Prof Kaspar Althoefer
PhDProfessor of Robotics Engineering
Head of Centre for Advanced Robotics (ARQ)
School of Engineering and Materials Science
Queen Mary University of London
+44 (0)20 7882 3419Queen Mary University of London
k.althoefer@qmul.ac.uk
www.sems.qmul.ac.uk/k.althoefer
Research
Tactile Perception, Soft Robotics, Sensors, Healthcare Robotics, Nuclear Engineering, Machine Learning
Publications
2022
Suulker C, Skach S and Althoefer K (2022). Soft Robotic Fabric Actuator With Elastic Bands for High Force and Bending Performance in Hand Exoskeletons. IEEE Robotics and Automation Letters vol. 7, (4) 10621-10627. 10.1109/LRA.2022.3194883Wang X, Wang Y, Zhang K, Althoefer K and Su L (2022). Learning to sense three-dimensional shape deformation of a single multimode fiber. Scientific Reports 10.1038/s41598-022-15781-8Hassan A, Aljaber F, Vitanov I and Althoefer K (2022). Performance Evaluation and Optimisation of Multi-point Waveguide based optical Sensor for Soft Robots. Conference: 2022 IEEE International Conference on Flexible and Printable Sensors and Systems (FLEPS) 10.1109/fleps53764.2022.9781539Kwok KW, Wurdemann H, Arezzo A, Menciassi A and Althoefer K (2022). Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook. Proceedings of the IEEE vol. 110, (7) 871-892. 10.1109/JPROC.2022.3167931Förster F and Althoefer K (2022). Attribution of autonomy and its role in robotic language acquisition. AI and Society vol. 37, (2) 605-617. 10.1007/s00146-020-01114-8Ataka A, Lam HK and Althoefer K (2022). Magnetic-Field-Inspired Navigation for Robots in Complex and Unknown Environments. Frontiers in Robotics and AI vol. 9, 10.3389/frobt.2022.834177Jia G, Lam HK and Althoefer K (2022). Variable weight algorithm for convolutional neural networks and its applications to classification of seizure phases and types. Pattern Recognition vol. 121, 10.1016/j.patcog.2021.108226Suulker C, Hassan A, Skach S and Althoefer K (2022). A Comparison of Silicone and Fabric Inflatable Actuators for Soft Hand Exoskeletons. 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022 735-740. 10.1109/RoboSoft54090.2022.9762074Liu C, Edwards O, Althoefer K, Zhang K and Godaba H (2022). An Electro-pneumatic Shape Morphing Rolling Robot with Variable Locomotion Modes. 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022 715-721. 10.1109/RoboSoft54090.2022.9762154Sun Y, Wu L, Wang H, Althoefer K and Qi P (2022). The Validation of Viscosity Induced Chord-wise Undulation on Soft Fin Ray Array Towards a Novel Robotic Manta Ray. 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022 673-680. 10.1109/RoboSoft54090.2022.9762113Aljaber F, Hassan A, Vitanov I and Althoefer K (2022). Curvature and Contact Sensing with Optical Waveguides for Soft Silicone Pneumatic Actuator. 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022 859-864. 10.1109/RoboSoft54090.2022.9762125Dawood AB, Denoun B and Althoefer K (2022). Real-Time Pressure Estimation and Localisation with Optical Tomography-inspired Soft Skin Sensors. 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022 831-836. 10.1109/RoboSoft54090.2022.9762066Matsuno T, Miyagoshi R, Shimizu K, Ishihara M, Watanabe S, Shintake J, Althoefer K and Hirai S (2022). Grasping State and Object Estimation of a Flat Shell Gripper by Strain and Proximity Measurement using a Single Capacitance-Based Sensor. 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022 903-910. 10.1109/RoboSoft54090.2022.9762078Omarali B, Palermo F, Althoefer K, Valle M and Farkhatdinov I (2022). Tactile Classification of Object Materials for Virtual Reality based Robot Teleoperation. Proceedings - IEEE International Conference on Robotics and Automation 9288-9294. 10.1109/ICRA46639.2022.98118252021
Vitanov I, Farkhatdinov I, Denoun B, Palermo F, Otaran A, Brown J, Omarali B, Abrar T, Hansard M, Oh C, Poslad S, Liu C, Godaba H, Zhang K, Jamone L and Althoefer K (2021). A Suite of Robotic Solutions for Nuclear Waste Decommissioning. Robotics vol. 10, (4) 112-112. 10.3390/robotics10040112Palermo F, Rincon-Ardila L, Oh C, Althoefer K, Poslad S, Venture G and Farkhatdinov I (2021). Multi-modal robotic visual-tactile localisation and detection of surface cracks. Conference: 2021 IEEE 17th International Conference on Automation Science and Engineering 10.1109/CASE49439.2021.9551553Din AR, Althoefer K, Farkhatdinov I, Brown J, Morgan C and Shahdad S (2021). Innovation in the time of SARS-CoV-2: A collaborative journey between NHS clinicians, engineers, academics and industry. Surgeon vol. 19, (5) e281-e288. 10.1016/j.surge.2020.12.008Wang K, Mak C, Ho JDL, Liu Z, Sze K, Wong KKY, Althoefer K, Liu Y, Fukuda T and Kwok K-W (2021). Large‐Scale Surface Shape Sensing with Learning‐Based Computational Mechanics. Advanced Intelligent Systems vol. 3, (11) 10.1002/aisy.202100089Slonina Z, Bonzini AA, Brown J, Wang S, Farkhatdinov I, Althoefer K, Jamone L and Versace E (2021). Using RoboChick to Identify the Behavioral Features Promoting Social Interactions. IEEE International Conference on Development and Learning, ICDL 2021 Conference: 2021 IEEE International Conference on Development and Learning (ICDL) 10.1109/ICDL49984.2021.9515641Dawood AB, Fras J, Aljaber F, Mintz Y, Arezzo A, Godaba H and Althoefer K (2021). Fusing dexterity and perception for soft robot-assisted minimally invasive surgery: What we learnt from stiff-flop. Applied Sciences (Switzerland) vol. 11, (14) 10.3390/app11146586Obadina OO, Thaha MA, Althoefer K and Shaheed MH (2021). Dynamic characterization of a master–slave robotic manipulator using a hybrid grey wolf–whale optimization algorithm. Journal of Vibration and Control 10775463211-10775463211. 10.1177/10775463211003402Marques L, Murphy R, Althoefer K, Tadokoro S and Laschi C (2021). Robotics Responds to the COVID-19 Outbreak [From the Guest Editors]. IEEE Robotics and Automation Magazine vol. 28, (1) 16-17. 