Faculty

Louis Whitcomb

Professor

Research Interests

Control Systems: Adaptive and model-based control of linear and nonlinear systems, with focus on problems arising in mechanical systems, robots, and robotic vehicles. Underwater Robotics: Dynamics, control, instrumentation, and navigation of underwater vehicles and inhabited submersibles – with focus on deep submergence oceanographic vehicles. Industrial and Medical Robotics: Dynamics, control, instrumentation, and operation of precision robotics for novel medical and industrial applications.

Louis Whitcomb is professor and former Chair (2013-2017) in the Department of Mechanical Engineering, where he also holds a secondary appointment in the Department of Computer Science.  In 2007, Whitcomb was the founding director of the Johns Hopkins Laboratory for Computational Sensing and Robotics (LCSR), where he currently leads the Dynamical Systems and Control Laboratory. He received a BS in Mechanical Engineering and a PhD in Electrical Engineering at Yale University.  From 1984-1986,  he was a R&D engineer with the GMFanuc Robotics Corporation in Detroit, Michigan. Whitcomb joined Johns Hopkins University in 1995 after a postdoctoral fellowships at the University of Tokyo and the Woods Hole Oceanographic Institution, where he is currently an adjunct scientist. His research focuses on the navigation, dynamics, and control of robot systems, with applications to robotics in extreme environments including space and underwater robots.

Education
  • Ph.D. 1992, YALE UNIVERSITY
Experience
  • 2013 - 2017:  Department Chairperson, Unspecified
  • 2013 - 2017:  Department Chairperson, Unspecified
  • 2010 - 2011:  Chair, Robotics Faculty Search Committee, Whiting School of Engineering
  • 2010 - 2010:  Co-Chair, Whiting School of Engineering
  • 2007 - 2013:  Director, Laboratory for Computational Sensing and Robotics
  • 2007 - 2008:  Deputy Director and Associate Director, JHU Engineering Research Center
  • 2007 - 2013:  Founding Director, Laboratory for Computational Sensing and Robotics
  • 2003 - 2003:  Session Chair, MTS/IEEE
  • 1995 - Present:  Assistant Professor, Associate Professor, Professor, Professor and Chair, Unspecified
Research Areas
  • Adaptive identification and control
  • Advanced Electro-Mechanical Design
  • Dynamics and control of nonlinear systems
  • Force Control
  • Industrial Robotics
  • Nonlinear control
  • Robotics
  • Sensor and Actuator Design
  • Underwater Robot Vehicles
Awards
  • 2012:  Best Student Poster Award
  • 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:  Louis R. Sardella Faculty Scholar
  • 2008:  Nominated for 2008 William H. Huggins Excellence in Teaching Award.
  • 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:  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:  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.
  • 2002:  Senior Member - Institute of Electrical and Electronics Engineers (IEEE).
  • 2001:  Johns Hopkins University Student Council Award for Excellence in Teaching
  • 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.
  • 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.
  • 1997:  Office of Naval Research Young Investigator Award
  • 1996:  National Science Foundation Career Award
  • 1993:  JSPS Post Doctoral Fellowship - awarded by the Japanese government and in cooperation with the U.S. National Science Foundation
  • 1992:  Woods Hole Oceanographic Institution Post Doctoral Scholarship
  • 1986:  Yale University Research Associate Fellowship for graduate research and teaching
  • 1984:  Master's Cup Award - Timothy Dwight College - Yale University
Journal Articles
  • Jakuba MV, German CR, Bowen AD, Whitcomb LL, Hand K, Branch A, Chien S, McFarland C (2018).  Teleoperation and robotics under ice: Implications for planetary exploration.  IEEE Aerospace Conference Proceedings.  2018-March.
  • Martin SC, Whitcomb LL (2018).  Nonlinear Model-Based Tracking Control of Underwater Vehicles with Three Degree-of-Freedom Fully Coupled Dynamical Plant Models: Theory and Experimental Evaluation.  IEEE Transactions on Control Systems Technology.  26(2).
  • Spielvogel AR, Whitcomb LL (2017).  Adaptive estimation of measurement bias in six degree of freedom inertial measurement units: Theory and preliminary simulation evaluation.  IEEE International Conference on Intelligent Robots and Systems.  2017-September.
  • Bohren J, Whitcomb LL (2017).  A preliminary study of an intent-recognition-based traded control architecture for high latency telemanipulation.  IEEE International Conference on Intelligent Robots and Systems.  2017-September.
  • Spielvogel AR, Whitcomb LL (2017).  A stable adaptive attitude estimator on SO(3) for true-North seeking gyrocompass systems: Theory and preliminary simulation evaluation.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Martin SC, Whitcomb LL (2017).  Experimental identification of three degree-of-freedom coupled dynamic plant models for underwater vehicles.  Lecture Notes in Control and Information Sciences.  474.
  • Barker LDL, Whitcomb LL (2016).  Preliminary survey of underwater robotic vehicle design and navigation for under-ice operations.  IEEE International Conference on Intelligent Robots and Systems.  2016-November.
  • Barker LDL, Whitcomb LL (2016).  Preliminary simulation of a deployable GPS navigation system for ice-relative dead reckoning of underwater vehicles under moving sea ice.  OCEANS 2016 MTS/IEEE Monterey, OCE 2016.
  • Martin SC, Whitcomb LL (2016).  Fully actuated model-based control with six-degree-of-freedom coupled dynamical plant models for underwater vehicles: Theory and experimental evaluation.  International Journal of Robotics Research.  35(10).
  • Harris ZJ, Whitcomb LL (2016).  Preliminary study of cooperative navigation of underwater vehicles without a DVL utilizing range and range-rate observations.  Proceedings - IEEE International Conference on Robotics and Automation.  2016-June.
  • Bohren J, Paxton C, Howarth R, Hager GD, Whitcomb LL (2016).  Semi-autonomous telerobotic assembly over high-latency networks.  ACM/IEEE International Conference on Human-Robot Interaction.  2016-April.
  • Harris ZJ, Whitcomb LL (2016).  Preliminary feasibility study of cooperative navigation of underwater vehicles with range and range-rate observations.  OCEANS 2015 - MTS/IEEE Washington.
  • Spielvogel AR, Whitcomb LL (2016).  Preliminary results with a low-cost fiber-optic gyrocompass system.  OCEANS 2015 - MTS/IEEE Washington.
  • Martin SC, Whitcomb L (2016).  Fully actuated model-based control with six-degree-of-freedom coupled dynamical plant models for underwater vehicles: Theory and experimental evaluation.  International Journal of Robotics Research.  35(10).  1164-1184.
  • Vozar S, Chen Z, Kazanzides P, Whitcomb LL (2015).  Preliminary study of virtual nonholonomic constraints for time-delayed teleoperation.  IEEE International Conference on Intelligent Robots and Systems.  2015-December.
  • Katlein C, Arndt S, Nicolaus M, Perovich DK, Jakuba MV, Suman S, Elliott S, Whitcomb LL, McFarland CJ, Gerdes R, Boetius A, German CR (2015).  Influence of ice thickness and surface properties on light transmission through Arctic sea ice.  Journal of Geophysical Research: Oceans.  120(9).
  • Vozar S, Leonard S, Kazanzides P, Whitcomb LL (2015).  Experimental evaluation of force control for virtual-fixture-assisted teleoperation for on-orbit manipulation of satellite thermal blanket insulation.  Proceedings - IEEE International Conference on Robotics and Automation.  2015-June(June).
  • Troni G, Whitcomb L (2015).  Advances in In Situ Alignment Calibration of Doppler and High/Low-end Attitude Sensors for Underwater Vehicle Navigation: Theory and Experimental Evaluation.  Journal of Field Robotics.  32(5).  655-674.
