: 18th Towards Autonomous Robotic Systems (TAROS) Conference (Surrey, United Kingdom) from: 19/07/2017 to: 21/07/2017,
10.1007/978-3-319-64107-2_35
https://qmro.qmul.ac.uk/xmlui/handle/123456789/25270
Sadati SMH, Naghibi SE, Shiva A, Noh Y, Gupta A, Walker ID, Althoefer K, Nanayakkara T(2017). A geometry deformation model for braided continuum manipulators. Frontiers Robotics AI vol. 4, (JUN)
10.3389/frobt.2017.00022
https://qmro.qmul.ac.uk/xmlui/handle/123456789/59396
Shao W, Kosmas P, Althoefer K, Barras J (2017). Canceling strong and complex interference in NQR-based landmine detection. 2016 IEEE International Conference on Information and Automation for Sustainability: Interoperable Sustainable Smart Systems for Next Generation, ICIAfS 2016. Conference: International Conference on Information and Automation for Sustainability: Interoperable Sustainable Smart Systems for Next Generation, ICIAfS 2016
10.1109/ICIAFS.2016.7946536
https://qmro.qmul.ac.uk/xmlui/handle/123456789/48067
Wang S, Singh D, Lau D, Reddy K, Althoefer K, Rhode K, Housden RJ(2017). Probe tracking and its application in automatic acquisition using a trans-esophageal ultrasound robot. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) vol. 10170 LNCS, 14-23.
10.1007/978-3-319-54057-3_2
https://qmro.qmul.ac.uk/xmlui/handle/123456789/28266
Ranasinghe A, Althoefer K, Dasgupta P, Nagar A, Nanayakkara T(2017). Wearable haptic based pattern feedback sleeve system. Advances in Intelligent Systems and Computing vol. 547, 302-312.
10.1007/978-981-10-3325-4_30
https://qmro.qmul.ac.uk/xmlui/handle/123456789/25452
Shao W, Barras J, Althoefer K, Kosmas P(2017). Detecting NQR signals severely polluted by interference. Signal Processing vol. 138, 256-264.
10.1016/j.sigpro.2017.03.032
https://qmro.qmul.ac.uk/xmlui/handle/123456789/26645
Luo S, Zhu L, Althoefer K, Liu H(2017). Knock-Knock: Acoustic object recognition by using stacked denoising autoencoders. Neurocomputing
10.1016/j.neucom.2017.03.014
https://qmro.qmul.ac.uk/xmlui/handle/123456789/25453
Stilli A, Wurdemann HA, Althoefer K(2017). A Novel Concept for Safe, Stiffness-Controllable Robot Links. Soft Robotics vol. 4, (1) 16-22.
10.1089/soro.2016.0015
https://qmro.qmul.ac.uk/xmlui/handle/123456789/13907
Li M, KONSTANTINOVA J, Xu G, He B, Aminazdeh V, Xie J, Wurdemann H, Althoefer K(2017). Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model. PLoS ONE
10.1371/journal.pone.0172703
https://qmro.qmul.ac.uk/xmlui/handle/123456789/21259
Li J, Liu H, Brown M, Kumar P, Challacombe BJ, Chandra A, Rottenberg G, Seneviratne LD et al.(2017). Ex vivo study of prostate cancer localization using rolling mechanical imaging towards minimally invasive surgery. Med Eng Phys
10.1016/j.medengphy.2017.01.021
https://qmro.qmul.ac.uk/xmlui/handle/123456789/21319
KONSTANTINOVA J, Cotugno G, Dasgupta P, Althoefer K, Nanayakkara T(2017). Palpation Force Modulation Strategies to Identify Hard Regions in Soft Tissue Organs. PLoS ONE
10.1371/journal.pone.0171706
https://qmro.qmul.ac.uk/xmlui/handle/123456789/19410
Stopforth R, Davrajh S, Althoefer K (2017). Low cost robotic endoscope design considerations. 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016.
10.1109/RoboMech.2016.7813170
Sadati SM, Naghibi SE, Shiva A, Walker ID, Althoefer K, Nanayakkara T(2017). Mechanics of continuum manipulators, a comparative study of five methods with experiments. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) vol. 10454 LNAI, 686-702.
10.1007/978-3-319-64107-2_56
https://qmro.qmul.ac.uk/xmlui/handle/123456789/31395
ALTHOEFER KA, Shafti A, Ribas Manero RB, Borg AM, Howard MJ(2016). Embroidered Electromyography: A Systematic Design Guide. IEEE Transactions on Neural Systems and Rehabilitation Engineering
10.1109/TNSRE.2016.2633506
https://qmro.qmul.ac.uk/xmlui/handle/123456789/18013
ALTHOEFER KA, Ataka A, Qi P, Shiva A, Shafti A, Wurdemann H, Liu H (2016). Real-Time Pose Estimation and Obstacle Avoidance for Multi-segment Continuum Manipulator in Dynamic Environments. Conference: IEEE/RSJ International Conference on Intelligent Robots and Systems
10.1109/IROS.2016.7759438
https://qmro.qmul.ac.uk/xmlui/handle/123456789/18028
Noh Y, Bimbo J, Stilli A, Wurdemann H, Liu H, Housden J, Rhode K, Althoefer K (2016). A new miniaturised multi-axis force/torque sensors based on optoelectronic technology and simply-supported beam. IEEE International Conference on Intelligent Robots and Systems. Conference: International Conference on Intelligent Robots and Systems vol. 2016-November, 202-207.
10.1109/IROS.2016.7759056
https://qmro.qmul.ac.uk/xmlui/handle/123456789/20761
Konstantinova J, Stilli A, Faragasso A, Althoefer K (2016). Fingertip proximity sensor with realtime visual-based calibration. IEEE International Conference on Intelligent Robots and Systems. Conference: IROS 2016 vol. 2016-November, 170-175.
10.1109/IROS.2016.7759051
https://qmro.qmul.ac.uk/xmlui/handle/123456789/18508
Luo S, Mou W, Althoefer K, Liu H (2016). Iterative Closest Labeled Point for tactile object shape recognition. IEEE International Conference on Intelligent Robots and Systems. Conference: IEEE International Conference on Intelligent Robots and Systems vol. 2016-November, 3137-3142.
10.1109/IROS.2016.7759485
https://qmro.qmul.ac.uk/xmlui/handle/123456789/21601
Back J, Lindenroth L, Karim R, Althoefer K, Rhode K, Liu H (2016). New kinematic multi-section model for catheter contact force estimation and steering. IEEE International Conference on Intelligent Robots and Systems. Conference: IEEE International Conference on Intelligent Robots and Systems vol. 2016-November, 2122-2127.
10.1109/IROS.2016.7759333
https://qmro.qmul.ac.uk/xmlui/handle/123456789/21681
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https://qmro.qmul.ac.uk/xmlui/handle/123456789/19033
Kyriakidou G, Jakobsson A, Gudmundson E, Gregorovi¿ A, Barras J, Althoefer K (2014). Improved modeling and bounds for NQR spectroscopy signals. European Signal Processing Conference. 2325-2329.
Li M, Liu H, Jiang A, Seneviratne LD, Dasgupta P, Althoefer K, Wurdemann H(2014). Intra-operative tumour localisation in robot-assisted minimally invasive surgery: A review. Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine vol. 228, (5) 509-522.
10.1177/0954411914533679
Liu H, Sangpradit K, Li M, Dasgupta P, Althoefer K, Seneviratne LD(2014). Inverse finite-element modeling for tissue parameter identification using a rolling indentation probe. Medical and Biological Engineering and Computing vol. 52, (1) 17-28.
