Johns Hopkins University Whiting School of Engineering

Louis L. Whitcomb


Professor
Mechanical Engineering
Secondary Appointment: Computer Science
http://lcsr.jhu.edu (lab)
https://dscl.lcsr.jhu.edu (lab)

Hackerman Hall 115 (office)
410-516-6724 (office)
llw@jhu.edu (primary)

Staff Contact:
Alison Morrow
alison.morrow@jhu.edu
410-516-4639
ResearcherID webpage >>

Education

Ph.D 1992, Yale University
M.Phil. 1990, Yale University
M.S. 1988, Yale University
B.S. 1984, Yale University

Experience

2007: Director, Laboratory for Computational Sensing and Robotics
2004: Professor, Department of Mechanical Engineering, Johns Hopkins University. secondary appointment in the Department of Computer Science.
1997: Adjunct Researcher, Institute for Exploration. Mystic, CT
1995: Adjunct Scientist (2003-Present), Visiting Investigator (1995-2003), Woods Hole Oceanographic Institution (WHOI), Department of Applied Ocean Physics and Engineering. This appointment provides WHOI faculty privileges - i.e. serving as a WHOI Principal Investigator (PI) and advising WHOI Ph.D. students.
2000-2004: Associate Professor, Department of Mechanical Engineering, Johns Hopkins University. Joint appointment in the Department of Computer Science.
1995-2000: Assistant Professor, Department of Mechanical Engineering, Johns Hopkins University
1992-1994: Post Doctoral Scholar, Deep Submergence Laboratory, Department of Applied Ocean Physics and Engineering, Woods Hole Oceanographic Institution
1986-1992: Research Associate and Ph.D. Candidate, Robotics Laboratory, Department of Electrical Engineering, Yale University
1984-1986: Robotics Research and Development Engineer, GMFanuc Robotics Corporation, Auburn Hills, MI
1993-0: Post Doctoral Fellow, Department of Mathematical Engineering and Information Physics, University of Tokyo

Research Areas

Underwater Robot Vehicles.
Sensor and Actuator Design.
Robotics.
Nonlinear control.
Medical Robotics.
Industrial Robotics.
Force Control.
Dynamics and control of nonlinear systems.
Advanced Electro-Mechanical Design.
Adaptive identification and control.

Journal Articles

Krieger, A., Song, S.E., Bongjoon Cho, N., Iordachita, I.I., Guion, P., Fichtinger, G., Whitcomb, L.L. (2011). Development and Evaluation of an Actuated MRI-Compatible Robotic System for MRI-Guided Prostate Intervention. IEEE/ASME Transactions on Mechatronics.
DOI »
Webster, S.E., Eustice, R.E., Sungh, H., Whitcomb, L.L. (2011). Advances in Single-Beacon One-Way-Travel-Time Acoustic Navigation for Underwater Vehicles. International Journal of Robotics Research.
Song, S., Cho, N.B., Iordachita, I., Guion, P., Fichtinger, G., Kaushal, A., Camphausen, K., Whitcomb, L.L. (2011). Biopsy Needle Artifact Localization in MRI-guided Robotic Transrectal Prostate Intervention. IEEE Transactions on Biomedical Engineering, 2011.
Eustice, R.M., Singh, H., Whitcomb, L.L. (2011). Synchronous-clock, one-way-travel-time acoustic navigation for underwater vehicles. Journal of Field Robotics. 28(1). 121-136.
DOI »
Krieger, A., Iordachita, I.I., Guion, P., Singh, A.K., Kaushal, A., Ménard, C., Pinto, P.A., Camphausen, K., Fichtinger, G., Whitcomb, L.L. (2011). An MRI-compatible robotic system with hybrid tracking for MRI-guided prostate intervention. IEEE Transactions on Biomedical Engineering. 58(11). 3049-3060.
DOI »

