Curriculum Vitae: Christiaan J.J. Paredis

Christiaan J.J. Paredis

Carnegie Mellon University
Institute for Complex Engineered Systems	962 Wellesley Road
5000 Forbes Avenue	Pittsburgh, PA 15206
Pittsburgh, PA 15213-3890	home: (412) 361-2201
Tel: (412) 268-8299	cell: (412) 580-8658
Fax: (412) 268-5229	e-mail: paredis@cmu.edu

Education


Ph.D. in Electrical and Computer Engineering			Aug 96
	Carnegie Mellon University
	Thesis:	An Agent-Based Approach to the Design of Rapidly Deployable Fault Tolerant Manipulators
	Advisor:	Prof. Pradeep Khosla.
Diplôme Complémentaire en Administration des Affaires			Sept 1991
	(Equivalent to a B.S. in Business Administration)
	Université de Liège (Belgium)
	Cum Laude.
	In French.
M.S. in Electrical and Computer Engineering			Sept 1990
	Carnegie Mellon University
	Thesis:	An Approach for Mapping Kinematic Task Specifications into a Manipulator Design.
	Advisor:	Prof. Pradeep Khosla.
	GPA:	4.0/4.0
Burgerlijk Electrotechnisch Werktuigkundig Ingenieur Richting Mechanica			July 1988
	(Equivalent to a B.S./M.S. in Mechanical Engineering)
	Katholieke Universiteit Leuven (Belgium)
	Thesis:	Simulation of Flexible Link Manipulators.
	Advisor:	Prof. Joris De Schutter.
	Magna Cum Laude.
	In Dutch.

Professional


Carnegie Mellon University, Pittsburgh, PA		June 1998 - present
	Research Scientist. Projects: - Composable Simulation and Design: A new modeling paradigm for simulation of mechatronic systems - CyberScout: a multi-agent robotic system for surveillance
Carnegie Mellon University, Pittsburgh, PA		January 2000 - present
	Courtesy Faculty, the Department of Electrical and Computer Engineering.
Carnegie Mellon University, Pittsburgh, PA		Aug 1996 - May 1998
	Visiting Research Engineer. Projects: - CODES: Collaborative Open Design Systems. - IAMS: Intelligent Assembly Modeling and Simulation

Teaching


Carnegie Mellon University, Pittsburgh, PA
39-647: Modeling and Simulation in Systems Engineering		Spring 2002
	Project Course on continuous time modeling of energy-based systems and discrete event simulation in support of the design of engineered systems. Newly developed course in the multi-disciplinary design track of the college of engineering.
39-606: Engineering Product Design Projects		Spring 2001
	Project course in collaboration with industry; co-taught with Profs. Subrahmanian, Garrett, Amon, and Jacobson.
39-605: Engineering Product Design Projects		Fall 2000
	Project course in collaboration with industry; co-taught with Profs. Westerberg, Subrahmanian, Garrett, Amon, and Jacobson.
16-743: Robot Control		Spring 1998
	Elective course in the Robotics Institute Ph.D. program.
Documentation of Teaching Development		Spring 1994 - Spring 1996
	University Teaching Center's Documentation of Teaching Development: Participated in ten UTC seminars on different aspects of effective teaching, received feedback from the associate director of the UTC on lectures in controls and kinematics, prepared a syllabus for a graduate level course in numerical optimization.
Preparing for a Faculty Career		Fall 1994 - Spring 1996
	Seminar series: "Preparing for a Faculty Career." Participated in twelve seminars on teaching and research-related topics.
Teaching Assistant		Fall 1993
	Teaching Assistant for the course: Introduction to Electrical Engineering.

Citizenship

U.S.A.

Honors and Awards

Finalist for the Anton Philips Prize, awarded annually for the outstanding paper presented by a graduate student at the IEEE International Conference on Robotics and Automation, San Diego, 1994.
Fellow of the Belgian American Educational Foundation, 1989-1990. (one of only two comprehensive fellowship programs in Belgium for study in the United States)
Member of Sigma Xi, the international honor society of scientific and engineering research.

