Archive: Papers and Reports Prior to 1995

[001]
KR Walley, M Grover, GL Raff, JW Benge, B Hannaford, SA Glantz, 'Left ventricular Dynamic Geometry in the Intact and Open Chest Dog,' Circulation Research, vol. 50, pp. 573-589, 1982.

[002]
B. Hannaford, R. Maduell, M.H. Nam, V. Lakshminarayanan, L. Stark, 'Effects of Loads on Time-Optimal Head Movements: EMG, Oblique, and Main Sequence Relationships ,' In "Proceedings of the 19th Annual Conference on Manual Control", Cambridge MA, 1983.

[003]
B. Hannaford, M.H. Nam, V. Lakshminarayanan, L. Stark, 'Electromyographic Evidence of Neurological Controller Signal with Viscous Load,' Journal of Motor Behavior, vol. 16, pp. 255-274, 1984.

[004]
W.S. Kim, S.H. Lee, B. Hannaford, L. Stark, 'Inverse Modeling to Obtain Head Movement Controller Signal ,' In "Proceedings of the 20th Annual Conference on Manual Control", Sunnyvale, CA., June 1984.

[005]
B. Hannaford, L. Stark, 'Control Strategies for Neurologically Ballistic Movements ,' In "Proceedings of the 37th ACEMB", Los Angeles, CA, September, 1984.

[006]
B. Hannaford, L. Stark, 'Roles of the elements of the Tri-Phasic Control Signal,' Experimental Neurology, vol. 90, pp. 619-634, 1985.

[007]
B. Hannaford, S.A. Glantz, 'Adaptive linear predictor tracks implanted radiopaque markers,' IEEE Trans. Biomedical Engineering, vol. BME-32, pp. 117-125, 1985.

[008]
B. Hannaford, C.C. Krischer, L. Stark, 'A Device for Zero Eye Movement Reading,' IEEE Trans. Biomedical Engineering, vol. BME-32, pp. 86-89, 1985.

[009]
B. Hannaford, G. Cheron, L. Stark, 'The Effects of Applied Vibration on the Tri-Phasic EMG Pattern in Neurologically Ballistic Head Movements,' Experimental Neurology, vol. 88, pp. 447-460, 1985.

[010]
B. Hannaford, 'Control of Fast Movement: Human Head Rotation, Ph.D. Thesis,' Department of Electrical Engineering and Computer Science, University of California, Berkeley, 1985.

[011]
B. Hannaford, W.S. Kim, S.H. Lee, L. Stark, 'Neurological Control of Head Movements: Inverse Modeling and Electromyographic Evidence,' Math. BioScience, vol. 78, pp. 159-178, 1986.

[012]
N. Akamatsu, B. Hannaford, L. Stark, 'An Intrinsic Mechanism for the oscillatory contraction of muscle,' Biological Cybernetics, vol. 53, pp. 219-227, 1986.

[013]
B. Hannaford, 'The Electronic Spreadsheet: A Workstation Front End for Parallel Processors,' Proceedings IEEE Computer Conference, pp. 316-321, San Francisco, CA, March 3-6, 1986.

[014]
L. Stark, W.H. Zangemeister, B. Hannaford, K. Kunze, 'Use of Models of Brainstem Reflexes for Clinical Research ,' In "Clinical Problems of Brainstem Disorders", pp. 172-184, K. Kunze, W.H. Zangemeister, A. Arlt, Ed., Georg Thieme Verlag, Stuttgart, 1986.

[015]
B. Hannaford, S. Lehman, 'Short Time Fourier Analysis of the Electromyogram: Fast Movements and Constant Contraction,' IEEE Transactions on Biomedical Engineering, vol. BME-33, pp. 1173-1181, Dec. 1986.

[016]
D.S. Holder, A. Scott, B. Hannaford, L. Stark, 'High Resolution Electromyogram of the Human Eyeblink,' Electromyogr. and Clinical Neurophys., vol. 27, pp. 481-488, 1987.

[017]
D.S. Holder, W.S. Kim, B. Hannaford, L. Stark, 'Simulation of The Human Eyeblink using the EMG of Eyelid Musculature as Input,' Muscle and Nerve, vol. In Press, 1985.

[018]
L. Stark, B. Hannaford, C.F. Ramos, 'Interaction of Descending Control and Stretch Reflex in Fast Voluntary Movements in Man,' Society for Neuroscience Abstract, Nov. 1986.