Conference Proceedings

Song, S., Cho, N.B., Iordachita, I.I., Guion, P., Fichtinger, G., Whitcomb, L.L. "A study of needle image artifact localization in confirmation imaging of MRI-guided robotic prostate biopsy", Robotics and Automation (ICRA), 2011 IEEE International Conference on, 13-9, 2011, pp.4834-4839.
DOI » 10.1109/ICRA.2011.5980309
Bohren, J., Iordachita, I., Whitcomb, L.L. "Design Requirements and Feasibility Study for a 3-DOF MRI-Compatible Robotic Device for MRI-Guided Prostate Intervention", Proceedings of the 2012 IEEE International Conference on Robotics and Automation, 2011.
Troni, G., Mcfarland, C.J., Nichols, K.A., Whitcomb, L.L. "Experimental evaluation of an inertial navigation system for underwater robotic vehicles", Robotics and Automation (ICRA), 2011 IEEE International Conference on, 13-9, 2011, pp.3064-3071.
DOI » 10.1109/ICRA.2011.5980488
Troni, G., Whitcomb, L.L. "Experimental evaluation of new methods for in-situ calibration of attitude and doppler sensors for underwater vehicle navigation", Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, 30-25, 2011, pp.3722-3727.
DOI » 10.1109/IROS.2011.6094942
Troni, G., Whitcomb, L.L. "Field Performance Evaluation of New Methods for In-Situ Calibration of Attitude and Doppler Sensors for Underwater Vehicle Navigation", Proceedings of the 2012 IEEE International Conference on Robotics and Automation, 2011.

Awards & Honors

2011: Fellow, Institute of Electrical and Electronics Engineers (IEEE), for contributions to the theory and application of robotics for intervention in extreme environments
2011: 2011 William H. Huggins Excellence in Teaching Award. One of these awards if given in recognition of outstanding teaching in the JHU Whiting School
2009 - 2012: Louis R. Sardella Faculty Scholar
2002 - 2010:  Senior Member, Institute of Electrical and Electronics Engineers (IEEE).
2008 - 2008: Nominated for 2008 William H. Huggins Excellence in Teaching Award.
2004 - 2004: 2004 University Alumni Excellence in Teaching Award, awarded in May 2004 by the JHU G.W.C. Whiting School of Engineering. One of these awards is made each year by JHU's School of Engineering.
2003 - 2003: IMarEST Prize for Best Paper by an Author Under 30 awarded to Ph.D. student James C. Kinsey at the 2003 IFAC Workshop on Guidance and Control of Underwater Vehicles, Newport, South Wales, April 2003. http://robotics.me.jhu.edu/~llw/ps/IFAC_prize_2003.j
2002 - 2002: George E. Owen Teaching Award , awarded in May 2002 by the Johns Hopkins University Class of 2002. One of two awarded each year by the JHU undergraduate Senior Class.
2001 - 2001: Johns Hopkins University Student Council Award for Excellence in Teaching
1997 - 2001: Office of Naval Research Young Investigator Award
2000 - 2000: Ph.D. student Jaydeep Roy selected as finalist for the Best Student Paper Award at the 2000 IEEE International Conference on Robotics and Automation, April 2000.
2000 - 2000: Best Student Paper Award awarded to Whitcomb’s Ph.D. student David Smallwood at the 11th International Symposium on Unmanned Untethered Submersible Technology, August 2000.
1996 - 2000: National Science Foundation Career Award
1992 - 1994: Woods Hole Oceanographic Institution Post Doctoral Scholarship
1993 - 1993: JSPS Post Doctoral Fellowship, awarded by the Japanese government and in cooperation with the U.S. National Science Foundation
1986 - 1992: Yale University Research Associate Fellowship for graduate research and teaching
1984 - 1984: Master's Cup Award, Timothy Dwight College, Yale University