  • McFarland CJ, Jakuba MV, Suman S, Kinsey JC, Whitcomb LL (2015).  Toward ice-relative navigation of underwater robotic vehicles under moving sea ice: Experimental evaluation in the Arctic sea.  Proceedings - IEEE International Conference on Robotics and Automation.  2015-June(June).
  • Troni G, Whitcomb LL (2015).  Advances in In Situ Alignment Calibration of Doppler and High/Low-end Attitude Sensors for Underwater Vehicle Navigation: Theory and Experimental Evaluation.  Journal of Field Robotics.  32(5).
  • McFarland CJ, Harris ZJ, Whitcomb LL (2015).  Development of and preliminary results with an extended Kalman filter for the estimation of the translational and angular velocity of underwater vehicles.  2014 Oceans - St. John's, OCEANS 2014.
  • Bowen AD, Yoerger DR, German CC, Kinsey JC, Jakuba MV, Gomez-Ibanez D, Taylor CL, Machado C, Howland JC, Kaiser CL, Heintz M, Pontbriand C, Suman S, O'Hara L, Bailey J, Judge C, McDonald G, Whitcomb LL, McFarland CJ, Mayer L (2015).  Design of Nereid-UI: A remotely operated underwater vehicle for oceanographic access under ice.  2014 Oceans - St. John's, OCEANS 2014.
  • Katlein C, Arndt S, Nicolaus M, Perovich DK, Jakuba MV, Suman S, Elliott S, Whitcomb L, McFarland CJ, Gerdes R, others (2015).  Influence of ice thickness and surface properties on light transmission through Arctic sea ice.  Journal of Geophysical Research: Oceans.  120(9).  5932-5944.
  • Martin SC, Whitcomb L (2015).  Fully actuated model-based control with six-degree-of-freedom coupled dynamical plant models for underwater vehicles: Theory and experimental evaluation (In Press).  International Journal of Robotics Research.
  • Martin SC, Whitcomb LL (2014).  Experimental identification of six-degree-of-freedom coupled dynamic plant models for underwater robot vehicles.  IEEE Journal of Oceanic Engineering.  39(4).
  • Martin SC, Whitcomb L (2014).  Experimental Identification of Six-Degree-of-Freedom Coupled Dynamic Plant Models for Underwater Robot Vehicles.  IEEE J. Oceanic Eng..  39(4).  662-671.
  • Blank AA, Okamura AM, Whitcomb L (2014).  Task-dependent impedance and implications for upper-limb prosthesis control.  Intl. J. Robotics Research.  33(6).  827-846.
  • Blank AA, Okamura AM, Whitcomb LL (2014).  Task-dependent impedance and implications for upper-limb prosthesis control.  International Journal of Robotics Research.  33(6).
  • McFarland CJ, Whitcomb LL (2014).  Experimental evaluation of adaptive model-based control for underwater vehicles in the presence of unmodeled actuator dynamics.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Troni G, Whitcomb L (2014).  Advances in In Situ Alignment Calibration of Doppler and High/Low-end Attitude Sensors for Underwater Vehicle Navigation: Theory and Experimental Evaluation.  J. Field Robotics.
  • Xia T, Leonard S, Kandaswamy I, Blank A, Whitcomb LL, Kazanzides P (2013).  Model-based telerobotic control with virtual fixtures for satellite servicing tasks.  Proceedings - IEEE International Conference on Robotics and Automation.
  • McFarland CJ, Whitcomb LL (2013).  Comparative experimental evaluation of a new adaptive identifier for underwater vehicles.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Martin SC, Whitcomb LL (2013).  Preliminary experiments in comparative experimental identification of six degree-of-freedom coupled dynamic plant models for underwater robot vehicles.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Martin SC, Whitcomb LL (2013).  Preliminary experiments in fully actuated model based control with six degree-of-freedom coupled dynamical plant models for underwater vehicles.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Bohren J, Papazov C, Burschka D, Krieger K, Parusel S, Haddadin S, Shepherdson WL, Hager GD, Whitcomb LL (2013).  A pilot study in vision-based augmented telemanipulation for remote assembly over high-latency networks.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Troni G, Whitcomb LL (2013).  Preliminary experimental evaluation of a Doppler-aided attitude estimator for improved Doppler navigation of underwater vehicles.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Xu H, Lasso A, Guion P, Krieger A, Kaushal A, Singh AK, Pinto PA, Coleman J, Grubb, III RL, Lattouf J, Ménard C, Whitcomb L, Fichtinger G (2013).  Accuracy analysis in MRI-guided robotic prostate biopsy.  International Journal of Computer Assisted Radiology and Surgery.  8(6).  937-944.
  • Webster SE, Walls JM, Whitcomb L, Eustice RM (2013).  Decentralized Extended Information Filter for Single-Beacon Cooperative Acoustic Navigation: Theory and Experiments.  IEEE Trans. Robot..  29(4).  957-974.
  • Webster SE, Walls JM, Whitcomb LL, Eustice RM (2013).  Decentralized extended information filter for single-beacon cooperative acoustic navigation: Theory and experiments.  IEEE Transactions on Robotics.  29(4).
  • Krieger A, Song S, Cho NB, Iordachita I, Guion P, Fichtinger G, Whitcomb L (2013).  Development and Evaluation of an Actuated MRI-Compatible Robotic System for MRI-Guided Prostate Intervention.  IEEE Trans. Biomed. Eng..  18(1).  273-284.
  • Xu H, Lasso A, Guion P, Krieger A, Kaushal A, Singh AK, Pinto PA, Coleman J, Grubb RL, Lattouf JB, Menard C, Whitcomb LL, Fichtinger G (2013).  Accuracy analysis in MRI-guided robotic prostate biopsy.  International Journal of Computer Assisted Radiology and Surgery.  8(6).
  • Krieger A, Song SE, Bongjoon Cho N, Iordachita II, Guion P, Fichtinger G, Whitcomb LL (2013).  Development and evaluation of an actuated MRI-compatible robotic system for MRI-guided prostate intervention.  IEEE/ASME Transactions on Mechatronics.  18(1).
  • Camilli R, Di Iorio D, Bowen A, Reddy CM, Techet AH, Yoerger DR, Whitcomb LL, Seewald JS, Sylva SP, Fenwick J (2012).  Acoustic measurement of the Deepwater Horizon Macondo well flow rate.  Proceedings of the National Academy of Sciences of the United States of America.  109(50).
  • Xia T, Leonard S, Deguet A, Whitcomb L, Kazanzides P (2012).  Augmented reality environment with virtual fixtures for robotic telemanipulation in space.  IEEE International Conference on Intelligent Robots and Systems.
  • Troni G, Whitcomb LL (2012).  Experimental evaluation of a MEMS inertial measurements unit for Doppler navigation of underwater vehicles.  OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean.
  • Martin SC, Whitcomb LL (2012).  Preliminary experiments in underactuated nonlinear model-based tracking control of underwater vehicles with three degree-of-freedom fully-coupled dynamical plant models: Theory and experimental evaluation.  OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean.
  • Troni G, Whitcomb LL (2012).  Preliminary experimental evaluation of in-situ calibration methods for MEMS-based attitude sensors and Doppler sonars in underwater vehicle navigation.  2012 IEEE/OES Autonomous Underwater Vehicles, AUV 2012.
  • Bowen AD, Jakuba MV, Yoerger DR, Whitcomb LL, Kinsey JC, Mayer L, German CR (2012).  Nereid UI: A light-tethered remotely operated vehicle for under-ice telepresence.  Society of Petroleum Engineers - Arctic Technology Conference 2012.  1.
  • McFarland CJ, Whitcomb LL (2012).  A new adaptive identifier for second-order rotational plants with applications to underwater vehicles.  OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean.
  • Martin SC, Whitcomb LL (2012).  Preliminary experiments in nonlinear model-based tracking control of underwater vehicles with three degree-of-freedom fully-coupled dynamical plant models.  OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean.