10.1007/s11517-013-1118-6
Althoefer K(2014). MRI-safe robots. Why are they not yet routinely used?. BJU International vol. 113, (6) 975-976.
10.1111/bju.12706
Li M, Ranzani T, Sareh S, Seneviratne LD, Dasgupta P, Wurdemann HA, Althoefer K(2014). Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators. Smart Materials and Structures vol. 23, (9)
10.1088/0964-1726/23/9/095007
Faragasso A, Bimbo J, Noh Y, Jiang A, Sareh S, Liu H, Nanayakkara T, Wurdemann HA et al. (2014). Novel uniaxial force sensor based on visual information for minimally invasive surgery. Proceedings - IEEE International Conference on Robotics and Automation. 1405-1410.
10.1109/ICRA.2014.6907036
Rowe MD, Smith JAS, Barras J, Althoefer K (2014). Nuclear Quadrupole Resonance of Pentaerythritol Tetranitrate (PETN) in Different Compositions. MAGNETIC RESONANCE DETECTION OF EXPLOSIVES AND ILLICIT MATERIALS. 35-43.
10.1007/978-94-007-7265-6__3
Rowe MD, Smith JAS, Barras J, Althoefer K(2014). Nuclear quadrupole resonance of pentaerythritol tetranitrate (PETN) in different compositions. NATO Science for Peace and Security Series B: Physics and Biophysics35-43.
10.1007/978-94-007-7265-6-3
Müller R, Hörauf L, Vette M, Martin JLS, Alzaga A, Hohmann J, Althoefer K, Würdemann H(2014). Robot guided bolt tensioning tool with adaptive process control for the automated assembly of wind turbine rotor blade bearings. Production Engineering vol. 8, (6) 755-764.
10.1007/s11740-014-0557-8
Luo S, Mou W, Li M, Althoefer K, Liu H (2014). Rotation and translation invariant object recognition with a tactile sensor. Proceedings of IEEE Sensors. vol. 2014-December, 1030-1033.
10.1109/ICSENS.2014.6985179
Stilli A, Wurdemann HA, Althoefer K (2014). Shrinkable, stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principle. IEEE International Conference on Intelligent Robots and Systems. 2476-2481.
10.1109/IROS.2014.6942899
Cotugno G, Mohan V, Althoefer K, Nanayakkara T (2014). Simplifying grasping complexity through generalization of kinaesthetically learned synergies. Proceedings - IEEE International Conference on Robotics and Automation. 5345-5351.
10.1109/ICRA.2014.6907645
Qiu C, Qi P, Liu HB, Althoefer K, Dai JS (2014). Six dimensional compliance analysis of ortho-planar springs for a continuum manipulator. Proceedings of the ASME Design Engineering Technical Conference. vol. 5A,
10.1115/DETC2014-34607
Karim R, Ma YL, Jang M, Housden RJ, Williams SE, Chen Z, Ataollahi A, Althoefer K et al.(2014). Surface flattening of the human left atrium and proof-of-concept clinical applications. Computerized Medical Imaging and Graphics vol. 38, (4) 251-266.
10.1016/j.compmedimag.2014.01.004
Jiang A, Adejokun S, Faragasso A, Althoefer K, Nanayakkara T, Dasgupta P (2014). The granular jamming integrated actuator. 2014 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2014. 12-17.
10.1109/ARIS.2014.6871512
Qi P, Liu H, Seneviratne L, Althoefer K (2014). Towards kinematic modeling of a multi-DOF tendon driven robotic catheter. 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014. 3009-3012.
10.1109/EMBC.2014.6944256
Ranasinghe A, Penders J, Dasgupta P, Althoefer K, Nanayakkara T (2013). A two party haptic guidance controller via a hard rein. IEEE International Conference on Intelligent Robots and Systems. 116-122.
10.1109/IROS.2013.6696341
Ranasinghe A, Althoefer K, Nanayakkara T, Penders J, Dasgupta P (2013). An optimal state dependent haptic guidance controller via a hard rein. Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013. 2322-2327.
10.1109/SMC.2013.397
Bimbo J, Seneviratne LD, Althoefer K, Liu H (2013). Combining touch and vision for the estimation of an object's pose during manipulation. IEEE International Conference on Intelligent Robots and Systems. 4021-4026.
10.1109/IROS.2013.6696931
Konstantinova J, Li M, Aminzadeh V, Althoefer K, Nanayakkara T, Dasgupta P (2013). Evaluating manual palpation trajectory patterns in tele-manipulation for soft tissue examination. Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013. 4190-4195.
10.1109/SMC.2013.714
Xie H, Liu H, Luo S, Seneviratne LD, Althoefer K (2013). Fiber optics tactile array probe for tissue palpation during minimally invasive surgery. IEEE International Conference on Intelligent Robots and Systems. 2539-2544.
10.1109/IROS.2013.6696714
Konstantinova J, Li M, Aminzadeh V, Dasgupta P, Althoefer K, Nanayakkara T (2013). Force-velocity modulation strategies for soft tissue examination. IEEE International Conference on Intelligent Robots and Systems. 1998-2003.
10.1109/IROS.2013.6696622
https://qmro.qmul.ac.uk/xmlui/handle/123456789/19037
Li M, Luo S, Seneviratne LD, Nanayakkara T, Althoefer K, Dasgupta P (2013). Haptics for multi-fingered palpation. Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013. 4184-4189.
10.1109/SMC.2013.713
Searle TC, Althoefer K, Seneviratne L, Liu H (2013). An optical curvature sensor for flexible manipulators. Proceedings - IEEE International Conference on Robotics and Automation. 4415-4420.
10.1109/ICRA.2013.6631203
Deters C, Secco EL, Wuerdemann HA, Lam HK, Seneviratne LD, Althoefer K (2013). Model-free fuzzy tightening control for bolt/nut joint connections of wind turbine hubs. Proceedings - IEEE International Conference on Robotics and Automation. 270-276.
10.1109/ICRA.2013.6630587
Wanninayake IB, Dasgupta P, Seneviratne LD, Althoefer K(2013). Air-float palpation probe for tissue abnormality identification during minimally invasive surgery. IEEE Transactions on Biomedical Engineering vol. 60, (10) 2735-2744.
10.1109/TBME.2013.2264287
Taylor JG, Cutsuridis V, Hartley M, Althoefer K, Nanayakkara T(2013). Observational Learning: Basis, Experimental Results and Models, and Implications for Robotics. Cognitive Computation vol. 5, (3) 340-354.
10.1007/s12559-013-9208-1
Barras J, Althoefer K, Kyriakidou G, Rowe M, Poplett I, Smith J, Murnane D, Assi S(2013). Potential of nuclear quadrupole resonance spectroscopy for detection and characterization of counterfeit anti-malarial medicines. TROPICAL MEDICINE & INTERNATIONAL HEALTH vol. 18, 21-21.
Jiang A, Aste T, Dasgupta P, Althoefer K, Nanayakkara T (2013). Granular jamming transitions for a robotic mechanism. AIP Conference Proceedings. vol. 1542, 385-388.
10.1063/1.4811948
Barras J, Murnane D, Althoefer K, Assi S, Rowe MD, Poplett IJF, Kyriakidou G, Smith JAS(2013). Nitrogen-14 nuclear quadrupole resonance spectroscopy: A promising analytical methodology for medicines authentication and counterfeit antimalarial analysis. Analytical Chemistry vol. 85, (5) 2746-2753.
