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Refereed Journal Publications

  1. Sarah E. Webster, Ryan M. Eustice, Hanumant Singh, and Louis L. Whitcomb, Advances in Single-Beacon One-Way-Travel-Time Acoustic Navigation for Underwater Vehicles. International Journal of Robotics Research, 31(8):935-950, July 2012, DOI: http://dx.doi.org/10.1177/0278364912446166.
  2. Sang-Eun Song, Nathan B. Cho, Iulian Iordachita, Peter Guion, Gabor Fichtinger, Aradhana Kaushal, Kevin Camphausen, and Louis L. Whitcomb, Biopsy Needle Artifact Localization in MRI-guided Robotic Transrectal Prostate Intervention. IEEE Transactions on Biomedical Engineering, vol.59, no.7, pp.1902-1911, July 2012. DOI: http://dx.doi.org/10.1109/TBME.2012.2192118.
  3. Richard Camilli, Andrew Bowen, Christopher M. Reddy, Alexandra H. Techet, Dana R. Yoerger, Louis L. Whitcomb, Daniela Di Iorio, Jeff Seewald, Sean P. Sylva, Judith Fenwick, Acoustic Measurement of the Deepwater Horizon Macondo Well Flow Rate. Proceedings of the National Academy of Sciences, National Academies Press, 2011. Published online before print September 8, 2011, doi:10.1073/pnas.1100385108.
  4. Axel Krieger, Sang-Eun Song, Nathan B. Cho, Iulian Iordachita, Peter Guion, Gabor Fichtinger, Louis L. Whitcomb, Development and Evaluation of an Actuated MRI-Compatible Robotic System for MRI-Guided Prostate Intervention. IEEE/ASME Transactions on Mechatronics, 2011. In Press.
  5. Axel Krieger, Iulian Iordachita, Peter Guion, Anurag K. Singh, Aradhana Kaushal, Cynthia Ménard, Peter A. Pinto, Kevin Camphausen M.D., Gabor Fichtinger, Louis L. Whitcomb, An MRI-Compatible Robotic System with Hybrid Tracking for MRI-Guided Prostate Intervention. IEEE Transactions on Biomedical Engineering, 2011. In Press.
  6. Sami S. Kanderian, Barbara J. deLateur, Wendy Shore, James G. Rose, Kathryn A. Carson, Louis L. Whitcomb, A Portable Device for Quantification of Forearm Muscle Tone, PM&R: Journal of the American Academy of Physical Medicine and Rehabilitation, 2011. In Press. Also available: Technical Report.
  7. C. R. German, A. Bowen, M. L. Coleman, D. L. Honig, J. A. Huber, M. V. Jakuba, J. C. Kinsey, M. D. Kurz, S. Leroy, J. M. McDermott, B. Mercier de Lépinay, K. Nakamura, J. S. Seewald, J. L. Smith, S. P. Sylva, C. L. Van Dover, L. L. Whitcomb, and D. R. Yoerger,Diverse Styles of Submarine Venting on the Ultraslow Spreading Mid-Cayman Rise. Proceedings of the National Academy of Sciences, National Academies Press, 107(32):14020, 2010.
  8. Ryan M. Eustice, Hanumant Singh, and Louis L. Whitcomb. Synchronous-Clock One-Way-Travel-Time Acoustic Navigation for Underwater Vehicles. Journal of Field Robotics, Special Issue on State of the Art in Maritime Autonomous Surface and Underwater Vehicles. 28(1):1556-4967, 2010.
  9. Andrew Bowen, Dana R. Yoerger, Barbara Fletcher, Louis L. Whitcomb. Journey to the Challenger Deep: Fifty Years Later with the Nereus Hybrid Remotely Operated Vehicle. Journal of the Marine Technology Society 43(5):65-76, Winter 2009.
  10. A. D. Bowen, D. R. Yoerger, C. Taylor, R. McCabe, J. Howland, D. Gomez-Ibanez, J. C. Kinsey, M. Heintz, G. McDonald, D. B. Peters, B. Fletcher, C. Young, J. Buescher, L. L. Whitcomb, S. C. Martin, S. E. Webster, and M. V. Jakuba. The Nereus hybrid underwater robotic vehicle. Underwater Technology: The International Journal of the Society for Underwater Technology, 28(3):79–89, 2009.
  11. P. Kazanzides, G. Fichtinger, G.D. Hager, A.M. Okamura, L.L. Whitcomb, R.H. Taylor, Surgical and Interventional Robotics Part I: Core Concepts, Technology, and Design, Robotics & Automation Magazine, IEEE , vol.15, no.2, pp.122-130, June 2008.
  12. G. Fichtinger, P. Kazanzides, A.M. Okamura, G.D. Hager, L.L. Whitcomb, R.H. Taylor, Surgical and Interventional Robotics Part II: Surgical CAD-CAM Systems, Robotics & Automation Magazine, IEEE , vol.15, no.3, pp.94-102, September 2008.
  13. G.D. Hager, A.M. Okamura, P. Kazanzides, L.L. Whitcomb, G. Fichtinger, R.H. Taylor, Surgical and Interventional Robotics Part III: Surgical Assistance Systems, Robotics & Automation Magazine, IEEE , vol.15, no.4, pp.84-93, December 2008.
  14. James C. Kinsey and Louis L. Whitcomb. Adaptive Identification on the Group of Rigid Body Rotations and its Application to Precision Underwater Robot Navigation. IEEE Transactions on Robotics, 23(1):124-136, January 2007, doi:10.1109/TRO.2006.886829.
  15. James C. Kinsey and Louis L. Whitcomb. In-situ Calibration of Attitude and Doppler Sensors for Precision Underwater Vehicle Navigation: Theory and Experiment. IEEE Journal of Oceanic Engineering, 32(2):286-299, April 2007, 2007, doi:10.1109/JOE.2007.893686.
  16. Jaydeep Roy, Daniel L. Rothbaum, and Louis L. Whitcomb. Haptic Feedback Enhancement Through Adaptive Force Scaling: Theory and Experiment. Book Chapter in Advances in Robot Control: From Everyday Physics to Human-Like Movements, Sadao Kawamura and Mikhail Svinin, Editors. Springer-Verlag, 2006, ISBN: 978-3-540-37346-9. Invited Book Chapter.
  17. Vicki L. Ferrini, D. J. Fornari, T. M. Shank, J. C. Kinsey, M. A. Tivey, S. A. Soule, S. M. Carbotte, L. L. Whitcomb, D. Yoerger, and J. Howland, Sub-Meter Bathymetric Mapping of Volcanic and Hydrothermal Features on the East Pacific Rise Crest at 9° 50' N. Geochemistry, Geophysics, & Geosystems, 8, Q01006, doi:10.1029/2006GC001333, January 2007.
  18. Scott Chowning, Robert C. Susil, Axel Krieger, Gabor Fichtinger, Louis L. Whitcomb, and Ergin Atalar. A Preliminary Analysis and Model of Prostate Injection Distributions. Prostate. 66(4):344-57, March 2006.
  19. Robert C. Susil, Cynthia Ménard, Axel Krieger, Jonathan Coleman, Kevin Camphausen, Peter Choyke, Gabor Fichtinger, Louis L Whitcomb, C Norman Coleman, and Ergin Atalar. Transrectal Prostate Biopsy and Fiducial Marker Placement in a Standard 1.5T MRI Scanner. The Journal of Urology. 175(1):113-120, January 2006.
  20. Daniel L. Rothbaum, Jaydeep Roy, Tabish Mustufa, Kevin A. Snook, Jonathan M. Cannata, Gregory D. Hager, Russell H. Taylor, K. Kirk Shung, Louis L. Whitcomb, Howard W. Francis, and John K. Niparko. High-Resolution Ultrasonography of the Cochlea. Otology & Neurotology. Under Review.
  21. Gabor Fichtinger, E. Clif Burdette, Atilla Tanacs, Alexandru Patriciu, Dumitru Mazilu, Louis L. Whitcomb, Dan Stoianovici. Robotically Assisted Prostate Brachytherapy With Transrectal Ultrasound Guidance – Preliminary Experiments. Brachytherapy. 5(1):14-26, 2006.
  22. Cynthia Ménard, R.C. Susil, P. Choyke, J. Coleman, R. Grubb, A. Gharib, A. Krieger, P. Guion, D. Thomasson, K. Ullman, S. Gupta, V. Espina, L. Liotta, E. Petricoin, L.L. Whitcomb, G. Fitchtinger, E. Atalar, N. C. Coleman, K. Camphausen. An Interventional MRI Technique for the Molecular Characterization of Intra-Prostatic Dynamic Contrast Enhancement Molecular Imaging. 4(1):63-6, 2005.
