Mel Siegel
Senior Research Scientist and Director, Measurement and Control Lab
The Robotics Institute, School of Computer Science, Carnegie Mellon University
mws+@cmu.edu
1) a 150- to 200-word abstract of your work and how it is relevant to
the areas listed below;
My research in robotics has focused on the design and integration
of sensing devices, measurement and control systems, and knowledge based
approaches to data understanding. "Difficult measurements in difficult
environments," finding effective ways to make decisions given incomplete,
noisy, ambiguous and contradictory data, have been a unifying recent theme.
My work in this area is exemplified by the FAA sponsored "ANDI" (Automated
NonDestructive Inspector) project, research and development of a small
walking robot that deploys, under vision system guidance, electronic NDI
instruments to inspect aircraft skins for cracks and corrosion.
My research in technologies that support robotics has focused on
3D-stereoscopic television and computer monitor displays, particularly on
ways to take advantage of recent and anticipated future advances in high
definition flat panel displays to implement several 3D-stereoscopic
rendering concepts, to study the integration of video and graphics in this
environment, and to develop human interface devices for human-computer
interactions in 3D.
Recently I have been able to combine these two research activities in a new
program, supported by Aircraft Diagnostics Corporation, the Ben Franklin
Technology Center of Western Pennsylvania, and USAir, to study the
effectiveness of providing aircraft inspectors with enhanced 3D-stereoscopic
imagery from cameras deployed by a mobile robot.
Applications of these technologies in manufacturing and re-manufacturing
include:
1. VISUALIZATION: technology for displaying manufacturing data graphics,
image graphics, and video in true binocular 3D-stereoscopy.
3. MODELING TECHNOLOGIES: facilitated by (1) above.
7. SIMULATION: geometrical and human factors issues relating
to creation and effective stereoscopic presentation of 3D models
of products, product applications, production processes, etc.
11. VERIFICATION, VALIDATION & MEASUREMENT: the "difficult measurements in
difficult environments" theme, instantiated by ongoing mobile robot
inspection (measurement) of aging aircraft program, transfers smoothly to
heavy maintenance ("re-manufacture") and initial manufacture domains.
2) a list of relevant references;
author = "Ann Murray, Richard M Moore Jr, David Alan Bourne, Melvin W. Siegel",
title = "Fingerpad Force Sensing System",
howpublished = "U. S. Patent (pending), assigned to Carnegie Mellon University, Pittsburgh PA 15213"
author = "C. J. Alberts, W. M. Kaufman, M. W. Siegel, C. L. Wolfe",
title = "Robot with Cruciform Geometry",
howpublished = "U. S. Patent (allowed 94-Jun-28, Ser No 064,968), assigned to Carnegie Mellon University, Pittsburgh PA 15213"
author="V. S. Grinberg, G. W. Podnar, and M. W. Siegel",
title="Geometry of Binocular Imaging II: The Augmented Eye",
organization="SPIE/IST",
publisher="SPIE/IST",
booktitle="Proceedings of the 1995 SPIE/IST Conference (San Jose)",
month="February",
year="1995",
pages="TBD",
note="in press."
author="S. Safier and M. W. Siegel",
title="3D-Stereoscopic X Windows",
organization="SPIE/IST",
publisher="SPIE/IST",
booktitle="Proceedings of the 1995 SPIE/IST Conference (San Jose)",
month="February",
year="1995",
pages="TBD",
note="in press."