Grants

Pennsylvania Infrastructure Technology Alliance, "Stochastic modeling and optimization in design," (Co-I: Kemal Sahin, Urmila Diwekar), $46K, 11/1/01 - 12/31/02.
Bombardier Transportation, "Component-based simulation of People Mover Systems," $180K, 1/1/00 - 12/31/01.
Lockheed Martin, "Component-Based Simulation and Design", $257K, 10/13/00 - 9/30/02.
Pennsylvania Infrastructure Technology Alliance, "Selecting Components Based on Functional Descriptions", (Co-I: Pradeep Khosla, Li Han), $95K, 9/1/00 - 12/31/02.
Pennsylvania Infrastructure Technology Alliance, "Rapid Prototyping Education at CMU", (Co-I: Susan Finger), $25K, 9/1/00 - 12/31/02.
Pennsylvania Infrastructure Technology Alliance, "Composable Simulation: A New Modeling Paradigm", (Co-I: Pradeep Khosla, Art Westerberg), $128K , 9/1/98 - 8/31/00.
Draper Lab, "A Real and Virtual Environment for Distributed Sensing", (Co-I: Pradeep Khosla), $70K, 7/1/98 - 6/30/98.

Co-PI:

Pennsylvania Infrastructure Technology Alliance, "Design of a System for Early Detection of Guideway Safety Envelope Incursions," (PI: Jim Garrett, Co-I: Burcu Akinci, Scott Thayer), $41K, 9/1/00 - 12/31/01.
NIST, "A Testbed for Designer and Manufacturer Collaboration," (PI: Pradeep Khosla), $340K, 7/1/97 - 3/30/01.
DARPA, "PASIS---A Distributed Framework for Perpetually Available and Secure Information Systems", (PI: Pradeep Khosla, Co-I: Han Killicote), $1,724K, 5/1/99 - 4/31/02.
Pennsylvania Infrastructure Technology Alliance, "Design for Change", (PI: Tom Stahovich), $38K, 9/1/98 - 8/31/99.
NSF--CISE, "Infrastructure for an Information-based Manufacturing Testbed: A Joint Initiative of Carnegie Mellon and Drexel Universities," (Co-I: Pradeep Khosla, S.K. Gupta, Bill Regli), $196K, Equipment grant.

Significant contribution:

NSF-KDI, "Networked Engineering," 10/1/98 - 9/30/02.
DARPA, "An Autonomous, Distributed Tactical Surveillance System," 1/1/97 - 12/31/99.
DARPA, "CODES: Collaborative Open Design Systems," 5/1/96 - 9/30/00.

Student Supervision

Current Graduate Students

Soshi Iba

Ph.D. in Robotics
Joint with Prof. Khosla
Topic: “Robot Programming Through Multi-Modal Interaction.”

Vei-Chung Liang

Ph.D. in CivE
Topic: “Supporting Iteration in Conceptual Design through Composition, Search, and Simulation.”

Luis Navarro-Serment

Ph.D. in ECE
Joint with Prof. Khosla
Topic: “Self-organizing Sensor Networks.”

Past Graduate Students

Michael Collins

M.S. in ECE.
Graduated in June 2002
Topic: “LEGION: A System for Supporting Exploratory Design.”

Raj Sinha

Ph.D. in Engineering
Joint with Prof. Khosla
Graduated in January 2002
Topic: “Compositional Design of Engineered Systems.”

Khaled Al-Ajmi

M.S. in ECE
Graduated in August 2001
Topic: “Object-oriented modeling of train systems.”

Antonio Diaz-Calderon

Ph.D. in ECE
Joint with Prof. Khosla
Graduated in June 2000
Topic: “A Composable Simulation Environment to Support the Design of Mechatronic Systems.”