10.1109/MRA.2020.3048866Ishihara M, Matsuno T, Althoefer K and Hirai S (2021). Stiffness Control of Variable Stiffness Link Using a Conductive Fabric Based Proximity Sensor. 2021 IEEE/SICE International Symposium on System Integration, SII 2021 87-92. 10.1109/IEEECONF49454.2021.9382706Abrar T, Putzu F, Ataka A, Godaba H and Althoefer K (2021). Highly Manoeuvrable Eversion Robot Based on Fusion of Function with Structure. Proceedings - IEEE International Conference on Robotics and Automation vol. 2021-May, 7130-7136. 10.1109/ICRA48506.2021.9561873Fras J, Arezzo A, Shiva A and Althoefer K (2021). Chapter 27: Soft Robotics Solutions for Minimally Invasive Surgery: The Need for Stiffness Controllability. Rsc Soft Matter 10.1039/9781839161124-00684Puertolas Balint LA, Althoefer K and Perez Macias LH (2021). Virtual Reality Percussion Simulator for Medical Student Training. 6th International Forum on Research and Technology for Society and Industry, RTSI 2021 - Proceedings 295-299. 10.1109/RTSI50628.2021.9597234Hassan A, Aljaber F, Godaba H, Vitanov I and Althoefer K (2021). Soft Multi-point Waveguide Sensor for Proprioception and Extereoception in Inflatable Fingers. 6th International Forum on Research and Technology for Society and Industry, RTSI 2021 - Proceedings 574-579. 10.1109/RTSI50628.2021.9597247Omarali B, Althoefer K, Mastrogiovanni F, Valle M and Farkhatdinov I (2021). Workspace Scaling and Rate Mode Control for Virtual Reality based Robot Teleoperation. Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics 607-612. 10.1109/SMC52423.2021.96587962020
Palermo F, Konstantinova J, Poslad S, Althoefer K and Farkhatdinov I (2020). Automatic Fracture Characterization Using Tactile and Proximity Optical Sensing. Frontiers in Robotics and AI 10.3389/frobt.2020.513004Li M, Guo W, Xu J, Xue S, Wu D, Liang Z, Yuan H, Xie J, Xu G and Althoefer K (2020). Attention Enhancement and Motion Assistance for Virtual Reality-Mediated Upper-Limb Rehabilitation. IEEE Transactions on Medical Robotics and Bionics vol. 2, (4) 565-568. 10.1109/TMRB.2020.3031006Li W, Noh Y, Alomainy A, Vitanov I, Zheng Y, Qi P and Althoefer K (2020). F-TOUCH Sensor for Three-Axis Forces Measurement and Geometry Observation. Proceedings of IEEE Sensors vol. 2020-October, 10.1109/SENSORS47125.2020.9278600Dawood AB, Godaba H, Ataka A and Althoefer K (2020). Silicone-based Capacitive E-skin for Exteroception and
Proprioception. Conference: International Conference on Intelligent Robots and Systems (IROS) (Las Vegas, NV, USA (Virtual)) 10.1109/IROS45743.2020.9340945Ataka A, Abrar T, Putzu F, Godaba H and Althoefer K (2020). Observer-based Control of Inflatable Robot with Variable Stiffness. IEEE International Conference on Intelligent Robots and Systems 8646-8652. 10.1109/IROS45743.2020.9341785Godaba H, Sajad A, Patel N, Althoefer K and Zhang K (2020). A two-fingered robot gripper with variable stiffness flexure hinges based on shape morphing. IEEE International Conference on Intelligent Robots and Systems 8716-8721. Conference: 2020 IEEE International Conference on Intelligent Robots and Systems 10.1109/IROS45743.2020.9341554Putzu F, ABRAR T, Hassan A, Godaba H, Rizqi A and Althoefer K (2020). An In-Homogeneous Structured Eversion Actuator. Conference: Towards Autonomous Robotic Systems Conference (TAROS) (Online) Omarali B, Denoun B, Althoefer K, Jamone L, Valle M and Farkhatdinov I (2020). Virtual Reality based Telerobotics Framework with Depth Cameras. 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020 1217-1222. 10.1109/RO-MAN47096.2020.9223445Frazier PA, Jamone L, Althoefer K and Calvo P (2020). Plant Bioinspired Ecological Robotics. Frontiers in Robotics and AI vol. 7, 10.3389/frobt.2020.00079Li X, Li W, Zheng Y, Althoefer K and Qi P (2020). Criminisi algorithm applied to a gelsight fingertip sensor for multi-modality perception. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM vol. 2020-July, 190-195. 10.1109/AIM43001.2020.9158799Fras J, Althoefer K and Glowka J (2020). Instant soft robot: A simple recipe for quick and easy manufacturing. Conference: IEEE International Conference on Soft Robotics RoboSoft 2020 (Online) 10.1109/RoboSoft48309.2020.9115973Palermo F, Konstantinova J, Althoefer K, Poslad S and Farkhatdinov I (2020). Implementing Tactile and Proximity Sensing for Crack Detection. Proceedings - IEEE International Conference on Robotics and Automation 632-637. 10.1109/ICRA40945.2020.9196936Godaba H, Vitanov I, Aljaber F, Ataka A and Althoefer K (2020). A bending sensor insensitive to pressure: Soft proprioception based on abraded optical fibres. 2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020 104-109. 10.1109/RoboSoft48309.2020.9115984Ataka A, Abrar T, Putzu F, Godaba H and Althoefer K (2020). Model-based Pose Control of Inflatable Eversion Robot with Variable Stiffness. IEEE Robotics and Automation Letters 1-1. 10.1109/lra.2020.2976326Sadati SMH, Shiva A, Herzig N, Rucker CD, Hauser H, Walker ID, Bergeles C, Althoefer K and Nanayakkara T (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.2020.2972790Althoefer 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 10.1177/0278364919881685Sadati SMH, Noh Y, Elnaz Naghibi S, Althoefer K and Nanayakkara T (2020). Correction to: Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming. Intelligent Robotics and Applications 10.1007/978-3-319-22873-0_52Li W, Alomainy A, Vitanov I, Noh Y, Qi P and Althoefer K (2020). F-TOUCH Sensor: Concurrent Geometry Perception and Multi-axis Force Measurement. IEEE Sensors Journal 1-1. 10.1109/jsen.2020.3030631Abrar T, Hassan A, Putzu F, Godaba H, Ataka A and Althoefer K (2020). An Inhomogeneous Structured Eversion Actuator. 10.1007/978-3-030-63486-5_4Dawood AB, Godaba H and Althoefer K (2020). Silicone Based Capacitive E-Skin Sensor for Soft Surgical Robots. 10.1007/978-3-030-63486-5_8Vitanov I, Rizqi A and Althoefer K (2020). Shape Reconstruction of Soft-Body Manipulator: A Learning-Based Approach. 10.1007/978-3-030-63486-5_7Fras J, Glowka J, Althoefer K and IEEE (2020). Instant soft robot: A simple recipe for quick and easy manufacturing. 2020 3RD IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT) 476-482. 2019