  23. Stephen C. Martin, Louis L. Whitcomb Roland Arsenault, Matthew Plumlee, and Colin Ware, Advances in Real-Time Spatio-Temporal 3-D Data Visualization for Underwater Robotic Exploration. Book Chapter in Advances in Unmanned Vehicles, Geoff Roberts and Robert Sutton, Editors. Pages 293-310. IEE Control Engineering Series, IEE Press, 2005. Invited Book Chapter.
  24. Axel Krieger, Robert C. Susil, Cynthia Menard, Jonathan A. Coleman, Gabor Fichtinger, Ergin Atalar, and Louis L. Whitcomb. Design of A Novel MRI Compatible Manipulator for Image Guided Prostate Interventions. IEEE Transactions on Biomedical Engineering. 52(2):306-313, February 2005.
  25. James C. Kinsey and Louis L. Whitcomb. Preliminary Field Experience with the DVLNAV Integrated Navigation System for Oceanographic Submersibles. Control Engineering Practice. 12(12):1541-1549, December 2004. Invited Paper.
  26. Andrew D. Bowen, Dana R. Yoerger, Louis L. Whitcomb, Daniel J. Fornari. Exploring the Deepest Depths: Preliminary Design of a Novel Light-Tethered Hybrid ROV for Global Science in Extreme Environments. Journal of the Marine Technology Society. 38(2) :92-101, Summer 2004.
  27. Jaydeep Roy, Randal Goldberg, and Louis L. Whitcomb. Structural Design, Analysis, and Performance Evaluation of a New Semi-Direct Drive Robot Arm: Theory and Experiment. IEEE/ASME Transactions on Mechatronics. (9)1:10-19, March 2004.
  28. David A. Smallwood and Louis L. Whitcomb. Model Based Dynamic Positioning of Underwater Robotic Vehicles: Theory and Experiment. IEEE Journal of Oceanic Engineering. 29(1):169-186, January 2004.
  29. Peter J. Berkelman, Louis L. Whitcomb, Russell H. Taylor, and Patrick Jensen. A Miniature Instrument Tip Force Sensor for Robot-Assisted Microsurgical Manipulation with Enhanced Force Feedback. IEEE Transactions on Robotics and Automation. 19(5):917-921, October 2003.
  30. Robert C. Susil, Axel Krieger, J. A. Derbyshire, Atilla Tanacs, Louis L. Whitcomb, Gabor Fichtinger, and Ergin Atalar. System for MRI Guided Prostate Interventions: Canine Study. Radiology. 228(3):886-894, September 2003.
  31. David A. Smallwood and Louis L. Whitcomb. Adaptive Identification of Dynamically Positioned Underwater Robotic Vehicles. IEEE Transactions on Control Systems Technology. 11(4):505-515, July 2003.
  32. Ralf Bachmayer and Louis L. Whitcomb. Adaptive Parameter Identification of an Accurate Nonlinear Dynamical Model for Marine Thrusters. ASME Journal of Dynamic Systems, Measurement and Control. 125(3):491-494, September 2003.
  33. Daniel Rothbaum, Jaydeep Roy, Greg Hager, Russell Taylor, Louis L. Whitcomb, Howard Francis, and John Niparko. Task performance in stapedotomy: Comparison Between Surgeons of Different Experience Levels. Otolaryngology – Head & Neck Surgery. 128(1):71-77, January 2003.
  34. Daniel Rothbaum, Jaydeep Roy, Dan Stoianovici, Peter Berkelman, Greg Hager, Russell Taylor, Louis L. Whitcomb, Howard Francis, and John Niparko. Robot-Assisted Stapedotomy: Micropick Fenestration of the Stapes Footplate. Otolaryngology – Head & Neck Surgery, 127(5):418-426, November 2002.
  35. Jaydeep Roy and Louis L. Whitcomb. Adaptive Force Control of Position Controlled Robots: Theory and Experiment. IEEE Transactions on Robotics and Automation, 18(2):121-137, April 2002.
  36. Robert D. Ballard, Lawrence E. Stager, Daniel Master, Dana Yoerger, David Mindell, Louis L. Whitcomb, Hanumant Singh, and Dennis Piechota. Iron Age Shipwrecks in Deep Water off Ashkelon, Israel. American Journal of Archaeology, 106(2):151-168, March 2002.
  37. Hanumant Singh, Louis L. Whitcomb, Dana Yoergar, and Oscar Pizarro. Microbathymetric Mapping from Underwater Vehicles in the Deep Ocean. Computer Vision and Image Understanding, 79(1):143-161, July 2000.
  38. Ralf Bachmayer, Louis L. Whitcomb, and Mark Grosenbaugh. An Accurate Four-Quadrant Nonlinear Dynamical Model for Marine Thrusters: Theory and Experimental Validation. IEEE Journal of Oceanic Engineering, (25)1:146-159, January 2000.
  39. Robert D. Ballard, Anna Marguerite McCann, Dana R. Yoerger, Louis L. Whitcomb, David A. Mindell, John Oleson, Hanumant Singh, Brendan Foley, Jonathan Adams, Dennis Picheota, and Cathy Giangrande. The Discovery of Ancient History in the Deep Sea Using Advanced Deep Submergence Technology. Deep Sea Research Part 1, 47(9):1591-1620, September 2000.
  40. Russell Taylor, Patrick Jensen, Louis L. Whitcomb, Aaron Barnes, Rajesh Kumar, Dan Stoianovici, Puneet Gupta, ZhengXian Wang, Eugene deJuan, and Louis Kavoussi. A Steady-Hand Robotic System for Microsurgical Augmentation. International Journal of Robotics Research, 18(12):1201-1210 December 1999. Invited paper.
  41. Jaydeep Roy and Louis L. Whitcomb. Comparative Structural Analysis of a 2-DOF Semi-Direct-Drive Linkages for Robot Arms. IEEE/ASME Transactions on Mechatronics, 4(1):82-86, March 1999.
  42. Louis L. Whitcomb and Dana R. Yoerger. Development, Comparison, and Preliminary Experimental Validation of Non-Linear Dynamic Thruster Models. IEEE Journal of Oceanic Engineering, 24(4):481-494, October 1999.
  43. Louis L. Whitcomb and Dana R. Yoerger. Preliminary Experiments in Model-Based Thruster Control for Underwater Vehicle Positioning. IEEE Journal of Oceanic Engineering, 24(4):495-506, October 1999.
  44. Craig P. Sayers, Richard P. Paul, Josko Catipovic, Louis L. Whitcomb, and Dana Yoerger. Teleprogramming for Subsea Teleoperation Using Acoustic Communication. IEEE Journal of Oceanic Engineering, 23(1):60-71, January 1998.
  45. Louis L. Whitcomb, Suguru Arimoto, Tomohide Naniwa, and Fumio Ozaki. Adaptive Model-Based Hybrid Control of Geometrically Constrained Robot Arms. IEEE Transactions on Robotics and Automation, 13(1):105-116, February 1997.
  46. Tomohide Naniwa, Suguru Arimoto, Louis L. Whitcomb, and Yun-Hui Liu. Model-based Adaptive Control for Geometrically Constrained Manipulators. Transactions of the Society of Instrument and Control Engineers, 31(1):22-30.
  47. Louis L. Whitcomb, Suguru Arimoto, Tomohide Naniwa, and Fumio Ozaki. Experiments in Adaptive Model-Based Robot Force Control. IEEE Control Systems Magazine, 16(1):49-57, February 1996. Invited paper.
  48. Louis L. Whitcomb, Alfred Rizzi, and Daniel E. Koditschek. Comparative Experiments with a New Adaptive Controller for Robot Arms. IEEE Transactions on Robotics and Automation, 9(1):59-70, February 1993.
  49. Alfred A. Rizzi, Louis L. Whitcomb, and Daniel E. Koditschek. Distributed Real-Time Control of a Spatial Robot Juggler. IEEE Computer, 25(5):12-24, May 1992.

Theses

  1. Christopher McFarland, Adaptive Identification and Control for Underwater Vehicles: Theory and Comparative Experimental Evaluation, Ph.D. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, November 2013.
  2. Giancarlo Troni, Advances in Precision Navigation of Underwater Vehicles, Ph.D. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, July 2013.
  3. Amy Blank, Proprioceptive Motion Feedback and User-Selectable Impedance for Upper-Limb Prosthesis Control, Ph.D. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, May 2012.
  4. Sarah E. Webster, Decentralized single-beacon acoustic navigation: Combined communication and navigation for underwater vehicles, Ph.D. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, June 2010.
  5. Stephen C. Martin, Advances in Six-Degree-of-Freedom Dynamics and Control of Underwater Vehicles, Ph.D. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, May 2008.
