Home/Mel Siegel

Mel Siegel

Professor Emeritus
Email: mws@andrew.cmu.edu
Office: NSH A417
Phone: (412) 983-2626
Personal Homepage: http://www.cs.cmu.edu/~mws/
Administrative Assistant: Keyla C. Cook

My research interests originate in parallel backgrounds of measurement intensive basic research in physical science, commercial analytical instrument development, application of computers to measurement, diagnosis, and control, and computer modeling and design of measurement and perception systems. My research in robotics has focused on the design and integration of sensing devices, measurement and control systems, and knowledge based approaches to interpretation and utilization of data. Past projects have addressed sensors and algorithms for biotechnology process control, interferogram based fiberglass forming control, tactile sensor based manipulator control, development semiconductor devices that simulate the olfactory sense, and detection and analysis of electric power transmission system faults using expert systems. Current and future research directions are illustrated by the following project capsules. Their unifying theme is making “difficult measurements in difficult environments”, seeking new ways to formulate and execute control decisions using incomplete, noisy, ambiguous and contradictory measurements.

Mobile Robots for Aging Aircraft Inspection. With each takeoff and landing, the skin of a pressurized airplane expands and contracts, causing cracks around the rivet heads. Load induced stresses cause cracks deep in structural members, engine components, etc. Weather and the environment lead to dangerous weakening of bonds and structures by corrosion. Present inspection procedures to find these flaws are about 10% electronically instrumented, primarily using hand-held eddy current sensors, and about 90% visual, aided only by off-the-shelf magnifiers and flashlights. We have two projects in which we are studying the four key issues in the application of mobile robots to aiding and perhaps eventually automating these inspections. The first project focuses on the mobility and manipulation issues in electronic measurement instrument deployment; it uses computer vision to aid navigation, alignment, and motion control of a small suction cup based beam-walker that we designed and built. The second project focuses on the measurement and monitoring issues of visual inspection, especially camera, software, and display systems for doing remote enhanced visual inspection using 3D-stereoscopic methods; in this project a large but very light weight wheeled robot is being designed and built to systematically scan the fuselage crown of large passenger and cargo airplanes. We also contemplate a future microrobotics program for inspection of inaccessible areas such as fuel tanks, wheel wells, and the inside surface of the skin.

3D-Stereoscopic Display Systems. We are working on several key obstacles to 3D-TV and 3D-stereoscopic computer graphics systems successfully making the transition from currently cumbersome laboratory curiosities to eventually standard appliances in the home and the workplace. Research issues that we are working on include camera and graphics engine design, binocular and multi-perspective signal stream compression and coding, 3D-stereoscopic display hardware implementations that are cognizant of and able to exploit the psychophysics of binocular perception, and efforts to quantify the additional utility of 3D- stereoscopy for perceiving complex data, virtual reality, and intricate spatial relationships. We are carefully examining the geometrical and optical system issues that underlie virtual reality presentations of naked-eye, augmented- eye (binoculars, stereomicroscopes), and fish-eye perspectives. We are able to couple sensing of the observer’s position to the display’s viewpoint, suitably changing the perspective from which computer graphics are rendered, and suitably interpolating camera viewpoints (and potentially moving selected cameras) in multi-viewpoint video systems. This work is coupled with our aircraft inspection work via incorporation of advanced 3D- stereoscopic cameras and display systems in the enhanced remote visual inspection sensor package. We are also beginning to apply this work to some issues in medical robotics and medical imaging, including dynamic fusion of imagery from x-ray CT, ultrasonic, and video sources, and measurements for optimizing and manufacturing custom designed seat cushions for wheelchair bound patients.

Modeling of Illumination Systems. During the course of a project to generate simulation and design aids for a manufacturer of automobile head-lamps and tail-lamps we conceived a new approach to modeling complex illumination systems. The method combines automated systematic measurements that fully characterize the radial dependence of the angular distributions of light from extended light sources with a parametric representation akin to the multipole expansions used in antenna and atomic radiation models. Using this approach, we have succeeded in achieving very compact representations of complex off-the- shelf light sources from which raytracing can proceed extremely efficiently. We have used this representation to model luminaires, and to optimize their reflector shapes to achieve desired complex lighting patterns such as those required of automobile head lamps. We have also developed an encapsulation of the key angular features of light sources in a small number of coordinate system independent parameters, thus making it possible to compare and contrast different sources, and even different types of sources, on an equal footing.