Godaba H, Putzu F, Abrar T, Konstantinova J and 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 Bioinformat vol. 11650 LNAI, 383-394. Conference: Annual Conference Towards Autonomous Robotic Systems 10.1007/978-3-030-25332-5_33Wang S, Housden J, Noh Y, Singh D, Singh A, Skelton E, Matthew J, Tan C, Back J, Lindenroth L, Gomez A, Toussaint N, Zimmer V, Knight C, Fletcher T, Lloyd D, Simpson J, Pasupathy D, Liu H, Althoefer K, Hajnal J, Razavi R and Rhode K (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 Bioinformat vol. 11650 LNAI, 27-38. Conference: Towards Autonomous Robotic Systems Conference (TAROS) 10.1007/978-3-030-25332-5_3Dawood AB, Godaba H and 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 Bioinformat vol. 11650 LNAI, 99-110. Conference: Annual Conference Towards Autonomous Robotic Systems 10.1007/978-3-030-25332-5_9Zhang K and 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 Bioinformat vol. 11649 LNAI, 138-147. Conference: 20th Towards Autonomous Robotic Systems (TAROS 2019) (London) 10.1007/978-3-030-23807-0_12Putzu F, Konstantinova J and Althoefer K (2019). Soft particles for granular jamming. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat vol. 11650 LNAI, 65-74. Conference: Towards Autonomus Robotics Systems (TAROS) 10.1007/978-3-030-25332-5_6Danabek D, Otaran A, Althoefer K and 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 Bioinformat vol. 11650 LNAI, 273-279. Conference: Towards Autonomous Robotic Systems Conference (TAROS) 10.1007/978-3-030-25332-5_24Hassan A, Godaba H and 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 Bioinformat vol. 11649 LNAI, 16-27. Conference: Annual Conference Towards Autonomous Robotic Systems 10.1007/978-3-030-23807-0_2Ali A, Althoefer K and 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 Bioinformat vol. 11649 LNAI, 160-170. Conference: Towards Autonomous Robotic Systems Conference 10.1007/978-3-030-23807-0_14Fras J and 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 Bioinformat vol. 11649 LNAI, 103-114. Conference: Annual Conference Towards Autonomous Robotic Systems 10.1007/978-3-030-23807-0_9Bálint LAP, Macías LHP and 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 Bioinformat vol. 11649 LNAI, 386-398. Conference: Towards Autonomous Robotic Systems Conference 10.1007/978-3-030-23807-0_32Aljaber F and 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 Bioinformat vol. 11649 LNAI, 126-137. Conference: TAROS 10.1007/978-3-030-23807-0_11Ataka A, Stilli A, Konstantinova J, Wurdemann HA and 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 Bioinformat vol. 11649 LNAI, 52-64. Conference: Annual Conference Towards Autonomous Robotic Systems 10.1007/978-3-030-23807-0_5Putzu F, Konstantinova J and Althoefer K (2019). Eversion-type soft overtube for endoscopic surgery. Conference: The Hamlyn Symposium on Medical Robotics 10.31256/hsmr2019.4Li M, He B, Liang Z, Zhao C-G, Chen J, Zhuo Y, Xu G, Xie J and Althoefer K (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.2019.00034Abrar T, Putzu F, Konstantinova J and Althoefer K (2019). EPAM: Eversive pneumatic artificial muscle. RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics 19-24. 10.1109/ROBOSOFT.2019.8722787Li W, Konstantinova J, Noh Y, Ma Z, Alomainy A and 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.2019.8722793Shafti A, Ataka A, Lazpita BU, Shiva A, Wurdemann HA and Althoefer K (2019). Real-time robot-assisted ergonomics. Proceedings - IEEE International Conference on Robotics and Automation vol. 2019-May, 1975-1981. Conference: International Conference on Robotics and Automation (ICRA) 10.1109/ICRA.2019.8793739Wang S, Housden RJ, Noh Y, Singh A, Lindenroth L, Liu H, Althoefer K, Hajnal J, Singh D and Rhode K (2019). Analysis of a customized clutch joint designed for the safety management of an ultrasound robot. Applied Sciences (Switzerland) vol. 9, (9) 10.3390/app9091900Ataka A, Lam HK and 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.2019.8793682Li W, Konstantinova J, Alomainy A and 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 Bioinformat vol. 11650 LNAI, 87-98. Conference: Towards Autonomous Robotic Systems (TAROS) 10.1007/978-3-030-25332-5_8Shiva A, Sadati SMH, Noh Y, Fra? J, Ataka A, Würdemann H, Hauser H, Walker ID, Nanayakkara T and Althoefer K (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.2018.0060Matsuno T, Wang Z, Althoefer K and 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.2019.2901991FRAS J and ALTHOEFER K (2019). Soft biomimetic prosthetic hand:
Design, manufacturing and preliminary examination. Conference: International Conference on Intelligent Robots 10.1109/IROS.2018.8593666Wang S, Housden J, Noh Y, Singh A, Back J, Lindenroth L, Liu H, Hajnal J, Althoefer K, Singh D and Rhode K (2019). Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound. J Vis Exp (143) 10.3791/58811Ataka A, Shiva A, Lam H-K and Althoefer K (2019). Magnetic-field-inspired Navigation for Soft Continuum Manipulator. IEEE Conference: IEEE/RSJ International Conference on Intelligent Robots and Systems 2018 (Madrid, Spain) 10.1109/IROS.2018.8593592Omarali B, Palermo F, Valle M, Poslad S, Althoefer K and 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 Bioinformat vol. 11649 LNAI, 316-324. 10.1007/978-3-030-23807-0_26Sadati SMH, Shiva A, Renson L, Rucker C, Althoefer K, Nanayakkara T, Bergeles C, Hauser H and Walker ID (2019). Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators. Robotics: Science and Systems 10.15607/RSS.2019.XV.0762018