author="Chris Seher, Mel Siegel, and William M. Kaufman",
title="Automation Tools for NonDestructive Inspection of Aircraft: Promise of Technology Transfer from the Civilian to the Military Sector",
organization="SUNY Institute of Technology at Utica/Rome",
publisher="IEEE",
booktitle="Fourth Annual IEEE Dual-Use Technologies and Applications Conference",
address="Griffis AFB NY",
month="May",
year="1994"
author="M. W. Siegel",
title="Automation for Nondestructive Inspection of Aircraft",
organization="AIAA/NASA",
publisher="AIAA",
booktitle="Conference on Intelligent Robots in Field, Factory, Service and Space (CIRFFSS '94)",
editor="Paul J Weitz (NASA/JSC)",
address="Houston TX",
month="March",
year="1994",
pages="367-77"
author="C. J. Alberts, C. D. Rogers, C. W. Carroll, M. W. Siegel, K. M Kalumuck",
title="Multipurpose Self-guided Robot for Surface Cleaning & Surface NDI Quality Inspection of Use on Ships and Storage Equipment",
organization="American Society of Naval Engineers, IEEE, and Fluid Power Society",
publisher="ASNE",
booktitle="Technical Innovation Symposium '94: Engineering Innovations for the Turn of the Century",
editors="D. L. Schreder",
address="Pittsburgh PA",
month="Sep",
year="94",
pages="tbd",
note="in press"
author="V. S. Grinberg, G. W. Podnar, M. W. Siegel",
title="Geometry of Binocular Imaging",
organization="SPIE",
publisher="SPIE",
booktitle="Stereoscopic Displays and Applications V",
month="Feb",
year="1994",
pages="56-65"
author="M. W. Siegel, Priyan Gunatilake, Sriram Sethuraman, A. G. Jordan",
title="Compression of stereo image pairs and streams",
organization="SPIE",
publisher="SPIE",
booktitle="Stereoscopic Displays and Applications V",
month="Feb",
year="1994",
pages="258-68"
author="M. W. Siegel, W. M. Kaufman, C. J. Alberts",
title="Mobile Robots for Difficult Measurements in Difficult Environments: Application to Aging Aircraft Inspection",
journal="Robotics and Autonomous Systems",
publisher="Elsevier",
volume="11",
year="1993",
pages="187-94"
author="M. W. Siegel and M. L. Leary",
title="Range from focus-error",
organization="Second International Symposium of Measurement Technology and Intelligent Instruments",
publisher="SPIE",
booktitle="Proceedings of the Wuhan meeting", Editors="Li Zhu et al",
address="Wuhan China", Month="October", Year="1993", Pages="1100-9"
author="Ian Davis, M. W. Siegel",
title="Vision algorithms for guiding the Automated NonDestructive
Inspector of aging aircraft skins",
organization="SPIE",
publisher="SPIE",
booktitle="Proceedings of the San Diego Meeting",
editors="M. T. Valley, N. K. Del Grande, and A. S. Kobayashi",
address="Bellington WA",
month="July",
year="1993",
pages="133-44"
author="M. W. Siegel, A. M. Guzman, and W. M. Kaufman",
title="Robotic Systems for Deploying Sensors to Detect Contraband in
Cargo",
organization="Executive Office of the President",
Publisher="Office of National Drug Control Policy and National Institute of Justice",
booktitle="Proceedings of the Washington DC Meeting",
Editor="Albert E. Brandenstein ",
address="Washington DC 20500",
month="October",
Year="1992",
Pages="345-52"
author="M. W. Siegel, A. M. Guzman, W. M. Kaufman",
title="Robotics Systems for Deployment of Explosive Detection Sensors and Instruments",
organization="Federal Aviation Administration (FAA)",
publisher="FAA Technical Center",
booktitle="Proceedings of the First International Symposium on Explosive Detection Technology",
editor="Siraj M. Kahn",
address="Atlantic City International Airport, NJ 08405",
month="February", Year="1992", Pages="873-9",
note="(conference held November 13-15, 1991.)"
3) if possible, a URL for a world-wide-web or anonymous ftp site where
interested parties can retrieve more detailed information about your
work.
my personal home page:
http://www.cs.cmu.edu:8001/afs/cs/user/mws/ftp/www/mws-home.html
my 3D-stereoscopic video display systems project home page:
http://www.cs.cmu.edu:8001/afs/cs/project/sensor-9/ftp/www/homepage.html