ShuJen Tsai

M.S. in MechE
Graduated in December 1998
Topic: “Control of the Gyrover: A Gyroscopically Stabilized, Single-Wheel Robot.”

Thesis Committees

Poj Tangamchit. Ph.D student in ECE.
Kevin Dixon. Ph.D. student in ECE.
Sanjay Sachdev. Ph.D. in ECE.
Patrick Chris Leger. Ph.D. in Robotics.

Undergraduate Supervision

Sripal Mehta. “A Graphical User Interface for Assembly Path Planning,” Summer 1997.
Arne Suppe. “State Estimation of the Gyrover,” Summer 1998.
Ethan Bold, “A Battery Monitor Module for Millibots,” SURG grant, Spring 1999.
Peder Andersen, “Mobile Robot Simulation within the Draper Simulation Framework,” Spring 1999.
Dave Harden, “Low-Power Processing for the Millibots based on the ARM-7 TDMI,” CIT Honor project, Fall 1998 – Spring 1999.
Elliot Delaye, “Beacon-Based Collaborative Position Estimation for Robots,” CIT Honors project, Fall 1998 – Spring 1999.
Herbert Ng, “Simulation within Pro/Engineer through ProToolkit,” Summer 2000.
Brenden Epps, “Comparison between Modelica and VHDL-AMS: Simulation of a Hand-Drill,” Summer 2000.
Apitana Jirawongkraisorn, “Simulation of collisions between rigid bodies,” CIT Honors project, Fall 2000 – Spring 2001.
Kalpesh Doshi, “The application of MS Excel in conceptual design,” Summer 2001.
Mark Schmit. “Design specification through attribute grammars,” Summer 2001.
Sittan Jirawongkraisorn, “Satellite-based Sensor Calibration,” Spring 2002.
T.J. Klasen, “Satellite-based Sensor Calibration,” CIT honors project, Spring 2002.
Mark Schmit, “3D animation for an Augmented Reality display,” Summer 2002.
Patrick Milholland, “A Holographic Display for Collaborative Design,” Summer 2002.
Animesh Kejriwal, “Distributed design simulation and optimization with ModelCenter,” Summer 2002.

Main Research Interests

Information Technology for Design
Simulation-based design and manufacturing
Design of mechatronic systems; computational design
Multi-agent systems: in distributed computing and as physical robots.
Modularity in design and robotics.
Fault tolerance of electro-mechanical systems.

Professional Activities

Organization of workshops and conference sessions

Session on "Simulation-Based Design," as part of the 21st Computers and Information in Engineering Conference, DETC'01 in Pittsburgh.
Three sessions on "Modular Robotics," as part of the Conference on Sensor Fusion and Decentralized Control in Robotics Systems (International Symposium on Intelligent Systems and Advanced Manufacturing); September 17-22, 1999; Boston, MA. (with Andy Fryer)
Workshop on "Modularity in Robotics and Automation," as part of the 1998 IEEE International Conference on Robotics and Automation, May 17, 1998; Leuven, Belgium.

Member of the program committee

DARS'02: Distributed Autonomous Robotic Systems 2002
DARS'00: Distributed Autonomous Robotic Systems 2000.
FSR'99: Field and Service Robotics 1999.
CARS & FOF'99: 15th ISPE/IEE International Conference on CAD/CAM, robotics, and Factories of the Future.
CARS & FOF'2000: 16th ISPE/IEE International Conference on CAD/CAM, robotics, and Factories of the Future.

Membership in professional organizations

IEEE (Robotics and Automation Society, Computer Society).
ASME International.
ACM
Society of Computer Simulation
American Institute of Aeronautics and Astronautics

Reviewed papers for: IEEE Transactions on Robotics and Automation; Reliability Engineering and System Safety; ASME Journal of Mechanical Design; ASME Journal of Computing and Information Science in Engineering; ASME Journal of Dynamic Systems, Measurement, and Control; International Journal on Robotics Research; Mechatronics an International Journal; Journal of Robotics and Computer-Integrated Manufacturing; Computers and Electrical Engineering; IEEE International Conferences on Robotics and Automation, Design Engineering Technical Conferences.