[020]
B.J. Martin, B. Hannaford, L. Stark, 'Effets Des Vibrations Musculaires Previsibles ou Imprevisibles sur les Mouvements Balistiques de la Tete,' Journal de Biomechanique, vol. 10, pp. 73-74, 1986.

[021]
P. Fiorini, B. Hannaford, B. Jau, E. Kan, A. Bejczy, 'Hand Trigger System for Bi-Lateral Gripping Control in Teleoperation,' Proceedings of the IEEE International Conference on Robotics and Automation, vol. 1, pp. 586-592, April 1987.

[022]
W.S. Kim, S.R. Ellis, M. E. Tyler, B. Hannaford, L. Stark, 'Quantitative Evaluation of Perspective and Stereoscopic Displays in Three Axis Manual Tracking Tasks,' IEEE Trans. Systems Man & Cybernetics, vol. SMC-17, pp. 61-72, 1987.

[023]
L. Stark, W.S. Kim, F. Tendick, B. Hannaford, S. Ellis, et al., 'Telerobotics; Display, Control, and Communication Problems,' IEEE Journal of Robotics and Automation, vol. RA-3, pp. 67-74, 1987.

[024]
B. Hannaford, 'Task Level Testing of the JPL-OMV Smart End Effector,' Proceedings of the JPL - NASA Workshop on Space Telerobotics, vol. 2, pp. 371-380, JPL Publication 87-13, Pasadena, CA, July 1, 1987.

[026]
L. Stark, W.H. Zangemeister, B. Hannaford, 'Head Movement Models, Optimal Control Theory and Clinical Application ,' In "Control of Head Movement", pp. 245-260, B. Peterson, F. Richmond, Ed., Oxford, 1988.

[027]
B. Hannaford, L. Stark, 'Late Agonist Burst (PC) Required for Optimal Head Movement: a Simulation Study,' Biological Cybernetics, vol. 57, pp. 321-330, 1987.

[028]
B. Hannaford, L. Stark, 'Local Linearity of EMG to activation Mapping: Simulation Compared with Experiments,' Proceedings 1987 EMBS, pp. 272-3, Boston, Nov. 1987.

[029]
B. Hannaford, M. Salganicoff, A.K. Bejczy, 'Displays for Telemanipulation ,' In "Proceedings Spatial Displays and Spatial Instruments Conference", S.R. Ellis and M. Kaiser, Ed., NASA Conference Publication 10032, Aug. 31-Sep 3, 1987.

[030]
B. Hannaford, R. Anderson, 'Experimental and Simulation Studies of Hard Contact in Force Reflecting Teleoperation,' Proc. IEEE Conference on Robotics and Automation, pp. 584-589, April, 1988.

[031]
B. Hannaford, 'A Design Framework for Teleoperators with Kinesthetic Feedback,' IEEE Transactions on Robotics and Automation, vol. 5, pp. 426-434, 1989.

[032]
B. Hannaford, P. Fiorini, 'A Detailed Model of Bilateral (Position/Force) Teleoperation,' Proceedings International Conference on Systems, Man, and Cybernetics, pp. 117-121, Beijing, August, 1988.

[033]
B. Hannaford, L. Stark, G. Obrecht, 'Multi-Screen Micro-Computer Text Display Device,' Proceedings International Conference on Systems, Man, and Cybernetics, Bejing, August, 1988.

[034]
C. Pedrono, B. Hannaford, G. Obrecht, L. Stark, 'Testing Functional Fields of View with the Multi-Screen Text Display Device RSG+,' Proceedings International Conference on Systems, Man, and Cybernetics, Bejing, August, 1988.

[035]
A.K. Bejczy, B. Hannaford, Z. Szakaly, 'Multi-Mode Manual Control in Telerobotics,' Proceedings of Romansy '88, Udine, Italy, September 12-15, 1988.

[036]
A.K. Bejczy, B. Hannaford, 'Man-Machine Interaction in Space Telerobotics,' Proceedings Intl. Symposium on Teleoperation and Control, pp. 135-150, Bristol, England, July, 1988.

[038]
B. Hannaford, 'Homeomorphic Decomposition of the 6th Order Non-Linear Model of Human Movement,' Proceedings 10th IEEE/EMBS, New Orleans, LA, November 4-7, 1988.

[039]
N. Akamatsu, B. Hannaford, L. Stark, 'An Intrinsic Mechanism for the Oscillatory Contraction of Muscle,' Proc IEEE Intl Conf on Engineering in Med. & Biol, pp. 1730-1, New Orleans, LA, Nov. 4-7, 1989.