10.1021/ac303267v
Jiang A, Aste T, Dasgupta P, Althoefer K, Nanayakkara T (2013). Granular jamming with hydraulic control. Proceedings of the ASME Design Engineering Technical Conference. vol. 6 A,
10.1115/DETC2013-12213
Polygerinos P, Seneviratne LD, Razavi R, Schaeffter T, Althoefer K(2013). Triaxial catheter-tip force sensor for MRI-guided cardiac procedures. IEEE/ASME Transactions on Mechatronics vol. 18, (1) 386-396.
10.1109/TMECH.2011.2181405
Li J, Liu H, Althoefer K, Seneviratne LD(2012). A stiffness probe based on force and vision sensing for soft tissue diagnosis. Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS944-947.
10.1109/EMBC.2012.6346088
Li J, Liu H, Althoefer K, Seneviratne LD (2012). A stiffness probe for soft tissue abnormality identification during laparoscopic surgery. World Automation Congress Proceedings.
Song X, Liu H, Bimbo J, Althoefer K, Seneviratne LD (2012). Object surface classificaiton based on friction properties for intelligent robotic hands. World Automation Congress Proceedings.
Sargeant R, Liu H, Seneviratne LD, Althoefer K (2012). An optical multi-axial force/torque sensor for dexterous grasping and manipulation. IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. 144-149.
10.1109/MFI.2012.6343043
Bimbo J, Rodriguez-Jimenez S, Liu H, Song X, Burrus N, Senerivatne LD, Abderrahim M, Althoefer K (2012). Object pose estimation and tracking by fusing visual and tactile information. IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. 65-70.
10.1109/MFI.2012.6343019
Liu H, Greco J, Song X, Bimbo J, Seneviratne L, Althoefer K (2012). Tactile image based contact shape recognition using neural network. IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. 138-143.
10.1109/MFI.2012.6343036
Song X, Liu H, Bimbo J, Althoefer K, Seneviratne LD (2012). A novel dynamic slip prediction and compensation approach based on haptic surface exploration. IEEE International Conference on Intelligent Robots and Systems. 4511-4516.
10.1109/IROS.2012.6385897
Li J, Zirjakova J, Yao W, Althoefer K, Dasgupta P, Seneviratne LD (2012). A passive robotic platform for three-dimensional scanning of ex vivo soft tissue. Advances in Reconfigurable Mechanisms and Robots I. 477-485.
10.1007/978-1-4471-4141-9_43
Jiang A, Ataollahi A, Althoefer K, Dasgupta P, Nanayakkara T (2012). A variable stiffness joint by granular jamming. Proceedings of the ASME Design Engineering Technical Conference. vol. 4, 267-275.
10.1115/DETC2012-70670
Jiang A, Bimbo J, Goulder S, Liu H, Song X, Dasgupta P, Althoefer K, Nanayakkara T (2012). Adaptive grip control on an uncertain object. IEEE International Conference on Intelligent Robots and Systems. 1161-1166.
10.1109/IROS.2012.6385922
Jiang A, Xynogalas G, Dasgupta P, Althoefer K, Nanayakkara T (2012). Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling. IEEE International Conference on Intelligent Robots and Systems. 2922-2927.
10.1109/IROS.2012.6385696
Liu H, Song X, Bimbo J, Althoefer K, Senerivatne L (2012). Intelligent fingertip sensing for contact information identification. Advances in Reconfigurable Mechanisms and Robots I. 599-608.
10.1007/978-1-4471-4141-9_54
Xie H, Jiang A, Seneviratne L, Althoefer K (2012). Pixel-based optical fiber tactile force sensor for robot manipulation. Proceedings of IEEE Sensors.
10.1109/ICSENS.2012.6411462
Deters C, Wurdemann HA, Dai JS, Seneviratne LD, Althoefer K (2012). Reconfigurable assembly approach for wind turbines using multiple intelligent agents. Advances in Reconfigurable Mechanisms and Robots I. 95-103.
10.1007/978-1-4471-4141-9_10
Liu H, Song X, Bimbo J, Seneviratne L, Althoefer K (2012). Surface material recognition through haptic exploration using an intelligent contact sensing finger. IEEE International Conference on Intelligent Robots and Systems. 52-57.
10.1109/IROS.2012.6385815
Barras J, Althoefer K, Rowe MD, Poplett IJ, Smith JAS(2012). The Emerging Field of Medicines Authentication by Nuclear Quadrupole Resonance Spectroscopy. Applied Magnetic Resonance vol. 43, (4) 511-529.
10.1007/s00723-012-0320-2
Barras J, Katsura S, Sato-Akaba H, Itozaki H, Kyriakidou G, Rowe MD, Althoefer KA, Smith JAS(2012). Variable-pitch rectangular cross-section radiofrequency coils for the nitrogen-14 nuclear quadrupole resonance investigation of sealed medicines packets. Analytical Chemistry vol. 84, (21) 8970-8972.
10.1021/ac3015643
https://qmro.qmul.ac.uk/xmlui/handle/123456789/13411
Yao W, Schaeffter T, Seneviratne L, Althoefer K(2012). Developing a Magnetic Resonance-Compatible Catheter for Cardiac Catheterization. Journal of Medical Devices, Transactions of the ASME vol. 6, (4)
10.1115/1.4007281
Jiang A, Althoefer K, Dasgupta P, Nanayakkara T(2012). GRANULAR JAMMING FOR MINIMALLY INVASIVE SURGERIES. JOURNAL OF ENDOUROLOGY vol. 26, A403-A404.
Zirjakova J, Althoefer K, Dasgupta P, Nanayakkara T(2012). PROBING BEHAVIOUR FOR SOFT TISSUE STIFFNESS MEASUREMENT. JOURNAL OF ENDOUROLOGY vol. 26, A20-A21.
Li M, Dasgupta P, Seneviratne LD, Althoefer K(2012). SIMULATED HAPTICS FOR MINIMALLY INVASIVE SURGERY. JOURNAL OF ENDOUROLOGY vol. 26, A48-A48.
Li J, Liu H, Dasgupta P, Challacombe B, Seneviratne LD, Althoefer K (2012). Tissue diagnosis using a novel stiffness probe based on force and vision sensing: A feasibility study. BRITISH JOURNAL OF SURGERY. vol. 99, 53-53.
Sargeant R, Seneviratne LD, Althoefer K(2012). A 2-axis optical force-torque fingertip sensor for dexterous grasping using linear polarizers. IEEE Transactions on Instrumentation and Measurement vol. 61, (12) 3363-3377.
10.1109/TIM.2012.2210456
Liu H, Song X, Nanayakkara T, Seneviratne LD, Althoefer K (2012). A computationally fast algorithm for local contact shape and pose classification using a tactile array sensor. Proceedings - IEEE International Conference on Robotics and Automation. 1410-1415.
10.1109/ICRA.2012.6224872
Sargeant R, Seneviratne LD, Althoefer K (2012). An investigation of the use of linear polarizers to measure force and torque in optical 6-DOF force/torque sensors for dexterous manipulators. Proceedings - IEEE International Conference on Robotics and Automation. 1422-1427.
10.1109/ICRA.2012.6225067
Lara B, Seneviratne LD, Althoefer K(2012). Automated screw insertion monitoring using neural networks: A computational intelligence approach to assembly in manufacturing. Computational Intelligence and its Applications: Evolutionary Computation, Fuzzy Logic, Neural Network and Support Vector Machine Techniques,
Puangmali P, Liu H, Seneviratne LD, Dasgupta P, Althoefer K(2012). Miniature 3-axis distal force sensor for minimally invasive surgical palpation. IEEE/ASME Transactions on Mechatronics vol. 17, (4) 646-656.