Sensor Device Oriented Projects. We often invest a little time and a few spare dollars to pursue an innovative concept, usually an idea for a sensor device, by building a laboratory demonstration of it potential. We have a unique approach to range-from- focus: harmonic analysis of the signal from an oscillating image sensor gives the focus error, and thus the object range, pixel-by-pixel, without explicit need to focus any part of scene. We build semiconductor gas sensors, devices that change an electrical property in response to trace constituents in the environment, using neural networks to model and replicate the sense of smell. We are using electrets, waxy materials cast or molded into finger-like shapes and electrically polarized to make them pressure sensitive, for tactile sensors in delicate inspection and manipulation tasks. Ideas like these are good ones for student projects and, when developed in depth, can make good thesis research topics.

Displaying 59 Publications
Defect-Detection Technologies for Low-Observability Aircraft Skin Coatings
Mel Siegel and Cameron Riviere

Tech. Report, CMU-RI-TR-17-31, Robotics Institute, Carnegie Mellon University, May, 2017
Psychophysical Evaluation of Haptic Perception Under Augmentation by a Handheld Device
Bing Wu, Roberta Klatzky, Randy Lee, Vikas Revanna Shivaprabhu, John Galeotti, Mel Siegel, Joel Schuman, Ralph Hollis and George D. Stetten

Journal Article, Carnegie Mellon University, Human Factors: The Journal of the Human Factors and Ergonomics Society, September, 2014
FingerSight: Fingertip Haptic Sensing of the Visual Environment
Samantha J. Horvath, John Galeotti, Bing Wu, Roberta Klatzky, Mel Siegel and George D. Stetten

Journal Article, Carnegie Mellon University, IEEE Journal of Translational Engineering in Health and Medicine, March, 2014
Broadening Participation in the US and UK Keys to Growing Underrepresented Student Populations in STEM
Rachel Burcin, Angela M. Keiser, Mel Siegel, Alexandra Clochard, Rachel Burcin, Angela M. Keiser, Mel Siegel and Alexandra Clochard Yao

Tech. Report, CMU-RI-TR-13-17, Robotics Institute, Carnegie Mellon University, April, 2013
Real-Time Registration of Video with Ultrasound using Stereo Disparity
Jihang Wang, Samantha J. Horvath, George D. Stetten, Mel Siegel and John Galeotti

Journal Article, Carnegie Mellon University, SPIE Medical Imaging, February, 2012
ProbeSight: Video Cameras on an Ultrasound Probe for Computer Vision of the Patient’s Exterior
John Galeotti, Jihang Wang, Samantha J. Horvath, Mel Siegel and George D. Stetten

Conference Paper, Carnegie Mellon University, Image Guided Therapy Workshop, October, 2011
Tactile sensing by the sole of the foot: Part 2: Calibration and real time processing
Abhinav Kalamdani, Christopher Hugh Messom and Mel Siegel

Conference Paper, Carnegie Mellon University, 3rd International Conference on Autonomous Robots and Agents 2006, December, 2006
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
Abhinav Kalamdani, Christopher Hugh Messom and Mel Siegel

Conference Paper, Carnegie Mellon University, IEEE International Workshop on Haptic Audio Visual Environments and their Applications, 2006, pp. 147-151, November, 2006
Sensor Fusion for Context Understanding
Huadong Wu, Mel Siegel and Sevim Ablay(Motorola)

Conference Paper, Carnegie Mellon University, Proceedings of IEEE Instrumentation and Measurement Technology Conference, Anchorage, AK, USA, May 21-23, 2002, May, 2002
Sensor Fusion Using Dempster-Shafer Theory
Huadong Wu, Mel Siegel, Rainer Stiefelhagen and Jie Yang

Conference Paper, Carnegie Mellon University, Proceedings of IEEE Instrumentation and Measurement Technology Conference, Anchorage, AK, USA, May 21-23, 2002, May, 2002
Driving in Traffic: Short-Range Sensing for Urban Collision Avoidance
Chuck Thorpe, David Duggins, Jay Gowdy, Robert MacLachlan, Christoph Mertz, Mel Siegel, Arne Suppe, Chieh-Chih Wang and Teruko Yata

