Recent/Selected Publications 

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•  L.J. Stocco, S.E. Salcudean and F. Sassani, “Optimal Kinematic Design of a Haptic Pen", IEEE/ASME Transactions on Mechatronics, in press, September 2001. (PDF Copy)
• M.R. Sirouspour and S.E. Salcudean, “Nonlinear Control of Hydraulic Robots", IEEE Transactions on Robotics and Automation, in press, April or June 2001.  (PDF Copy)
• S.P. DiMaio, S.E. Salcudean, C. Reboulet, S. Tafazoli and K. Hashtrudi-Zaad, “A Virtual Environment for the Simulation and Programming of Excavation Trajectories”, Presence: Teleoperators and Virtual Environments, in press.
• S.E. Salcudean, M. Zhu, W.H. Zhu,  and K. Hashtrudi-Zaad, ``Transparent Bilateral Teleoperation under Position and Rate Control'',  Intl. J. Robotics Research, Vol. 19, No. 12, December 2000, pp. 1185-1202. (PDF Copy).
• W.H. Zhu and S.E. Salcudean,  “Stability-guaranteed Teleoperation: An adaptive Motion/Force Control Approach”, IEEE Transactions on Automatic Control, Vol. 45, No. 11, pp. 1951--1969, November 2000. (PDF Copy).
• S.E. Salcudean, K. Hashtrudi-Zaad, S. Tafazoli, S.P. DiMaio, and C. Reboulet, “Bilateral Matched-Impedance Teleoperation with Applications to Excavator Control”, Control Systems Magazine, Vol.19, No.6, pp.29-37, December 1999. (PDF Copy).
• L.J. Stocco, S.E. Salcudean and F. Sassani, “On the Use of Scaling Matrices for Task-Specific Robot Design”, IEEE Trans. Robotics and Automation Vol.15, No.5, pp.958-956, October 1999.
• S. Tafazoli, P.D. Lawrence and S.E. Salcudean, “Identification of Inertial and Friction Parameters for Excavator Arms”, IEEE Trans Robotics & Automation, Vol.15, No.5, pp.966-971, October 1999.
• A.J. Hodgson, J.G. Person, S.E. Salcudean and A.G. Nagy, “The Effects of Physical Constraints in Laparoscopic Surgery”, Medical Image Analysis, pp.275-285, 3(3), 1999. (PDF Copy).
• L. Stocco, S.E. Salcudean and F. Sassani, “Fast Constrained Global Minimax Optimization of Robot Parameters”, Robotica, Vol.16, pp.595-605, 1999. (Zipped Postcript Copy) (PDF Copy)
• Z. Hu, S.E. Salcudean and P.D.Loewen, “A Numerical Solution of the Multiple Objective Control System Design Problem for SISO Systems”, Opt. Contr. Appl. & Methods, 19(6), pp.411-422, 1998.
• A.F. Lynch and S.E. Salcudean, ``Internal Model-based Controller Design using Measured Costs and Gradients'',  International Journal of Control, 69(2), pp.257-270, 1998 (Zipped Postcript Copy) (PDF Copy)
• S.E. Salcudean and T. Vlaar, "On the Emulation of Stiff Walls and Static Friction with a Magnetically Levitated Input-Output Device", ASME Journal of Dynamics, Measurement and Control, 119:127--132, March 1997. (Zipped Postscript Copy)(PDF Copy)
• J. Yan and S. Salcudean, "Teleoperation Controller Design using H-Infinity Optimization", IEEE Transactions on Control Systems Technology, Vol. 4, No. 3, pp. 244-258, May 1996. (Zipped Postscript Copy)(PDF Copy)
• S.E. Salcudean, N.M. Wong, and R.L. Hollis, "Design and Control of a Force-Reflecting Teleoperation System with Magnetically Levitated Master and Wrist", IEEE Transactions on Robotics and Automation, Vol. 11, No. 6, pp. 844-858, December 1995. (Zipped Postscript Copy)(PDF Copy)

• P. Abolmaesumi, M.R. Sirouspour, S.E. Salcudean and W.H. Zhu, Adaptive Image Servo Controller for Robot-assisted Diagnostic Ultrasound, IEEE/ASME International Conference on Advanced Intelligent  Mechatronics (AIM), Como, Italy, July 2001. (PDF Copy).