  • Blank A, Okamura AM, Whitcomb LL (2012).  User comprehension of task performance with varying impedance in a virtual prosthetic arm: A pilot study.  Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics.
  • Webster SE, Eustice RM, Singh H, Whitcomb LL (2012).  Advances in single-beacon one-way-travel-time acoustic navigation for underwater vehicles.  International Journal of Robotics Research.  31(8).
  • Song S, Cho N, Iordachita I, Guion P, Fichtinger G, Kaushal A, Camphausen K, Whitcomb L (2012).  Biopsy Needle Artifact Localization in MRI-Guided Robotic Transrectal Prostate Intervention.  IEEE Trans. Biomed. Eng..  59(7).  1902-1911.
  • Song SE, Cho NB, Iordachita II, Guion P, Fichtinger G, Kaushal A, Camphausen K, Whitcomb LL (2012).  Biopsy needle artifact localization in MRI-guided robotic transrectal prostate intervention.  IEEE Transactions on Biomedical Engineering.  59(7).
  • Bowen A, German C, Jakuba M, Kinsey JC, Mayer L, Yoerger D, Whitcomb LL (2012).  Lightly tethered unmanned underwater vehicle for under-ice exploration.  IEEE Aerospace Conference Proceedings.
  • Troni G, Kinsey JC, Yoerger DR, Whitcomb LL (2012).  Field performance evaluation of new methods for in-situ calibration of attitude and Doppler sensors for underwater vehicle navigation.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Camilli R, Di Iorio D, Bowen A, Reddy CM, Techet AH, Yoerger DR, Whitcomb L, Seewald JS, Sylva SP, Fenwick J (2012).  Acoustic measurement of the Deepwater Horizon Macondo well flow rate.  Proceedings of the National Academy of Sciences.  109(50).  20235-20239.
  • Bohren J, Iordachita I, Whitcomb LL (2012).  Design requirements and feasibility study for a 3-DOF MRI-compatible robotic device for MRI-guided prostate intervention.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Troni G, Whitcomb LL (2011).  Experimental evaluation of new methods for in-situ calibration of attitude and doppler sensors for underwater vehicle navigation.  IEEE International Conference on Intelligent Robots and Systems.
  • Blank A, Okamura AM, Whitcomb LL (2011).  Task-dependent impedance improves user performance with a virtual prosthetic arm.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Song SE, Cho NB, Iordachita II, Guion P, Fichtinger G, Whitcomb LL (2011).  A study of needle image artifact localization in confirmation imaging of MRI-guided robotic prostate biopsy.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Bohren J, Guerin K, Xia T, Hager GD, Kazanzides P, Whitcomb LL (2011).  Toward practical semi-autonomous teleoperation: Do what i intend, not what i do.  Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO.
  • Troni G, McFarland CJ, Nichols KA, Whitcomb LL (2011).  Experimental evaluation of an inertial navigation system for underwater robotic vehicles.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Kanderian SS, DeLateur BJ, Shore WS, Rose JG, Carson KA, Whitcomb LL (2011).  A portable device for quantification of forearm muscle tone.  PM and R.  3(11).
  • Krieger A, Iordachita II, Guion P, Singh AK, Kaushal A, Ménard C, Pinto PA, Camphausen K, Fichtinger G, Whitcomb LL (2011).  An MRI-compatible robotic system with hybrid tracking for MRI-guided prostate intervention.  IEEE Transactions on Biomedical Engineering.  58(11).
  • Krieger A, Iordachita I, Guion P, Singh AK, Kaushal A, Ménard C, Pinto PA, Camphausen K, Fichtinger G, Whitcomb L (2011).  An MRI-Compatible Robotic System With Hybrid Tracking for MRI-Guided Prostate Intervention.  IEEE Trans. Biomed. Eng..  58(11).  3049-3060.
  • Kanderian SS, deLateur BJ, Shore WS, Rose JG, Carson KA, Whitcomb L (2011).  A portable device for quantification of forearm muscle tone.  Physical Medicine and Rehabilitation.  3(11).  1075-1076.
  • Eustice RM, Singh H, Whitcomb LL (2011).  Synchronous-clock, one-way-travel-time acoustic navigation for underwater vehicles.  Journal of Field Robotics.  28(1).
  • Webster SE, Whitcomb LL, Eustice RM (2011).  Preliminary results in decentralized estimation for single-beacon acoustic underwater navigation.  Robotics: Science and Systems.  6.
  • Eustice RM, Singh H, Whitcomb L (2011).  Synchronous-clock, one-way-travel-time acoustic navigation for underwater vehicles.  J. Field Robotics.  28(1).  121-136.
  • Webster SE, Whitcomb LL, Eustice RM (2010).  Advances in decentralized single-beacon acoustic navigation for underwater vehicles: Theory and simulation.  2010 IEEE/OES Autonomous Underwater Vehicles, AUV 2010.
  • Troni G, Whitcomb LL (2010).  New methods for In-Situ calibration of attitude and doppler sensors for underwater vehicle navigation: Preliminary results.  MTS/IEEE Seattle, OCEANS 2010.
  • Gómez-Ibáñez D, Taylor CL, Heintz MC, Howland JC, Yoerger DR, Bowen AD, Whitcomb LL (2010).  Energy management for the Nereus hybrid underwater vehicle.  MTS/IEEE Seattle, OCEANS 2010.
  • Xu H, Lasso A, Vikal S, Guion P, Krieger A, Kaushal A, Whitcomb LL, Fichtinger G (2010).  MRI-guided robotic prostate biopsy: A clinical accuracy validation.  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics).  6363 LNCS(PART 3).
  • Xu H, Lasso A, Vikal S, Guion P, Krieger A, Kaushal A, Whitcomb LL, Fichtinger G (2010).  MRI-guided robotic prostate biopsy: a clinical accuracy validation..  Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention.  13(Pt 3).
  • Whitcomb LL, Jakuba MV, Kinsey JC, Martin SC, Webster SE, Howland JC, Taylor CL, Gomez-Ibanez D, Yoerger DR (2010).  Navigation and control of the Nereus hybrid underwater vehicle for global ocean science to 10,903 m depth: Preliminary results.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Krieger A, Iordachita I, Song SE, Cho NB, Guion P, Fichtinger G, Whitcomb LL (2010).  Development and preliminary evaluation of an actuated MRI-compatible robotic device for MRI-guided prostate intervention.  Proceedings - IEEE International Conference on Robotics and Automation.
  • German CR, Bowen A, Coleman ML, Honig DL, Huber JA, Jakuba MV, Kinsey JC, Kurz MD, Leroy S, McDermott JM, De Mercier Lépinay B, Nakamura K, Seewald JS, Smith JL, Sylva SP, Van Dover CL, Whitcomb LL, Yoerger DR (2010).  Diverse styles of submarine venting on the ultraslow spreading Mid-Cayman Rise.  Proceedings of the National Academy of Sciences of the United States of America.  107(32).
  • German CR, Bowen A, Coleman ML, Honig D, Huber JA, Jakuba Mi, Kinsey JC, Kurz MD, Leroy S, McDermott JM, de Lépinay BM, Nakamura K, Seewald JS, Smith JL, Sylva SP, Van Dover C, Whitcomb L, Yoerger DR (2010).  Diverse styles of submarine venting on the ultraslow spreading Mid-Cayman Rise.  Proceedings of the National Academy of Sciences.  107(32).  14020-14025.
  • xu H, Lasso A, Vikal S, Guion P, Krieger A, Kaushal A, Whitcomb L, Fichtinger G (2010).  SU‐GG‐I‐119: MRI‐Guided Transrectal Robotic Prostate Biopsy Validation.  Medical Physics.  37(6).
  • Webster SE, Eustice RM, Singh H, Whitcomb LL (2009).  Preliminary deep water results in single-beacon one-way-travel-time acoustic navigation for underwater vehicles.  2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009.