  6. Axel Krieger, [https//jshare.johnshopkins.edu/lwhitco1/papers/2008_Krieger_Thesis.pdf Advances in Magnetic Resonance Image Guided Robotic Intervention], Ph.D. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, May 2008.
  7. J.C. Kinsey. Advances in Precision Navigation of Oceanographic Submersibles. Ph.D. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, May 2006.
  8. Tabish Mustufa, An Image-Guided Robotic Assistant for Microsurgery of the Inner Ear, M.S. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, May 2005.
  9. David A. Smallwood, Advances In Dynamical Modeling and Control of Underwater Robotic Vehicles, Ph.D. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, February 2003.
  10. Sami Kanderian, The Creation and use of an Automated Robot to Quantify Forearm Muscle Tone in the Spastic Patient with Non-Sinusoidal Perturbations, M.S.. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, May 2001.
  11. Jaydeep Roy, Force Controlled Robots: Design, Analysis, Control, and Applications, Ph.D. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, May 2001.
  12. A. Grey Lerner, A Passive Mechanical Arm for A Passive Seven Degree of Preedom Postitioning Device for Surgical Robots and Devices, M.S.. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, May 2000.
  13. Ralf Bachmayer, Advances in Nonlinear Dynamical Modeling and Control of Marine Thrusters: Theory and Experiment, Ph.D. Thesis, Department of Mechanical Engineering, The Johns Hopkins University, May 2000.
  14. Louis L. Whitcomb, Advances in Architectures and Algorithms for High Performance Robot Control, Ph.D. Thesis, Department of Electrical Engineering, Yale University, May 1992.

Patents

  1. Andy Bowen, Louis L. Whitcomb, Dana Yoerger, Robert McCabe, Barbara Fletcher, Chris Young, James Buescher. Systems and Methods for Tethering Underwater Vehicles. U.S. Patent #7621229, November 24, 2009. Assignee: Woods Hole Oceanographic Institution and U.S. Navy.
  2. Whitcomb, L. L., A. Krieger, R. C. Susil, G. Fichtinger, E. Atalar and I. J. Iordachita (2007). Apparatus For Insertion of a Medical Device Within a Body During a Medical Imaging Process and Devices and Methods Related Thereto. US Patent #PCT/US2007/006531.
  3. Gabor Fichtinger, Ergin Atalar, Louis L. Whitcomb, Robert C. Susil, Axel Krieger*, and Atilla Tanacs. Device, Method, and System For Needle Insertion Inside a Medical Imager, From Within Body Cavity, DM-4033. Provisional US Patent Application filed April 22, 2002. Assignee: Johns Hopkins University.
  4. Dan Stoianovici*, Keenan Wyrobek*, Dumitru Mazilu, Louis L. Whitcomb. Medical Imaging Environment Compatible Positioning Arm. U.S. Provisional Patent Application No. 60/438,953, filed January 9, 2003. Utility Patent Application Filed January 9, 2004. U.S. Patent #6,857,609. Assignee: Johns Hopkins University.
  5. Dan Stoianovici*, Louis R. Kavoussi, Louis L. Whitcomb, Russell H. Taylor, Jefferey A. Cadeddu, Stephen A. Basile, and Roger D. Demaree. Friction Transmission with Axial Loading and a Radiolucent Surgical Needle Drive. U.S. Patent # US6400979, June 4, 2002.
  6. Dan Stoianovici*, Gabor Fichtinger, Richard Wiard, Julian Iordachita, Louis L. Whitcomb, and Russell H. Taylor. Controllable Motorized Device for Percutaneous Needle Placement in Soft Tissue and Methods and Systems Related Thereto. U.S. Patent Application #20020111634 filed by Johns Hopkins University, August 15, 2002. Assignee: Johns Hopkins University.
  7. Dan Stoianovici*, Louis L. Whitcomb, Louis R. Kavoussi, Dumitru Mazilu, James Anderson, Russell H. Taylor, and Louis R. Kavoussi. Adjustable Remote Center of Motion Robotic Module and Method. U.S. Patent Application filed by Johns Hopkins University 2002. U.S. Patent #7,021,173. Assignee: Johns Hopkins University.
  8. Sami S. Kanderian*, Randal P Goldberg*, Katrina Rieflin Ubell , Barbara J. de Lateur, Louis L. Whitcomb, and Frederick A. Lenz. Quantification of Muscle Tone. Patent application 09/949,411 filed September 6, 2001. U.S. Patent #06589190, July 8, 2003. Assignee: Johns Hopkins University.
  9. Randal Goldberg*, Dan Stoianovici*, Louis L. Whitcomb, and Russell H. Taylor. An Optical Encoding Method for Chain Drive Mechanisms. Provisional U.S. Patent of Invention 60/283,791 filed by Johns Hopkins University, September 2000. Assignee: Johns Hopkins University.
  10. Grey Lerner*, Louis L. Whitcomb, Dan Stoianovici*, and Louis R. Kavoussi. A Passive Seven Degree of Freedom Positioning Device for Surgical Robots and Devices. Provisional U.S. Patent of Invention filed by Johns Hopkins University, December 1998. Assignee: Johns Hopkins University.
  11. S. Choudhury, Louis L. Whitcomb, and T. Kelley. Computer Assisted Method for Conducting Library Research from a Remote Location and Associated Apparatus. U.S. Patent # US5886898, 23 March 1999. Assignee: Johns Hopkins University.
  12. Chia P. Day, Kenneth W. Krause, Louis L. Whitcomb, and Berthold K. P. Horn. Method and System for Automatically Determining the Position and Attitude of an Object. U.S. Patent #4,639,878, Japanese Patent #JP2511246, 27 January 1987. Assignee: Fanuc Robotics Corporation. As of 2006 this patent was referenced by 73 other patents.

Refereed Conference Publications

  1. Christopher McFarland* and Louis L. Whitcomb, Comparative Experimental Evaluation of a New Adaptive Identifier for Underwater Vehicles. In Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013.
  2. Giancarlo Troni* and Louis L. Whitcomb, Preliminary Experimental Evaluation of a Doppler-Aided Attitude Estimator for Improved Doppler Navigation of Underwater Vehicles. In Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013.
  3. Stephen C. Martin* and Louis L. Whitcomb, Preliminary Experiments in Comparative Experimental Identification of Six Degree-Of-Freedom Coupled Dynamic Plant Models for Underwater Robot Vehicles. In Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013.
  4. Stephen C. Martin* and Louis L. Whitcomb, Preliminary Experiments in Fully Actuated Model Based Control with Six Degree-of-Freedom Coupled Dynamical Plant Models for Underwater Vehicles. In Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013.
  5. Jonathan Bohren*, Darius Burschka, Sami Haddadin, Gregory D. Hager, William L. Shepherdson, and Louis L. Whitcomb, A Pilot Study in Vision-Based Augmented Telemanipulation for Remote Assembly over High-Latency Networks. In Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013.
  6. A. Blank**, A. M. Okamura, and L. L. Whitcomb, User Comprehension of Task Performance with Varying Impedance in a Virtual Prosthetic Arm: A Pilot Study. In 2012 IEEE International Conference on Biomedical Robotics and Biomechatronics, pp. 500-507, 2012.
  7. Xia, Tian; Leonard, Simon; Deguet, Anton; Whitcomb, Louis; Kazanzides, Peter; Augmented reality environment with virtual fixtures for robotic telemanipulation in space, In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on , vol., no., pp.5059-5064, 7-12 Oct. 2012 doi: 10.1109/IROS.2012.6386169.
  8. Christopher J. McFarland and L. L. Whitcomb. A New Adaptive Identifier for Inertial Parameters of Rotational Plants. In Proceeding of the IEEE/MTS Oceans 2012, Hampton Roads, VA October, 2012.
  9. Giancarlo Troni and Louis L. Whitcomb, Experimental evaluation of a MEMS inertial measurements unit for Doppler navigation of underwater vehicles. IEEE/MTS Oceans 2012, Hampton Roads, VA October, 2012. Awarded Best Student Poster Award.
  10. Stephen C. Martin and Louis L. Whitcomb, Preliminary Experiments in Nonlinear Model-Based Tracking Control of Underwater Vehicles with Three Degree-of-Freedom Fully-Coupled Dynamical Plant Models. In Proceeding of the IEEE/MTS Oceans 2012, Hampton Roads, VA October 2012.
  11. Stephen C. Martin and Louis L. Whitcomb, Preliminary Experiments in Underactuated Nonlinear Model-Based Tracking Control of Underwater Vehicles with Three Degree-of-Freedom Fully-Coupled Dynamical Plant Models: Theory and Experimental Evaluation. In Proceeding of the IEEE/MTS Oceans 2012, Hampton Roads, VA October 2012.