• P. Abolmaesumi, S.E. Salcudean, W.H. Zhu, S.P. DiMaio and M.R. Sirouspour, A User Interface for Robot-assisted Diagnostic Ultrasound, IEEE  Int. Conf. on Rob. and Auto. (ICRA), Korea, May 2001.(PDF Copy).
• S.E. Salcudean, W.H. Zhu, P. Abolmaesumi, S. Bachmann, G. Bell, P.D. Lawrence, M.R. Sirouspour and S.P. DiMaio, Robot-assisted Diagnostic Ultrasound, 2001 International Conference on Robotics and Automation, Korea, Video Presentation, May 2001.
• S.E. Salcudean, W.H. Zhu, P. Abolmaesumi, S. Bachmann and P.D. Lawrence, “A Robot System for Medical Ultrasound”, Robotics Research,  the 9th International Symposium of Robotics Research (ISRR’99), J.M. Hollerbach and D.E. Koditschek (Eds.), pp. 195-202, Springer 2000. (PDF Copy)
• S.P. DiMaio, S.E. Salcudean and M.R. Sirosupour, “Haptic Interaction with a Planar Environment}, 9th  Symp. Haptic Interfaces for Virtual Env. & Teleop. Sys, Intl. Mech. Eng. Congr. Exp., (ASME Winter Annual Meeting), DSC-Vol.69-2, pp.1223-1230, Orlando, FL, Nov. 5-10, 2000.(PDF Copy)
• P. Abolmaesumi, S.E. Salcudean and W.H. Zhu, Visual Servoing for Robot-assisted Diagnostic Ultrasound, IEEE World Congress of   Biomedical Engineering, Chicago, July 2000. (PDF Copy).
• P. Abolmaesumi, M.R. Sirouspour, S.E. Salcudean, "Real-time extraction of carotid artery contours from ultrasound images", 13th IEEE Symp.Comp.-Based Med. Sys, Houston, TX, June 23-24, 2000.  (PDF Copy)
• M.R. Sirouspour and S.E. Salcudean, ``On the Nonlinear Control of Hydraulic Servosystems",  IEEE International Conference on Robotics and Automation, 7 pages, San Francisco, CA, April 2000. (PDF Copy)
• S.E. Salcudean and L. Stocco, “Isotropy and Actuator Optimization in Haptic Interface Design”, 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000. (PDF Copy)
• K. Hashtrudi-Zaad and S.E. Salcudean, “Analysis and Evaluation of Stability and Performance Robustness for Teleoperation Control Architectures”, 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000.
• W.-H. Zhu, S.E. Salcudean, S. Bachmann and P. Abolmaesumi, “Motion/Force/Image Control of a Diagnostic Ultrasound Robot”, 2000 IEEE Intl. Conf. Rob. Aut., San Francisco, CA, April 2000. (PDF Copy).
• D. Constantinescu, I. Chau, S.P. DiMaio, L. Filipozzi, S.E. Salcudean and F. Ghassemi, ``Haptic Rendering of Planar Rigid-Body Motion using a Redundant Parallel Mechanism", 2000  IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000. (PDF Copy).
• M.R. Sirouspour, S.P. DiMaio, S.E. Salcudean, P. Abolmaesumi and C. Jones, ``Haptic Interface Control - Design Issues and Experiments with a Planar Device", 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000. (PDF Copy).
• K. Hashtrudi-Zaad, and S.E. Salcudean, ``Bilateral Parallel Force/Position Teleoepration Control", 1999 Symp. Haptic Interfaces for Virtual Environments and Teleoperation Systems, Intl. Mech. Eng. Congr. Exp., (ASME Winter Annual Meeting), DSC Vol., pp. 351--358, Nashville, TN, November 1999. (PDF Copy).