Presentations

Underwater Vehicle Navigation: Recent Advances and New Challenges, Special Lecture, CS 600.336/436 Algorithms for Sensor-based Robotics, Department of Computer Science, Johns Hopkins University, November 18, 2011
(1) Navigation and Control of the Nereus Hybrid Underwater Vehicle for Global Ocean Science to 10,903 m Depth: Preliminary Results and (2) Development of a Hybrid Underwater Vehicle for Oceanographic Science in Marginal Polar Ice Zones, Johns Hopkins University Applied Physics Laboratory, October 14, 2011
Needle Artifact Localization for Intraprocedural Biopsy Position Confirmation in 3T MRI-guided Robotic Transrectal Prostate Intervention, Fourth NCIGT and NIH Image Guided Therapy Workshop, October 13, 2011
Toward a Fully-Actuated MRI-Compatible Robotic Device for MRI-Guided Transrectal Prostate Intervention, Fourth NCIGT and NIH Image Guided Therapy Workshop, 2011, October 13, 2011
Toward Practical Semi-Autonomous Teleoperation: Do What I Intend, Not What I Do, 2011 IEEE Workshop on Advanced Robotics and its Social Impacts, October 3, 2011
Experimental evaluation of new methods for in-situ calibration of attitude and doppler sensors for underwater vehicle navigation, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 28, 2011
Research at the Laboratory for Computational Sensing and Robotics, NAVAIR, August 8, 2011
A study of needle image artifact localization in confirmation imaging of MRI-guided robotic prostate biopsy, 2011 IEEE International Conference on Robotics and Automation, May 12, 2011
Task-dependent impedance improves user performance with a virtual prosthetic arm, 2011 IEEE International Conference on Robotics and Automation., May 11, 2011
Experimental Evaluation of an Inertial Navigation System for Underwater Robotic Vehicles, 2011 IEEE International Conference on Robotics and Automation., May 10, 2011
Robotics Research at the Johns Hopkins University, West Virginia University College of Engineering and Mineral Resources, February 24, 2011
Extreme Robotics: Development of the Nereus Hybrid Underwater Robotic Vehicle for Global Oceanographic Science to 11,000 m Depth, General Robotics, Automation, Sensing and Perception (GRASP) Lab, the University of Pennsylvania, February 4, 2011
DSOP Phase 1a Final Report, Defense Advanced Research Projects Agency, January 31, 2011
Development and Field Trials of the Nereus Hybrid Underwater Robotic Vehicle for Global Ocean Science to 11,000 m Depth, Engineering Colloquium, The Space Telescope Science Institute. (Invited), November 30, 2010
Extreme Robotics: Development of the Nereus Hybrid Underwater Robotic Vehicle for Global Oceanographic Science to 11,000 m Depth, Department of Mechanical Engineering, Johns Hopkins University., November 17, 2010
Development and Preliminary Evaluation of an Actuated MRI-Compatible Robotic Device for MRI-Guided Prostate Intervention, Hopkins Medical Device Network. (Invited), November 15, 2010
Extreme Robotics: Development of the Nereus Hybrid Underwater Robotic Vehicle for Global Oceanographic Science to 11,000 m Depth, American Institute of Aeronautics and Astronautics Baltimore Section.  Venue: JHU APL. (Invited), November 11, 2010
Laboratory for Computational Sensing and Robotics, Danish Robocluster Delegation. Venue: LCSR., October 28, 2010
Exploring the Deepest Depths: Development of the Nereus Underwater Robotic Vehicle for Global Oceanographic Science to 11,000 m Depth, National Advisory Council, Whiting School of Engineering. (Invited), October 21, 2010
Dive to the Bottom of the World: Development of the Nereus Hybrid Underwater Robot Vehicle, Seminar Series, Roland Park Place, Baltimore, MD. (Invited), September 29, 2010
Exploring the Deepest Ocean with New Technology: Enabling New Arctic Science Missions, Science Programs Director, Office of Polar Programs, National Science Foundation. Venue: Woods Hole Oceanographic Institution., September 21, 2010
Advances in Underwater Robotics for Global Oceanographic Research: The Nereus Project, Maryland Robtoics Center, University of Maryland. (Invited), September 16, 2010
Underwater Robotics: Development and Field Trials of the Nereus Hybrid Underwater Robotic Vehicle for Oceanographic Science to 11,000 m Depth, NASA Future In-Space Operations Teleconference. (Invited), September 1, 2010
The Ocean In Depth: Development and Field Trials of the Nereus Hybrid Underwater Robotic Vehicle for Oceanographic Science to 11,000 m Depth, JHU Summer School, Johns Hopkins University. (Invited), July 27, 2010
The Ocean In Depth: Development and Field Trials of the Nereus Hybrid Underwater Robotic Vehicle for Oceanographic Science to 11,000 m Depth, Johns Hopkins University Alumi Association San Diego Chapter, Deep Sea Power and Light, Inc., San Diego. (Invited), June 8, 2010