  • Singh S, Webster SE, Freitag L, Whitcomb LL, Ball K, Bailey J, Taylor C (2009).  Acoustic communication performance of the WHOI micro-modem in sea trials of the nereus vehicle to 11,000 m depth.  MTS/IEEE Biloxi - Marine Technology for Our Future: Global and Local Challenges, OCEANS 2009.
  • Fletcher B, Bowen A, Yoerger DR, Whitcomb LL (2009).  Journey to the challenger deep: 50 years later with the Nereus hybrid remotely operated vehicle.  Marine Technology Society Journal.  43(5).
  • Bowen AD, Yoerger DR, Taylor C, McCabe R, Howland J, Gomez-Ibanez D, Kinsey JC, Heintz M, McDonald G, Peters DB, Bailey J, Bors E, Shank T, Whitcomb LL, Martin SC, Webster SE, Jakuba MV, Fletcher B, Young C, Buescher J, Fryer P, Hulme S (2009).  Field trials of the Nereus hybrid underwater robotic vehicle in the challenger deep of the Mariana Trench.  MTS/IEEE Biloxi - Marine Technology for Our Future: Global and Local Challenges, OCEANS 2009.
  • Webster SE, Eustice RM, Murphy C, Singh H, Whitcomb LL (2009).  Toward a platform-independent acoustic communications and navigation system for underwater vehicles.  MTS/IEEE Biloxi - Marine Technology for Our Future: Global and Local Challenges, OCEANS 2009.
  • Bowen AD, Yoerger DR, Taylor C, McCabe R, Howland J, Gomez-Ibanez D, Kinsey JC, Heintz M, McDonald G, Peters D, Young C, Buescher J, Fletcher B, Whitcomb LL, Martin SC, Webster SE, Jakuba M (2009).  The Nereus hybrid underwater robotic vehicle.  Underwater Technology.  28(3).
  • Bowen AD, Yoerger DR, Taylor C, McCabe RD, Howland JC, Gomez-Ibanez D, Kinsey JC, Heintz M, McDonald G, Peters D, Young C, Buescher J, Fletcher B, Whitcomb L, Martin SC, Webster SE, Jakuba MV (2009).  The Nereus hybrid underwater robotic vehicle.  Underwater Technology: International Journal of the Society for Underwater Technology.  28(3).  79-89.
  • Fletcher B, Bowen A, Yoerger DR, Whitcomb L (2009).  Journey to the Challenger Deep: 50 years later with the Nereus hybrid remotely operated vehicle.  Marine Tech. Soc. Jour..  43(5).  65-76.
  • Hager GD, Okamura AM, Kazanzides P, Whitcomb LL, Fichtinger G, Taylor RH (2008).  Surgical and interventional robotics: Part III.  IEEE Robotics and Automation Magazine.  15(4).
  • Fischer GS, Krieger A, Iordachita I, Csoma C, Whitcomb LL, Gabor F (2008).  MRI compatibility of robot actuation techniques--a comparative study..  Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention.  11(Pt 2).
  • Hager G, Okamura AM, Kazanzides P, Whitcomb L, Fichtinger G, Taylor R (2008).  Surgical and interventional robotics: Part III: Surgical Assistance Systems.  IEEE Robot. Automat. Mag..  15(4).  84-93.
  • Fletcher B, Young C, Buescher J, Whitcomb LL, Bowen A, McCabe R, Yoerger DR (2008).  Proof of concept demonstration of the hybrid remotely operated vehicle (HROV) light fiber tether system.  OCEANS 2008.
  • Martin SC, Whitcomb LL (2008).  Preliminary results in experimental identification of 3-DOF coupled dynamical plant for underwater vehicles.  OCEANS 2008.
  • Bowen AD, Yoerger DR, Taylor C, McCabe R, Howland J, Gomez-Ibanez D, Kinsey JC, Heintz M, McDonald G, Peters DB, Fletcher B, Young C, Buescher J, Whitcomb LL, Martin SC, Webster SE, Jakuba MV (2008).  The Nereus hybrid underwater robotic vehicle for global ocean science operations to 11,000m depth.  OCEANS 2008.
  • Fischer GS, Krieger A, Iordachita I, Csoma C, Whitcomb LL, Fichtinger G (2008).  MRI compatibility of robot actuation techniques - A comparative study.  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics).  5242 LNCS(PART 2).
  • Fichtinger G, Kazanzides P, Okamura AM, Hager GD, Whitcomb LL, Taylor RH (2008).  Surgical and interventional robotics: Part II.  IEEE Robotics and Automation Magazine.  15(3).
  • Fichtinger G, Kazanzides P, Okamura AM, Hager G, Whitcomb L, Taylor R (2008).  Surgical and Interventional Robotics: Part II: Surgical CAD-CAM systems.  IEEE Robot. Automat. Mag..  15(3).  94-102.
  • Kazanzides P, Fichtinger G, Hager GD, Okamura AM, Whitcomb LL, Taylor RH (2008).  Surgical and interventional robotics - Core concepts, technology, and design.  IEEE Robotics and Automation Magazine.  15(2).
  • Kazanzides P, Fichtinger G, Hager G, Okamura AM, Whitcomb L, Taylor R (2008).  Surgical and Interventional Robotics: Part I: Core concepts, technology, and design.  IEEE Robot. Automat. Mag..  15(2).  122-130.
  • Grosenbaugh MA, Bingham B, Whitcomb LL, Gobat JI, Young C (2007).  Numerical simulation of the deployment of a hybrid rov optical fiber tether.  Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE.  4.
  • Krieger A, Csoma C, Iordachital II, Guion P, Singh AK, Fichtinger G, Whitcomb LL (2007).  Design and preliminary accuracy studies of an MRI-guided transrectal prostate intervention system..  Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention.  10(Pt 2).
  • Jakuba MV, Yoerger DR, Whitcomb LL (2007).  Longitudinal control design and performance evaluation for the nereus 11,000 m underwater vehicle.  Oceans Conference Record (IEEE).
  • Pivano L, Whitcomb LL, Johansen TA, Fossen TI (2007).  Preliminary simulation studies of a new four-quadrant propeller thrust controller applied to underwater vehicles.  IFAC Proceedings Volumes (IFAC-PapersOnline).  7(PART 1).
  • Krieger A, Csoma C, Iordachita II, Guion P, Singh AK, Fichtinger G, Whitcomb LL (2007).  Design and preliminary accuracy studies of an MRI-guided transrectal prostate intervention system.  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics).  4792 LNCS(PART 2).
  • Kinsey JC, Whitcomb LL (2007).  Model-based nonlinear observers for underwater vehicle navigation: Theory and preliminary experiments.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Eustice RM, Whitcomb LL, Singh H, Grund M (2007).  Experimental results in synchronous-clock one-way-travel-time acoustic navigation for autonomous underwater vehicles.  Proceedings - IEEE International Conference on Robotics and Automation.
  • Bowen AD, Yoerger D, Whitcomb L (2007).  Hybrid ROV for 11,000 meter operations.  International Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007.
  • Kinsey JC, Whitcomb L (2007).  In Situ Alignment Calibration of Attitude and Doppler Sensors for Precision Underwater Vehicle Navigation: Theory and Experiment.  IEEE J. Oceanic Eng..  32(2).  286-299.
  • Whitcomb LL, Durrant-Whyte H (2007).  Session overview underwater robotics.  Springer Tracts in Advanced Robotics.  28.
  • Kinsey JC, Whitcomb L (2007).  Adaptive Identification on the Group of Rigid Body Rotations and its Application to Precision Underwater Robot Navigation.  IEEE Trans. Robot..  23(1).  124-136.
  • Kinsey JC, Whitcomb LL (2007).  Adaptive identification on the group of rigid-body rotations and its application to underwater vehicle navigation.  IEEE Transactions on Robotics.  23(1).