  12. Giancarlo Troni and Louis L. Whitcomb, Preliminary experimental evaluation of in-situ calibration methods of MEMS-based attitude sensors and Doppler sonars for underwater vehicle navigation. 2012 IEEE/OES Autonomous Underwater Vehicles(AUV), September 2012.
  13. Giancarlo Troni and Louis L. Whitcomb, Field Performance Evaluation of New Methods for In-Situ Calibration of Attitude and Doppler Sensors for Underwater Vehicle Navigation, in Proceedings of the 2012 IEEE International Conference on Robotics and Automation, 2012.
  14. Jonathan Bohren, Iulian Iordachita, Louis L. Whitcomb, Design Requirements and Feasibility Study for a 3-DOF MRI-Compatible Robotic Device for MRI-Guided Prostate Intervention, in Proceedings of the 2012 IEEE International Conference on Robotics and Automation, 2012.
  15. Giancarlo Troni and Louis L. Whitcomb, Experimental Evaluation of New Methods for In-Situ Calibration of Attitude and Doppler Sensors for Underwater Vehicle Navigation, in Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3722-3727, Sept 25-30, 2011.
  16. Amy Blank, Allison M. Okamura, and Louis L. Whitcomb, Task-Dependent Impedance Improves User Performance with a Virtual Prosthetic Arm, in Proceedings of the 2011 IEEE International Conference on Robotics and Automation, pp. 2235-2242 May 9-13, 2011.
  17. Giancarlo Troni, Christopher J. McFarland, Kirk A. Nichols and Louis L. Whitcomb, Experimental Evaluation of an Inertial Navigation System for Underwater Robotic Vehicles, in Proceedings of the 2011 IEEE International Conference on Robotics and Automation, pp. 3064-3071, May 9-13, 2011.
  18. Sang-Eun Song, Nathan B. Cho, Iulian I. Iordachita, Peter Guion, Gabor Fichtinger, and Louis L. Whitcomb, “A Study of Needle Image Artifact Localization in Confirmation Imaging of MRI-guided Robotic Prostate Biopsy”, in Proceedings of the 2011 IEEE International Conference on Robotics and Automation, pp. 4834-4839, May 9-13, 2011.
  19. S. E. Webster, R. M. Eustice, and L. L. Whitcomb, Preliminary results in decentralized estimation for single-beacon acoustic underwater navigation, in Proc. Robotics: Science and Systems Conf., Zaragoza, Spain, June 2010.
  20. S. E. Webster, L. L. Whitcomb, and R. M. Eustice, Advances in decentralized single-beacon acoustic navigation for underwater vehicles: Theory and Simulation, in Proc. IEEE/OES AUV2010 Conf., Monterey, CA, Aug 2010.
  21. Louis L. Whitcomb, Michael V. Jakuba, James C. Kinsey, Stephen C. Martin, Sarah E. Webster, Jonathan C. Howland, Chris L. Taylor, Daniel Gomez-Ibanez, Dana R. Yoerger. Navigation and Control of the Nereus Hybrid Underwater Vehicle for Global Ocean Science to 10,903 m Depth: Preliminary Results. Proceedings of the 2010 IEEE International Conference on Robotics and Automation. IEEE (2010).
  22. Axel Krieger, Iulian Iordachita, Sang-Eun Song, Nathan B. Cho, Peter Guion, Gabor Fichtinger, Louis L. Whitcomb. Development and Preliminary Evaluation of an Actuated MRI-Compatible Robotic Device for MRI-Guided Prostate Intervention. Proceedings of the 2010 IEEE International Conference on Robotics and Automation. IEEE (2010).
  23. G. Troni, L. L. Whitcomb, New methods for in-situ calibration of attitude and Doppler sensors for underwater vehicle navigation: Preliminary results, Proceedings of the IEEE/MTS OCEANS 2010 Conference, pp.1-8, 20-23 Sept. 2010, doi:10.1109/OCEANS.2010.5664279.
  24. D. Gomez-Ibáñez, C. L. Taylor, M. C. Heintz, J. C. Howland, D. R. Yoerger, A. D. Bowen, L. L. Whitcomb, Energy management for the Nereus hybrid underwater vehicle, Proceedings of the IEEE/MTS OCEANS 2010 Conference, pp.1-9, 20-23 Sept. 2010, doi:10.1109/OCEANS.2010.5663885.
  25. Helen Xu, Andras Lasso, Siddharth Vikal, Peter Guion, Axel Krieger, Aradhana Kaushal, Louis Whitcomb, Gabor Fichtinger. MRI-guided robotic prostate biopsy: A clinical accuracy validation 2010. Proceedings of the 2010 IEEE International Symposium on Biomedical Imaging. IEEE (2010).
  26. Xu, H., A. Lasso, S. Vikal, P. Guion, A. Krieger, A. Kaushal, L. Whitcomb, and G. Fichtinger, "MRI-Guided Transrectal Robotic Prostate Biopsy Validation", The American Association of Physicists in Medicine (AAPM) Annual Meeting 2010, July 18-22, vol. 37, 3128 (2010), Philadelphia, Pennsylvania, pp. 3128-3129, 2010.
  27. Xu, H., A. Lasso, S. Vikal, P. Guion, A. Krieger, A. Kaushal, L. L. Whitcomb, and G. Fichtinger, "MRI-Guided Robotic Prostate Biopsy: A Clinical Accuracy Validation", Medical Image Computing and Computer-Assisted Intervention (MICCAI 2010), Beijing, China, Springer, pp. 383-391, 2010.
  28. Xu, H., A. Lassó, S. Vikal, P. Guion, A. Krieger, A. Kaushal, L. Whitcomb, and G. Fichtinger, "Clinical Accuracy of Robot-Assisted Prostate Biopsy in Closed MRI Scanner", The Hamlyn Symposium on Medical Robotics, The Royal Society, London, UK, 25 May 2010, 2010.
  29. Xu, H., A. Lasso, S. Vikal, P. Guion, A. Krieger, A. Kaushal, L. L. Whitcomb, and G. Fichtinger, "Accuracy validation for MRI-guided robotic prostate biopsy", Medical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling, San Diego, California, USA, SPIE, pp. 762517 - 762517-8, 2010.
  30. Axel Krieger, Sang-Eun Song, Nathan B. Cho, Iulian Iordachita, Gabor Fichtinger, Louis L. Whitcomb Development and Preliminary Evaluation of a MRI-guided Transrectal Prostate Intervention. International Society of Magnetic Resonance Imaging in Medicine Eighteenth Scientific Meeting (2010).
  31. Axel Krieger, Iulian Iordachita, Sang-Eun Song, Nathan B. Cho, Peter Guion, Gabor Fichtinger, Louis L. Whitcomb. Development and Preliminary Evaluation of an Actuated MRI-Compatible Robotic Device for MRI-Guided Prostate Intervention. Proceedings of the 2010 IEEE International Conference on Robotics and Automation. IEEE (2010).
  32. Louis L. Whitcomb, Michael V. Jakuba, James C. Kinsey, Stephen C. Martin, Sarah E. Webster, Jonathan C. Howland, Chris L. Taylor, Daniel Gomez-Ibanez, Dana R. Yoerger. Navigation and Control of the Nereus Hybrid Underwater Vehicle for Global Ocean Science to 10,903 m Depth: Preliminary Results. Proceedings of the 2010 IEEE International Conference on Robotics and Automation. IEEE (2010).
  33. Sarah E. Webster, Ryan M. Eustice, Christopher Murphy, Hanumant Singh, and Louis L. Whitcomb. Toward a Platform-Independent Acoustic Communications and Navigation System for Underwater Vehicles. Proceedings of IEEE/MTS Oceans 2008, Biloxi MS, October 26-29, 2009.
  34. Andrew D. Bowen, Dana R. Yoerger, Chris Taylor, Robert McCabe, Jonathan Howland, Daniel Gomez-Ibanez, James C. Kinsey, Matthew Heintz, Glenn McDonald, Donald B. Peters, John Bailey, Eleanor Bohrs, Tomothy Shank, Louis L. Whitcomb, Stephen C. Martin, Sarah E. Webster, Michael V. Jakuba, Barbara Fletcher, Chris Young, James Buescher, Patricia Fryer, and Samuel Hulme. Field trials of the Nereus hybrid underwater robotic vehicle in the Challenger Deep of the Mariana Trench. Proceedings of IEEE/MTS Oceans 2008, Biloxi MS, October 26-29, 2009.
  35. Sandipa Singh, Sarah E. Webster, Lee Freitag, Louis L. Whitcomb, Keenan Ball, John Bailey, Chris Taylor. Acoustic communication performance in sea trials of the Nereus vehicle to 11,000 m depth. Proceedings of IEEE/MTS Oceans 2008, Biloxi MS, October 26-29, 2009.