Development and Field Trials of the Nereus Hybrid Underwater Robotic Vehicle for Oceanographic Science to 11,000 m Depth, Department of Geology and Geophysics, Geophysical Institute University of Alaska, Fairbanks. (Invited), May 7, 2010
Navigation and Control of the Nereus Hybrid Underwater Vehicle for Global Ocean Science to 10,903 m Depth: Preliminary Results, 2010 IEEE International Conference on Robotics and Automation. (Plenary, Invited), May 5, 2010
Development and Preliminary Evaluation of an Actuated MRI-Compatible Robotic Device for MRI-Guided Prostate Intervention, 2010 IEEE International Conference on Robotics and Automation., May 4, 2010
Development and Field Trials of the Nereus Hybrid Underwater Robotic Vehicle for Global Oceanographic Science to 11,000 m Depth, Johns Hopkins Faculty Lunch, JHU Club. (Invited), April 7, 2010
Enabling Technologies for Remote Robotic Manipulation With Time Delay, NASA International Workshop on On-Orbit Satellite Servicing, Organizer: Goddard Space Flight Center. Site: University of Maryland. (Invited), March 25, 2010
Development and Field Trials of the Nereus Hybrid Underwater Robotic Vehicle for Global Oceanographic Science to 11,000 m Depth,  Center for Coastal and Ocean Mapping, University of New Hampshire, and Joint Hydrographic Center, National Oceanic and Atmospheric Administration. (Invited), March 5, 2010
Laboratory for Computational Sensing and Robotics, JHU Department of Mechanical Engineering Graduate Student Visit Day, February 26, 2010
Development and Field Trials of the Nereus Hybrid Underwater Robotic Vehicle for Global Oceanographic Science to 11,000 m Depth Goddard Engineering Colloquium Series, NASA Goddard Space Flight Center. (Invited), February 2, 2010
Tissue Property Estimation and Graphical Display for Teleoperated Robot-Assisted Surgery 2009 IEEE International Conference on Robotics and Automation. St. Louis. 2009-05-00., April 30, 2009
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). Honolulu. 2009-04-00., March 31, 2009
Toward Under-Ice Operations with Hybrid Underwater Robotic Vehicles 2008 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV08). Woods Hole Oceanographic Institution. 2008-10-12. (Invited), October 12, 2008
MRI-Guided Robotic Prostate Intervention 7th ImNO Imaging Symposium. Toronto. 2008-09-30. (Invited), September 30, 2008
Proof of Concept Demonstration of the Hybrid Remotely Operated Vehicle (HROV) Light Fiber Tether System IEEE/MTS Oceans 2008. Quebec. 2008-09-17., September 17, 2008
The Nereus Hybrid Underwater Robotic Vehicle for Global Ocean Science Operations to 11,000m Depth IEEE/MTS Oceans 2008. Quebec. 2008-09-17., September 17, 2008
Preliminary Results in Experimental Identification of 3-DOF Coupled Dynamical Plant for Underwater Vehicles IEEE/MTS Oceans 2008. Quebec. 2008-09-16., September 16, 2008
Design and Preliminary Clinical Studies of an MRI-Guided Transrectal Prostate Intervention System Seventh Interventional MRI Symposium. Baltimore. 2008-09-12. (Invited), September 12, 2008
MRI compatibility of robot actuation techniques – a comparative study International Conference on Medical Image Computing and Computer-Assisted Intervention. New York. 2008-09-09., September 9, 2008
Navigation and Control of the Nereus Hybrid Underwater Vehicle for Global Ocean Science to 11,000m Depth: Preliminary Results Fourteenth Yale Workshop on Adaptive and Learning Systems. Yale University. 2008-06-04. (Invited), June 4, 2008
Exploring the Deepest Depths: The Nereus Hybrid Underwater Robotic Vehicle for Global Ocean Science Operations to 11,000m Depth Departmental Seminar. Department of Mechanical Engineering, Tufts University. 2008-04-24. (Invited), April 24, 2008
Robotics Research at Johns Hopkins University JHU-Fraunhofer Institute Meeting. Johns Hopkins University. 2008-04-22. (Invited), April 22, 2008
Laboratory for Computational Sensing and Robotics Whiting School of Engineering Alumni Meering. Johns Hopkins University. 2008-04-11. (Invited), April 11, 2008
Exploring the Deepest Depths: The Nereus Hybrid Underwater Robotic Vehicle for Global Ocean Science Operations to 11,000m Depth . Department of Mechanical Engineering, Johns Hopkins University. 2008-04-03. (Invited), April 3, 2008
Andy Bowen, Dana R. Yoerger, Louis L. Whitcomb , Tim Shank NSF/ONR/NOAA Program Review of the Nereus HROV Project. National Science Foundation. 2008-03-20. (Invited), March 20, 2008
Development of the Nereus Hybrid Remotely Operated Vehicle (HROV) for Global Operations to 11,000m Depth Invited Technical Seminar. Northrop Grumman Corporation, Annapolis MD. 2008-03-04. (Invited), March 4, 2008