Stilli A, Kolokotronis E, Fras J, Ataka A, Althoefer K and 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. Conference: International Conference on Intelligent Robots and Systems (IROS) 10.1109/IROS.2018.8593674Ataka A, Shiva A, Lam HK and Althoefer K (2018). Magnetic-field-inspired Navigation for Soft Continuum Manipulator. IEEE International Conference on Intelligent Robots and Systems 168-173. 10.1109/IROS.2018.8593592COTUGNO G, KONSTANTINOVA J, ALTHOEFER KA and Nanayakkara T (2018). Modelling the Structure of Object-Independent Human Affordances of Approaching to Grasp for Robotic Hands. PLoS ONE 10.1371/journal.pone.0208228Obadina O, Bernth J, Althoefer K and Hasan Shaheed M (2018). A Modified Computed Torque Control Approach for a Teleoperation Master- Slave Robot Manipulator System. Conference: UK-RAS Conference: Robots Working For and Among Us Proceedings 10.31256/ukras17.10Putzu F, Althoefer K and Manfredi L (2018). Silicone-based ultra-stretchable strain sensors. Conference: UK-RAS Conference: Robots Working For and Among Us Proceedings 10.31256/ukras17.46Fras J and Althoefer K (2018). Bio-mimetic pneumatic soft prosthetic hand. Conference: UK-RAS Conference: Robots Working For and Among Us Proceedings 10.31256/ukras17.29ALTHOEFER KA (2018). Localised Online Learning-Based Control of a Soft Redundant Manipulator Under Variable Loading. Advanced Robotics 10.1080/01691864.2018.1528178Ataka A, Lam HK and 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.2018.8463203Puertolas Balint L and Althoefer K (2018). Medical Virtual Reality Palpation Training using Ultrasound Based Haptics and Image Processing. Conference: CRAS 2018 (London) PUTZU F, ABRAR T and ALTHOEFER K (2018). Plant-Inspired Soft Pneumatic Eversion Robot. Conference: BioRob 2018 (Enschede, Netherlands) 10.1109/BIOROB.2018.8487848Puertolas Balint L and Althoefer K (2018). Medical Virtual Reality Palpation Training using Ultrasound Based Haptics and Image Processing. Conference: CRAS FRAS J and ALTHOEFER K (2018). Soft Pneumatic Prosthetic Hand. Conference: TAROS 10.1007/978-3-319-96728-8_10OBADINA OO, THAHA MA, ALTHOEFER K and SHAHEED MH (2018). A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator System., Editors: Giuliani M, Assaf T and Giannaccini ME. Lecture Notes in Computer Science 28-39. 10.1007/978-3-319-96728-8_3Caenazzo A and 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 Bioinformat vol. 10965 LNAI, 284-290. Conference: TAROS 10.1007/978-3-319-96728-8_24Li W, Konstantinova J, Noh Y, Alomainy A and 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 Bioinformat vol. 10965 LNAI, 438-450. Conference: TAROS 10.1007/978-3-319-96728-8_37ALTHOEFER KA (2018). Reactive Magnetic-Field-Inspired Navigation Method for Robots in Unknown Convex 3-D Environments. IEEE Robotics and Automation Letters 10.1109/LRA.2018.2853801Sadati SMH, Naghibi SE, Althoefer K and 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.2018.8405368Al Jaber F and 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.2018.8404906Mehta A, Velazquez-Pimentel D, Sadek S and 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.2018.8404943ALTHOEFER KA (2018). iCLAP: Shape Recognition by Combining Proprioception and Touch Sensing. Autonomous Robots 10.1007/s10514-018-9777-7FRAS J, Noh Y, Macias M, Wurdemann H and 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.2018.8460629ALTHOEFER 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.2018.8405388FRAS J, Macias M, Noh Y and ALTHOEFER K (2018). Fluidical bending actuator designed for soft octopus robot tentacle. Conference: 2018 IEEE International Conference on Soft Robotics (RoboSoft) 10.1109/ROBOSOFT.2018.8404928ALTHOEFER KA (2018). Antagonistic actuation and stiffness control in soft inflatable robots. Nature Reviews Materials 10.1038/s41578-018-0004-0Sadati SMH, Sullivan L, Walker ID, Althoefer K and Nanayakkara T (2018). Three-Dimensional-Printable Thermoactive Helical Interface With Decentralized Morphological Stiffness Control for Continuum Manipulators. 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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_10Barras J, Katsura S, Sato-Akaba H, Itozaki H, Kyriakidou G, Rowe MD, Althoefer KA and 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/ac3015643Yao W, Schaeffter T, Seneviratne L and Althoefer K (2012). Developing a Magnetic Resonance-Compatible Catheter for Cardiac Catheterization. Journal of Medical Devices, Transactions of the ASME vol. 6, (4) 10.1115/1.4007281Zirjakova J, Althoefer K, Dasgupta P and Nanayakkara T (2012). PROBING BEHAVIOUR FOR SOFT TISSUE STIFFNESS MEASUREMENT. JOURNAL OF ENDOUROLOGY vol. 26, A20-A21. Li M, Dasgupta P, Seneviratne LD and Althoefer K (2012). SIMULATED HAPTICS FOR MINIMALLY INVASIVE SURGERY. 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Novel air-float tactile array for stiffness characterization in soft tissue palpation. Procedia Engineering vol. 41, 281-288. 10.1016/j.proeng.2012.07.174Sargeant R, Seneviratne LD and 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.2012.6225067Liu H, Song X, Nanayakkara T, Seneviratne LD and 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.2012.6224872Wanninayake IB, Seneviratne LD and 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.2012.6225127Li M, Liu H, Li J, Seneviratne LD and 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.2012.6225143Lara B, Seneviratne LD and 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 Machin 10.1142/9781848166929_00082011
