Robotics, sensors, & devices publications
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Far-Field Evanescent Wave Propagation Using Coupled Subwavelength Gratings for a MEMS Sensor
A technique was developed to couple near-field evanescent waves into observable diffraction orders in the far-field region.
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In Situ Optical Absorption Mercury Continuous Emission Monitor
This paper reports the development of an in situ continuous emission monitor (CEM) for measuring elemental mercury (Hg0) concentration in the exhaust stream of coal-fired power plants.
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MEMS Electric-Field Probes for Laboratory Plasmas
This paper presents microfabricated sensors for directly measuring fine-scale plasma parameters in typical laboratory plasmas.
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Monocular Structure from Motion for Near to Long Ranges
This paper describes a sensing system for estimating range and detecting the shape of objects from a few meters to a few kilometers away.
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A Micropower Electrocardiogram Amplifier
We introduce an electrocardiogram (EKG) preamplifier with a power consumption of 2.8 muW, 8.1 muV rms input-referred noise, and a common-mode rejection ratio of 90 dB.
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Ultra-Low-Power Electronics for Non-Invasive Medical Monitoring
We focus on the monitoring of the heart and describe a micropower electrocardiograph, an ultra-low-power pulse oximeter, an ultra-low-power phonocardiograph, an integrated-circuit switched-capacitor model of the heart, and a low-power…
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Leaving Flatland: Effcient Real-Time Three-Dimensional Perception and Motion Planning
In this article we present the complete details of the architecture and implementation of Leaving Flatland, an exploratory project that attempts to surmount the challenges of closing the loop between…
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Real-Time Vehicle Detection for Highway Driving
We present a new multi-stage algorithm for car and truck detection from a moving vehicle. The algorithm performs a search for pertinent features in three dimensions, guided by a ground…
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Usability of Robotic Platforms for Remote Surgical Teleproctoring
Three proctoring platforms for remote surgery were evaluated to determine which would be most appropriate. The systems were a 6-degree-of-freedom (DOF) device, a computer mouse controlling a pan-tilt-zoom (PTZ) camera,…
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Pedestrian Association and Localization in Monocular FIR Video Sequence
This paper addresses the frame-to-frame data association and state estimation problems in localization of a pedestrian relative to a moving vehicle from a monocular far infra-red video sequence.
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VideoTrek: A Vision System for a Tag-Alone Robot
We present a system that combines multiple visual navigation techniques to achieve GPS-denied, non-line-of-sight SLAM capability for heterogeneous platforms.
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Pedestrian Localization by Appearance Matching and Multi-mode Filtering
This paper addresses the frame-to-frame data association and state estimation problems in localization of a pedestrian relative to a moving vehicle from a far infra-red video sequence.