10.1109/TMECH.2011.2116033
Wanninayake IB, Althoefer K, Seneviratne LD (2012). Novel air-float tactile array for stiffness characterization in soft tissue palpation. Procedia Engineering. vol. 41, 281-288.
10.1016/j.proeng.2012.07.174
Wanninayake IB, Seneviratne LD, Althoefer K (2012). Novel indentation depth measuring system for stiffness characterization in soft tissue palpation. Proceedings - IEEE International Conference on Robotics and Automation. 4648-4653.
10.1109/ICRA.2012.6225127
Li M, Liu H, Li J, Seneviratne LD, Althoefer K (2012). Tissue stiffness simulation and abnormality localization using pseudo-haptic feedback. Proceedings - IEEE International Conference on Robotics and Automation. 5359-5364.
10.1109/ICRA.2012.6225143
Smith JAS, Blanz M, Rayner TJ, Rowe MD, Bedford S, Althoefer K(2011). <sup>14</sup>N quadrupole resonance and <sup>1</sup>H T<inf>1</inf> dispersion in the explosive RDX. Journal of Magnetic Resonance vol. 213, (1) 98-106.
10.1016/j.jmr.2011.09.011
Sangpradit K, Liu H, Dasgupta P, Althoefer K, Seneviratne LD(2011). Finite-element modeling of soft tissue rolling indentation. IEEE Transactions on Biomedical Engineering vol. 58, (12 PART 1) 3319-3327.
10.1109/TBME.2011.2106783
Narimani M, Lam HK, Althoefer K, Dilmaghani R, Wolfe C, Deters C (2011). An approach for stability analysis of polynomial fuzzy model-based control systems. IEEE International Conference on Fuzzy Systems. 2232-2237.
10.1109/FUZZY.2011.6007497
Song X, Seneviratne LD, Althoefer K (2011). Slip parameter estimation for tele-operated ground vehicles in slippery terrain. Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering. vol. 225, 814-830.
10.1177/0959651811401955
Liu H, Li J, Song X, Seneviratne LD, Althoefer K(2011). Rolling indentation probe for tissue abnormality identification during minimally invasive surgery. IEEE Transactions on Robotics vol. 27, (3) 450-460.
10.1109/TRO.2011.2127210
Yousef H, Boukallel M, Althoefer K(2011). Tactile sensing for dexterous in-hand manipulation in robotics - A review. Sensors and Actuators, A: Physical vol. 167, (2) 171-187.
10.1016/j.sna.2011.02.038
Polygerinos P, Seneviratne LD, Althoefer K(2011). Modeling of light intensity-modulated fiber-optic displacement sensors. IEEE Transactions on Instrumentation and Measurement vol. 60, (4) 1408-1415.
10.1109/TIM.2010.2085270
Li J, Liu H, Dasgupta P, Challacombe B, Seneviratne LD, Althoefer K (2011). Resuts of kidney lesion experiments with haptic probe. BRITISH JOURNAL OF SURGERY. vol. 98, 51-51.
Polygerinos P, Ataollahi A, Schaeffter T, Razavi R, Seneviratne LD, Althoefer K(2011). MRI-compatible intensity-modulated force sensor for cardiac catheterization procedures. IEEE Transactions on Biomedical Engineering vol. 58, (3 PART 1) 721-726.
10.1109/TBME.2010.2095853
Song X, Seneviratne LD, Althoefer K(2011). A Kalman filter-integrated optical flow method for velocity sensing of mobile robots. IEEE/ASME Transactions on Mechatronics vol. 16, (3) 551-563.
10.1109/TMECH.2010.2046421
Song X, Althoefer K, Seneviratne L (2010). A robust downward-looking camera based velocity estimation with height compensation for mobile robots. 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010. 378-383.
10.1109/ICARCV.2010.5707269
Sangpradit K, Althoefer K, Seneviratne LD (2010). Finite element modelling of rolling indentation for tissue adomanlity identification. 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010. 163-168.
10.1109/ICARCV.2010.5707909
Althoefer K, Liu H, Puangmali P, Zbyszewski D, Noonan D, Seneviratne LD(2010). Force sensing in medical robotics. Mechatronics in Action: Case Studies in Mechatronics - Applications and Education,
Ataollahi A, Polygerinos P, Puangmali P, Seneviratne LD, Althoefer K (2010). Tactile sensor array using prismatic-tip optical fibers for dexterous robotic hands. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 910-915.
10.1109/IROS.2010.5649109
Sangpradit K, Althoefer K, Seneviratne L (2010). Tissue parameter estimation for a mechatronic probe using inverse finite element analysis. 16th Annual Conference on Mechatronics and Machine Vision in Practice 2010, M2VIP 2010. 96-110.
Althoefer K, Seneviratne L, Al-Milli S, Chhaniyara S, Song X (2010). Tractive force prediction for unmanned ground vehicles in rough terrain. IFAC Proceedings Volumes (IFAC-PapersOnline). 64-69.
10.3182/20101005-4-RO-2018.00027
Liu H, Li J, Poon QI, Seneviratne LD, Althoefer K (2010). Miniaturized force-indentation depth sensor for tissue abnormality identification during laparoscopic surgery. Proceedings - IEEE International Conference on Robotics and Automation. 3654-3659.
10.1109/ROBOT.2010.5509440
Puangmali P, Dasgupta P, Seneviratne LD, Althoefer K (2010). Miniaturized triaxial optical fiber force sensor for MRI-guided minimally invasive surgery. Proceedings - IEEE International Conference on Robotics and Automation. 2592-2597.
10.1109/ROBOT.2010.5509807
Polygerinos P, Puangmali P, Schaeffter T, Razavi R, Seneviratne LD, Althoefer K (2010). Novel miniature MRI-compatible fiber-optic force sensor for cardiac catheterization procedures. Proceedings - IEEE International Conference on Robotics and Automation. 2598-2603.
10.1109/ROBOT.2010.5509416
Polygerinos P, Zbyszewski D, Schaeffter T, Razavi R, Seneviratne LD, Althoefer K(2010). MRI-compatible fiber-optic force sensors for catheterization procedures. IEEE Sensors Journal vol. 10, (10) 1598-1608.
10.1109/JSEN.2010.2043732
Zbyszewski D, Challacombe B, Li J, Seneviratne L, Althoefer K, Dasgupta P, Murphy D(2010). A comparative study between an improved novel air-cushion sensor and a wheeled probe for minimally invasive surgery. Journal of Endourology vol. 24, (7) 1155-1159.
10.1089/end.2010.0131
Liu H, Puangmali P, Zbyszewski D, Elhage O, Dasgupta P, Dai JS, Seneviratne L, Althoefer K(2010). An indentation depth-force sensing wheeled probe for abnormality identification during minimally invasive surgery. Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine vol. 224, (6) 751-763.
10.1243/09544119JEIM682
Al-Milli S, Seneviratne LD, Althoefer K(2010). Track-terrain modelling and traversability prediction for tracked vehicles on soft terrain. Journal of Terramechanics vol. 47, (3) 151-160.
10.1016/j.jterra.2010.02.001
Smith JAS, Rayner TJ, Rowe MD, Barras J, Peirson NF, Stevens AD, Althoefer K(2010). Magnetic field-cycling NMR and <sup>14</sup>N, <sup>17</sup>O quadrupole resonance in the explosive pentaerythritol tetranitrate (PETN). Journal of Magnetic Resonance vol. 204, (1) 139-144.