Conference Paper, Carnegie Mellon University, Proceedings of SPIE: Unmanned Ground Vehicle Technology IV, Vol. 4715, April, 2002
Dependable Perception for Robots
Chuck Thorpe, Olivier Clatz, David Duggins, Jay Gowdy, Robert MacLachlan, James Ryan Miller, Christoph Mertz, Mel Siegel, Chieh-Chih Wang and Teruko Yata

Conference Paper, Carnegie Mellon University, Proceedings of International Advanced Robotics Programme IEEE, May, 2001
Sensor-friendly vehicle and roadway systems
P. Griffiths, Dirk Langer, J.A. Misener, Mel Siegel and Chuck Thorpe

Conference Paper, Carnegie Mellon University, Proceedings of the 18th Instrumentation and Measurement Technology Conference (IMTC '01), Vol. 2, pp. 1036 -1040, May, 2001
Benefits Estimation of Sensor-Friendly Vehicle and Roadway Cooperative Safety Systems
James Misener, Chuck Thorpe, Robert Ferlis, Ron Hearne, Mel Siegel and Joe Perkowski

Miscellaneous, Carnegie Mellon University, March, 2001
Correlation of accelerometer and microphone data in the “coin tap test”
Huadong Wu and Mel Siegel

Journal Article, Carnegie Mellon University, IEEE Transactions on Instrumentation and Measurement, Vol. 49, No. 3, pp. 493 - 497, June, 2000
Odor-based incontinence sensor
Huadong Wu and Mel Siegel

Conference Paper, Carnegie Mellon University, Proceedings of the 17th IEEE Instrumentation and Measurement Technology Conference, Vol. 1, pp. 63 - 68, May, 2000
Just enough reality: comfortable 3-D viewing via microstereopsis
Mel Siegel and S. Nagata

Journal Article, Carnegie Mellon University, IEEE Transactions on Circuits and Systems for Video Technology, Vol. 10, No. 3, pp. 387 - 396, April, 2000
Vehicle sound signature recognition by frequency vector principal component analysis
Huadong Wu, Mel Siegel and Pradeep Khosla

Journal Article, IEEE Transactions on Instrumentation and Measurement, Vol. 48, No. 5, pp. 1005 - 1009, October, 1999
Kinder Gentler Stereo
Mel Siegel, Y. Tobinaga and T. Akiya

Conference Paper, Proc. SPIE Stereoscopic Displays and Virtual Reality Systems VI, Vol. 3639A, pp. 18 - 27, January, 1999
In situ calibration for quantitative ultrasonic imaging
Mel Siegel and Thomas Ault

Journal Article, IEEE Instrumentation & Measurement Magazine, Vol. 1, No. 3, September, 1998
Remote Enhanced Visual Inspection of Aircraft by a Mobile Robot
Priyan Gunatilake and Mel Siegel

Conference Paper, Proceedings of the 1998 IMTC Conference, pp. 49 - 58, May, 1998
Vehicle Sound Signature Recognition by Frequency Vector Principle Component Analysis
Huadong Wu, Mel Siegel and Pradeep Khosla

Conference Paper, Proceedings of the 15th Annual IEEE Instrumentation and Measurement Technology Conference, May, 1998
Robotic Assistants for Aircraft Inspectors
Mel Siegel, Priyan Gunatilake and Gregg Podnar

Journal Article, Instrumentation and Measurement Magazine, Vol. 1, No. 1, pp. 16 - 30, March, 1998
Improved Rendering of Parallax Panoramagrams for a Time-Multiplexed Autostereoscopic Display
Adam Kalai and Mel Siegel

Conference Paper, Proceedings of the 1998 SPIE/IS&T Conference, Vol. 3295A, pp. 211 - 217, January, 1998
Synthesis of a High Resolution 3D-Stereoscopic Image from a High Resolution Monoscopic Image and a Low Resolution Depth Map
Shin Hwan Kim, Mel Siegel and J-Y Son