• S.E. Salcudean, R. Six, R. Barman, S. Kingdon, I. Chau, D. Murray and M. Steenburgh, ``Control Electronics and Hybrid Dynamic Systems-based API for a 6-DOF Desktop Haptic Interface", 1999 Symp. Haptic Interfaces for Virtual Environments

and Teleoperation Systems, Intl. Mech. Eng. Congr. Exp., (ASME Winter Annual Meeting), DSC Vol., pp. 407-414, Nashville, TN, November 1999. (PDF Copy).
• A.L. Trejos, S.E. Salcudean, F. Sassani and S. Lichtenstein, “On the Feasibility of a Moving Support for Surgery on the Beating Heart”, MICCAI’99, pp.1088-1097, Cambr., U.K., Sept. 1999. (PDF Copy).
• S.E. Salcudean, G. Bell, S. Bachmann, W.H. Zhu, P. Abolmaesumi and P.D. Lawrence, Robot-assisted Diagnostic Ultrasound: Design and Feasibility Experiments,  Medical Image Computing and Computer Assisted  Intervention (MICCAI), Cambridge, UK, September 1999. (PDF Copy).
• W.-H. Zhu and S.E. Salcudean, ``Teleoperation with Adaptive Motion/Force Control", IEEE International Conference on Robotics and Automation,  pp.231-237, Detroit, MI, May 1999. (PDF Copy).
• K. Hashtrudi-Zaad, and S.E. Salcudean, `On the Use of Local Force Feedback for Transparent Teleoperation", IEEE International Conference on Robotics and Automation, pp.1863-1869,  Detroit, MI, May 1999.
• W.-H. Zhu, S.E. Salcudean and M. Zhu, ``Experiments with Transparent Bilateral Teleoperation under Position and Rate Control", IEEE International Conference on Robotics and Automation, pp.1870--1875, Detroit, MI, May 1999. (PDF Copy).
• T. Gilhuly, S.E. Salcudean, K. Ashe, S. Lichtenstein, P.D. Lawrence: “Heart Stabilizer and Surgical Arm Design for Cardiac Surgery”, pp.699-704, IEEE Conf. Rob. Aut., Leuven, Belgium, May 1998.
• L. Stocco, S.E. Salcudean and F. Sassani, ``Matrix Normalization for Optimal Robot Design", 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 1998.

(Zipped Postcript Copy) (PDF Copy)
• S.P. DiMaio, S.E. Salcudean, C. Reboulet, S. Tafazoli and K. Hashtrudi-Zaad, "A Virtual Excavator for Controller Development and Evaluation",  1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 1998.

(Zipped Postcript Copy)(PDF Copy)
• S.E. Salcudean, K. Hastrudi-Zaad, S. Tafazoli, S.P. DiMaio and C. Reboulet, ``Bilateral Matched Impedance Teleoperation with Application to Excavator Control", 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 1998.
• Z.J. Hu, P.D. Loewen and S.E. Salcudean, ``Minimax Linear-Quadratic Controller Design'',

Proceedings of the 18th IFIP Conference on Systems modelling and Optimization, Addison Wesley Longman.
• S.E. Salcudean, ``Control for Teleoperation and Haptic Interfaces'', Control Problems in Robotics and Automation,  B. Siciliano and K.P. Valavanis (Eds.), pp. 50-66, Springer-Verlag Lecture Notes in Control and Information Sciences, Vol. 230, December 1997.
• S.E. Salcudean and N.R. Parker, ``6-DOF Desk-Top Voice-Coil Joystick'', 6th Annual Symposium on Haptic Interfaces for Virtual Environments and Teleoperation Systems, Intl. Mech. Eng. Congr. Exp., (ASME Winter Annual Meeting), DSC-Vol. 61, pp. 131--138, Dallas, Texas, November 16-21, 1997. (Zipped Postcript Copy)(PDF Copy)
• L. Stocco, S.E. Salcudean  and F. Sassani, ``Mechanism Design for Global Isotropy with Applications to Haptic Interfaces'',  6th Annual Symposium on Haptic Interfaces for Virtual Environments  and Teleoperation Systems, Intl. Mech. Eng. Congr. Exp., (ASME Winter Annual Meeting), pp.115-122, Dallas, Texas, November 16-21, 1997.
