/Robert MacLachlan

Robert MacLachlan

Portrait of Robert MacLachlan
Senior Research Engineer
Email: robertm2@andrew.cmu.edu
Office: 3115 Newell-Simon Hall
Phone: (412) 445-8113
Personal Homepage
Mailing Address

Biomedical instrumentation, human manipulation accuracy and technology to improve accuracy by removing unintentional motion, micron-scale measurement, proximity sensing using non-vision sensors, state estimation, particle filters, interfacing sensors and actuators, analog and power electronic design.

Displaying 27 Publications
Toward Monocular Camera-Guided Retinal Vein Cannulation with an Actively Stabilized Handheld Robot
Shohin Mukherjee, Sungwook Yang, Robert A. MacLachlan, Louis A. Lobes Jr., Joseph N. Martel and Cameron Riviere

Conference Paper, IEEE International Conference on Robotics and Automation 2017, May, 2017
Toward Improved Electromagnetic Tracking for Handheld Robotics
Robert A. MacLachlan, Ralph L. Hollis, Joseph N. Martel, Louis A. Lobes Jr., and Cameron N. Riviere

Conference Paper, Proceedings of International Conference on Mechatronics and Robotics Engineering, pp. 75-80, February, 2017
Hybrid position/force control of an active handheld micromanipulator for membrane peeling
Trent S. Wells, Sungwook Yang, Robert A. MacLachlan, Louis A. Lobes Jr., Joseph N. Martel and Cameron N. Riviere

Journal Article, International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 12, No. 1, pp. 85-95, March, 2016
Comparative evaluation of handheld robot-aided intraocular laser surgery
Sungwook Yang, Robert A. MacLachlan, Joseph N. Martel, Louis A. Lobes Jr. and Cameron N. Riviere

Journal Article, IEEE Transactions on Robotics, Vol. 32, No. 1, pp. 246-251, February, 2016
Manipulator design and operation of a six-degree-of-freedom handheld tremor-cancelling microsurgical instrument
Sungwook Yang, Robert MacLachlan and Cameron Riviere

Journal Article, Carnegie Mellon University, IEEE/ASME Transactions on Mechatronics, Vol. 20, No. 2, pp. 761-772, April, 2015
Vision-Based Control of a Handheld Surgical Micromanipulator with Virtual Fixtures
Brian Becker, Robert MacLachlan, Louis A. Lobes Jr., Gregory Hager and Cameron Riviere

Journal Article, Carnegie Mellon University, IEEE Transactions on Robotics, Vol. 29, No. 3, pp. 674-683, February, 2013
Moving object detection with laser scanners
Christoph Mertz, Luis Ernesto Navarro-Serment, David Duggins, Jay Gowdy, Robert MacLachlan, Paul Rybski, Aaron Steinfeld, Arne Suppe, Christopher Urmson, Nicolas Vandapel, Martial Hebert and Chuck Thorpe

Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 30, No. 1, pp. 17 - 43, January, 2013
Micron: an actively stabilized handheld tool for microsurgery
Robert MacLachlan, Brian Becker, Jaime Cuevas Tabares, Gregg Podnar, Louis Lobes and Cameron Riviere

Journal Article, Carnegie Mellon University, IEEE Transactions on Robotics, Vol. 28, No. 1, pp. 195-212, February, 2012
Power voltage-current converter using quasi-complementary MOSFET current mirrors
Robert MacLachlan and Cameron Riviere

Journal Article, Carnegie Mellon University, Electronics Letters, Vol. 47, No. 21, pp. 1173 - 1175, October, 2011
State estimation and feedforward tremor suppression for a handheld micromanipulator with a Kalman filter
Brian Becker, Robert MacLachlan and Cameron Riviere

Conference Paper, Proc. IEEE International Conference on Intelligent Robots and Systems, pp. 5160-5165, September, 2011
Handheld micromanipulation with vision-based virtual fixtures
Brian Becker, Robert MacLachlan, Gregory Hager and Cameron Riviere