Synchronous-Clock One-Way-Travel-Time Acoustic Navigation for Autonomous Underwater Vehicles Invited Technical Seminar. Northrop Grumman Corporation, Annapolis MD. 2008-03-04. (Invited), March 4, 2008
The Hybrid Remotely Operated Vehicle (HROV) for Operations to 11,000m Depth Briefing for Admiral Paul E. Sullivan, Commander of Naval Sea Systems Command. Woods Hole Oceanographic Institution. 2007-12-20. (Invited), December 20, 2007
Transrectal Prostate Intervention Robot in a Closed MRI Scanner National Institute of Biomedical Imaging and BioEngineering. National Institutes of Health, Bethesta, MD. 2007-11-02. (Invited), November 2, 2007
Transrectal Prostate Intervention Robot in Closed MRI Scanner NIH NIBIB Annual Grantee Conference. Bethesda, MD. 2007-11-02. (Invited), November 2, 2007
Design and Preliminary Accuracy Studies of an MRI-Guided Transrectal Prostate Intervention System 10th International Conference on Medical Image Computing and Computer Assisted Intervention. Brisbane, Australia. 2007-10-31., October 31, 2007
Underwater Robotics for Deep Oceanographic Research WSE Society fo Engineering Alumni. Museum of Science, Boston, MA. 2007-10-07. (Invited), October 7, 2007
Longitudinal Control Design and Performance Evaluation for the Nereus 11,000 m Underwater Vehicle IEEE/MTS Oceans 2007. Vancouver. 2007-09-30., September 30, 2007
Preliminary Simulation Studies of a New Four-Quadrant Propeller Thrust Controller Applied to Underwater Vehicles. IFAC Conference on Control Applications in Marine Systems (CAMS’2007). Bol, Croatia. 2007-09-20., September 20, 2007
Underwater Robotics for Deep Oceanographic Research NASA Robotics Academy. NASA Goddard Space Flight Center. 2007-07-06. (Invited), July 6, 2007
Advances in Underwater Robotics Research Invited Seminar. JHU Applied Physics Laboratory, Laurel, MD. 2007-06-18. (Invited), June 18, 2007
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. 2007-06-12., June 12, 2007
Phantom Experiments with a Novel MR-Guided Transrectal Prostate Interventional System International Society of Magnetic Resonance Imaging in Medicine. Berlin, Germany. 2007-05-17., May 17, 2007
Experimental Results in Synchronous Clock One-way-travel-time Acoustic Navigation for Autonomous Underwater Vehicles. 2007 IEEE International Conference on Robotics and Automation. Rome, Italy. 2007-04-12., April 12, 2007
Model-Based Nonlinear Observers for Underwater Vehicle Navigation: Theory and Preliminary Experiments. 2007 IEEE International Conference on Robotics and Automation. Rome, Italy. 2007-04-12. (Invited), April 12, 2007
Extreme Exploration: How we are developing novel underwater robots to enable deep oceanographic exploration WSE Society fo Engineering Alumni. Space Teliscope Science Institute, Baltimore, MD. 2007-04-07. (Invited), April 7, 2007
Extreme Machines: Advances in Robotics for Extreme Environments Don P. Giddens Inaugural Professorial Lecture. Johns Hopkins University. 2007-04-05. (Invited), April 5, 2007
Exploring the Deepest Depths: Development of a Hybrid Remotely Operated Vehicle (HROV) for Oceanographic Operations to 11,000m Depth Invited Seminar. Department of Marine Technology, Norwegian University of Science and Technology. 2006-11-02. (Invited), November 2, 2006
Underwater Robotics for Oceanographic Science: Recent Advances and New Challenges Invited Seminar. Department of Marine Technology, Norwegian University of Science and Technology. 2006-11-02. (Invited), November 2, 2006
A Survey of Underwater Vehicle Navigation: Recent Advances and New Challenges 7th Conference on Manoeuvring and Control of Marine Craft (MCMC’2006). Lisbon, Portugal. 2006-09-22. (Invited), September 22, 2006
Field Tests of the Hybrid Remotely Operated Vehicle (HROV) Light Fiber Optic Tether IEEE/MTS OCEANS 2006. Boston. 2006-09-20., September 20, 2006
A Vehicle Mission Controller IEEE/MTS OCEANS 2006. Boston. 2006-09-19., September 19, 2006
Recent Advances in Synchronous-Clock One-Way-Travel-Time Acoustic Navigation IEEE/MTS OCEANS 2006. Boston. 2006-09-19., September 19, 2006
Accuracy of Hybrid Tracking for a Novel MR-Guided Transrectal Prostate Interventional Device 6th Interventional MRI Symposium, Leipzig. Leipzig. 2006-09-16., September 16, 2006
Development of a Hybrid Remotely Operated Vehicle (HROV) for Oceanographic Operations to 11,000m Depth AUVSA: Autonomous Underwater Vehicles (AUVs) for Scientific Applications: A conference to Promote Dialog Between AUV Developers, Engineers and Science Users. Woods Hole Oceanographic Institution, Woods Hole MA 02543. 2006-07-07. (Invited), July 7, 2006
A Hybrid Method for 6-DOF Tracking of MRI-Compatible Robotic Interventional Devices EEE 2006 International Conference on Robotics and Automation. Orlando, Florida. 2006-05-18. (Invited), May 18, 2006