• S.E. Salcudean, S. Tafazoli, K. Hashtrudi-Zaad, P.D. Lawrence and I. Chau,  ``Impedance Control of a Teleoperated Mini-Excavator'',  8th Intl. Conf. on Adv. Rob. (ICAR'97),  pp.19-25, Monterey, CA, July 1997. (Zipped Postcript Copy)(PDF Copy)
• S.E. Salcudean, S. Tafazoli, K. Hashtrudi-Zaad, P.D. Lawrence and C. Reboulet, ``Evaluation of Impedance and Teleoperation Control of a Hydraulic Mini-Excavator'',  EXPERIMENTAL ROBOTICS V: The Fifth Intl. Symposium, Barcelona, Catalonia, June 15-18, 1997, pp.187-198, to appear in the Springer-Verlag LNCIS series. (Zipped Postcript Copy)(PDF Copy)
• D. Li and S.E. Salcudean,  ``Modeling, Simulation and Control of a Hydraulic Stewart Platform'', Proc. IEEE Intl. Conf. Rob. Aut.,  pp. 3360-3366, Alb., New Mexico, April 1997. (Zipped Postcript Copy)(PDF Copy)
• S.E. Salcudean, S. Ku and G. Bell, ``Performance Measurement in Scaled Teleoperation for Microsurgery'',  Proc. of CVRMed-MRCAS'97, First Joint Conf. of Computer Vision, Virtual Reality and Rob. in Medicine and Medical Rob. and Computer-Assisted Surgery, J. Troccaz, E. Grimson, R. Mosges (Eds.), pp.789-798,  Springer-Verlag Lecture Notes in Computer Science, Vol. 1205, March 1997. (Zipped Postcript Copy)(PDF Copy)
• Z. Hu, S.E. Salcudean and P.D. Loewen, ``Multiple objective control problems via nonsmooth analysis'', In Preprints of 13th IFAC World Congress, Vol. C, pp. 415-420, San Francisco, USA, July 1996.
• S. Tafazoli, P.D. Lawrence, S.E. Salcudean, D.Chan, S. Bachmann and C.W. deSilva, "Parameter estimation and actuator friction analysis for a mini excavator", in 1996 IEEE International Conference on Robotics and Automation, pp. 329-334, April 22-28, 1996, Minneapolis, Minnesota. (Zipped Postcript Copy)
• Z. Hu, S.E. Salcudean and P.D. Loewen, "Optimization-based Teleoperation Controller Design", in Preprints of 13th IFAC World Congress, Vol. D, pp. 405-410, San Francisco, CA, USA, June 30 - July 5, 1996. (Zipped Postscript Copy)(PDF Copy)
• Z. Hu, S.E. Salcudean and P.D. Loewen, "Multiple Objective Control via Nonsmooth Analysis", in Proceedings of 13th IFAC World Congress, Vol. C, pp. 415-420, San Francisco, CA, USA, June 30 - July 5, 1996.(Zipped Postscript Copy)(PDF Copy)
• L. Stocco and S.E. Salcudean, ``A Coarse-Fine Approach to Force-reflecting Hand-Controller Design'',  1996 IEEE International Conference on Robotics and Automation, pp. 404-410, April 22-28, 1996, Minneapolis, Minnesota. (Zipped Postcript Copy)(PDF Copy)
• S. Ku and S.E. Salcudean, ``Design and Control of a Teleoperated Microgripper for Microsurgery'', 1996 IEEE International Conference on Robotics and Automation, pp. 889-894, April 22-28, 1996, Minneapolis, Minnesota. (Zipped Postrcript Copy)(PDF Copy)
• K. Hashtrudi Zaad and S.E. Salcudean, ``Adaptive Transparent Impedance Reflecting Teleoperation'', 1996 IEEE International Conference on Robotics and Automation, pp. 1369-1374, April 22-28, 1996, Minneapolis, Minnesota. (Zipped Postcript Copy)(PDF Copy)
• S. Tafazoli, P.D. Lawrence, S.E. Salcudean, D.Chan, S. Bachmann and C.W. deSilva, "Parameter estimation and actuator friction analysis for a mini excavator", 1996 IEEE International Conference on Robotics and Automation, pp. 329-334, April 22-28, 1996, Minneapolis, Minnesota.(Zipped Postcript Copy)(PDF Copy)