Patents and Disclosures

Provisional Patent 60/287,618: C. Paredis, K. Al-Ajmi, W. Tan, "Composable Models for Simulation-Based Design," April 30, 2001.

Publications

Refereed Journal Articles and Book Contributions:

E. Subrahmanian, A. Westerberg, S. Talukdar, J. Garrett, A. Jacobson, C. Paredis, C. Amon, P. Herder, A. Turk, "Integrating Social Aspects and Group Work Aspects in Engineering Design Education," International Journal of Engineering Education, to appear.
R. Sinha, S.K. Gupta, C.J.J. Paredis, and P.K. Khosla, "Extracting Articulation Models from CAD Models of Parts with Curved Surfaces," Mechanical Design, to appear.
S.K. Gupta, C.J.J. Paredis, R. Sinha, P.F. Brown, "Intelligent Assembly Modeling and Simulation," Assembly Automation, Vol. 21, No. 3, pp. 215-235, 2001 (Literati Awards for Excellence: Highly Commended Award Winner).
R. Sinha, V.C. Liang, C.J.J. Paredis, and P.K. Khosla, "Modeling and Simulation Methods for Design of Engineering Systems," Journal of Computing and Information Science in Engineering. Vol. 1, pp. 84-91, 2001.
C.J.J. Paredis, A. Diaz-Calderon, R. Sinha, and P.K. Khosla, "Composable Models for Simulation-Based Design", Engineering with Computers. Vol. 17, pp. 112-128, 2001.
E.D. Ferreira, S.-J. Tsai, C.J.J. Paredis, H.B. Brown, "Control of the Gyrover: a Single-Wheel Gyroscopically Stabilized Robot," Advanced Robotics. Vol. 14, No. 6, pp. 459-475, 2000.
R. Grabowski, L.E. Navarro-Serment, C.J.J. Paredis, P.K. Khosla, "Heterogeneous Teams of Modular Robots for Mapping and Exploration," Autonomous Robots. (special issue on heterogeneous and distributed robotics). Vol. 8, No. 3, pp. 293-308, 2000.
A. Diaz-Calderon, C. J. J. Paredis, and P. K. Khosla, "Automatic Generation of System-Level Dynamic Equations for Mechatronic Systems," Journal of Computer-Aided Design. Vol. 32, No. 5-6, pages 339-354, May 2000.
C. J. J. Paredis, H. B. Brown, and Pradeep K. Khosla, "A Rapidly Deployable Manipulator System," Robotics and Autonomous Systems Vol. 21, pp. 289-304, 1997.
C. J. J. Paredis and P. K. Khosla, "Fault Tolerant Task Execution through Global Trajectory Planning," Reliability Engineering and System Safety (special issue on Safety of Robotic Systems), Vol. 53, No. 3, pp. 225-235, Sept. 1996.
C. J. J. Paredis and P. K. Khosla, "Designing Fault Tolerant Manipulators: How Many Degrees-of-Freedom?" International Journal of Robotics Research, Vol. 15, No. 6, pp. 611-628, Dec. 1996.
C. J. J. Paredis and P. K. Khosla, "Design of Modular Fault Tolerant Manipulators," Algorithmic Foundations of Robotics, eds. K. Goldberg et al., Boston, MA: A. K. Peters, pp. 371-383, 1995.
C. J. J. Paredis, W. K. F. Au, and P. K. Khosla, "Kinematic Design of Fault Tolerant Manipulators," Computers and Electrical Engineering, Vol. 20, No. 3, pp. 211-220, 1994.
C. J. J. Paredis and P. K. Khosla, "Kinematic Design of Serial Link Manipulators from Task Specifications," International Journal of Robotics Research, Vol. 12, No. 3, pp. 274-287, 1993.