  36. Sarah E. Webster, Ryan M. Eustice, Hanumant Singh, and Louis L. Whitcomb. Preliminary deep water results in single-beacon one-way-travel-time acoustic navigation for underwater vehicles. In Proceedings IEEE/RSJ International Conf. on Intelligent Robots and Systems, St. Louis, MO, Oct 2009.
  37. Tomonori Yamamoto*, Balazs Vagvolgyi, Kamini Balaji, Louis L. Whitcomb, and Allison M. Okamura. Tissue Property Estimation and Graphical Display for Teleoperated Robot-Assisted Surgery. Proceedings of the 2009 IEEE International Conference on Robotics and Automation. IEEE (2009).
  38. Axel Krieger*, Peter Guion, Csaba Csoma, Iulian Iordachita, Anurag K. Singh, Aradhana Kaushal, Cynthia Menard, Gabor Fichtinger, and Louis L. Whitcomb. Design and Preliminary Clinical Studies of an MRI-Guided Transrectal Prostate Intervention System. International Society of Magnetic Resonance Imaging in Medicine Fourteenth Scientific Meeting (2009).
  39. Michael V. Jakuba*, Louis L. Whitcomb, Dana R. Yoerger, and Andrew D. Bowen. Toward Under-Ice Operations with Hybrid Underwater Robotic Vehicles. In Proceedings of the 2008 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV08), October 14, 2008.
  40. Axel Krieger*, Peter Guion, Csaba Csoma, Iulian I. Iordachita, Anurag K. Singh, Aradhana Kaushal, Louis L. Whitcomb, Cynthia Ménard, and Gabor Fichtinger. MRI-Guided Robotic Prostate Intervention. Proceedings of the 7th ImNO Imaging Symposium, Toronto, September 30, 2008.
  41. Stephen C. Martin and Louis L. Whitcomb. Preliminary Results in Experimental Identification of 3-DOF Coupled Dynamical Plant for Underwater Vehicles. In Proceedings of IEEE/MTS Oceans 2008, Quebec, September 16, 2008.
  42. Barbara Fletcher, Chris Young, James Buescher, Louis L. Whitcomb, Andrew Bowen, Robert McCabe, Dana R. Yoerger. Proof of Concept Demonstration of the Hybrid Remotely Operated Vehicle (HROV) Light Fiber Tether System. In Proceedings of IEEE/MTS Oceans 2008, Quebec, September 17, 2008.
  43. Andrew D. Bowen, Dana R. Yoerger, Chris Taylor, Robert McCabe, Jonathan Howland, Daniel Gomez-Ibanez, James C. Kinsey, Matthew Heintz, Glenn McDonald, Donald B. Peters, Barbara Fletcher, Chris Young, James Buescher, Louis L. Whitcomb, Stephen C. Martin, Sarah E. Webster, Michael V. Jakuba. The Nereus Hybrid Underwater Robotic Vehicle for Global Ocean Science Operations to 11,000m Depth. In Proceedings of IEEE/MTS Oceans 2008, Quebec, September 17, 2008.
  44. Axel Krieger*, Peter Guion, Csaba Csoma, Iulian Iordachita, Anurag K. Singh, Aradhana Kaushal, Gabor Fichtinger, Louis L. Whitcomb. Design and Preliminary Clinical Studies of an MRI-Guided Transrectal Prostate Intervention System, Seventh Interventional MRI Symposium, Baltimore, Maryland, September, September 12, 2008.
  45. G. S. Fischer*, A. Krieger*, I. I. Iordachita, C. Csoma, L. L. Whitcomb, and G. Fichtinger. MRI compatibility of robot actuation techniques – a comparative study. In Proceedings of the International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI 2008), 2(2): 509, September 9, 2008.
  46. Louis L. Whitcomb, Michael V. Jakuba*, James C. Kinsey*, Stephen C. Martin*, Sarah E. Webster*, Jonathan C. Howland, Chris L. Taylor, Daniel Gomez-Ibanez, and Dana R. Yoerger. Navigation and Control of the Nereus Hybrid Underwater Vehicle for Global Ocean Science to 11,000m Depth: Preliminary Results. In Proceedings of the Fourteenth Yale Workshop on Adaptive and Learning Systems, Yale University, June 4, 2008
  47. Mark A. Grosenbaugh, Brian Bingham*, Louis L. Whitcomb, and Jason I. Gobat. Numerical Simulation of the Deployment of a Hybrid ROV Optical Fiber Tether. Proceedings of the 26th International Conference on Offshore Mechanics and Arctic Engineering: OMAE2007. San Diego, June 12, 2007.
  48. M.V. Jakuba*, D.R. Yoerger, L.L. Whitcomb. Longitudinal Control Design and Performance Evaluation for the Nereus 11,000 m Underwater Vehicle. In Proceedings of IEEE/MTS Oceans 2007, Vancouver, pp.1-10, Sept. 30, 2007
  49. Axel Krieger*, Csaba Csoma, Iulian I. Iordachita, Peter Guion, Anurag K. Singh, Gabor Fichtinger, Louis L. Whitcomb. Design and Preliminary Accuracy Studies of an MRI-Guided Transrectal Prostate Intervention System. Brisbane, In Proceedings of the International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Part II, LNCS 4792, pp. 59–67, 2007.
  50. A. Krieger*, C. Csoma, P. Guion, I. I. Iordachita, G. J. Metzger, D. A. Krieger, C. Csoma, P. Guion, I. I. Iordachita, G. J. Metzger, D., Qian, A. Singh, L. L. Whitcomb, and G. Fichtinger. Phantom Experiments with a Novel MR-Guided Transrectal Prostate Interventional System. International Society of Magnetic Resonance Imaging in Medicine Fourteenth Scientific Meeting (2007):111
  51. Luca Pivano, Louis L. Whitcomb, Tor Arne. Johansen and Tor Inge. fossen, Preliminary Simulation Studies of a New Four-Quadrant Propeller Thrust Controller Applied to Underwater Vehicles. In Proceedings of the IFAC Conference on Control Applications in Marine Systems (CAMS’2007), 19-21 September 2007, Bol, Croatia.
  52. Ryan M. Eustice, Louis L. Whitcomb, Hanumant Singh, and Matthew Grund. Experimental Results in Synchronous Clock One-way-travel-time Acoustic Navigation for Autonomous Underwater Vehicles. In Proceedings of the 2007 IEEE International Conference on Robotics and Automation, Rome, 2007.
  53. James C. Kinsey and Louis L. Whitcomb. Model-Based Nonlinear Observers for Underwater Vehicle Navigation: Theory and Preliminary Experiments. In Proceedings of the 2007 IEEE International Conference on Robotics and Automation, Rome, 2007.
  54. James C Kinsey, Ryan M. Eustice, and Louis L. Whitcomb, Underwater Vehicle Navigation: Recent Advances and New Challenges. In Proceedings of the IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, Sept. 2006.
  55. Ryan M. Eustice, Louis L. Whitcomb, Hanumant Singh, and Matthew Grund. Recent Advances in Synchronous-Clock One-Way-Travel-Time Acoustic Navigation. In Proceedings of IEEE/MTS Oceans'2006, Boston, September 2006.
  56. Stephen C. Martin, Louis L. Whitcomb, Dana Yoerger, and Hanumant Singh. Mission Controller for High Level Control of Autonomous and Semi-Autonomous Vehicle Operation. In Proceedings of IEEE/MTS Oceans'2006, Boston, September 2006.
  57. C. Young, B. Fletcher, J. Buescher, L.L. Whitcomb, D. Yoerger, A. Bowen, R. Mccabe, M. Heintz, R. Fuhrmann, C. Taylor, and, R. Elder. Field Tests of the Hybrid Remotely Operated Vehicle (HROV) Light Fiber Optic Tether. In Proceedings of IEEE/MTS Oceans'2006, Boston, September 2006.
  58. A. Krieger, G. Fichtinger, G. Metzger, E. Atalar, and L. L. Whitcomb. A Hybrid Method for 6-DOF Tracking of MRI-Compatible Robotic Interventional Devices. Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida, Pages 3844 - 3849, May 15-19, 2006.
  59. James C. Kinsey and Louis L. Whitcomb. Adaptive Identification on the Group of Rigid Body Rotations. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Pages 3256-3261. April, 2005.
  60. Stephen C. Martin, Louis L. Whitcomb Roland Arsenault, Matthew Plumlee, and Colin Ware, A System for Real-Time Spatio-Temporal 3-D Data Visualization for Underwater Robotic Exploration. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Pages 1616 – 1623, Barcelona, April, 2005.