10.1016/j.jmr.2010.02.019
Puangmali P, Althoefer K, Seneviratne LD(2010). Mathematical modeling of intensity-modulated bent-tip optical fiber displacement sensors. IEEE Transactions on Instrumentation and Measurement vol. 59, (2) 283-291.
10.1109/TIM.2009.2023147
Liu H, Seneviratne LD, Althoefer K, Noonan DP, Challacombe BJ, Dasgupta P(2010). Rolling Mechanical Imaging for Tissue Abnormality Localization During Minimally Invasive Surgery. IEEE Transactions on Biomedical Engineering vol. 57, (2) 404-414.
10.1109/TBME.2009.2032164
Zbyszewski D, Polygerinos P, Seneviratne LD, Althoefer K (2009). A novel MRI compatible air-cushion tactile sensor for minimally invasive surgery. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2647-2652.
10.1109/IROS.2009.5354140
Polygerinos P, Schaeffter T, Seneviratne L, Althoefer K (2009). Measuring tip and side forces of a novel catheter prototype: A feasibility study. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 966-971.
10.1109/IROS.2009.5354556
Polygerinos P, Schaeffter T, Seneviratne L, Althoefer K(2009). A fibre-optic catheter-tip force sensor with MRI compatibility: A feasibility study. Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 20091501-1504.
10.1109/IEMBS.2009.5334163
Liu H, Elhage O, Dasgupta P, Challacombe B, Murphy D, Seneviratne L, Althoefer K (2009). A haptic probe for soft tissue abnormality identification during minimally invasive surgery. Proceedings of the 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2009. 417-422.
Puangmali P, Althoefer K, Seneviratne LD (2009). Novel design of a 3-axis optical fiber force sensor for applications in magnetic resonance environments. Proceedings - IEEE International Conference on Robotics and Automation. 3682-3687.
10.1109/ROBOT.2009.5152603
Sangpradit K, Liu H, Seneviratne LD, Althoefer K (2009). Tissue identification using inverse finite element analysis of rolling indentation. Proceedings - IEEE International Conference on Robotics and Automation. 1250-1255.
10.1109/ROBOT.2009.5152644
Song ZB, Seneviratne LD, Althoefer K, Song XJ, Zweiri YH(2009). Slip parameter estimation of a single wheel using a non-linear observer. Robotica vol. 27, (6) 801-811.
10.1017/S0263574708005146
Zbyszewski D, Challacombe B, Liu H, Seneviratne L, Dasgupta P, Murphy D, Althoefer K(2009). Air-cushion force-sensitive probe for soft tissue investigation during minimally invasive surgery. Journal of Endourology vol. 23, (9) 1421-1424.
10.1089/end.2009.0382
Vivekananda U, Henderson A, Murphy DG, Althoefer K, Seneviratne L, Dasgupta P(2009). The science behind haptics in robotic urological surgery. BJU International vol. 104, (4) 433-434.
10.1111/j.1464-410X.2009.08521.x
Tate E, Althoefer K, Barras J, Rowe MD, Smith JAS, Pearce GES, Wren SAC(2009). Quantitative <sup>35</sup>Cl nuclear quadrupole resonance in tablets of the antidiabetic medicine diabinese. Analytical Chemistry vol. 81, (13) 5574-5576.
10.1021/ac900656e
Althoefer K, Tan CP, Zweiri YH, Seneviratne LD(2009). Hybrid soil parameter easurement and estimation scheme for excavation automation. IEEE Transactions on Instrumentation and Measurement vol. 58, (10) 3633-3641.
10.1109/TIM.2009.2018699
Liu H, Elhage O, Dasgupta P, Challacombe B, Murphy D, Seneviratne L, Althoefer K (2009). A Haptic Probe for Soft Tissue Abnormality Identification during Minimally Invasive Surgery. RECONFIGURABLE MECHANISMS AND ROBOTS. 436-+.
Puangmali P, Althoefer K, Seneviratne LD, IEEE (2009). Novel Design of a 3-Axis Optical Fiber Force Sensor for Applications in Magnetic Resonance Environments. ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7. 2671-2676.
Seneviratne L, Zweiri Y, Hutangkabodee S, Song Z, Song X, Chhaniyara S, Al-Milli S, Althoefer K(2009). The modelling and estimation of driving forces for unmanned ground vehicles in outdoor terrain. International Journal of Modelling, Identification and Control vol. 6, (1) 40-50.
10.1504/IJMIC.2009.023529
Sangpradit K, Liu H, Seneviratne LD, Althoefer K, IEEE (2009). Tissue Identification using Inverse Finite Element Analysis of Rolling Indentation. ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7. 2933-+.
Song X, Seneviratne LD, Althoefer K, Song Z (2008). A robust slip estimation method for skid-steered mobile robots. 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008. 279-284.
10.1109/ICARCV.2008.4795532
Song X, Seneviratne LD, Althoefer K, Song Z, Mohseni-Vahed S (2008). A vision-based technique for vehicle slip and velocity estimation. IFAC Proceedings Volumes (IFAC-PapersOnline). vol. 17,
10.3182/20080706-5-KR-1001.2698
Althoefer K, Zbyszewski D, Liu H, Puangmali P, Seneviratne L, Challacombe B, Dasgupt P, Murphy D (2008). Air-cushion force sensitive probe for soft tissue investigation during minimally invasive surgery. Proceedings of IEEE Sensors. 827-830.
10.1109/ICSENS.2008.4716568
Al-Milli S, Althoefer K, Seneviratne LD (2008). Maneuverability performance of tracked vehicles on soft terrains. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 107-112.
10.1109/IROS.2008.4651043
Song X, Song Z, Seneviratne LD, Althoefer K (2008). Optical flow-based slip and velocity estimation technique for unmanned skid-steered vehicles. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 101-106.
10.1109/IROS.2008.4651025
Somasundaram SD, Jakobsson A, Rowe MD, Smith JAS, Butt NR, Althoefer K(2008). Robust detection of stochastic nuclear quadrupole resonance signals. IEEE Transactions on Signal Processing vol. 56, (9) 4221-4229.
10.1109/TSP.2008.923809
Hutangkabodee S, Zweiri Y, Seneviratne L, Althoefer K(2008). Soil Parameter Identification and Driving Force Prediction for Wheel-Terrain Interaction. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS vol. 5, (4) 425-432.
Mohseni-Vahed S, Althoefer K, Seneviratne LD, Song X, Dai JS, Lam HK (2008). Soil estimation based on dissipation energy during autonomous excavation. IFAC Proceedings Volumes (IFAC-PapersOnline). vol. 17,
10.3182/20080706-5-KR-1001.3883
Zbyszewski D, Bhaumik A, Althoefer K, Seneviratne LD (2008). Tactile sensing using a novel air cushion sensor: A feasibility study. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 41-46.
10.1109/IROS.2008.4651070
Chhaniyara S, Althoefer K, Seneviratne LD (2008). Visual odometry technique using circular marker identification for motion parameter estimation. Advances in Mobile Robotics - Proceedings of the 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008. 1069-1076.
Zbyszewski D, Liu H, Puangmali P, Althoefer K, Nunes CS, Seneviratne LD, Challacombe B, Murphy D et al.(2008). Wheel/tissue force interaction: a new concept for soft tissue diagnosis during MIS. Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference5556-5559.
10.1109/IEMBS.2008.4650473
Puangmali P, Liu H, Althoefer K, Seneviratne LD (2008). Optical fiber sensor for soft tissue investigation during minimally invasive surgery. Proceedings - IEEE International Conference on Robotics and Automation. 2934-2939.