Smith JAS, Blanz M, Rayner TJ, Rowe MD, Bedford S and Althoefer K (2011). 14N quadrupole resonance and 1H TSangpradit K, Liu H, Dasgupta P, Althoefer K and 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.2011.2106783Narimani M, Lam HK, Althoefer K, Dilmaghani R, Wolfe C and 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.2011.6007497Song X, Seneviratne LD and 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, (6) 814-830. 10.1177/0959651811401955Kumar P, Li J, Liu H, Challacombe B, Chandra A, Seneviratne L, Althoefer K and Dasgupta P (2011). POD-06.03 Prostate Tumour Identification Using a Force-Sensitive Rolling Indentation Probe. Urology vol. 78, (3) s20-s21. 10.1016/j.urology.2011.07.444Yousef H, Boukallel M and 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.2011.02.038Liu H, Li J, Song X, Seneviratne LD and 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.2011.2127210Polygerinos P, Seneviratne LD and 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.2010.2085270Li J, Liu H, Dasgupta P, Challacombe B, Seneviratne LD and 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 and 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.2010.2095853Song X, Seneviratne LD and 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.2010.20464212010
Althoefer K, Liu H, Puangmali P, Zbyszewski D, Noonan D and Seneviratne LD (2010). Force sensing in medical robotics. Mechatronics in Action: Case Studies in Mechatronics - Applications and Education 10.1007/978-1-84996-080-9_10Sangpradit K, Althoefer K and 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. Sangpradit K, Althoefer K and 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.2010.5707909Ataollahi A, Polygerinos P, Puangmali P, Seneviratne LD and 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.2010.5649109Song X, Althoefer K and 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.2010.5707269Polygerinos P, Puangmali P, Schaeffter T, Razavi R, Seneviratne LD and 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.2010.5509416Liu H, Li J, Poon QI, Seneviratne LD and 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.2010.5509440Puangmali P, Dasgupta P, Seneviratne LD and 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.2010.5509807Polygerinos P, Zbyszewski D, Schaeffter T, Razavi R, Seneviratne LD and Althoefer K (2010). MRI-compatible fiber-optic force sensors for catheterization procedures. IEEE Sensors Journal vol. 10, (10) 1598-1608. 10.1109/JSEN.2010.2043732Zbyszewski D, Challacombe B, Li J, Seneviratne L, Althoefer K, Dasgupta P and 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.2010.0131Liu H, Puangmali P, Zbyszewski D, Elhage O, Dasgupta P, Dai JS, Seneviratne L and 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. 10.1243/09544119JEIM682Al-Milli S, Seneviratne LD and 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.2010.02.001Smith JAS, Rayner TJ, Rowe MD, Barras J, Peirson NF, Stevens AD and Althoefer K (2010). Magnetic field-cycling NMR and 14N, 17O quadrupole resonance in the explosive pentaerythritol tetranitrate (PETN). Journal of Magnetic Resonance vol. 204, (1) 139-144. 10.1016/j.jmr.2010.02.019Puangmali P, Althoefer K and 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.2009.2023147Liu H, Seneviratne LD, Althoefer K, Noonan DP, Challacombe BJ and 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.2009.2032164Althoefer K, Seneviratne L, Al-Milli S, Chhaniyara S and 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-2018.000272009
Polygerinos P, Schaeffter T, Seneviratne L and 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.2009.5354556Zbyszewski D, Polygerinos P, Seneviratne LD and 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.2009.5354140Polygerinos P, Schaeffter T, Seneviratne L and 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 1501-1504. 10.1109/IEMBS.2009.5334163Liu H, Elhage O, Dasgupta P, Challacombe B, Murphy D, Seneviratne L and 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 and 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.2009.5152603Sangpradit K, Liu H, Seneviratne LD and 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.2009.5152644Song ZB, Seneviratne LD, Althoefer K, Song XJ and Zweiri YH (2009). Slip parameter estimation of a single wheel using a non-linear observer. Robotica vol. 27, (6) 801-811. 10.1017/S0263574708005146Zbyszewski D, Challacombe B, Liu H, Seneviratne L, Dasgupta P, Murphy D and 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.2009.0382Vivekananda U, Henderson A, Murphy DG, Althoefer K, Seneviratne L and 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.xTate E, Althoefer K, Barras J, Rowe MD, Smith JAS, Pearce GES and Wren SAC (2009). Quantitative 35Cl nuclear quadrupole resonance in tablets of the antidiabetic medicine diabinese. Analytical Chemistry vol. 81, (13) 5574-5576. 10.1021/ac900656eAlthoefer K, Tan CP, Zweiri YH and 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.2009.2018699Liu H, Elhage O, Dasgupta P, Challacombe B, Murphy D, Seneviratne L and Althoefer K (2009). A Haptic Probe for Soft Tissue Abnormality Identification during Minimally Invasive Surgery. RECONFIGURABLE MECHANISMS AND ROBOTS 436-+. Seneviratne L, Zweiri Y, Hutangkabodee S, Song Z, Song X, Chhaniyara S, Al-Milli S and 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.2009.023529Puangmali P, Althoefer K, Seneviratne LD and 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. Sangpradit K, Liu H, Seneviratne LD, Althoefer K and 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 L and Althoefer K (2009). A Vision Based Wheel Slip Estimation Technique for Mining Vehicles. IFAC-PapersOnLine vol. 42, (23) 179-184. 10.3182/20091014-3-cl-4011.000332008