Underwater Robotics for Extreme Oceanographic Exploration Johns Hopkins Knowledge for the World Tour. Loews Philadelphia Hotel, Philadelphia, PA. 2006-05-08. (Invited), May 8, 2006
Image-Guided Microsurgery of the Inner Ear Presentation to major JHU benefactor. Albany, NY. 2006-05-01. (Invited), May 1, 2006
Underwater Robotics for Extreme Oceanographic Exploration Johns Hopkins Knowledge for the World Tour. Hilton Los Angeles/Universal City, Los Angeles, CA. 2006-03-25. (Invited), March 25, 2006
Exploring the Deepest Depths: Development of a Hybrid Remotely Operated Vehicle (HROV) for Oceanographic Operations to 11,000m Depth Robotics Institute Seminar. Robotics Institute, Carnegie Mellon University . 2006-02-10. (Invited), February 10, 2006
Fiber-Optic Tether Hydrodynamic Simulation for 11,000 meter Vehicle Operations Hybrid Remotely Operated Vehicle Advisory Committee Meeting. San Francisco, CA. 2004-12-13. (Invited), December 13, 2004
National Deep Submergence Facilty Underwater Vehicle Navigation: Review of Current and Planned Capabilities Deep Submergence Science Committee Annual Meeting. San Francisco, CA. 2004-12-12. (Invited), December 12, 2004
Underwater Robotics Research NSF Workshop on the Status of Robotics in the United States. National Science Foundation, Arlington, VA. 2004-07-21. (Invited), July 21, 2004
Advances in Dynamics and Control of Underwater Robotic Vehicles for Deep Ocean Exploration Department Seminar. Department of Mechanical Engineering, Texas A&M University. 2004-03-10. (Invited), March 10, 2004
Precision Navigation of Underwater Vehicles for Deep-Submergence Archaeology Department Seminar. Department of Anthropology, Texas A&M University. 2004-03-10. (Invited), March 10, 2004
New Hybrid Vehicle Will Enable U.S. Scientists to Reach Deepest Parts of the World Ocean Floor Press Conference. American Geophysical Union Fall Meeting, San Francisco, CA. 2003-12-10. (Invited), December 10, 2003
Advances in Navigation and Dynamic Positioning of Underwater Robotic Vehicles Invited Seminar. Department of Applied Math and Statistics, Johns Hopkins University. 2003-11-20. (Invited), November 20, 2003
Underwater Robotics for Deep Ocean Exploration ME 530.101 Lecture. Department of Mechanical Engineering, Johns Hopkins University. 2003-11-19. (Invited), November 19, 2003
Research in Underwater Robotics at Johns Hopkins University Visit by University Trustee Bill Ward. Department of Mechanical Engineering, Johns Hopkins University. 2003-10-27. (Invited), October 27, 2003
Navigation of the Alvin Submersible with the DVLNAV Navigation System: Trainign Session for Alvin Pilots Navigation Training for Alvin Pilots. Department of Applied Ocean Physics and Engineering, Woods Hole Oceanographic Institution. 2003-09-30. (Invited), September 30, 2003
Preliminary Identification of a Dynamical Plant Model for the Jason 2 Underwater Robotic Vehicle IEEE/MTS Oceans'2003 . San Diego, CA. 2003-09-23., September 23, 2003
A New Hydrodynamics Test Facility for UUV Dynamics and Control Research IEEE/MTS Oceans'2003. San Diego, CA. 2003-09-23., September 23, 2003
Preliminary Experiments with a Calibration Technique for Gyro and Doppler Navigation Sensors for Precision Underwater Navigation 12th International Symposium on Unmanned Untethered Submersible Technology. University of New Hampshire. 2003-08-25., August 25, 2003
Precision Navigation and Control of Underwater Robotic Vehicles for Deep Ocean Science Invited Seminar. Center for Coastal and Ocean Mapping (C-COM) and Joint Hydrographic Center (JHC), University of New Hampshire. 2003-07-22. (Invited), July 22, 2003
Researc in the Dynamics, Navigation, and Control of Underwater Vehicles at the Johns Hopkins University Seminar for Underwater Systems Group, Johns Hopkins Applied Physics Laboratory. Department of Mechanical Engineering, Johns Hopkins University. 2003-06-17. (Invited), June 17, 2003
Adaptive Force Control for Haptic Feedback: Theory and Experiment 12th Yale Workshop on Adaptive and Learning Systems. Yale Universiry. 2003-05-30. (Invited), May 30, 2003
A New Control System for the Next Generation of US and UK Deep Submergence Oceanographic ROVs IFAC Workshop on Guidance and Control of Underwater Vehicles, GCUV '03. Newport, South Wales, UK. 2003-04-10., April 10, 2003
Preliminary Field Experience with the DVLNAV Integrated Navigation System for Manned and Unmanned Submersibles IFAC Workshop on Guidance and Control of Underwater Vehicles, GCUV '03. Newport, South Wales, UK. 2003-04-10., April 10, 2003
Doppler Navigation of the Jason 2 ROV and the Alvin Submarine ADCPs in Action Conference. San Diego, California. 2003-03-10. (Invited), March 10, 2003