10.1109/ROBOT.2008.4543655
Liu H, Noonan DP, Althoefer K, Seneviratne LD (2008). Rolling mechanical imaging: A novel approach for soft tissue modelling and identification during minimally invasive surgery. Proceedings - IEEE International Conference on Robotics and Automation. 845-850.
10.1109/ROBOT.2008.4543310
Somasundaram SD, Jakobsson A, Rowe MD, Smith JAS, Butt NR, Althoefer K (2008). Detecting stochastic nuclear quadrupole resonance signals in the presence of strong radio frequency interference. ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings. 3645-3648.
10.1109/ICASSP.2008.4518442
Althoefer K, Lara B, Zweiri YH, Seneviratne LD(2008). Automated failure classification for assembly with self-tapping threaded fastenings using artificial neural networks. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science vol. 222, (6) 1081-1095.
10.1243/09544062JMES546
Song ZB, Zweiri YH, Seneviratne LD, Althoefer K(2008). Non-linear observer for slip estimation of tracked vehicles. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering vol. 222, (4) 515-533.
10.1243/09544070JAUTO452
Al-Ja'Afreh T, Zweiri Y, Seneviratne L, Althoefer K(2008). A new soft-tissue indentation model for estimating circular indenter 'force-displacement' characteristics. Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine vol. 222, (5) 805-815.
10.1243/09544119JEIM319
Song Z-B, Zweiri YH, Seneviratne LD, Althoefer K(2008). Non-linear observer for slip estimation of tracked vehicles. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING vol. 222, (D4) 515-533.
10.1243/09544070JAUTO452
Puangmali P, Althoefer K, Seneviratne LD, Murphy D, Dasgupta P(2008). State-of-the-art in force and tactile sensing for minimally invasive surgery. IEEE Sensors Journal vol. 8, (4) 371-380.
10.1109/JSEN.2008.917481
Al-Milli S, Chhaniyara S, Georgiou E, Althoefer K, Dai JS, Seneviratne L (2008). Experimental study on track-terrain interaction dynamics in an integrated environment: Test RIG. Advances in Mobile Robotics - Proceedings of the 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008. 1106-1113.
10.1142/9789812835772_0132
Al-Ja'afreh TM, Zweiri YH, Seneviratne LD, Althoefer K(2008). Modelling soft tissue-mechatronic tool interactions during indentation. International Journal of Modelling, Identification and Control vol. 4, (4) 337-347.
10.1504/IJMIC.2008.021474
Zbyszewski D, Liu H, Puangmali P, Althoefer K, Nunes CS, Seneviratne LD, Challacombe B, Murphy D et al. (2008). Wheel/tissue force interaction: A new concept for soft tissue diagnosis during MIS. Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08 - "Personalized Healthcare through Technology". 5556-5559.
10.1109/iembs.2008.4650473
Song Z, Song X, Altheoer K, Zweiri Y, Seneviratne L (2007). Non-linear observer for slip parameter estimation of unmanned wheeled vehicles. Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007. 1213-1218.
10.1109/ICMA.2007.4303721
Song X, Seneviratne LD, Althoefer K, Song Z, Zweiri YH (2007). Visual qdometry for velocity estimation of UGVs. Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007. 1611-1616.
10.1109/ICMA.2007.4303790
Somasundaram SD, Jakobsson A, Butt N, Rowe MD, Smith JAS, Althoefer K (2007). Detection of stochastic nuclear quadrupole resonance signals. 2007 15th International Conference on Digital Signal Processing, DSP 2007. 367-370.
10.1109/ICDSP.2007.4288595
Liu H, Puangmali P, Althoefer KA, Seneviratne LD (2007). Experimental study of soft tissue recovery using optical fiber probe. IEEE International Conference on Intelligent Robots and Systems. 516-521.
10.1109/IROS.2007.4399376
Vahed SM, Delaimi HA, Althoefer K, Seneviratne LD (2007). On-line energy-based method for soil estimation and classification in autonomous excavation. IEEE International Conference on Intelligent Robots and Systems. 554-559.
10.1109/IROS.2007.4399196
Liu H, Noonan DP, Zweiri YH, Althoefer KA, Seneviratne LD (2007). The development of nonlinear viscoelastic model for the application of soft tissue identification. IEEE International Conference on Intelligent Robots and Systems. 208-213.
10.1109/IROS.2007.4399336
Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K (2007). Validation of soil parameter identification for track-terrain interaction dynamics. IEEE International Conference on Intelligent Robots and Systems. 3174-3179.
10.1109/IROS.2007.4399018
Noonan DP, Liu H, Zweiri YH, Althoefer KA, Seneviratne LD (2007). A dual-function wheeled probe for tissue viscoelastic property identification during minimally invasive surgery. Proceedings - IEEE International Conference on Robotics and Automation. 2629-2634.
10.1109/ROBOT.2007.363862
Chhaniyara S, Althoefer K, Zweiri YH, Seneviratne LD (2007). A novel approach for self-localization based on computer vision and artificial marker deposition. 2007 IEEE International Conference on Networking, Sensing and Control, ICNSC'07. 139-144.
10.1109/ICNSC.2007.372766
Al-Milli S, Althoefer K, Seneviratne LD (2007). Dynamic analysis and traversability prediction of tracked vehicles on soft terrain. 2007 IEEE International Conference on Networking, Sensing and Control, ICNSC'07. 279-284.
10.1109/ICNSC.2007.372791
Gomez F, Althoefer K, Seneviratne LD(2007). An ultrasonic profiling method for the inspection of tubular structures. Computer-Aided Civil and Infrastructure Engineering vol. 22, (6) 400-418.
10.1111/j.1467-8667.2007.00496.x
Murphy D, Challacombe B, Nedas T, Elhage O, Althoefer K, Seneviratne L, Dasgupta P(2007). Equipment and technology in robotics. Archivos Espanoles de Urologia vol. 60, (4) 349-355.
10.4321/s0004-06142007000400004
Somasundaram SD, Jakobsson A, Smith JAS, Althoefer K(2007). Exploiting spin echo decay in the detection of nuclear quadrupole resonance signals. IEEE Transactions on Geoscience and Remote Sensing vol. 45, (4) 925-933.
10.1109/TGRS.2006.890413
Duran O, Althoefer K, Seneviratne LD(2007). Automated pipe defect detection and categorization using caniera/laser-based profiler and artificial neural network. IEEE Transactions on Automation Science and Engineering vol. 4, (1) 118-126.
10.1109/TASE.2006.873225
Liu H, Puangmali P, Althoefer KA, Seneviratne LD, IEEE (2007). Experimental study of soft tissue recovery using optical fiber probe. 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9. 522-527.
Chhaniyara S, Althoefer R, Seneviratne LD (2007). Motion estimation and self-localization based on computer vision and artificial marker deposition. Advances in Climbing and Walking Robots - Proceedings of 10th International Conference, CLAWAR 2007. 690-697.
10.1142/9789812770189_0079
Vahed SM, Delaimi HA, Althoefer K, Seneviratne LD, IEEE (2007). On-line energy-based method for soil estimation and classification in autonomous excavation. 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9. 560-565.
Liu H, Noonan DP, Zweiri YH, Althoefer KA, Seneviratne LD, IEEE (2007). The development of nonlinear viscoelastic model for the application of soft tissue identification. 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9. 214-+.
Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K, IEEE (2007). Validation of soil parameter identification for track-terrain interaction dynamics. 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9. 3180-+.
