RI | Research | Labs | Intelligent Sensor, Measurement, and Control Lab

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Intelligent Sensor, Measurement, and Control Lab Head: Mel Siegel Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213 Location: NSH A421 & A417 (412) 268 8742 Associated center: CIMDS

This page last updated - January 1999.

Lab Description

We do applied research in sensor-based measurement and control. This research comprises inspection robotics, stereoscopic displays, online process monitoring and control, medical (and other) sensor data fusion and display, and environmental sensing.

Our primary focus is on "difficult measurements in difficult environments." For example, we have developed a tetherless lightweight inspection robot for finding cracks and corrosion on aircraft skins. Other applications that can use the robotics and telepresence technologies we developed in this context include landmine clearing, contraband, explosives, and weapons detection, hazardous materials cleanup, and other scenarios in which "expendable", "low metal content", and "field assembled" are important.

Our publications are accessible for reading online as PDF or for downloading as PostScript files.

Verified 2005 August 1 by mws@cmu.edu: accurate but not completely up-to-date.

Personnel [Past members]

	Name	Title	Email Address
	Alan D. Guisewite	Webmaster/Special Proj Asst	adg@cmu.edu
	Mel Siegel	Associate Research Professor	mws@cmu.edu

Past projects

Autonomous NonDestructive Inspector - Eddy current inspection of aircraft, precursor to CIMP	Barrier-Based Stereoscopic Image Display System - variations on time-multiplexed parallax panoramagrams
Computer-Assisted Seating System - investigate the relationship between seating surface shape and soft tissue distortion using direct measurements	Crown Inspection Mobile Platform - Remote enhanced stereo visual inspection of aircraft
Headlamp Light Distribution Mapping - headlamp light distribution project for General Motors	Intelligent Frame Buffer - A ring of networked computers, each of which has the ability to write to the same screen in real time.
Three Camera Video & Synthesis - create high-definition stereoscopic images from one high-resolution color camera and two low-resolution monochrome cameras	Vehicle Sound Pattern Recognition - Vehicular and "tap test" sound recognition

Recent publications [View all 46 publications]

• Tactile sensing by the sole of the foot: Part 2: Calibration and real time processing
  A. Kalamdani, C.H. Messom, and M. Siegel
  3rd International Conference on Autonomous Robots and Agents 2006, December, 2006.
  Download: pdf [934 KB] copyrighted

• Tactile sensing by the sole of the foot: part i: apparatus and initial experiments toward obtaining dynamic pressure maps useful for stabilizing standing, walking, and running of humanoid robots
  A. Kalamdani, C.H. Messom, and M. Siegel
  IEEE International Workshop on Haptic Audio Visual Environments and their Applications, 2006, November, 2006, pp. 147-151. [Abstract]
  Download: pdf [1687 KB] copyrighted

• Development and characterization of a high-spatial-temporal-resolution foot-sole-pressure measurement system
  A. Kalamdani
  master's thesis, tech. report CMU-RI-TR-06-38, Robotics Institute, Carnegie Mellon University, August, 2006.
  Download: pdf [2176 KB] copyrighted

• In Vivo Measurement and Visualization of Pelvic Position and Orientation and Changes in Soft Tissue Shape and Thickness with Respect to Changes in Seating Surface Shape
  T. Ault
  doctoral dissertation, tech. report CMU-RI-TR-05-56, Robotics Institute, Carnegie Mellon University, November, 2005. [Abstract]
  Download: pdf [5917 KB] copyrighted

• Sensor Fusion for Context-Aware Computing Using Dempster-Shafer Theory
  H. Wu
  doctoral dissertation, tech. report CMU-RI-TR-03-52, Robotics Institute, Carnegie Mellon University, December, 2003. [Abstract]
  Download: pdf [1607 KB] copyrighted

• Correlation of accelerometer and microphone data in the "coin tap test"
  H. Wu and M. Siegel
  IEEE Transactions on Instrumentation and Measurement, Vol. 49, No. 3, June, 2000, pp. 493 - 497. [Abstract]
  Download: pdf [107 KB] copyrighted

• Odor-based incontinence sensor
  H. Wu and M. Siegel
  Proceedings of the 17th IEEE Instrumentation and Measurement Technology Conference, Vol. 1, May, 2000, pp. 63 - 68. [Abstract]
  Download: pdf [545 KB] copyrighted

• Just enough reality: comfortable 3-D viewing via microstereopsis
  M. Siegel and S. Nagata
  IEEE Transactions on Circuits and Systems for Video Technology, Vol. 10, No. 3, April, 2000, pp. 387 - 396. [Abstract]
  Download: pdf [463 KB] copyrighted

• Vehicle sound signature recognition by frequency vector principal component analysis
  H. Wu, M. Siegel, and P. Khosla
  IEEE Transactions on Instrumentation and Measurement, Vol. 48, No. 5, October, 1999, pp. 1005 - 1009. [Abstract]
  Download: pdf [103 KB] copyrighted

• Kinder Gentler Stereo
  M. Siegel, Y. Tobinaga, and T. Akiya
  Proc. SPIE Stereoscopic Displays and Virtual Reality Systems VI, Vol. 3639A, January, 1999, pp. 18 - 27. [Abstract]
  Download: pdf [2420 KB], ps.gz [3492 KB] copyrighted