  • Ferrini VL, Fornari DJ, Shank TM, Kinsey JC, Soule SA, Carbotte SM, Tivey MA, Whitcomb L, Yoerger DR, Howland JC (2007).  Geochemisty, Geophysics, Geosystems.  8.
  • Kinsey JC, Whitcomb LL (2007).  In situ alignment calibration of attitude and Doppler sensors for precision underwater vehicle navigation: Theory and experiment.  IEEE Journal of Oceanic Engineering.  32(2).
  • Ferrini VL, Fornari DJ, Shank TM, Kinsey JC, Tivey MA, Soule SA, Carbotte SM, Whitcomb LL, Yoerger D, Howland J (2007).  Submeter bathymetric mapping of volcanic and hydrothermal features on the East Pacific Rise crest at 9°500N.  Geochemistry, Geophysics, Geosystems.  8(1).
  • Krieger A, Metzger G, Fichtinger G, Atalar E, Whitcomb LL (2006).  A hybrid method for 6-DOF tracking of MRI-compatible robotic interventional devices.  Proceedings - IEEE International Conference on Robotics and Automation.  2006.
  • Martin SC, Whitcomb LL, Yoerger D, Singh H (2006).  A mission controller for high level control of autonomous and semi-autonomous underwater vehicles.  OCEANS 2006.
  • Young C, Fletcher B, Buescher J, Whitcomb LL, Yoerger D, Bowen A, McCabe R, Heintz M, Fuhrmann R, Taylor C, Elder R (2006).  Field tests of the hybrid remotely operated vehicle (HROV) light fiber optic tether.  OCEANS 2006.
  • Eustice RM, Whitcomb LL, Singh H, Grand M (2006).  Recent advances in synchronous-clock one-way-travel-time acoustic navigation.  OCEANS 2006.
  • Chowning SL, Susil RC, Krieger A, Fichtinger G, Whitcomb LL, Atalar E (2006).  A preliminary analysis and model of prostate injection distributions.  Prostate.  66(4).
  • Susil RC, Ménard C, Krieger A, Coleman JA, Camphausen K, Choyke P, Fichtinger G, Whitcomb LL, Coleman CN, Atalar E (2006).  Transrectal prostate biopsy and fiducial marker placement in a standard 1.5T magnetic resonance imaging scanner.  Journal of Urology.  175(1).
  • Chowning SL, Susil RC, Krieger A, Fichtinger G, Whitcomb L, Atalar E (2006).  A preliminary analysis and model of prostate injection distributions.  The Prostate.  66(4).  344-357.
  • Fichtinger G, Burdette EC, Tanacs A, Patriciu A, Mazilu D, Whitcomb L, Stoianovici D (2006).  Robotically assisted prostate brachytherapy with transrectal ultrasound guidance-Phantom experiments.  Brachytherapy.  5(1).  14-26.
  • Susil RC, Ménard C, Krieger A, Coleman JA, Camphausen K, Choyke P, Fichtinger G, Whitcomb L, Coleman CN, Atalar E (2006).  Transrectal prostate biopsy and fiducial marker placement in a standard 1.5 T magnetic resonance imaging scanner.  The Journal of urology.  175(1).  113-120.
  • Fichtinger G, Burdette EC, Tanacs A, Patriciu A, Mazilu D, Whitcomb LL, Stoianovici D (2006).  Robotically assisted prostate brachytherapy with transrectal ultrasound guidance - Phantom experiments.  Brachytherapy.  5(1).
  • Kinsey JC, Whitcomb LL (2005).  Adaptive identification on the group of rigid body rotations.  Proceedings - IEEE International Conference on Robotics and Automation.  2005.
  • Ménard C, Susil RC, Choyke P, Coleman J, Grubb R, Gharib A, Krieger A, Guion P, Thomasson D, Ullman K, Gupta S, Espina V, Liotta L, Petricoin E, Fitchtinger G, Whitcomb LL, Atalar E, Norman Coleman C, Camphausen K (2005).  An interventional magnetic resonance imaging technique for the molecular characterization of intraprostatic dynamic contrast enhancement.  Molecular Imaging.  4(1).
  • Fletcher B, Bowen A, Yoerger D, Grosenbaugh M, Bingham B, Young C, Whitcomb LL (2005).  The Hybrid Remotely Operated Vehicle (HROV): New challenges and opportunities.  Marine Technology Society - Conference on Underwater Intervention, UI 2005.
  • Martin SC, Whitcomb LL, Arsenault R, Plumlee M, Ware C (2005).  A system for real-time spatio-temporal 3-D data visualization in underwater robotic exploration.  Proceedings - IEEE International Conference on Robotics and Automation.  2005.
  • Krieger A, Susil RC, Ménard C, Coleman JA, Fichtinger G, Atalar E, Whitcomb LL (2005).  Design of a novel MRI compatible manipulator for image guided prostate interventions.  IEEE Transactions on Biomedical Engineering.  52(2).
  • Krieger A, Susil RC, Ménard C, Coleman JA, Fichtinger G, Atalar E, Whitcomb L (2005).  Design of a novel MRI compatible manipulator for image guided prostate interventions.  IEEE Trans. Biomed. Eng..  52(2).  306-313.
  • Ménard C, Susil RC, Choyke P, Coleman J, Grubb R, Gharib A, Krieger A, Guion P, Thomasson D, Ullman K, Gupta S, Espina V, Liotta L, Petricoin E, Whitcomb L, Fitchtinger G, Atalar E, Coleman CN, Camphausen K (2005).  An Interventional MRI Technique for the Molecular Characterization of Intra-Prostatic Dynamic Contrast Enhancement.  Molecular Imaging.  4(1).  3-66.
  • Arsenault R, Ware C, Plumlee M, Martin S, Whitcomb LL, Wiley D, Gross T, Bilgili A (2004).  A system for visualizing time varying oceanographic 3D data.  Ocean '04 - MTS/IEEE Techno-Ocean '04: Bridges across the Oceans - Conference Proceedings.  2.
  • Kinsey JC, Whitcomb LL (2004).  Preliminary field experience with the DVLNAV integrated navigation system for oceanographic submersibles.  Control Engineering Practice.  12(12 SPEC. ISS.).
  • Krieger A, Susil RC, Fichtinger G, Atalar E, Whitcomb LL (2004).  Design of a novel MRI compatible manipulator for image guided prostate intervention.  Proceedings - IEEE International Conference on Robotics and Automation.  2004(1).
  • Roy J, Goldberg RP, Whitcomb LL (2004).  Structural design, analysis, and performance evaluation of a new semi-direct drive robot arm: Theory and experiment.  IEEE/ASME Transactions on Mechatronics.  9(1).
  • Bowen AD, Yoerger DR, Whitcomb LL, Fornari DJ (2004).  Exploring the deepest depths: Preliminary design of a novel light-tethered hybrid ROV for global science in extreme environments.  Marine Technology Society Journal.  38(2).
  • Kinsey JC, Whitcomb L (2004).  Preliminary field experience with the DVLNAV integrated navigation system for oceanographic submersibles.  Control Engineering Practice.  12(12).  1541-1549.
  • Smallwood DA, Whitcomb L (2004).  Model-Based Dynamic Positioning of Underwater Robotic Vehicles: Theory and Experiment.  IEEE J. Oceanic Eng..  29(1).  169-186.
  • Roy J, Goldberg RP, Whitcomb L (2004).  Structural design, analysis, and performance evaluation of a new semi-direct drive robot arm: Theory and experiment.  IEEE ASME Trans. Mechatron..  9(1).  10-19.
  • Bowen AD, Yoerger DR, Whitcomb L, Fornari DJ (2004).  Exploring the Deepest Depths: Preliminary Design of a Novel Light-Tethered Hybrid ROV for Global Science in Extreme Environments.  Marine Tech. Soc. Jour..  38(2).  92-101.