Hutangkabodee S, Zweiri Y, Seneviratne L and 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. Zbyszewski D, Liu H, Puangmali P, Althoefer K, Nunes CS, Seneviratne LD, Challacombe B, Murphy D and Dasgupta P (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 Engin 5556-5559. 10.1109/IEMBS.2008.4650473Somasundaram SD, Jakobsson A, Rowe MD, Smith JAS, Butt NR and Althoefer K (2008). Robust detection of stochastic nuclear quadrupole resonance signals. IEEE Transactions on Signal Processing vol. 56, (9) 4221-4229. 10.1109/TSP.2008.923809Al-Milli S, Althoefer K and 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.2008.4651043Zbyszewski D, Bhaumik A, Althoefer K and 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.2008.4651070Song X, Song Z, Seneviratne LD and 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.2008.4651025Song X, Seneviratne LD, Althoefer K and 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.2008.4795532Althoefer K, Zbyszewski D, Liu H, Puangmali P, Seneviratne L, Challacombe B, Dasgupt P and 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.2008.4716568Song X, Seneviratne LD, Althoefer K, Song Z and Mohseni-Vahed S (2008). A vision-based technique for vehicle slip and velocity estimation. IFAC Proceedings Volumes (IFAC-PapersOnline) vol. 17, (1 PART 1) 10.3182/20080706-5-KR-1001.2698Mohseni-Vahed S, Althoefer K, Seneviratne LD, Song X, Dai JS and Lam HK (2008). Soil estimation based on dissipation energy during autonomous excavation. IFAC Proceedings Volumes (IFAC-PapersOnline) vol. 17, (1 PART 1) 10.3182/20080706-5-KR-1001.3883Puangmali P, Liu H, Althoefer K and 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.2008.4543655Liu H, Noonan DP, Althoefer K and 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.2008.4543310Somasundaram SD, Jakobsson A, Rowe MD, Smith JAS, Butt NR and 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.2008.4518442Althoefer K, Lara B, Zweiri YH and 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. 10.1243/09544062JMES546Al-Ja'Afreh T, Zweiri Y, Seneviratne L and 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. 10.1243/09544119JEIM319Puangmali P, Althoefer K, Seneviratne LD, Murphy D and 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.2008.917481Song Z-B, Zweiri YH, Seneviratne LD and 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. 10.1243/09544070jauto452Al-Milli S, Chhaniyara S, Georgiou E, Althoefer K, Dai JS and 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 Te 1106-1113. 10.1142/9789812835772_0132Chhaniyara S, Althoefer K and 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 Te 1069-1076. 10.1142/9789812835772_0128Zbyszewski D, Liu H, Puangmali P, Althoefer K, Nunes CS, Seneviratne LD, Challacombe B, Murphy D and Dasgupta P (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 - "Pers 5556-5559. 10.1109/iembs.2008.4650473Al-Ja'afreh TM, Zweiri YH, Seneviratne LD and 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.2008.021474Song ZB, Zweiri YH, Seneviratne LD and 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. 10.1243/09544070JAUTO452Chhaniyara S, Bunnun P, Seneviratne LD and Althoefer K (2008). Optical Flow Algorithm for Velocity Estimation of Ground Vehicles: A Feasibility Study. International Journal on Smart Sensing and Intelligent Systems vol. 1, (1) 245-267. 10.21307/ijssis-2017-289Vahed SM, Song X, Dai JS, Lam HK, Seneviratne LD and Althoefer K (2008). Soil Estimation Based on Dissipation Energy during Autonomous Excavation. IFAC-PapersOnLine vol. 41, (2) 13821-13826. 10.3182/20080706-5-kr-1001.023402007
Song X, Seneviratne LD, Althoefer K, Song Z and 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.2007.4303790Song Z, Song X, Altheoer K, Zweiri Y and 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.2007.4303721Vahed SM, Delaimi HA, Althoefer K and 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.2007.4399196Liu H, Noonan DP, Zweiri YH, Althoefer KA and 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.2007.4399336Hutangkabodee S, Zweiri YH, Seneviratne LD and 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.2007.4399018Liu H, Puangmali P, Althoefer KA and 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.2007.4399376Somasundaram SD, Jakobsson A, Butt N, Rowe MD, Smith JAS and 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.2007.4288595SONG X, SENEVIRATNE LD, ALTHOEFER K and SONG Z (2007). VISION-BASED VELOCITY ESTIMATION FOR UNMANNED GROUND VEHICLES. International Journal of Information Acquisition vol. 4, (04) 303-315. 10.1142/s021987890700137xNoonan DP, Liu H, Zweiri YH, Althoefer KA and 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.2007.363862Al-Milli S, Althoefer K and 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.2007.372791Chhaniyara S, Althoefer K, Zweiri YH and 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.2007.372766Gomez F, Althoefer K and 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.xMurphy D, Challacombe B, Nedas T, Elhage O, Althoefer K, Seneviratne L and Dasgupta P (2007). Equipment and technology in robotics. Archivos Espanoles de Urologia vol. 60, (4) 349-355. 10.4321/s0004-06142007000400004Somasundaram SD, Jakobsson A, Smith JAS and 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.2006.890413Chhaniyara S, Althoefer R and 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_0079Duran O, Althoefer K and 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.2006.873225Seneviratne L, Althoefer K, Zweiri Y, Hutangkabodee S, Song Z, Song X and 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. Liu H, Puangmali P, Althoefer KA, Seneviratne LD and 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. Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K and 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-+. Vahed SM, Delaimi HA, Althoefer K, Seneviratne LD and 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 and 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 and Althoefer K (2007). MODEL-BASED SOIL PARAMETER IDENTIFICATION FOR WHEEL-TERRAIN INTERACTION DYNAMICS. IFAC-PapersOnLine vol. 40, (20) 578-583. 10.3182/20071017-3-br-2923.000932006