Conference Paper, Proceedings of the 1998 SPIE/IS&T Conference, Vol. 3295A, pp. 76 - 86, January, 1998
Enhanced Remote Visual Inspection of Aircraft Skin
Mel Siegel and Priyan Gunatilake

Conference Paper, Proceedings of the Intelligent NDE Sciences for Aging and Futuristic Aircraft Workshop, pp. 101 - 112, September, 1997
Measurement Issues in Quantitative Ultrasonic Imaging
Mel Siegel and Thomas Ault

Conference Paper, Proc. of the IEEE Instrumentation and Measurement Technology Conference, pp. 16-19, May, 1997
Remote Inspection Technologies for Aircraft Skin Inspection.
Mel Siegel and Priyan Gunatilake

Conference Paper, Proc. ET & VS - IM, pp. 69 - 78, May, 1997
Compression and Interpolation of 3D-Stereoscopic and Multi-View Video
Mel Siegel, S. Sethuraman, J. S. McVeigh and Angel Jordan

Conference Paper, Stereoscopic Displays and Virtual Reality Systems IV, Vol. 3012, pp. 227 - 238, February, 1997
Image Understanding Algorithms for Remote Visual Inspection of Aircraft Surfaces
Priyan Gunatilake, Mel Siegel, Angel Jordan and Gregg Podnar

Conference Paper, Machine Vision Applications in Industrial Inspection V, Vol. 3029, February, 1997
Image Enhancement and Understanding for Remote Visual Inspection of Aircraft Surface
Priyan Gunatilake, Mel Siegel, Angel Jordan and Gregg Podnar

Conference Paper, Nondestructive Evaluation of Aging Aircraft, Airports, and Aerospace Hardware, Vol. 2945, pp. 416 - 427, December, 1996
Tree-structured Vector Restoration Coding of Video
J. S. McVeigh, S.-W. Wu, Mel Siegel and Angel Jordan

Conference Paper, May, 1996
Adaptive Reference Frame Selection for Generalized Video Signal Coding
J. S. McVeigh, Mel Siegel and Angel Jordan

Conference Paper, Digital Video Compression: Algorithms and Technologies 1996, Vol. 2668, pp. 441 - 449, February, 1996
Algorithm for automated eye strain reduction in real stereoscopic images and sequences
J. S. McVeigh, Mel Siegel and Angel Jordan

Conference Paper, Human Vision and Electronic Imaging, Vol. 2657, pp. 307 - 316, February, 1996
Geometry of Binocular Imaging III: Wide-Angle and Fish-Eye Lenses
V. S. Grinberg and Mel Siegel

Conference Paper, Stereoscopic Displays and Virtual Reality Systems III, Vol. 2653, pp. 146 - 153, February, 1996
Segmentation Based Coding of Stereoscopic Image Sequences
S. Sethuraman, Mel Siegel and Angel Jordan

Conference Paper, Digital Video Compression: Algorithms and Technologies 1996, Vol. 2668, pp. 420 - 429, February, 1996
Intermediate view synthesis considering occluded and ambiguously referenced image regions
J. S. McVeigh, Mel Siegel and Angel Jordan

Journal Article, Signal Processing: Image Communication, Vol. 9, pp. 21 - 28, January, 1996
Vector Restoration for Video Coding
J. S. McVeigh, S.-W. Wu, Mel Siegel and Angel Jordan

Conference Paper, Proc. ICIP-95, Vol. 1, pp. 93 - 96, October, 1995
Software for 3D-TV and 3D-Stereoscopic Computer Workstations
Mel Siegel, V. S. Grinberg, Angel Jordan, J. S. McVeigh, Gregg Podnar, S. Safier and S. Sethuraman

Conference Paper, Proc. of the 1995 International Workshop on Stereoscopic and Three Dimensional Imaging, pp. 251 - 260, September, 1995
Robotic-Remote Operated Sensing Device for U.S. Coast Guard
Christopher Alberts, Alan D. Guisewite, William Kaufman and Mel Siegel

Book, July, 1995
3D-Stereoscopic X Windows
S. Safier and Mel Siegel

Conference Paper, Stereoscopic Displays and Virtual Reality Systems II, Vol. 2409, pp. 160 - 167, February, 1995
A Multiresolutional Region Based Segmentation Scheme for Stereoscopic Image Compression
S. Sethuraman, Mel Siegel and Angel Jordan