  • Smallwood DA, Whitcomb LL (2004).  Model-Based Dynamic Positioning of Underwater Robotic Vehicles: Theory and Experiment.  IEEE Journal of Oceanic Engineering.  29(1).
  • Smallwood DA, Whitcomb LL (2003).  Preliminary identification of a dynamical plant model for the Jason 2 underwater robotic vehicle.  Oceans Conference Record (IEEE).  2.
  • Kinsey JC, Smallwood DA, Whitcomb LL (2003).  A new hydrodynamics test facility for UUV dynamics and control research.  Oceans Conference Record (IEEE).  1.
  • Berkelman PJ, Whitcomb LL, Taylor RH, Jensen P (2003).  A Miniature Microsurgical Instrument Tip Force Sensor for Enhanced Force Feedback During Robot-Assisted Manipulation.  IEEE Transactions on Robotics and Automation.  19(5).
  • Bachmayer R, Whitcomb LL (2003).  Adaptive parameter identification of an accurate nonlinear dynamical model for marine thrusters.  Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME.  125(3).
  • Susil RC, Krieger A, Derbyshire JA, Tanacs A, Whitcomb LL, Fichtinger G, Atalar E (2003).  System for MR image-guided prostate interventions: Canine study.  Radiology.  228(3).
  • Smallwood DA, Whitcomb LL (2003).  Adaptive identification of dynamically positioned underwater robotic vehicles.  IEEE Transactions on Control Systems Technology.  11(4).
  • Bachmayer R, Whitcomb L (2003).  Adaptive parameter identification of an accurate nonlinear dynamical model for marine thrusters.  ASME Journal of Dynamic Systems, Measurement, and Control.  125(3).  491-494.
  • Susil RC, Krieger A, Tanacs A, Whitcomb L, Atalar E (2003).  Prostate biopsy and local therapy inside conventional closed MRI with robotic assistance-animal studies.  Academic Radiology.  10(8).  955.
  • Kinsey JC, Smallwood DA, Whitcomb LL (2003).  A new hydrodynamics test facility for UUV dynamics and control research.  Oceans 2003: Celebrating the Past... Teaming Toward the Future.  1.
  • Rothbaum DL, Roy J, Hager GD, Taylor RH, Whitcomb LL, Francis HW, Niparko JK (2003).  Task performance in stapedotomy: Comparison between surgeons of different experience levels.  Otolaryngology - Head and Neck Surgery.  128(1).
  • Berkelman PJ, Whitcomb L, Taylor R, Jensen P (2003).  A miniature microsurgical instrument tip force sensor for enhanced force feedback during robot-assisted manipulation.  IEEE Trans. Robot. Autom..  19(5).  917-921.
  • Susil RC, Krieger A, Derbyshire JA, Tanacs A, Whitcomb L, Fichtinger G, Atalar E (2003).  System for MR Image-guided Prostate Interventions: Canine Study 1.  Radiology.  228(3).  886-894.
  • Smallwood DA, Whitcomb L (2003).  Adaptive identification of dynamically positioned underwater robotic vehicles.  IEEE Trans. Contr. Syst. Technol..  11(4).  505-515.
  • Rothbaum DL, Roy J, Hager G, Taylor R, Whitcomb L, Francis HW, Niparko JK (2003).  Task performance in stapedotomy: Comparison between surgeons of different experience levels.  Otolaryngology-Head and Neck Surgery.  128(1).  71-77.
  • Ballard RD, Stager LE, Master D, Yoerger D, Mindell D, Whitcomb LL, Singh H, Piechota D (2002).  Iron age shipwrecks in deep water off Ashkelon, Israel.  American Journal of Archaeology.  106(3).
  • Rothbaum DL, Roy J, Stoianovici D, Berkelman P, Hager GD, Taylor RH, Whitcomb LL, Francis HW, Niparko JK (2002).  Robot-assisted stapedotomy: Micropick fenestration of the stapes footplate.  Otolaryngology - Head and Neck Surgery.  127(5).
  • Roy J, Whitcomb LL (2002).  Adaptive force control of position/velocity controlled robots: Theory and experiment.  IEEE Transactions on Robotics and Automation.  18(2).
  • Ballard RD, Stager LE, Master D, Yoerger DR, Mindell D, Whitcomb L, Singh H, Piechota D (2002).  Iron Age Shipwrecks in Deep Water off Ashkelon, Israel.  American Journal of Archaeology: The Journal of the Archaeological Institute of America.  106(2).  151-168.
  • Roy J, Whitcomb L (2002).  Adaptive force control of position/velocity controlled robots: Theory and Experiment.  IEEE Trans. Robot. Autom..  17(2).
  • Roy J, Rothbaum DL, Whitcomb LL (2002).  Haptic feedback augmentation through position based adaptive force scaling: Theory and experiment.  IEEE International Conference on Intelligent Robots and Systems.  3.
  • Rothbaum DL, Roy J, Stoianovici D, Berkelman P, Hager G, Taylor R, Whitcomb L, Francis HW, Niparko JK (2002).  Robot-assisted stapedotomy: Micropick fenestration of the stapes footplate.  Otolaryngology-Head and Neck Surgery.  127(5).  417-426.
  • Kinsey JC, Whitcomb LL (2002).  Towards in-situ calibration of gyro and doppler navigation sensors for precision underwater vehicle navigation.  Proceedings - IEEE International Conference on Robotics and Automation.  4.
  • Smallwood DA, Whitcomb LL (2002).  The effect of model accuracy and thruster saturation on tracking performance of model based controllers for underwater robotic vehicles: Experimental results.  Proceedings - IEEE International Conference on Robotics and Automation.  2.
  • Fichtinger G, Krieger A, Susil RC, Tanacs A, Whitcomb LL, Atalar E (2002).  Transrectal prostate biopsy inside closed mri scanner with remote actuation, under real-time image guidance.  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics).  2488.
  • Roy J, Whitcomb LL (2001).  Adaptive force control of position/velocity controlled robots: Theory and experiment.  IEEE International Conference on Intelligent Robots and Systems.  4.
  • Smallwood DA, Whitcomb LL (2001).  Toward model based dynamic positioning of underwater robotic vehicles.  Oceans Conference Record (IEEE).  2.
  • Bachmayer R, Whitcomb LL (2001).  An open loop nonlinear model based thrust controller for marine thrusters.  IEEE International Conference on Intelligent Robots and Systems.  4.
  • Smallwood DA, Whitcomb LL (2001).  Preliminary experiments in the adaptive identification of dynamically positioned underwater robotic vehicles.  IEEE International Conference on Intelligent Robots and Systems.  4.
  • Berkelman PJ, Rothbaum DL, Roy J, Lang S, Whitcomb LL, Hager G, Jensen PS, De Juan E, Taylor RH, Niparko JK (2001).  Performance evaluation of a cooperative manipulation microsurgical assistant robot applied to stapedotomy.  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics).  2208.
  • Kumar R, Berkelman P, Gupta P, Barnes A, Jensen PS, Whitcomb LL, Taylor RH (2000).  Preliminary experiments in cooperative human/robot force control for robot assisted microsurgical manipulation.  Proceedings - IEEE International Conference on Robotics and Automation.  1.
  • Roy J, Goldberg R, Whitcomb LL (2000).  Structural design and analysis of a new semi-direct drive robot arm: theory and experiment.  Proceedings - IEEE International Conference on Robotics and Automation.  2.
  • Whitcomb LL (2000).  Underwater robotics: out of the research laboratory and into the field.  Proceedings - IEEE International Conference on Robotics and Automation.  1.
  • Singh H, Pizarro O, Whitcomb L, Yoerger D (2000).  In-situ attitude calibration for high resolution bathymetric surveys with underwater robotic vehicles.  Proceedings - IEEE International Conference on Robotics and Automation.  2.