Seneviratne L, Althoefer K, Zweiri Y, Hutangkabodee S, Song Z, Song X, Chhaniyara S (2007). Vehicle-terrain interaction modeling and identification in rough terrain. ICIIS 2007: SECOND INTERNATIONAL CONFERENCE ON INDUSTRIAL AND INFORMATION SYSTEMS 2007, CONFERENCE PROCEEDINGS. 11-15.
Zibin S, Zweiri YH, Seneviratne LD, Althoefer K (2006). Non-linear observer for slip estimation of skid-steering vehicles. Proceedings - IEEE International Conference on Robotics and Automation. vol. 2006, 1499-1504.
10.1109/ROBOT.2006.1641920
Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K (2006). Performance prediction of a wheeled vehicle on unknown terrain using identified soil parameters. Proceedings - IEEE International Conference on Robotics and Automation. vol. 2006, 3356-3361.
10.1109/ROBOT.2006.1642214
Somasundaram SD, Althoefer K, Smith JAS, Seneviratne LD (2006). Detection of landmines using Nuclear Quadrupole Resonance (NQR): Signal processing to aid classification. Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005. 833-840.
10.1007/3-540-26415-9-100
Song ZB, Zweiri YH, Althoefer K, Seneviratne LD (2006). Non-linear observer for slip estimation of tracked vehicles. 13th Annual International Conference on Mechatronics and Machine Vision in Practice 2006. 13-23.
Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K(2006). Multi-solution problem for track-terrain interaction dynamics and lumped soil parameter identification. Springer Tracts in Advanced Robotics vol. 25, 517-528.
10.1007/11736592_43
Somasundaram SD, Jakobsson A, Smith JAS, Althoefer KA (2006). Frequency selective detection of Nuclear Quadrupole Resonance (NQR) spin echoes. Proceedings of SPIE - The International Society for Optical Engineering. vol. 6217 II,
10.1117/12.665444
Zweiri YH, Seneviratne LD, Althoefer K(2006). Modelling of closed-chain manipulators on an excavator vehicle. Mathematical and Computer Modelling of Dynamical Systems vol. 12, (4) 329-345.
10.1080/13873950500067007
Gomez F, Althoefer K, Seneviratne LD(2006). Simulation of ultrasound imaging inside fully charged pipes. Automation in Construction vol. 15, (3) 355-364.
10.1016/j.autcon.2005.07.001
Somasundaram SD, Althoefer K, Smith JAS, Seneviratne LD (2006). Detection of landmines using nuclear quadrupole resonance (NQR): Signal processing to aid classification. CLIMBING AND WALKING ROBOTS. 833-840.
10.1007/3-540-26415-9_100
Rao A, Noonan D, Althoefer K, Seneviratne L (2006). Development of an improved micro piezoelectric power generation / actuation system for biomedical &amp; bio-MEMS applications. Proceedings of Frontiers in Biomedical Devices Conference, NanoBio06. vol. 2006,
10.1115/nanobio2006-18021
Song ZB, Zweiri YH, Althoefer K, Seneviratne LD (2005). Non-linear observer for estimating slips of wheeled vehicles. 12th Annual Conference on Mechatronics and Machine Vision in Practice, M2VIP 2005. 71-77.
Tan CP, Zweiri YH, Althoefer K, Seneviratne LD (2005). Online soil-bucket interaction identification for autonomous excavation. Proceedings - IEEE International Conference on Robotics and Automation. vol. 2005, 3576-3581.
10.1109/ROBOT.2005.1570664
Zweiri YH, Seneviratne LD, Althoefer K(2005). Stability analysis of a three-term backpropagation algorithm. Neural Networks vol. 18, (10) 1341-1347.
10.1016/j.neunet.2005.04.007
Khawaja K, Seneviratne L, Althoefer K(2005). Wheel-tooling gap measurement system for Conform™ extrusion machinery based on a capacitive sensor. Journal of Manufacturing Science and Engineering, Transactions of the ASME vol. 127, (2) 394-401.
10.1115/1.1870004
Tan CP, Zweiri YH, Althoefer K, Seneviratne LD(2005). Online soil parameter estimation scheme based on Newton-Raphson method for autonomous excavation. IEEE/ASME Transactions on Mechatronics vol. 10, (2) 221-229.
10.1109/TMECH.2005.844706
Althoefer K, Lara B, Seneviratne LD(2005). Monitoring of self-tapping screw fastenings using artificial neural networks. Journal of Manufacturing Science and Engineering, Transactions of the ASME vol. 127, (1) 236-245.
10.1115/1.1831286
Song ZB, Zweiri YH, Seneviratne LD, Althoefer K (2005). Driver support system based on a non-linear slip observer for off road vehicles. IFAC Proceedings Volumes (IFAC-PapersOnline). vol. 38, 83-88.
10.3182/20050703-6-cz-1902.01169
Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K (2005). Traversability prediction for unmanned ground vehicles based on identified soil parameters. IFAC Proceedings Volumes (IFAC-PapersOnline). vol. 16, 25-30.
10.3182/20050703-6-cz-1902.02056
Zweiri YH, Seneviratne LD, Althoefer K (2004). Identification methods for excavator arm parameters. Proceedings of the SICE Annual Conference. 1645-1650.
Song Z, Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K (2004). Identification of soil parameters for unmanned ground vehicles track-terrain interaction dynamics. Proceedings of the SICE Annual Conference. 1651-1656.
Duran O, Althoefer K, Seneviratna LD (2004). Laser profiler model for robot-based pipe inspection. Robotics: Trends, Principles, and Applications - Proceedings of the Sixth Biannual World Automation Congress, WAC. 353-358.
Silversides RW, Dai JS, Althoefer KA, Seneviratne L (2004). Non-invasive laser based measurement of the helicoidal motion of a vibratory platform with three leaf-spring legs. Proceedings of the ASME Design Engineering Technical Conference. vol. 2 B, 1231-1239.
Gomez F, Althoefer K, Seneviratne LD (2004). An ultrasonic profiling method for sewer inspection. Proceedings - IEEE International Conference on Robotics and Automation. vol. 2004, 4858-4863.
10.1109/ROBOT.2004.1302487
Duran O, Althoefer K, Seneviratne LD (2004). Automated pipe inspection using ANN and laser data fusion. Proceedings - IEEE International Conference on Robotics and Automation. vol. 2004, 4875-4880.
10.1109/ROBOT.2004.1302490
Khawaja K, Althoefer K, Clode MP, Seneviratne LD (2004). Gap sensing benefits in conform™ extrusion machinery. Proceedings - IEEE International Conference on Robotics and Automation. vol. 2004, 529-534.
Tan C, Zweiri YH, Althoefer K, Seneviratne LD (2004). Hybrid model in a real-time soil parameter identification scheme for autonomous excavation. Proceedings - IEEE International Conference on Robotics and Automation. vol. 2004, 5268-5273.
Zweiri YH, Seneviratne LD, Althoefer K, Engineers SIC (2004). Identification methods for excavator arm parameters. SICE 2004 ANNUAL CONFERENCE, VOLS 1-3. 1061-1066.
Song Z, Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K, Engineers SIC (2004). Identification of soil parameters for unmanned ground vehicles track-terrain interaction dynamics. SICE 2004 ANNUAL CONFERENCE, VOLS 1-3. 2255-2260.
Zweiri YH, Seneviratne LD, Althoefer K (2004). Kinematic and dynamic analysis of unmanned mobile tracked ground vehicles with onboard manipulators. ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS. 2248-2252.