Refereed Conference and Workshop Papers:

S. Iba, C.J.J. Paredis, P.K. Khosla, “Interactive Multi-Modal Robot Programming,” in Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington D.C., May 11-15, 2002 (Finalist for the Anton Philips Best Student Paper Award).
R. Sinha, C.J.J. Paredis, and P.K. Khosla, “Behavioral Model Composition in Simulation-Based Design,” in Proceedings of the 35th Annual Simulation Symposium, San Diego, CA, April 14-18, 2002.
R. Tinós, L.E. Navarro-Serment, C.J.J. Paredis, “Fault Tolerant Localization for Teams of Distributed Robots,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'01), Maui, Hawaii, October 29-November 3, 2001.
R. Sinha, C.J.J. Paredis, P.K. Khosla, "Interaction Modeling in Systems Design," in Proceedings of DETC 2001, Computers in Engineering Conference, paper no. DETC2001/CIE-21285, Pittsburgh, PA, September 9-12, 2001.
A. Diaz-Calderon, C.J.J. Paredis, P. K. Khosla. "Organization and Selection of Reconfigurable Models", in Proceedings of the Winter Simulation Conference 2000, Orlando, Florida, December 10-13, 2000.
R. Sinha, C.J.J. Paredis, P.K. Khosla, "Integration of Mechanical CAD and Behavioral Modeling," in Proceedings of the International Workshop on Behavioral Modeling and Simulation, Orlando, Florida, November 18-21, 2000.
A. Diaz-Calderon, C. J. J. Paredis, and P. K. Khosla, "A composable simulation environment for mechatronic systems." in Proceedings of the SCS 1999 European Simulation Symposium, Erlangen, Germany, October 1999.
K. Dixon, J. Dolan, W. Huang, C. Paredis, P. Khosla, "RAVE: A Real and Virtual Environment for Multiple Mobile Robot Systems," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Kyongju, Korea, October 17-21, 1999.
S.-J. Tsai, E.D. Ferreira, C.J.J. Paredis, "Control of the Gyrover: A Single-Wheel Gyroscopically Stabilized Robot," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Kyongju, Korea, October 17-21, 1999.
S. Iba, J.M. Vande Weghe, C.J.J. Paredis, P.K. Khosla, "An Architecture for Gesture Based Control of Mobile Robots," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Kyongju, Korea, October 17-21, 1999.
C.-H. Wang, C.J.J. Paredis, "On-Line Planning of Flexible Assembly Systems: An Agent-Based Approach," in Proceedings of the 15th ISPE/IEE International Conference on CAD/CAM, Robotics and Factories of the Future, Águas de Lindóia, SP, Brazil, August 18 - 20, 1999.
A. Diaz-Calderon, C.J.J. Paredis, P.K. Khosla, "Combining Information Technology Components and Symbolic Equation Manipulation in Modeling and Simulation of Mechatronic Systems," in Proceedings of the 1999 IEEE International Symposium on Computer Aided Control System Design, Island of Hawaii, Hawaii, August 22-27, 1999.
A. Diaz-Calderon, C.J.J. Paredis, P.K. Khosla, "On the Synthesis of the System Graph for 3D Mechanics," in Proceedings of 18th the American Control Conference, San Diego, CA, June 2-4, 1999.