Hutangkabodee S, Zweiri YH, Seneviratne LD and 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.2006.1642214Zibin S, Zweiri YH, Seneviratne LD and 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.2006.1641920Song ZB, Zweiri YH, Althoefer K and 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 and 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_43Somasundaram SD, Jakobsson A, Smith JAS and 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, 10.1117/12.665444Zweiri YH, Seneviratne LD and Althoefer K (2006). Modelling of closed-chain manipulators on an excavator vehicle. Mathematical and Computer Modelling of Dynamical Systems vol. 12, (4) 329-345. 10.1080/13873950500067007Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K (2006). Soil parameter identification for wheel-terrain interaction dynamics and traversability prediction. Machine Intelligence Research vol. 3, (3) 244-251. 10.1007/s11633-006-0244-0Gomez F, Althoefer K and Seneviratne LD (2006). Simulation of ultrasound imaging inside fully charged pipes. Automation in Construction vol. 15, (3) 355-364. 10.1016/j.autcon.2005.07.001Somasundaram SD, Althoefer K, Smith JAS and 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, 833-840. 10.1007/3-540-26415-9_100Rao A, Noonan D, Althoefer K and Seneviratne L (2006). Development of an improved micro piezoelectric power generation / actuation system for biomedical & bio-MEMS applications. Proceedings of Frontiers in Biomedical Devices Conference, NanoBio06 vol. 2006, 10.1115/nanobio2006-18021Somasundaram SD, Althoefer K, Smith JAS and Seneviratne LD (2006). Detection of Landmines Using Nuclear Quadrupole Resonance (NQR): Signal Processing to Aid Classification. 10.1007/3-540-26415-9_100Hutangkabodee S, Zweiri YH, Seneviratne LD and 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. 10.1007/978-3-540-33453-8_432005
Zweiri YH, Seneviratne LD and Althoefer K (2005). Stability analysis of a three-term backpropagation algorithm. Neural Networks vol. 18, (10) 1341-1347. 10.1016/j.neunet.2005.04.007Song ZB, Zweiri YH, Althoefer K and 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 and 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.2005.1570664Tan CP, Zweiri YH, Althoefer K and 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.2005.844706Althoefer K, Lara B and Seneviratne LD (2005). Monitoring of self-tapping screw fastenings using artificial neural networks. Journal of Manufacturing Science and Engineering vol. 127, (1) 236-245. 10.1115/1.1831286Khawaja K, Seneviratne L and Althoefer K (2005). Wheel-tooling gap measurement system for Conform™ extrusion machinery based on a capacitive sensor. Journal of Manufacturing Science and Engineering vol. 127, (2) 394-401. 10.1115/1.1870004Hutangkabodee S, Zweiri YH, Seneviratne LD and 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-1902.02056Song ZB, Zweiri YH, Seneviratne LD and Althoefer K (2005). Driver support system based on a non-linear slip observer for off road vehicles. IFAC Proceedings Volumes (IFAC-PapersOnline) vol. 38, (1) 83-88. 10.3182/20050703-6-cz-1902.011692004
Zweiri YH, Seneviratne LD and Althoefer K (2004). Identification methods for excavator arm parameters. Proceedings of the SICE Annual Conference 1645-1650. Duran O, Althoefer K and 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. Song Z, Hutangkabodee S, Zweiri YH, Seneviratne LD and Althoefer K (2004). Identification of soil parameters for unmanned ground vehicles track-terrain interaction dynamics. Proceedings of the SICE Annual Conference 1651-1656. Gomez F, Althoefer K and Seneviratne LD (2004). An ultrasonic profiling method for sewer inspection. Proceedings - IEEE International Conference on Robotics and Automation vol. 2004, (5) 4858-4863. 10.1109/robot.2004.1302487Tan C, Zweiri YH, Althoefer K and 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, (5) 5268-5273. 10.1109/robot.2004.1302554Khawaja K, Althoefer K, Clode MP and Seneviratne LD (2004). Gap sensing benefits in conform™ extrusion machinery. Proceedings - IEEE International Conference on Robotics and Automation vol. 2004, (1) 529-534. 10.1109/robot.2004.1307203Klingajay M, Seneviratne LD and Althoefer K (2004). Model Based Monitoring Strategies for Threaded Assembly System. IFAC-PapersOnLine vol. 37, (4) 533-538. 10.1016/s1474-6670(17)36169-4Zweiri YH, Seneviratne LD and Althoefer K (2004). Parameter Estimation for Excavator Arm Using Generalized Newton Method. IEEE Transactions on Robotics vol. 20, (4) 762-767. 10.1109/TRO.2004.829476Zweiri YH, Seneviratne LD and 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. Duran O, Althoefer K and Seneviratne LD (2004). Automated pipe inspection using ANN and laser data fusion. Proceedings - IEEE International Conference on Robotics and Automation vol. 2004, (5) 4875-4880. 10.1109/robot.2004.1302490Song Z, Hutangkabodee S, Zweiri YH, Seneviratne LD, Althoefer K and 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 and Engineers SIC (2004). Identification methods for excavator arm parameters. SICE 2004 ANNUAL CONFERENCE, VOLS 1-3 1061-1066. Silversides RW, Dai JS, Althoefer KA and 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. 10.1115/detc2004-574662003
Klingajay M, Seneviratne LD and 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. 10.1109/iros.2003.1248970Duran O, Althoefer K and Seneviratne LD (2003). A sensor for pipe inspection: Model, analysis and image extraction. IEEE International Conference on Image Processing vol. 3, 597-600. 10.1109/icip.2003.1247315Gomez F, Althoefer K and 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.2003.1241977Duran O, Althoefer K and 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.2003.1241978Zweiri YH, Seneviratne LD and 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. 10.1109/robot.2003.1241580Tan C, Zweiri YH, Althoefer K and Seneviratne LD (2003). On-line soil property estimation for autonomous excavator vehicles. Proceedings - IEEE International Conference on Robotics and Automation vol. 1, 121-126. 10.1109/robot.2003.1241583Tan C, Zweiri YH, Althoefer K and Seneviratne LD (2003). Soil parameters estimation for automated excavation. International Conference on Mechatronics, ICOM 2003 557-562. Gomez F, Althoefer K and Seneviratne LD (2003). Modelling of rotating ultrasonic sensors for pipe inspection. International Conference on Mechatronics, ICOM 2003 279-284. Zweiri YH, Seneviratne LD and 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. 10.1243/095965103322260386Duran O, Althoefer K and 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.2003.8168092002
