Selected Older Publications

Craig Sayers. Intelligent image fragmentation for teleoperation over delayed low-bandwidth links. In IEEE Robotics and Automation Conference, pages 1363--1368, April, 1996.

Craig Sayers, Dana Yoerger, Richard Paul and John Lisiewicz "A Manipulator Work Package for Teleoperation from Unmanned Untethered Vehicles - Current Feasibility and Future Applications", In International Advanced Robotics Program Workshop on Subsea Robotics, Toulon, France, March, 1996.

Craig Sayers. Operator control of telerobotic systems for real world intervention, Ph.D. dissertation, Dept. of Computer and Information Science, The University of Pennsylvania, 1995.

Richard Paul, Craig Sayers and Julie Adams "Operabotics", In International Symposium on Microsystems, Intelligent Materials and Robotics, Sendai, Japan , September, 1995.

Craig Sayers, Angela Lai and Richard Paul. "Visual Imagery for Subsea Teleprogramming", In IEEE Robotics and Automation Conference, May, 1995.

Craig Sayers and Richard Paul. "An operator interface for teleprogramming employing synthetic fixtures"Presence, Vol. 3, No. 4, 1994.

Craig Sayers, Matthew Stein, Angela Lai and Richard Paul. "Teleprogramming to perform sophisticated underwater manipulative tasks using acoustic communications" , OCEANS '94, Brest, France, September 1994.

Craig Sayers and Richard Paul. An experimental operator interface for controlling underwater robots. Assembly Automation, Vol 14, No 3, 1994.

Richard Paul and Craig Sayers. Teleoperation for manipulation from subsea vehicles. InIARP 2nd Workshop on Mobile Robots for Subsea Environments, Monteray, California, May 1994.

Matthew Stein, Craig Sayers, and Richard Paul. The recovery from task execution errors during time delayed teleoperation. In IROS '94, Germany, Munich, Germany, September 1994.

Richard Paul, Craig Sayers, and Matthew Stein. The theory of teleprogramming. Japan Robotics Society Journal, 11(6):782--787, 1993.

Craig Sayers and Richard Paul. Synthetic fixturing. In Advances in Robotics, Mechatronics and Haptic Interfaces (DSC--Vol.49) ASME Winter Annual Meeting, New Orleans, USA, pages 37--46, Nov 28--Dec 3 1993.

Richard Paul, Craig Sayers, and Matthew Stein. Virtual reality to solve time-delayed teleoperation problems in space and underwater. In Teleoperation '93, New York, October 1993.

Richard Paul, Craig Sayers, and Matthew Stein. The integration of an operator with a robotic system. In 12th World Congress International Federation of Automatic Control, Sydney, Australia, volume~10, pages 189--192, July 1993.

Craig Sayers, Richard Paul, and Max Mintz. Operator interaction and teleprogramming for subsea manipulation. In Fourth IARP Workshop on Underwater Robotics, Genova, Italy, November 1992.

Craig Sayers, Richard Paul, and Max Mintz. Interacting with uncertainty. InTelemanipulator Technology, pages 299--307. SPIE Proceedings Vol.1833, November 1992. Boston, USA.

Richard Paul, Thomas Lindsay, Craig Sayers, and Matthew Stein. Time-delay insensitive virtual-force reflecting teleoperation. In Artificial Intelligence, Robotics and Automation in Space, pages 55--67, September 1992. Toulouse, France.

Richard Paul, Thomas Lindsay, and Craig Sayers. Time delay insensitive teleoperation. In Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 247--254, July 1992.

Richard Paul, Janez Funda, Thomas Lindsay, Masahiko Hashimoto, and Craig Sayers. Model based teleoperation to eliminate feedback delay {NSF Grant BCS89-01352 second report. Technical Report MS-CIS-92-75/GRASP Lab 333, C.I.S. Dept., The University of Pennsylvania, 1992.

Richard Paul, Thomas Lindsay, Craig Sayers, Matthew Stein, and Desikachar Venkatesh. Model based teleoperation to eliminate feedback delay {NSF Grant BCS89-01352 third report. Technical Report MS-CIS-93-40/GRASP Lab 345, C.I.S. Dept., The University of Pennsylvania, March 1992.

Craig Sayers. The hughes array co-processor and its application to robotics. Technical Report MS-CIS-91-17/GRASP Lab 255, C.I.S. Dept., The University of Pennsylvania, February 1991.

Craig Sayers. Self organizing feature maps and their application to robotics. Technical Report MS-CIS-91-46/GRASP Lab 268, C.I.S. Dept., The University of Pennsylvania, May 1991.