  • Bowen MF, Bernard PJ, Gleason DE, Whitcomb LL (2000).  Elevators - autonomous transporters for deepsea benthic sample recovery.  Oceans Conference Record (IEEE).  1.
  • Ballard RD, McCann AM, Yoerger DR, Whitcomb L, Mindell DA, Oleson J, Singh H, Foley B, Adams J, Picheota D (2000).  The discovery of ancient history in the deep sea using advanced deep submergence technology.  Deep Sea Research Part 1.  47(9).  1591-1620.
  • Ballard RD, McCann AM, Yoerger D, Whitcomb L, Mindell D, Oleson J, Singh H, Foley B, Adams J, Piechota D, Giangrande C (2000).  The discovery of ancient history in the deep sea using advanced deep submergence technology.  Deep-Sea Research Part I: Oceanographic Research Papers.  47(9).
  • Singh H, Whitcomb L, Yoergar D, Pizarro O (2000).  Microbathymetric Mapping from Underwater Vehicles in the Deep Ocean.  Computer Vision and Image Understanding.  79(1).  143-161.
  • Singh H, Whitcomb L, Yoerger D, Pizarro O (2000).  Microbathymetric mapping from underwater vehicles in the deep ocean.  Computer Vision and Image Understanding.  79(1).
  • Singh H, Roman C, Whitcomb L, Yoerger D (2000).  Advances in fusion of high resolution underwater optical and acoustic data.  Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000.
  • Bachmayer R, Whitcomb L, Grosenbaugh MA (2000).  Accurate four-quadrant nonlinear dynamical model for marine thrusters: Theory and experimental validation.  IEEE J. Oceanic Eng..  25(1).  146-159.
  • Bachmayer R, Whitcomb LL, Grosenbaugh MA (2000).  Accurate four-quadrant nonlinear dynamical model for marine thrusters: Theory and experimental validation.  IEEE Journal of Oceanic Engineering.  25(1).
  • Patriciu A, Stoianovici D, Whitcomb LL, Jarrett T, Mazilu D, Stanimir A, Iordachita I, Anderson J, Taylor R, Kavoussi LR (2000).  Motion-based robotic instrument targeting under C-arm fluoroscopy.  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics).  1935.
  • Berkelman PJ, Whitcomb LL, Taylor RH, Jensen P (2000).  A miniature instrument tip force sensor for robot/human cooperative microsurgical manipulation with enhanced force feedback.  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics).  1935.
  • Bachmayer R, Whitcomb LL, Grosenbaugh MA (1999).  A four quadrant finite dimensional thruster model.  Proceedings of the 1999 Ninth International Offshore and Polar Engineering Conference.
  • Whitcomb L, Yoerger DR (1999).  Preliminary Experiments in Model-Based Thruster Control for Underwater Vehicle Positioning.  IEEE J. Oceanic Eng..  24(4).  494-506.
  • Whitcomb LL, Yoerger DR (1999).  Preliminary experiments in model-based thruster control for underwater vehicle positioning.  IEEE Journal of Oceanic Engineering.  24(4).
  • Whitcomb L, Yoerger DR (1999).  Development, Comparison, and Preliminary Experimental Validation of Non-Linear Dynamic Thruster Models.  IEEE J. Oceanic Eng..  24(4).  481-494.
  • Whitcomb LL, Yoerger DR (1999).  Development, comparison, and preliminary experimental validation of nonlinear dynamic thruster models.  IEEE Journal of Oceanic Engineering.  24(4).
  • Roy J, Whitcomb L (1999).  Comparative structural analysis of 2-DOF semi-direct-drive linkages for robot arms.  IEEE ASME Trans. Mechatron..  4(1).  82-86.
  • Roy J, Whitcomb LL (1999).  Comparative structural analysis of 2-DOF semi-direct-drive linkages for robot arms.  IEEE/ASME Transactions on Mechatronics.  4(1).
  • Taylor R, Jensen P, Whitcomb L, Barnes A, Kumar R, Stoianovici D, Gupta P, Wang ZX, de Juan E, Kavoussi L (1999).  A steady-hand robotic system for microsurgical augmentation.  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics).  1679.
  • Whitcomb L, Yoerger D, Singh H (1999).  Advances in Doppler-based navigation of underwater robotic vehicles.  Proceedings - IEEE International Conference on Robotics and Automation.  1.
  • Kumar R, Goradia TM, Barnes AC, Jensen P, Whitcomb LL, Stoianovici D, Auer LM, Taylor RH (1999).  Performance of robotic augmentation in microsurgery-scale motions.  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics).  1679.
  • Lerner AG, Stoianovici D, Whitcomb LL, Kavoussi LR (1999).  A passive positioning and supporting device for surgical robots and instrumentation.  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics).  1679.
  • Taylor R, Jensen P, Whitcomb L, Barnes A, Kumar R, Stoianovici D, Gupta P, Wang ZX, DeJuan E, Kavoussi L (1999).  Steady-hand robotic system for microsurgical augmentation.  International Journal of Robotics Research.  18(12).
  • Barnes A, Dejuan E, Gupta P, Jensen P, Kavoussi L, Kumar R, Stoianovici D, Taylor R, Wang Z, Whitcomb L (1999).  A steady-hand robotic system for microsurgical augmentation.  Intl. J. Robotics Research.  18(12).  1201-1210.
  • Bachmayer R, Whitcomb LL, Grosenbaugh MA (1998).  Four quadrant finite dimensional thruster model.  Oceans Conference Record (IEEE).  2.
  • Singh H, Howland J, Yoerger D, Whitcomb L (1998).  Quantitative photomosaicking of underwater imagery.  Oceans Conference Record (IEEE).  1.
  • Bachmayer R, Grosenbaugh M, Nakamura M, Whitcomb L (1998).  Control of Marine Thruster.  Trans. of the West-Japan Soc. of Naval Arch..  96.  93-109.
  • Sayers CP, Paul RP, Whitcomb LL, Yoerger DR (1998).  Teleprogramming for subsea teleoperation using acoustic communication.  IEEE Journal of Oceanic Engineering.  23(1).
  • Stoianovici D, Whitcomb LL, Anderson JH, Taylor RH, Kavoussi LR (1998).  A modular surgical robotic system for image guided percutaneous procedures.  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics).  1496.
  • Nakamura M, Bachmayer R, Whitcomb LL, Grosenbaugh M (1998).  H ∞ control of thruster for AUV.  Proceedings of the International Offshore and Polar Engineering Conference.  2.
  • Catipovic J, Paul RP, Sayers CP, Whitcomb L, Yoerger D (1998).  Teleprogramming for Subsea Teleoperation using Acoustic Communication.  IEEE J. Oceanic Eng..  23(1).  60-71.
  • Stoianovici D, Cadeddu JA, Demaree RD, Basile SA, Taylor RH, Whitcomb LL, Kavoussi LR (1997).  Novel mechanical transmission applied to percutaneous renal access.  American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC.  61.
  • Whitcomb LL, Arimoto S, Naniwa T, Ozaki F (1997).  Adaptive model-based hybrid control of geometrically constrained robot arms.  IEEE Transactions on Robotics and Automation.  13(1).
  • Arimoto S, Naniwa T, Ozaki F, Whitcomb L (1997).  Adaptive Model-Based Hybrid Control of Geometrically Constrained Robot Arms..  IEEE Trans. Robot. Autom..  13(1).  105-116.
  • Stoianovici D, Cadeddu JA, Demaree RD, Basile SA, Taylor RH, Whitcomb LL, Sharpe WN, Kavoussi LR (1997).  An efficient needle injection technique and radiological guidance method for percutaneous procedures.  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics).  1205.
  • Roy J, Whitcomb LL (1997).  Structural design optimization and comparative analysis of a new high-performance robot arm via finite element analysis.  Proceedings - IEEE International Conference on Robotics and Automation.  3.