  61. Barbara Fletcher, Chris Young, Louis L. Whitcomb, Andy Bowen, Dana Yoerger, Mark Grosenbaugh, and Brian Bingham. The Hybrid Remotely Operated Vehicle (HROV): New Challenges and Opportunities. In Proceedings of Underwater Intervention 2005, New Orleans, February 2005.
  62. Roland Arsenault, Colin Ware, Matt Plumlee , David Wiley, Steve Martin, Louis Whitcomb, Tom Gross, and Ata Bilgili. A System for Visualizing Time Varying Oceanographic 3D Data. In Proceedings of IEEE/MTS Oceans'2004, Kobe, Pages 743-747, November 2004.
  63. Axel Krieger, Robert C. Susil, Gabor Fichtinger, Ergin Atalar, and Louis L. Whitcomb. Design of A Novel MRI Compatible Manipulator for Image Guided Prostate Interventions In Proceedings of the 2004 IEEE International Conference on Robotics and Automation, Pages 377-382, New Orleans, May 2004.
  64. David A. Smallwood and Louis L. Whitcomb. Preliminary Identification of a Dynamical Plant Model for the Jason 2 Underwater Robotic Vehicle. In Proceedings of IEEE/MTS Oceans'2003. San Diego, CA. September 2003.
  65. James C. Kinsey, David A. Smallwood, and Louis L. Whitcomb. A New Hydrodynamics Test Facility for UUV Dynamics and Control Research. In Proceedings of IEEE/MTS Oceans'2003. San Diego, CA. September 2003.
  66. James C. Kinsey and Louis L. Whitcomb. Preliminary Experiments with a Calibration Technique for Gyro and Doppler Navigation Sensors for Precision Underwater Navigation. In Proceedings of the 12th International Symposium on Unmanned Untethered Submersible Technology, Durham, New Hampshire, USA, August 2003.
  67. Louis L. Whitcomb, Jonathan C. Howland, David A. Smallwood, Dana R. Yoerger, and Tim E. Thiel. A New Control System for the Next Generation of US and UK Deep Submergence Oceanographic ROVs. In Proceedings of the 1st IFAC Workshop on Guidance and Control of Underwater Vehicles, GCUV '03, Pages 137-142, April 9-11, 2003, Newport, South Wales, UK.
  68. James C. Kinsey and Louis L. Whitcomb. Preliminary Field Experience with the DVLNAV Integrated Navigation System for Manned and Unmanned Submersibles. In Proceedings of the 1st IFAC Workshop on Guidance and Control of Underwater Vehicles, GCUV '03, Pages 83-88, April 9-11, 2003, Newport, South Wales, UK. Awarded IMarEST Prize for Best Paper by an Author Under 30 to first author James C. Kinsey.
  69. Jaydeep Roy, Daniel Rothbaum, and Louis L. Whitcomb. Haptic Feedback Augmentation Through Position Based Adaptive Force Scaling: Theory and Experiment. In Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 2911-2919, Lausanne, October 2002.
  70. Gabor Fichtinger, Axel Krieger, Robert C. Susil, Atilla Tanacs, Louis L. Whitcomb, and Ergin Atalar. Transrectal Prostate Biopsy Inside Closed MRI Scanner with Remote Actuation, Under Real-Time Image Guidance. In Proceedings of the Fifth International Conference on Medical Image Computing and Computer-Assisted Intervention, Lecture Notes in Computer Science 2488, Part 1, Pages 91-98, Springer Verlag, 2002. ISBN: 3540442243.
  71. James C. Kinsey and Louis L. Whitcomb. Towards In-Situ Calibration of Gyro and Doppler Navigation Sensors for Precision Underwater Vehicle Navigation. In Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Pages 4016-4023, Arlington, VA, May 2002.
  72. David A. Smallwood and Louis L. Whitcomb. The Effect of Model Accuracy and Thruster Saturation on Tracking Performance of Model Based Controllers for Underwater Robotic Vehicles: Experimental Results. In Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Pages 1081-1087, Arlington, VA, May 2002.
  73. David A. Smallwood and Louis L. Whitcomb. Preliminary Experiments in the Adaptive Identification of Dynamically Positioned Underwater Robotic Vehicles. In Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 1803-1810, Hawaii, October 2001.
  74. Jaydeep Roy and Louis L. Whitcomb. Adaptive Force Control of Position/Velocity Controlled Robots: Theory and Experiment. In Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 2051-2059, Hawaii, October 2001.
  75. Ralf Bachmayer and Louis L. Whitcomb. A Nonlinear Model Based Thrust Controller for Marine Thrusters. In Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 1817-1823, Hawaii, October 2001.
  76. David A. Smallwood and Louis L. Whitcomb. Toward Model Based Dynamic Positioning of Underwater Robotic Vehicles. In Proceedings of IEEE/MTS Oceans'2000, Pages 1106-1114, Hawaii, November 2001.
  77. Jaydeep Roy, Daniel L. Rothbaum M.D., Peter J. Berkelman, Sam Lang, Louis L. Whitcomb, Greg Hager, Patrick S. Jensen, Eugene de Juan, Russell H. Taylor, and John K. Niparko. Performance Evaluation of a Cooperative Manipulation Microsurgical Assistant Robot Applied to Stapedotomy. In Wiro J. Niessen, Max A. Viergever (Eds.): Lecture Notes in Computer Science 2208: Medical Image Computing and Computer-Assisted Intervention - MICCAI 2001, 4th International Conference, Utrecht, The Netherlands, October 14-17, 2001. Pages 1426-1428, Springer Verlag 2001. ISBN: 3540426973.
  78. David A. Smallwood and Louis L. Whitcomb. Toward Model Based Trajectory Tracking of Underwater Robotic Vehicles: Theory and Simulation. In Proceedings of the 12th International Symposium on Unmanned Untethered Submersible Technology, Durham, New Hampshire, USA, August 2001.
  79. Louis L. Whitcomb, Dana R. Yoerger, Hanumant Singh, and Jonathan Howland. Advances in Underwater Robot Vehicles for Deep Ocean Exploration: Navigation, Control, and Survey Operations. In Robotics Research - The Ninth International Symposium, Springer Verlag, Pages 439-448, London, 2000. ISBN: 1852332921.
  80. Louis L. Whitcomb. Underwater Robotics: Out of the Research Laboratory and Into the Field. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 709-716, April 2000.
  81. Jaydeep Roy, Randal Goldberg, and Louis L. Whitcomb. Structural Design and Analysis of a New Semi-Direct Drive Robot Arm: Theory and Experiment. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 1517-1524, April 2000. Finalist for Best Student Paper Award.
  82. Rajesh Kumar, Peter Berkelmen, Puneet Gupta, Aaron Barnes, Patrick Jensen, Louis L. Whitcomb, and Russell H. Taylor. Preliminary Experiments in Cooperative Human/Robot Force Control for Robot Assisted Microsurgical Manipulation. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 610-617, April 2000.
  83. Hanumant Singh, Oscar Pizarro, Louis L. Whitcomb, and Dana Yoerger. In-Situ Attitude Calibration for High Resolution Bathymetric Surveys with Underwater Robotic Vehicles. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 1767-1774, April 2000.
  84. David Smallwood, Ralf Bachmayer, and Louis Whitcomb. A New Remotely Operated Vehicle for Dynamics and Control Research. In Proceedings of the 11th International Symposium on Unmanned Untethered Submersible Technology, pages 370-377, Durham, New Hampshire, USA, August 1999. Best Student Paper Award.
  85. Ralf Bachmayer and Louis L. Whitcomb. Toward Dynamic Thrust Control of Marine Thrusters. In Proceedings of the 11th International Symposium on Unmanned Untethered Submersible Technology, 407-414, Durham, New Hampshire, USA, pages 407-414, August 1999.
  86. Louis Whitcomb, Dana R. Yoerger, and Hanumant Singh. Combined Doppler/LBL Based Navigation of Underwater Vehicles. In Proceedings of the 11th International Symposium on Unmanned Untethered Submersible Technology, Durham, New Hampshire, USA, August 1999.
  87. Grey Lerner, Dan Stoianovici, Louis L. Whitcomb, Louis R. Kavoussi. A Passive Positioning and Supporting Device for Surgical Robots and Instrumentation. In Lecture Notes in Computer Science 1679: Medical Image Computing and Computer-Assisted Intervention – MICCAI 99: the Second International Conference, pages 1052-1061, September 1999. Springer Verlag, Cambridge, England. ISBN: 354066503X.
  88. Russell Taylor, Aaron Barnes, Rajesh Kumar, Puneet Gupta, Pat Jensen, Louis L. Whitcomb, Eugene deJuan, Dan Stoianovici, Louis Kavoussi. A Steady-Hand Robotic System for Microsurgical Augmentation. In Lecture Notes in Computer Science 1679: Medical Image Computing and Computer-Assisted Intervention – MICCAI 99: The Second International Conference, pages 1031-1041, September 1999. Springer Verlag, Cambridge, England. ISBN: 354066503X.