Underwater Vehicles for Deep Ocean Exploration Keynote Address, 15th Nationwide Symposium of Society for Naval Architecture and Marine Engineering. National Kaohsiung Institute of Marine Technology, Kaohsiung, Taiwan, ROC. 2003-03-08. (Invited), March 8, 2003
Navigation and Control of Underwater Robotic Vehicles Invited Seminar. Institute of Undersea Technology, National Sun Yat-Sen University, Kaohsiung, Taiwan, ROC. 2003-03-06. (Invited), March 6, 2003
Part I: Overview of Underwater Vehicles for Deep Ocean Exploration; Part 2: Underwater Robotics Research at the Johne Hopkins University; Part 3: Oceanographic Applications of Underwater Robotic Vehicles Invited Short Course in Underwater Robotics. Department of Naval Architecture and Marine Engineering, National Cheng Kung University. 2003-03-05. (Invited), March 5, 2003
Advances in Navigation and Dynamic Positioning of Underwater Robotic Vehicles Departmental Seminar. Department of Electrical Engineering, Yale University. 2003-01-14. (Invited), January 14, 2003
Prostate biopsy and Local Therapy Inside Conventional Closed MRI With Robotic Assistance -- Animal Studies biomedical Imaging Research Opportunities Workshop. Bethesda, Maryland. 2002-12-31. (Invited), December 31, 2002
DVLNAV: An Integrated Navigation System for Underwater Vehicles Third NRC-IMD Workshop on Control and Simulation Systems for Underwater Vehicles. St. Johns, Newfoundland. 2002-11-04. (Invited), November 4, 2002
Advances in Robot Assisted Otologic Surgery ERC Industry Day. Johns Hopkins University. 2002-10-10. (Invited), October 10, 2002
Transrectal prostate biopsy inside closed MRI scanner with remote actuation, under real-time image guidance. Fifth International Conference on Medical Image Computing and Computer-Assisted Intervention. University of Tokyo. 2002-09-28. (Invited), September 28, 2002
Robot Assisted Otologic Surgery: Current Art and Future Trends Otolaryngology Grand Rounds. Johns Hopkins School of Medicine. 2002-08-25. (Invited), August 25, 2002
The Effect of Model Accuracy and Thruster Saturation on Tracking Performance of Model Based Controllers for Underwater Robotic Vehicles 2002 IEEE International Conference on Robotics and Automation. Arlington. 2002-05-00., April 30, 2002
Towards In-Situ Calibration of Gyro and Doppler Navigation Sensors for Precision Underwater Vehicle Navigation 2002 IEEE International Conference on Robotics and Automation. Arlington. 2002-05-00., April 30, 2002
Surgical Robotics in Otology Multi-Disciplinary Minimally Invasive Surgery Conference. Johns Hopkins School of Medecine. 2002-04-01. (Invited), April 1, 2002
A Real-time MRI System for Guidance and Monitoring of Prostate Biopsy International Society of Magnetic Resonance Imaging in Medicine, Tenth Scientific Meeting. Honolulu. 2002-00-00., November 30, 2001
A System for Guidance and Monitoring of Transrectal Prostate Biopsy in a 1.5 T Closed MR Scanner International Symposium of IVMRI. Leipzig. 2002-00-00., November 30, 2001
MRI Compatible Device for MRI Guided Transrectal Prostate Biopsy International Society of Magnetic Resonance Imaging in Medicine, Tenth Scientific Meeting. Honolulu. 2002-00-00., November 30, 2001
Smart Tools: Robotically Assiisted Stapedotemy Discovery Health Channel Program "Smart Tools". Baltimore. 2001-12-08. (Invited), December 8, 2001
A Nonlinear Model Based Thrust Controller for Marine Thrusters 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Hawaii. 2001-00-00. (Invited), November 30, 2000
Adaptive Force Control of Position/Velocity Controlled Robots: Theory and Experiment 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Hawaii. 2001-00-00., November 30, 2000
Performance Evaluation of a Cooperative Manipulation Microsurgical Assistant Robot Applied to Stapedotomy Medical Image Computing and Computer-Assisted Intervention - MICCAI 2001, 4th International Conference. Utrecht. 2001-00-00., November 30, 2000
Preliminary Experiments. The Adaptive Identification of Dynamically Positioned Underwater Robotic Vehicles 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Hawaii. 2001-00-00. (Invited), November 30, 2000
Toward Model Based Dynamic Positioning of Underwater Robotic Vehicles IEEE/MTS Oceans'2001. Hawaii. 2001-00-00., November 30, 2000
Toward Model Based Trajectory Tracking of Underwater Robotic Vehicles: Theory and Simulation 12th International Symposium on Unmanned Untethered Submersible Technology. Durham, New Hampshire. 2001-00-00., November 30, 2000
Advanced in Navigation and Dynamic Positioning of Underwater Robotic Vehicles Invited Seminar. The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology. 0000-00-00. (Invited), November 30, 1999