J.-C. Fraile, C.J.J. Paredis, C.-H. Wang, P.K. Khosla, "Agent-Based Planning and Control of a Multi-Manipulator Assembly System," in Proceedings of the 1999 IEEE International Conference on Robotics and Automation, Detroit, MI, May 10-15, 1999.
J. Salido, C.J.J. Paredis, P.K. Khosla, "Continuous Probabilistic Mapping by Autonomous Robots," in Proceedings of the 1999 International Symposium on Experimental Robotics, Sydney, Australia, March 26-28, 1999.
S.K. Gupta, C.J.J. Paredis, R. Sinha, C.-H. Wang, P.F. Brown, "An Intelligent Environment for Simulating Mechanical Assembly Operations," in Proceeding of DETC98, Design for Manufacturing Conference, paper no. DETC98/DFM-5739, Atlanta, GA, September 13-16, 1998.
A. Diaz-Calderon, C.J.J. Paredis, P.K. Khosla, "A Modular Composable Software Architecture for the Simulation of Mechatronic Systems," in Proceedings of DETC98, Computers in Engineering Conference, paper no. DETC98/CIE-5704, Atlanta, GA, September 13-16, 1998.
R. Sinha, C.J.J. Paredis, S.K. Gupta, P.K. Khosla, "Capturing Articulation in Assemblies from Component Geometry," in Proceedings of DETC98, Computers in Engineering Conference, paper no. DETC98/DAC-5629, Atlanta GA, September 13-16, 1998.
S. Sachdev, C.J.J. Paredis, S.K. Gupta, S.N. Talukdar, "3D Spatial Layouts using A-Teams," in Proceedings of DETC98, Design Automation Conference, paper no. DETC898/DAC-5628, Atlanta, GA, September 13-16, 1998.
S. K. Gupta, C. J. J. Paredis, and P. F. Brown, "Micro Planning for Mechanical Assembly Operations," in Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Leuven, Belgium, May 16-20, 1998.
C. J. J. Paredis, and P. K. Khosla, "Task-Based Design of Manipulators: An Agent-Based Approach," in Proceedings of the 1997 ASME Design Engineering Technical Conference, paper no. DETC97-DAC-3853, Sacramento, CA, September 14-17, 1997.
C. J. J. Paredis, and P. K. Khosla, "RMMS: Reconfigurable Modular Manipulator System Project," in Video Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, April 20-25, 1997.
C. J. J. Paredis, and P. K. Khosla, "Agent-Based Design of Fault Tolerant Manipulators for Satellite Docking," in Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, pp. 3473-3480, April 20-25, 1997.
C. J. J. Paredis, H. B. Brown, and P. K. Khosla, "A Rapidly Deployable Manipulator System," in Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, MN, Vol. 2, pp. 1434-1439, April 22-28, 1996.
C. J. J. Paredis and P. K. Khosla, "Global Trajectory Planning for Fault Tolerant Manipulators," in Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'95), Pittsburgh, PA, Vol. 2, pp. 428-434, August 5-9, 1995.
C. J. J. Paredis and P. K. Khosla, "Mapping Tasks into Fault Tolerant Manipulators," in Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, Vol. 1, pp. 696-703, May 8-13, 1994 (Finalist for the Anton Philips Best Student Paper Award).