  89. Rajesh Kumar, Tushar Goradia, Aaron Barnes, Patrick Jensen, Louis L. Whitcomb, Dan Stoianovici, Ludwig Auer, and Russell Taylor. Performance of Robotic Augmentation in Microsurgery-Scale Motions. In Lecture Notes in Computer Science 1679: Medical Image Computing and Computer-Assisted Intervention – MICCAI 99: the Second International Conference, pages 1108-1115, September 1999. Springer Verlag, Cambridge, England. ISBN: 354066503X.
  90. Louis L. Whitcomb, Dana R. Yoerger, and Hanumant Singh. Advances in Doppler-Based Navigation of Underwater Robotic Vehicles. In Proceedings of the IEEE International Conference on Robotics and Automation, volume 1, pages 399-406, May 1999.
  91. Ralf Bachmayer, Louis L. Whitcomb, and Mark Grosenbaugh. A Four-Quadrant Finite-Dimensional Thruster Model. In Proceedings of IEEE Oceans'98, volume 2, pages 660-666, September 1998.
  92. Hanumant Singh, Jonathan Howland, Dana Yoerger, and Louis L. Whitcomb. Quantitative Photomosaicing of Underwater Imaging. In Proceedings of IEEE Oceans'98, volume 1, pages 263-266, September 1998.
  93. Dan Stoianovici, Louis L. Whitcomb, James H. Anderson, Russell H. Taylor, and Louis R. Kavoussi. A Modular Surgical System for Image Guided Percutaneous Procedures. In W. M. Wells, A. Colchester, and S. Delp, editors, Lecture Notes in Computer Science 1496: Medical Imaging and Computer-Assisted Intervention - MICCAI'98, volume 1496, pages 404-410. Springer Verlag, Berlin, Germany, October 1998.
  94. Louis L. Whitcomb, Dana R. Yoerger, Hanumant Singh, and David A Mindell. Towards Precision Robotic Maneuvering, Survey, and Manipulation in Unstructured Undersea Environments. In Y. Shirai and S. Hirose, editors, Robotics Research - The Eighth International Symposium, chapter 2, pages 45-54. Springer Verlag, London, 1998, ISBN: 3540762442. Invited paper.
  95. Jaydeep Roy and Louis L. Whitcomb. Structural Design Optimization and Comparative Analysis of a New High-Performance Robot Arm via Finite Element Analysis. In Proceedings of the IEEE International Conference on Robotics and Automation, volume 3, pages 2190-2197, April 1997.
  96. Dan Stoianovici Jefferey A. Cadeddu, Roger D. Demaree, Stephen A. Basile, Russell H. Taylor, Louis L. Whitcomb, William N. Sharpe, and Louis R. Kavoussi. A Novel Mechanical Transmission for Percutaneous Procedures. In Proceedings of the ASME Dynamic Systems and Control Division, 1997 ASME International Mechanical Engineering Congress and Exposition, volume DSC-61, pages 401-406, 1997.
  97. Dan Stoianovici, Jefferey A. Cadeddu, Roger D. Demaree, Stephen A. Basile, Russell H. Taylor, Louis L. Whitcomb, William N. Sharpe, and Louis R. Kavoussi. An Efficient Needle Injection Technique and Radiological Guidance Method for Percutaneous Procedures. In J. Troccaz, E. Grimson, and R. Mosges, editors, Lecture Notes in Computer Science 1205: CVRMed-MRCAS'97: Proceedings of the First Joint Conference of Computer Vision, Virtual Reality, and Robotics II (CVRMed II) and Medical Robotics and Computer Assisted Surgery III (MRCAS III), pages 295-298. Springer Verlag, Berlin, Germany, March 1997. ISBN: 3540627340.
  98. Ralf Bachmayer, Louis L. Whitcomb, Masahiko Nakamura, and Mark Grosenbaugh. Unsteady Three-Axis Force, Torque and Flow Dynamical Modeling and Experiments with Marine Thrusters. In Proceedings of the 10th International Symposium on Unmanned Untethered Submersible Technology, Durham, New Hampshire, USA, September 1997.
  99. Louis L. Whitcomb and Dana R. Yoerger. Preliminary Experiments in the Model-Based Dynamic Control of Marine Thrusters. In Proceedings of the IEEE International Conference on Robotics and Automation, volume 3, pages 2160-2165, April 1996. Invited paper.
  100. Louis L. Whitcomb, Suguru Arimoto, Tomohide Naniwa, and Fumio Ozaki. Experiments in Adaptive Model-Based Robot Force Control. In Proceedings of the IEEE International Conference on Robotics and Automation, volume 2, pages 1846-1853, May 1995.
  101. Louis L. Whitcomb and Dana R. Yoerger. Comparative Experiments in the Dynamics And Model-Based Control of Marine Thrusters. In Proceedings of IEEE/MTS OCEANS'95, volume 2, pages 1019-1028, October 1995.
  102. Tomohide Naniwa, Suguru Arimoto, and Louis L. Whitcomb. Learning Control for Robot Tasks Under Geometric Constraints. In Proceedings of the IEEE International Conference on Robotics and Automation, volume 4, pages 2921-2927, San Diego, CA, USA, May 1994.
  103. Louis L. Whitcomb, Suguru Arimoto, Tomohide Naniwa, and Fumio Ozaki. An Experimental Environment for Adaptive Robot Force Control. In T. Yoshikawa and F. Miyazaki, editors, Lecture Notes in Control and Information Sciences 200: Experimental Robotics III, volume 200, pages 152-166. Springer Verlag, 1994. ISBN: 3540199055.
  104. Louis L. Whitcomb and Dana R. Yoerger. A New Distributed Real-Time Control System for the Jason Underwater Robot. In Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems, volume 1, pages 368-374, Yokohama, Japan, July 1993. IEEE.
  105. David A. Mindell, Dana R. Yoerger, Lee E. Freitag, Louis L. Whitcomb, and Robert L. Eastwood. JasonTalk: A Standard ROV Vehicle Control System. In Proceedings of IEEE/MTS OCEANS'93, volume 3, pages 253-258, Victoria, BC, Canada, October 1993. IEEE.
  106. Louis L. Whitcomb and Daniel E. Koditschek. Toward the Automatic Control of Robot Assembly Tasks via Potential Functions: The Case Of 2-D Sphere Assemblies. In Proceedings of the IEEE International Conference on Robotics and Automation, volume 3, pages 2186-2191, Nice, France, 1992. IEEE.
  107. Louis L. Whitcomb and Daniel E. Koditschek. Automatic Assembly Planning and Control via Potential Functions. In Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems, volume 1, pages 17-23, Osaka, Japan, November 1991. IEEE.
  108. Louis L. Whitcomb, Alfred Rizzi, and Daniel E. Koditschek. Comparative Experiments with a New Adaptive Controller for Robot Arms. In Proceedings of the IEEE International Conference on Robotics and Automation, volume 1, pages 2-7, Sacramento, CA, April 1991. IEEE.
  109. Louis L. Whitcomb and Daniel E. Koditschek. Robot Control in a Message Passing Environment: Theoretical Questions and Preliminary Experiments. In Proceedings of the IEEE International Conference on Robotics and Automation, volume 2, pages 1198-1203, Cincinnati, Ohio, May 1990.

Other Conference Publications

  1. Andrew Bowen, Louis L. Whitcomb, and Dana R. Yoerger. Hybrid Robotic Vehicle for Operations at 11,000 Meters: Project Progress to Date. In EOS: Transactions of the American Geophysical Union Fall Meeting Supplement, 85(47) Abstract B13A-016, San Francisco, December 2004.
  2. Vicki Ferrini, D. Fornari, T. Shank, M. Tivey, D. S. Kelley, D. Glickson, S. M. Carbotte, J. Howland, L. L. Whitcomb, and D. Yoerger. Very High Resolution Bathymetric Mapping at the Ridge 2000 Integrated Study Sites: Acquisition and Processing Protocols Developed During Recent Alvin Field Programs to the East Pacific Rise and Juan de Fuca Ridge. In EOS: Transactions of the American Geophysical Union Fall Meeting Supplement, 85(47) Abstract B13A-016, San Francisco, December 2004.