Committees

2011: Tenure and Promotions Policy Committee, appointed in fall 2011 by the JHU Provost and President to review tenure and promotion policies of the Homewood Schools.
2011: Whiting School of Engineering Laboratory Safety Committee - appointed by the Dean of Engineering to investigate and make recommendations on laboratory safety in the School of Engineering.
2011: Member, Space Sciences Institute Committee. A inter-divisional committee appointed by the Provost to develop a candidate space initiative for the next JHU Capital Campaign. Our proposal for a Space Sciences Institute was approved by senior administration in February 2012.
2010: Committee Member, Department of Mechanical Engineering Budget Committee
2008: Committee Member, Whiting School of Engineering Conflict Review Committee
2000: Chair, Department of Mechanical Engineering Machine Shop Committee
: Program Committee, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
: Program Committee, International Conference on Medical Image Computing and Computer Assisted Intervention. ( MICCAI)
: Program Committee, IEEE International Conference on Robotics and Automation (ICRA)
: Committee Member, JHU Steering Committee on Integration of Imaging, Intervention, and Informatics in Medicine (I4M). http://www.jhu.edu/~gazette/2006/27feb06/27nwgoal.html
: Committee Member, Whiting School of Engineering Communication Committee
: Committee Member, Whiting School of Engineering Hopkins-Sydney-Melbourne Liaison Engineering Committee
2010: Homewood Academic Council, Whiting School of Engineering and Krieger School of Arts & Sciences, The Johns Hopkins University. Elected Spring 2012 to a four-year term.
2015 - 2011: Committee Member, Whiting School of Engineering Graduate Committee - This school of engineering committee oversees the graduate academic curriculum, graduation requirements, and other academic affairs.
2010 - 2011: Chair, Robotics Faculty Search Committee, Whiting School of Engineering.
2010 - 2011: Thrust Leader (with John Grundsfeld) in the Provost's Space Studies Initiative Committee, Johns Hopkins University.  Committee is authoring a proposal for a new initiative for space sciences for JHU.
2010 - 2010: Co-Chair (with Jonah Erlebacher) of Ad-Hoc Committee to study Machining Services in theG.W.C. Whiting School of Engineering, appointed by the Dean.
2010 - 2010: Ad-Hoc Tenure and Promotion Committee Member, G.W.C. Whiting School of Engineering
2009 - 2010: Member, Department of Mechanical Engineering Graduate Admissions Committee