Conference Paper, Proc. IEEE International Conference on Robotics and Automation, pp. 4127-4132, May, 2011
Cell micromanipulation with an active handheld micromanipulator
Jaime Cuevas Tabares, Robert MacLachlan, Charles A. Ettensohn and Cameron Riviere

Conference Paper, Proc. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 4363-4366, September, 2010
Semiautomated intraocular laser surgery using handheld instruments
Brian Becker, Robert MacLachlan and Cameron Riviere

Journal Article, Carnegie Mellon University, Lasers in Surgery and Medicine, Vol. 42, pp. 264-273, March, 2010
High-Speed Microscale Optical Tracking Using Digital Frequency-Domain Multiplexing
Robert MacLachlan and Cameron Riviere

Journal Article, Carnegie Mellon University, IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, Vol. 58, No. 6, pp. 1991 - 2001, June, 2009
Active Guidance of a Handheld Micromanipulator using Visual Servoing
Brian Becker, Sandrine Voros, Robert MacLachlan, Gregory Hager and Cameron Riviere

Conference Paper, 2009 IEEE International Conference on Robotics and Automation, pp. 339 - 344, May, 2009
Positioning Accuracy of Neurosurgeons
Roberto Sandoval Garcia, Robert MacLachlan, Michael Oh and Cameron Riviere

Conference Paper, Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 206-209, August, 2007
Test of Tracing Performance with an Active Handheld Micromanipulator
David Choi, Roberto Sandoval Garcia, Robert MacLachlan, Lawrence Ho, Louis Lobes and Cameron Riviere

Conference Paper, Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 3638-3641, August, 2007
Optical Tracking for Performance Testing of Microsurgical Instruments
Robert MacLachlan and Cameron Riviere

Tech. Report, CMU-RI-TR-07-01, Robotics Institute, Carnegie Mellon University, January, 2007
Tracking of Moving Objects from a Moving Vehicle Using a Scanning Laser Rangefinder
Robert MacLachlan and Christoph Mertz

Conference Paper, Intelligent Transportation Systems 2006, Vol. 2006, pp. 301-306, September, 2006
Collision Warning and Sensor Data Processing in Urban Areas
Christoph Mertz, David Duggins, Jay Gowdy, John Kozar, Robert MacLachlan, Aaron Steinfeld, Arne Suppe, Chuck Thorpe and Chieh-Chih Wang

Conference Paper, Proceedings of the 5th international conference on ITS telecommunications, pp. 73-78, June, 2005
Tracking Moving Objects From a Moving Vehicle Using a Laser Scanner
Robert MacLachlan

Tech. Report, CMU-RI-TR-05-07, Robotics Institute, Carnegie Mellon University, June, 2005
Development of the Side Component of the Transit Integrated Collision Warning System
Aaron Steinfeld, David Duggins, Jay Gowdy, John Kozar, Robert MacLachlan, Christoph Mertz, Arne Suppe, Chuck Thorpe and Chieh-Chih Wang

Conference Paper, IEEE Conference on Intelligent Transportation Systems (ITSC), pp. 343-348, January, 2004
Safe Robot Driving in Cluttered Environments
Chuck Thorpe, Justin David Carlson, David Duggins, Jay Gowdy, Robert MacLachlan, Christoph Mertz, Arne Suppe and Chieh-Chih Wang

Conference Paper, Proceedings of the 11th International Symposium of Robotics Research, October, 2003
Safe Robot Driving
Chuck Thorpe, Romuald Aufrere, Justin David Carlson, David Duggins, Terrence W. Fong, Jay Gowdy, John Kozar, Robert MacLachlan, Colin McCabe, Christoph Mertz, Arne Suppe, Chieh-Chih Wang and Teruko Yata

Conference Paper, Proceedings of the International Conference on Machine Automation (ICMA 2002), September, 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, 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, Proceedings of International Advanced Robotics Programme IEEE, May, 2001
Experiments with Driving Modes for Urban Robots
Martial Hebert, Robert MacLachlan and Peng Chang

Conference Paper, Proceedings of SPIE, January, 1999
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