  • Arimoto S, Naniwa T, Ozaki F, Whitcomb L (1996).  Experiments in Adaptive Model-Based Robot Force Control.  IEEE Control Syst. Mag..  16(1).  49-57.
  • Whitcomb LL, Yoerger DR (1996).  Preliminary experiments in the model-based dynamic control of marine thrusters.  Proceedings - IEEE International Conference on Robotics and Automation.  3.
  • Whitcomb LL, Yoerger DR (1996).  Towards improved control of thruster dynamics in ROV station-keeping.  Proceedings of the International Offshore and Polar Engineering Conference.  2.
  • Whitcomb L, Arimoto S, Naniwa T, Ozaki F (1996).  Experiments in Adaptive Model-Based Force Control.  IEEE Control Systems.  16(1).
  • Whitcomb LL, Yoerger DR (1995).  Comparative experiments in the dynamics and model-based control of marine thrusters.  Oceans Conference Record (IEEE).  1.
  • Arimoto S, Naniwa T, Parra-Vega V, Whitcomb LL (1995).  A class of quasi-natural potentials for robot servoloops and its role in adaptive and learning controls.  Intelligent Automation and Soft Computing.  1(1).
  • Whitcomb L, Arimoto S, Naniwa T, Ozaki F (1995).  Experiments in adaptive model-based force control.  Proceedings - IEEE International Conference on Robotics and Automation.  2.
  • Arimoto S, Liu Y, Naniwa T, Whitcomb L (1995).  Model-Based Adaptive Control for Geometrically Constrained Manipulators.  Trans. of the Soc. of Inst. and Cont. Eng..  31(1).  22-30.
  • Naniwa T, Arimoto S, Whitcomb LL (1994).  Learning control for robot tasks under geometric constraints.  Proceedings - IEEE International Conference on Robotics and Automation.  (pt 4).
  • Whitcomb LL, Yoerger DR (1993).  New distributed real-time control system for the JASON underwater robot.  1993 International Conference on Intelligent Robots and Systems.
  • Mindell DA, Yoerger DR, Freitag LE, Whitcomb LL, Eastwood RL (1993).  JasonTalk: a standard ROV vehicle control system.
  • Koditschek DE, Rizzi AA, Whitcomb L (1993).  Comparative experiments with a new adaptive controller for robot arms.  IEEE Trans. Robot. Autom..  9(1).  59-70.
  • Whitcomb LL, Koditschek DE (1993).  Comparative Experiments with a New Adaptive Controller for Robot Arms.  IEEE Transactions on Robotics and Automation.  9(1).
  • Whitcomb LL, Koditschek DE, Cabrera JBD (1992).  Toward the automatic control of robot assembly tasks via potential functions: The case of 2-D sphere assemblies.  Proceedings - IEEE International Conference on Robotics and Automation.  3.
  • Whitcomb L, Koditschek D (1992).  Automatic assembly planning and control via potential functions.
  • Koditschek DE, Rizzi AA, Whitcomb L (1992).  Distributed Real-Time Control of a Spatial Robot Juggler.  IEEE Computer.  25(5).  12-24.
  • Rizzi AA, Whitcomb LL, Koditschek DE (1992).  Distributed Real-Time Control of a Spatial Robot Juggler.  Computer.  25(5).
  • Whitcomb LL, Rizzi AA, Koditschek DE (1991).  Comparative experiments with a new adaptive controller for robot arms.  Proceedings - IEEE International Conference on Robotics and Automation.  1.
  • Whitcomb LL, Koditschek DE (1990).  Robot control in a message passing environment: Theoretical questions and preliminary experiments.
  • Buhler M, Whitcomb LL, Levin F, Koditschek DE (1989).  Distributed message passing computation and I/O engine for real-time motion control.
  • Bühler M, Koditschek DE, Levin F, Whitcomb L (1989).  Transputer Computer Juggles Real-Time Robotics.  Elec. Sys. Design.  19(2).  77-82.
  • Buhler M, Whitcomb L, Levin F, Koditschek DE (1989).  New distributed real-time controller for robotics applications..  Digest of Papers - IEEE Computer Society International Conference.
  • Day CP, Whitcomb LL, Daniel DJ (1985).  GRAY SCALE VISION SYSTEM FOR ROBOTIC APPLICATIONS..
Book Chapters
  • Martin SC, Whitcomb L (2016).  Experimental Identification of Fully-Coupled Three Degree-of-Freedom Coupled Dynamic Plant Models for Underwater Vehicle.  Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, Lecture Notes in Control and Information Sciences.  Springer.
  • Roy J, Rothbaum DL, Whitcomb LL (2006).  Haptic feedback enhancement through adaptive force scaling: Theory and experiment.  Advances in Robot Control: From Everyday Physics to Human-Like Movements.
  • Martin SC, Whitcomb LL, Arsenault R, Plumlee M, Ware C (2006).  Advances in real-time spatio-temporal 3D data visualisation for underwater robotic exploration.  Advances in Unmanned Marine Vehicles.
  • Roy J, Rothbaum DL, Whitcomb L (2006).  Haptic feedback enhancement through adaptive force scaling: Theory and experiment.  Advances in Robot Control: From Everyday Physics to Human-Like Movements.  Springer-Verlag.  293-316.
  • Martin SC, Whitcomb L, Arsenault R, Plumlee M, Ware C (2005).  Advances in Real-Time Spatio-Temporal 3-D Data Visualization for Underwater Robotic Exploration..  Advances in Unmanned Marine Vehicles.  IEE Press.  293-310.
Conference Proceedings
  • Barker LD, Whitcomb L (2016).  A preliminary survey of underwater robotic vehicle design and navigation for under-ice operations.  Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on.  2028-2035.
  • Barker LD, Whitcomb L (2016).  Preliminary simulation of a deployable GPS navigation system for ice-relative dead reckoning of underwater vehicles under moving sea ice.  OCEANS 2016 MTS/IEEE Monterey.  1-4.
  • Harris ZJ, Whitcomb L (2016).  Preliminary study of cooperative navigation of underwater vehicles without a DVL utilizing range and range-rate observations.  Robotics and Automation (ICRA), 2016 IEEE International Conference on.  2618-2624.
  • Bohren J, Paxton C, Howarth R, Hager G, Whitcomb L (2016).  Semi-autonomous telerobotic assembly over high-latency networks.  The Eleventh ACM/IEEE International Conference on Human Robot Interaction.  149-156.
  • Fernández-Méndez M, Laney SR, Katlein C, Whitcomb L, Elliott S, Jakuba MV, Boetius A, German CR (2015).  Monitoring under ice phyto- and zooplankton blooms with the Nereid Under Ice remotely operated vehicle.  Gordon Research Conference on Polar Marine Science.
  • McFarland CJ, Jakuba MV, Suman S, Kinsey JC, Whitcomb L (2015).  Toward ice-relative navigation of underwater robotic vehicles under moving sea ice: Experimental evaluation in the Arctic sea.  Robotics and Automation (ICRA), 2015 IEEE International Conference on.  1527-1534.
  • Vozar S, Chen Z, Kazanzides P, Whitcomb L (2015).  Preliminary study of virtual nonholonomic constraints for time-delayed teleoperation.  Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on.  4244-4250.
  • Vozar S, Leonard S, Kazanzides P, Whitcomb L (2015).  Experimental evaluation of force control for virtual-fixture-assisted teleoperation for on-orbit manipulation of satellite thermal blanket insulation.  Robotics and Automation (ICRA), 2015 IEEE International Conference on.  4424-4431.
  • Harris ZJ, Whitcomb L (2015).  Preliminary feasibility study of cooperative navigation of underwater vehicles with range and range-rate observations.  OCEANS'15 MTS/IEEE Washington.  1-6.
  • Spielvogel AR, Whitcomb L (2015).  Preliminary results with a low-cost fiber-optic gyrocompass system.  OCEANS'15 MTS/IEEE Washington.  1-5.
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