Other Publications

L. Han, C.J.J. Paredis, "Meta-models for Composable Simulation and Design," in Proceedings of the Advanced Simulation Technologies Conference, San Diego, CA, April 14-18, 2002.
D.T. Latimer, B. Akinci, S. Thayer. C. Paredis, M. Patton, J. Garrett, “Automation of Road Surface Quality Assessment: Requirements and Current Technologies,” in Proceedings of the 18th International Symposium on Automation and Robotics in Construction, Kraków, Poland, September 10-12, 2001.
E. Subrahmanian, A. Westerberg, S. Talukdar, J. Garrett, A. Jacobson, C. Paredis, C. Amon, P. Herder, A. Turk, "Integrating Social Aspects and Group Work Aspects in Engineering Design Education," in Proceedings of Social Dimensions of Engineering Design, Mudd Design Workshop III, Harvey Mudd College, Claremont, CA, May 17-19, 2001.
L. Han, C.J.J. Paredis, P.K. Khosla, “Object-Oriented Libraries of Physical Components in Simulation and Design,” in Proceedings of the 2001 Summer Computer Simulation Conference, Orlando, Florida, July 15-19, 2001.
R. Grabowski, L.E. Navarro-Serment, C.J.J. Paredis, P.K. Khosla, “Heterogeneous Teams of Modular Robots for Mapping and Exploration,” Robot Teams: From Diversity to Polymorphism. A.K. Peeters: Wellesley, MA. 2001.
C.J.J. Paredis, A. Diaz-Calderon, R. Sinha, P.K. Khosla, "Composable Models for Simulation-Based Design," Technical Report, ICES 04-21-00, Institute for Complex Engineered Systems, Carnegie Mellon University, 2000.
A. Diaz-Calderon, C.J.J. Paredis, P. K. Khosla. "Reconfigurable models: a modeling paradigm to support simulation-based design", SCS Summer Computer Simulation Conference, Vancouver, British Columbia, Canada, July 2000.
R. Sinha, C.J.J. Paredis, and P.K. Khosla, "Kinematics Support for Design and Simulation of Mechatronic Systems," Proceedings of the 4th IFIP Working Group 5.2 Workshop on Knowledge Intensive CAD, Parma, Italy, May 22-24, 2000.
C. Bererton, L. Navarro-Serment, Robert Grabowski, C. Paredis, and P. Khosla, "Millibots: Small Distributed Robots for Surveillance and Mapping," in the Proceedings of the Government Microcircuits Applications Conference 2000, Orlando, FL, 2000.
R. Grabowski, L.E. Navarro-Serment, C.J.J. Paredis, P.K. Khosla, "Modularity in Small Distributed Robots," in Proceedings of the SPIE conference on Sensor Fusion and Decentralized Control in Robotic Systems II, Boston, MA, September 19-22, 1999.
L.E. Navarro-Serment, C.J.J. Paredis, P.K. Khosla, "A Beacon System for the Localization of Distributed Robotic Teams," in Proceedings of the International Conference on Field and Service Robotics, Pittsburgh, PA, August 29-31, 1999.
K. Dixon, J. Dolan, J. Dolan, R. Grabowski, J. Hampshire, W. Huang, C. Paredis, J. Salido, M. Saptharishi, P. Khosla, "A Distributed Command and Control Environment for Heterogeneous Mobile Robot Systems," Technical Report ICES 04-12-99, Institute for Complex Engineered Systems, Carnegie Mellon University, 1999.
L. E. Navarro-Serment, R. Grabowski, C. J. J. Paredis, and P. K. Khosla, "Heterogeneous Teams of Modular Robots for Mapping and Exploration," Technical Report ICES 04-11-99, Institute for Complex Engineered Systems, Carnegie Mellon University, 1999.
R. Sinha, S. K. Gupta, C. J. J. Paredis, and P. K. Khosla, "Extracting Articulation Models from CAD Models of Parts with Curved Surfaces," Technical Report ICES 04-08-99, Institute for Complex Engineered Systems, Carnegie Mellon University, 1999.
A. Diaz-Calderon, C. J. J. Paredis, and P. K. Khosla, "On the Synthesis of System-Level Dynamic Equations for Mechatronic systems," Technical Report ICES 04-06-99, Institute for Complex Engineered Systems, Carnegie Mellon University, 1999.
S.K. Gupta, C.J.J. Paredis, R. Sinha, C.-H. Wang, P.F. Brown, "Intelligent Assembly Modeling and Simulation," The Institute for Complex Engineered Systems, Technical Report ICES#05-104-97, Carnegie Mellon University, Pittsburgh.
W. K. F. Au, C. J. J. Paredis, and P. K. Khosla, "Kinematic Design of Fault Tolerant Manipulators," in Proceedings of the Allerton Conference, Urbana-Champagne, IL, 1992.
C. J. J. Paredis and P. K. Khosla, "An Approach for Mapping Kinematic Task Specifications into a Manipulator Design," in Proceedings of the Fifth International Conference on Advanced Robotics, Pisa, Italy, Vol. 1, pp. 556-561, 1991.
C. J. J. Paredis and P. K. Khosla, "On Kinematic Design of Serial Link Manipulators," in Proceedings of the International Symposium on Intelligent Robotics (ISIR), Bangalore, India, pp. 517-531, January 25, 1991.