Conference Paper, Digital Video Compression: Algorithms and Technologies 1995, Vol. 2419, pp. 265 - 274, February, 1995
Double Buffering Technique for Binocular Imaging in a Window
J. S. McVeigh, V. S. Grinberg and Mel Siegel

Conference Paper, Stereoscopic Displays and Virtual Reality Systems II, Vol. 2409, pp. 168 - 175, February, 1995
Geometry of Binocular Imaging II: The Augmented Eye
V. S. Grinberg, Gregg Podnar and Mel Siegel

Conference Paper, Stereoscopic Displays and Virtual Reality Systems II, Vol. 2409, pp. 142 - 149, February, 1995
A Multiresolution Framework for Stereoscopic Image Sequence Compression
S. Sethuraman, Mel Siegel and Angel Jordan

Conference Paper, Proc. ICIP-94, Vol. 2, pp. 361 - 365, November, 1994
Multiresolution based hierarchical disparity estimation for stereo image pair compression
S. Sethuraman, Angel Jordan and Mel Siegel

Conference Paper, March, 1994
Compression of stereo image pairs and streams
Mel Siegel, Priyan Gunatilake, S. Sethuraman and Angel Jordan

Conference Paper, Stereoscopic Displays and Virtual Reality Systems, Vol. 2177, pp. 258 - 268, February, 1994
Geometry of Binocular Imaging
V. S. Grinberg, Gregg Podnar and Mel Siegel

Conference Paper, Stereoscopic Displays and Virtual Reality Systems, Vol. 2177, pp. 56 - 65, February, 1994
Gas Identification System Using Graded Temperature Sensor and Neural Net Interpretation
L. Wong, T. Takemori and Mel Siegel

Tech. Report, CMU-RI-TR-89-20, Robotics Institute, Carnegie Mellon University, July, 1989
Remote High Speed Measurement of Small Diameters by Optical Diffractometry and Interferometry
Mel Siegel

Tech. Report, CMU-RI-TR-88-15, Robotics Institute, Carnegie Mellon University, September, 1988
Intelligent Sensors for Atomization Processing of Molten Metals and Alloys
G. Jiang, H. Henein and Mel Siegel

Tech. Report, CMU-RI-TR-88-06, Robotics Institute, Carnegie Mellon University, June, 1988
Image Focusing in Space and Time
Mel Siegel

Tech. Report, CMU-RI-TR-88-02, Robotics Institute, Carnegie Mellon University, February, 1988
Physically based simulation model for acoustic sensor robot navigation
R. Kuc and Mel Siegel

Conference Paper, 1987 IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. PAMI-9, No. 6, pp. 766 - 778, November, 1987
Dual Gradient Thick-Film Metal Oxide Gas Sensors
Mel Siegel, L. Wong, R. J. Lauf and B. S. Hoffheins

Conference Paper, Proceedings of the 4th International Conference on Solid-State Sensors and Actuators (Transducers'87), pp. 599 - 604, June, 1987
Automatic Robot Initialization Using a Planar Target Scanned by an Optical Reflection Sensor
R. Q. Yang and Mel Siegel

Tech. Report, CMU-RI-TR-87-09, Robotics Institute, Carnegie Mellon University, April, 1987
Efficient representation of reflecting structures for a sonar navigation model
R. Kuc and Mel Siegel

Conference Paper, Proceedings of the 1987 IEEE International Conference on Robotics and Automation, Vol. 3, pp. 1916 - 1923, March, 1987
A Sorting System Using very Low Resolution Optical Sensor Array in Robot Fingertips
R. Q. Yang and Mel Siegel

Tech. Report, CMU-RI-TR-86-10, Robotics Institute, Carnegie Mellon University, May, 1986
Physically-based Simulation Model for Acoustic Sensor Robot Navigation
Roman Kuc and Mel Siegel

Tech. Report, CMU-RI-TR-86-11, Robotics Institute, Carnegie Mellon University, May, 1986
Mailing Address
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
2017-09-13T10:53:03+00:00