Zweiri YH, Seneviratne LD, Althoefer K (2004). Parameter Estimation for Excavator Arm Using Generalized Newton Method. IEEE Transactions on Robotics. vol. 20, 762-767.
10.1109/TRO.2004.829476
Klingajay M, Seneviratne LD, Althoefer K (2003). Identification of threaded fastening parameters using the Newton Raphson Method. IEEE International Conference on Intelligent Robots and Systems. vol. 2, 2055-2060.
Duran O, Althoefer K, Seneviratne LD (2003). A sensor for pipe inspection: Model, analysis and image extraction. IEEE International Conference on Image Processing. vol. 3, 597-600.
Gomez F, Althoefer K, Seneviratne LD (2003). Modeling of ultrasound sensor for pipe inspection. Proceedings - IEEE International Conference on Robotics and Automation. vol. 2, 2555-2560.
10.1109/ROBOT.2003.1241977
Zweiri YH, Seneviratne LD, Althoefer K (2003). A generalized newton method for identification of closed-chain excavator arm parameters. Proceedings - IEEE International Conference on Robotics and Automation. vol. 1, 103-108.
Duran O, Althoefer K, Seneviratne LD (2003). Experiments using a laser-based transducer and automated analysis techniques for pipe inspection. Proceedings - IEEE International Conference on Robotics and Automation. vol. 2, 2561-2566.
10.1109/ROBOT.2003.1241978
Tan C, Zweiri YH, Althoefer K, Seneviratne LD (2003). On-line soil property estimation for autonomous excavator vehicles. Proceedings - IEEE International Conference on Robotics and Automation. vol. 1, 121-126.
Gomez F, Althoefer K, Seneviratne LD (2003). Modelling of rotating ultrasonic sensors for pipe inspection. International Conference on Mechatronics, ICOM 2003. 279-284.
Tan C, Zweiri YH, Althoefer K, Seneviratne LD (2003). Soil parameters estimation for automated excavation. International Conference on Mechatronics, ICOM 2003. 557-562.
Zweiri YH, Seneviratne LD, Althoefer K(2003). Modelling and control of an unmanned excavator vehicle. Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering vol. 217, (4) 259-274.
10.1243/095965103322260386
Duran O, Althoefer K, Seneviratne LD(2003). Pipe inspection using a laser-based transducer and automated analysis techniques. IEEE/ASME Transactions on Mechatronics vol. 8, (3) 401-409.
10.1109/TMECH.2003.816809
Duran O, Althoefer K, Seneviratne LD(2002). State of the art in sensor technologies for sewer inspection. IEEE Sensors Journal vol. 2, (2) 73-81.
10.1109/JSEN.2002.1000245
Zweiri YH, Whidborne JF, Seneviratne LD, Althoefer K(2002). A comparison of dynamic models of various complexity for diesel engines. Mathematical and Computer Modelling of Dynamical Systems vol. 8, (3) 273-289.
10.1076/mcmd.8.3.273.14100
Zweiri YH, Whidborne JF, Althoefer K, Seneviratne LD (2002). A new three-term backpropagation algorithm with convergence analysis. Proceedings - IEEE International Conference on Robotics and Automation. vol. 4, 3882-3887.
Duran O, Althoefer K, Seneviratne LD (2002). Automated laser-based profiler for sewer inspection. INTELLIGENT AUTONOMOUS SYSTEMS 7. 84-91.
Duran O, Althoefer K, Seneviratne LD (2002). Automated sewer inspection using image processing and a neural classifier. Proceedings of the International Joint Conference on Neural Networks. vol. 2, 1126-1131.
10.1109/IJCNN.2002.1007652
Duran O, Althoefer K, Seneviratne LD (2002). Automated sewer pipe inspection through image processing. Proceedings - IEEE International Conference on Robotics and Automation. vol. 3, 2551-2556.
Zweiri YH, Whidborne JF, Seneviratne LD, Althoefer K (2002). Dynamic modelling of diesel engines for design applications. COMPUTER-BASED DESIGN. 701-709.
Lara B, Seneviratne L, Althoefer K (2002). Error classification of self-tapping screw fastenings in automated assembly. INTELLIGENT ASSEMBLY AND DISASSEMBLY 2001. 31-36.
Zweiri YH, Seneviratne LD, Althoefer K (2002). Model-based automation for heavy duty mobile excavator. IEEE International Conference on Intelligent Robots and Systems. vol. 3, 2967-2972.
Seneviratne LD, Visuwan P, Althoefer K (2002). Monitoring of threaded fastenings in automated assembly using artificial neural networks. INTELLIGENT ASSEMBLY AND DISASSEMBLY 2001. 61-65.
Klingajay M, Seneviratne LD, Althoefer K (2002). Parameter estimation during automated screw insertions. Proceedings of the IEEE International Conference on Industrial Technology. vol. 2, 1019-1024.
10.1109/ICIT.2002.1189311
Duran O, Althoefer K, Seneviratne LD (2002). Pipe inspection using intelligent analysis techniques with high noise-tolerance. IEEE International Conference on Intelligent Robots and Systems. vol. 2, 1886-1891.
Seneviratne LD, Ngemoh FA, Earles SWE, Althoefer KA(2001). Theoretical modelling of the self-tapping screw fastening process. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science vol. 215, (2) 135-154.
10.1243/0954406011520562
Althoefer K, Krekelberg B, Husmeier D, Seneviratne L(2001). Reinforcement learning in a rule-based navigator for robotic manipulators. Neurocomputing vol. 37, (1-4) 51-70.
10.1016/S0925-2312(00)00307-6
Lara B, Seneviratne LD, Althoefer K (2000). Radial basis artificial neural networks for screw insertions classification. Proceedings - IEEE International Conference on Robotics and Automation. vol. 2, 1912-1917.
Althoefer K, Seneviratne LD, Shields R(2000). Mechatronic strategies for torque control of electric powered screwdrivers. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science vol. 214, (12) 1485-1500.
10.1243/0954406001523434
Lara B, Althoefer K, Seneviratne LD (1999). Use of artificial neural networks for the monitoring of screw insertions. IEEE International Conference on Intelligent Robots and Systems. vol. 1, 579-584.
Seneviratne LD, Visuwan P, Althoefer K (1999). Weightless neural network based monitoring of screw fastenings. IEEE International Conference on Intelligent Robots and Systems. vol. 1, 561-566.
Husmeier D, Althoefer K(1998). Modelling conditional probabilities with network committees: how overfitting can be useful. Neural Network World vol. 8, (4) 417-439.
Lara B, Althoefer K, Seneviratne LD (1998). Automated robot-based screw insertion system. IECON Proceedings (Industrial Electronics Conference). vol. 4, 2440-2445.
Bekit BW, Seneviratne LD, Whidborne JF, Althoefer K (1998). Fuzzy PID tuning for robot manipulators. IECON Proceedings (Industrial Electronics Conference). vol. 4, 2452-2457.
Althoefer K, Seneviratne LD, Zavlangas P, Krekelberg B(1998). Fuzzy navigation for robotic manipulators. International Journal of Uncertainty, Fuzziness and Knowlege-Based Systems vol. 6, (2) 179-188.
10.1142/S0218488598000161
Althofer K, Fraser DA(1996). Fuzzy obstacle avoidance for robotic manipulators. Neural Network World vol. 6, (2) 133-142.
Althöfer K, Fraser DA, Bugmann G(1995). Rapid path planning for robotic manipulators using a nemulated resistive grid. Electronics Letters vol. 31, (22) 1960-1961.
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