  3. Jonathan A Coleman, Robert C Susil, Axel Krieger, Peter L Choyke, Betty Wise, David Thomasson, Ahmed Gharib, Louis L Whitcomb, Gabor Fitchtinger, W Marston Linehan, C. Norman Coleman, Kevin Camphausen, Ergin Atalar, Cynthia Ménard. MRI Guided Prostate Biopsy With Biological Image Acquisition and Targeting in a standard 1.5T Scanner. American Urological Association, Annual Meeting, San Francisco, 2004
  4. Axel Krieger A, Robert C. Susil, Cynthia Menard, J. A. Coleman, Gabor Fichtinger, Louis L. Whitcomb, ergin Atalar. A Novel MRI Compatible Manipulator for Prostate Interventions. International Society of Magnetic Resonance Imaging in Medicine, Twelfth Scientific Meeting, Kyoto, 2004
  5. Louis L. Whitcomb, James C. Kinsey, Dana R. Yoerger, Chris L. Taylor, Andrew D. Bowen, Barrie B. Walden, and Daniel J. Fornari. Navigation Upgrades to the National Deep Submergence Facility Vehicles D.S.V. Alvin, Jason 2, and the DSL-120A. In EOS Transactions of the American Geophysical Union 2003 Fall Meeting Supplement, 84(46) Abstract OS32A-0225, San Francisco, December 2003.
  6. Y. Rzhanov, L. Mayer, D. Fornari, T. Shank, S. Humphris, D. Scheirer, J. Kinsey, and L. L. Whitcomb. High-Resolution Photo-Mosaicing of the Rosebud Hydrothermal Vent Site and Surrounding Lava Flows, Galapagos Rift 86W - Techniques and Interpretations. In EOS Transactions of the American Geophysical Union 2003 Fall Meeting Supplement, 84(46) Abstract OS32A-0231, San Francisco, December 2003.
  7. Andrew D. Bowen, Dana R. Yoerger, and Louis L. Whitcomb. Hybrid ROV (HROV) For 11,000 Meter Operations. In EOS Transactions of the American Geophysical Union 2003 Fall Meeting, 84(46) Abstract OS32A-0228, San Francisco, December 2003.
  8. Robert Elder, Andrew D. Bowen, Matthew Heintz, Matthew Naiman, Christopher Taylor, William Sellers, Jonathan C. Howland, and Louis L. Whitcomb. Jason 2: A Review of Capabilities. In EOS Transactions of the American Geophysical Union 2003 Fall Meeting Supplement, 84(46) Abstract OS32A-0226, San Francisco, December 2003.
  9. Jaydeep Roy, Daniel L. Rothbaum, and Louis L. Whitcomb. Adaptive Force Control for Haptic Feedback. In Proceedings of the Twelfth Yale Workshop on Adaptive and Learning Systems, Pages 220-233, May 2003.
  10. Ralf Bachmayer, Louis L. Whitcomb, and Mark Grosenbaugh. Advances in Dynamical Modeling of Marine Thrusters. In J. S. Chung, editor, ISOPE-99: Proceedings of the 9th International Offshore and Polar Engineering Conference, volume 1, pages 399-406, Brest, France, 1999.
  11. Masahiko Nakamura, Ralf Bachmayer, Louis L. Whitcomb, and Mark Grosenbaugh. H-Infinity Control of Thruster for AUV. In J. S. Chung, editor, ISOPE-98: Proceedings of the 8th International Offshore and Polar Engineering Conference, pages 255-262, Montreal, Canada, 1998.
  12. Louis L. Whitcomb and Dana R. Yoerger. Towards Improved Control of Thruster Dynamics in ROV Station- Keeping. In J. S. Chung, editor, Proceedings of the 6th International Offshore and Polar Engineering Conference, pages 265-272, May 1996. Invited paper.
  13. Louis L. Whitcomb and Dana R. Yoerger. Nonlinear Dynamical Modeling and Control Problems in the Actuation of Maine Vehicles. 1996 Conference on Information Science and Systems, volume 2, pages 753-758, March 1996.
  14. Suguru Arimoto, Tomohide Naniwa, Vicente Parra-Vega, and Louis L. Whitcomb. A Natural PD Control for Robot Manipulators and its Role in Adaptive and Learning Controls. In Proceedings of the International Symposium of Robotics and Manufacturing, pages 397-404, August 1994.
  15. Louis L. Whitcomb, Suguru Arimoto, Tomohide Naniwa, and Fumio Ozaki. High Performance Adaptive Model-Based Force Control of Robot Arms: Theory and Practice. Proceedings of the Eighth Yale Workshop on Adaptive and Learning Systems, pages 72-78, June 1994.
  16. Louis L. Whitcomb, Suguru Arimoto, Tomohide Naniwa, and Fumio Ozaki. An Experimental Environment for Adaptive Robot Force Control. In Proceedings of the Robotics Society of Japan Third Robot Symposium, Osaka, Japan, June 1993. (In English).
  17. Tomohide Naniwa, Suguru Arimoto, Louis L. Whitcomb, Y. H. Liu, and J. Fujiki. Model-Based Adaptive Control for Geometrically Constrained Manipulators. In Proceedings of the Robotics Society of Japan Third Robot Symposium, pages 339-344, Osaka, Japan, June 1993. (In Japanese).
  18. Louis L. Whitcomb, Suguru Arimoto, Tomohide Naniwa, and Fumio Ozaki. Preliminary Experiments with a New Adaptive Model Based Robot Control System. In Proceedings of 1993 IEEE/Nagoya University WWW Workshop on Learning and Adaptive Systems, Nagoya, Japan, October 1993.
  19. Louis L. Whitcomb and D. E. Koditschek. Transputers at Work: Real-Time Distributed Robot Control. In Proceedings of the North American Transputer Users Group, New York, USA, October 1990.
  20. M. Buhler, L. Whitcomb, F. Levin, and D. E. Koditschek. A New Distributed Real-Time Controller for Robotics Applications. In Proceedings of the 34th IEEE Computer Society International Conference -- COMPCON, pages 63-68, San Francisco, CA, USA, February 1989.
  21. F. Levin, M. Buhler, L. Whitcomb, and D. E. Koditschek. Transputer Computer Juggles Real-Time Robotics. In Electronic Systems Design, 19(2):77-82, February 1989.
  22. Louis L. Whitcomb, M. Buhler, and D. E. Koditschek. Preliminary Experiments in Real-Time Distributed Motion Control. In Proceedings of the North American Transputer Users Group, New York, USA, October, 1988.

Technical Reports

  1. Louis L. Whitcomb and James C. Kinsey. DVLNAV Installation and Configuration Manual. Johns Hopkins University. April 12, 2003.
  2. Martin F. Bowen, P.J. Bernard, Denzel E. Gleason, Louis L. Whitcomb (JHU). Elevators – Autonomous Transporters for Deep Sea Benthic Sample Recovery. Technical Report, Woods Hole Oceanographic Institution, January 4, 2000.
  3. Randy Goldberg and Louis L. Whitcomb. Vibration Analysis for SSN21/LSV II Propulsor Shaft Dynamometer. Technical Report, Dynamical Systems and Control Laboratory, Johns Hopkins University, August 30, 1998.
  4. Louis L. Whitcomb and Richard Nigon. Preliminary Design Study for Scale Model Submarine Dynamometry. Technical Report, Dynamical Systems and Control Laboratory, Johns Hopkins University, March 31, 1998.
  5. Masahiko Nakamura, Ralf Bachmayer, Louis L. Whitcomb, and Mark Grosenbaugh. Control of Marine Thrusters. In Transactions of the West-Japan Society of Naval Architects, 96:93-109, August 1998 (In Japanese).
  6. A. Grey Lerner and Louis L. Whitcomb. Acoustic Micro-Bathymetry Data Processing and Rendering Software: Release Notes for Version 2. Technical Report, Dynamical Systems and Control Laboratory, Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, September 1997.
  7. Louis L. Whitcomb, Cila Herman, Omar Knio, K.T. Ramesh, Bill Sharpe, Curt Ewing, and John Woomer. Department of Mechanical Engineering Undergraduate Teaching Facilities Plan: Into the New Millennium. Curriculum Review Study, Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, September 1997.
  8. Louis L. Whitcomb and Tom Crook. Deep TAG 94 ARGO II and DSL 120 Navigation: Deployment, Calibration, and Operation. Technical report, Deep Submergence Laboratory, Woods Hole Oceanographic Institution, July 1994.
  9. Louis L. Whitcomb and D. E. Koditschek and Joao B. D. Cabrera. Toward the Automatic Control of Robot Assembly Tasks via Potential Functions: The Case of 2-D sphere assemblies. Technical Report 9201, Department of Electrical Engineering, Yale University, New Haven, CT, USA, March 1992.
  10. Louis L. Whitcomb. Advances in Architectures and Algorithms for High Performance Robot Control. Ph.D. thesis, Yale University, 1992.
  11. F. Levin, M. Buhler, L. Whitcomb, and D. E. Koditschek. Transputer Computer Juggles Real-Time Robotics. In Electronic Systems Design, 19(2):77-82, February 1989.
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