• Z. Hu, S.E. Salcudean and P.D. Loewen, "Robust Controller Design for Teleoperation Systems", 1995 IEEE International Conference on Systems, Man and Cybernetics, Vol. 3, pp. 2127-2132, October 22-25, 1995, Vancouver, B.C., Canada. (Zipped Postscript Copy)(PDF Copy)
• M. Zhu and S. Salcudean, "Achieving Transparency for Teleoperator Systems under Position and Rate Control", 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'95), Vol. 2, pp. 7-12, August 5-9, 1995, Pittsburgh, PA.(Zipped Postscript Copy)(PDF Copy)
• P.D. Lawrence, S.E. Salcudean, N. Sepehri, D.Chan, S. Bachmann, N. Parker, M. Zhu and R. Frenette, "Coordinated and Force-Feedback Control of Hydraulic Excavators", Fourth International Symposium on Experimental Robotics, ISER'95, Stanford CA, June 30-July 2, 1995.(Zipped Postscript Copy)(PDF Copy)
• Z. Hu, S.E. Salcudean and P.D. Loewen, "Numerical Solution of Multiple Objective Control System Design Problem for SISO Systems", Proceedings of the American Control Conference, Vol. 2, pp 1458-1462, Seattle, Washington, U.S.A., June 21-23, 1995.(Zipped Postscript Copy)(PDF Copy)
• A.J. Kelley and S.E. Salcudean, ``The Development of a Force Feedback Mouse and its Integration into a Graphical User Interface'', in Proceedings of the International Mechanical Engineering Congress and Exposition, DSC-Vol. 55-1, pp.287-294, Chicago, USA, November 6-11, 1994.(PDF Copy)
• P. Hacksel and S.E. Salcudean, "Estimation of Environment Forces and Rigid-Body Velocities Using Observers", Proceedings of the IEEE International Conference on Robotics and Automation, pp. 931-936, San Diego, USA, May 9-12, 1994. (Zipped Postscript Copy)(PDF Copy)
• S.E. Salcudean, P. Drexel, D. Ben-Dov and P.D. Lawrence. ``A Six-Degrees-of-Freedom, One Person, Hydraulic Motion Simulator'', Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2437-2443, San Diego, USA, May 9-12, 1994.
• S.E. Salcudean and J. Yan, "Towards a Force-Reflecting Motion-Scaling System for Microsurgery", 1994IEEE International Conference on Robotics and Automation, pp. 2296-2301, San Diego, USA, May 9-12, 1994.(Zipped Postscript Copy)(PDF Copy)
• R. L. Hollis and S.E. Salcudean. "Lorentz Levitation Technology: a New Approach to Fine Motion Robotics, Teleoperation, Haptic Interfaces, and Vibration Isolation", Proceedings of the 5th International Symposium on Robotics Research, (18 pages), Hidden Valley, PA, October 1-4, 1993. (Zipped Postscript Copy)(PDF Copy)
• N.R. Parker, S. Salcudean and P.D. Lawrence, "Application of Force Feedback to Heavy Duty Hydraulic Machines", 1993 IEEE International Conference on Robotics and Automation, pages 375-381, Atlanta, USA, May 2-6, 1993. (Zipped Postscript Copy)(PDF Copy)
• S.E. Salcudean, H. Davis, C.T. Chen, D.E. Goertz, and B. Tryggvason, "Coarse-Fine Residual Gravity Cancellation System with Magnetic Levitation". 1992 IEEE International Conference on Robotics and Automation, pages 1641-1647, Nice, France, May 10-15, 1992. (Zipped Postscript Copy)(PDF Copy)