Duran O, Althoefer K and Seneviratne LD (2002). State of the art in sensor technologies for sewer inspection. IEEE Sensors Journal vol. 2, (2) 73-81. 10.1109/JSEN.2002.1000245Zweiri YH, Whidborne JF, Seneviratne LD and 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.8.3.273.14100Klingajay M, Seneviratne LD and 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.2002.1189311Duran O, Althoefer K and Seneviratne LD (2002). Automated sewer pipe inspection through image processing. Proceedings - IEEE International Conference on Robotics and Automation vol. 3, 2551-2556. 10.1109/robot.2002.1013615Zweiri YH, Whidborne JF, Althoefer K and Seneviratne LD (2002). A new three-term backpropagation algorithm with convergence analysis. Proceedings - IEEE International Conference on Robotics and Automation vol. 4, 3882-3887. 10.1109/robot.2002.1014327Duran O, Althoefer K and 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.2002.1007652Duran O, Althoefer K and 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. 10.1109/irds.2002.1044031Zweiri YH, Seneviratne LD and Althoefer K (2002). Model-based automation for heavy duty mobile excavator. IEEE International Conference on Intelligent Robots and Systems vol. 3, 2967-2972. 10.1109/irds.2002.1041723Seneviratne LD, Visuwan P and Althoefer K (2002). Monitoring of threaded fastenings in automated assembly using artificial neural networks. INTELLIGENT ASSEMBLY AND DISASSEMBLY 2001 61-65. Duran O, Althoefer K and Seneviratne LD (2002). Automated laser-based profiler for sewer inspection. INTELLIGENT AUTONOMOUS SYSTEMS 7 84-91. Lara B, Seneviratne L and Althoefer K (2002). Error classification of self-tapping screw fastenings in automated assembly. INTELLIGENT ASSEMBLY AND DISASSEMBLY 2001 31-36. Zweiri YH, Whidborne JF, Seneviratne LD and Althoefer K (2002). Dynamic modelling of diesel engines for design applications. COMPUTER-BASED DESIGN 701-709. 2001
Seneviratne LD, Ngemoh FA, Earles SWE and 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. 10.1243/0954406011520562Althoefer K, Krekelberg B, Husmeier D and 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)00307-62000
Lara B, Seneviratne LD and Althoefer K (2000). Radial basis artificial neural networks for screw insertions classification. Proceedings - IEEE International Conference on Robotics and Automation vol. 2, 1912-1917. 10.1109/robot.2000.844874Althoefer K, Seneviratne LD and 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. 10.1243/09544060015234341999
Lara B, Althoefer K and 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. 10.1109/iros.1999.813066Seneviratne LD, Visuwan P and Althoefer K (1999). Weightless neural network based monitoring of screw fastenings. IEEE International Conference on Intelligent Robots and Systems vol. 1, 561-566. 10.1109/iros.1999.813063Althoefer K, Seneviratne L and Krekelberg B (1999). Learning in a neuro-fuzzy navigator for robotic manipulators. ICONIP 1999, 6th International Conference on Neural Information Processing - Proceedings vol. 1, 347-352. 10.1109/ICONIP.1999.8440121998
Husmeier D and Althoefer K (1998). Modelling conditional probabilities with network committees: how overfitting can be useful. Neural Network World vol. 8, (4) 417-439. Althoefer K, Seneviratne LD, Zavlangas P and Krekelberg B (1998). Fuzzy navigation for robotic manipulators. International Journal of Uncertainty, Fuzziness and Knowlege-Based Systems vol. 6, (2) 179-188. 10.1142/S0218488598000161Lara B, Althoefer K and Seneviratne LD (1998). Automated robot-based screw insertion system. IECON Proceedings (Industrial Electronics Conference) vol. 4, 2440-2445. 10.1109/iecon.1998.724109Bekit BW, Seneviratne LD, Whidborne JF and Althoefer K (1998). Fuzzy PID tuning for robot manipulators. IECON Proceedings (Industrial Electronics Conference) vol. 4, 2452-2457. 10.1109/iecon.1998.7241111996
Althofer K and Fraser DA (1996). Fuzzy obstacle avoidance for robotic manipulators. Neural Network World vol. 6, (2) 133-142. 1995
Althöfer K, Fraser DA and Bugmann G (1995). Rapid path planning for robotic manipulators using a nemulated resistive grid. Electronics Letters vol. 31, (22) 1960-1961. 10.1049/el:19951313Althofer K, Fraser DA, Bugmann G and Turan J (1995). Configuration space transformation for articulated manipulators: A novel approach based on RBF-networks. IEE Conference Publication (409) 245-249. 10.1049/cp:199505621993
Fraser DA, Azhar F and Althoefer K (1993). On-line adaptation in robot control. IEE Conference Publication (372) 205-209. Grants
Grants of specific relevance to Advanced Robotics
National Centre for Nuclear Robotics (NCNR)Stolkin R, Taylor CJ, Montazeri A, Giuliani M, Richardson TS, Althoefer KA, Scott TB, Farkhatdinov I, Hansard ME, Pipe AG, Leonardis AXC, Cavallaro AA, Stone R, Richards AG, Mistry MN, Peer A, Mcdonald-Maier KD, Melhuish C, Herrmann G, Jamone L, Poslad S, Hanheide MA, Neumann G and Malkin R
£11,588,430 Engineering and Physical Sciences Research Council (01-10-2017 - 31-03-2021)
Computer-guided imaging systems for prenatal screening and comprehensive diagnosis of fetal abnormalitiesAlthoefer KA, Razavi RS, Hajnal JV, Penney GP, Rhode KS, Rutherford MA and Schaeffter TR
£9,989,585 Wellcome Trust (01-03-2014 - 28-02-2021)
FourByThreeAlthoefer KA
EUR6,859,722 H2020-EU.2.1.5.1. - Technologies for Factories of the Future (01-12-2014 - 30-11-2017)
AQUAREOS (Advanced QUAdrupole Resonance-based Explosives Ordnance Scanner):Althoefer KA
£269,409 FABW - Find a Better Way (01-12-2014 - 30-11-2016)