[040]
B. Hannaford, L. Wood, 'Performance Evaluation of a 6 Axis High Fidelity Generalized Force Reflecting Teleoperator,' Proceedings JPL/NASA Conference on Space Telerobotics, JPL Publication 89-7, Pasadena, CA, January 1989.

[041]
B. Hannaford, 'Stability and Performance Tradeoffs in Bi-Lateral Telemanipulation,' Proceedings of IEEE Intl. Conf. on Robotics & Automation, vol. 3, pp. 1764-1767, Scottsdale, AZ, May 1989.

[042]
B. Hannaford, P. Lee, 'Hidden Markov Model Analysis of Force/Torque Information in Telemanipulation,' Proceedings 1st International Symposium on Experimental Robotics, Montreal, June 1989.

[043]
B. Hannaford, 'A Non-linear Model of the Phasic Dynamics of Muscle Activation,' IEEE Trans. Biomedical Engineering, vol. 37, pp. 1067-1075, 1990.

[044]
M.H. Nam, B. Hannaford, L. Stark, 'Cross Talk, Muscle Synergy, and Electrode Locations and Their Effects on Electromyographic Activity in Neck Muscles,' Innov. and Techn. in Biol. and Medicine, vol. 10, pp. 233-241, 1989.

[045]
B. Hannaford, L. Wood, B. Guggisberg, D. McAffee, H. Zak, 'Performance Evaluation of a Six-Axis Generalized Force-Reflecting Teleoperator,' JPL Publication 89-18, Pasadena, CA 91109, June 15, 1989.

[046]
B. Hannaford, L. Stark, 'Motor Control Simulation of Time Optimal Fast Movement in Man ,' In "Robotics and Biological Systems: Towards a New Bionics?", pp. 411-418, P. Dario, G. Sandini, P. Aebischer, Ed., Springer Verlag, 1990.

[048]
B. Hannaford, W.S. Kim, 'Force Reflection, Shared Control, and Time Delay in Telemanipulation,' Proceedings, IEEE Intl. Conference on Systems, Man, & Cybernetics, Cambridge, MA, Nov. 1989.

[049]
W.S. Kim, B. Hannaford, A. Bejczy, 'Shared Compliance Control and Time Delay in Telemanipulation,' Preprint: Proceedings, First Intl. Symposium on Measurement and Control in Robotics, Houston TX, June 20-22, 1990.

[050]
B. Hannaford, 'Method and Apparatus for Multiplexing Switch Signals,' US Patent No. 4,884,070, Nov. 28 1989.

[051]
B. Hannaford, L. Wood, D. McAffee, H. Zak, 'Performance Evaluation of a Six Axis Generalized Force Reflecting Teleoperator,' IEEE Transactions on Systems, Man, and Cybernetics, vol. 21, pp. 620-633, 1991.

[052]
B. Hannaford, P. Lee, 'Hidden Markov Model of Force Torque Information in Telemanipulation,' International Journal of Robotics Research, vol. 10, pp. 528-539, 1991.

[053]
B. Hannaford, J.M. Winters, 'Actuator Properties and Movement Control: Biological and Technological Models ,' In "Multiple Muscle Systems", J.M. Winters, Ed., Springer Verlag, 1990.

[054]
B. Hannaford, 'Kinesthetic Feedback Techniques in Teleoperated Systems ,' In "Advances in Control and Dynamic Systems", pp. 1-32, C. Leondes, Ed., Academic Press, San Diego, 1991.

[055]
W.S. Kim, B. Hannaford, A.K. Bejczy, 'Force-Reflection and Shared Compliant Control in Operating Telemanipulators with Time Delay,' IEEE Transactions on Robotics & Automation, vol. 8, pp. 176-185, 1992.

[057]
B. Hannaford, 'Scaling, Impedance, and Power Flows in Force Reflecting Teleoperation,' Proceedings ASME Winter Annual Meeting, vol. 26, Robotics Research, pp. 229-232, Dallas, Nov. 1990.

[058]
B. Hannaford, P. Lee, 'Multi-Dimensional Hidden Markov Model of Telemanipulation Tasks with Varying Outcomes,' Proceedings IEEE Intl. Conf. Systems Man and Cybernetics, Los Angeles, CA, Nov. 1990.

[059]
P. Lee, A. Bejczy, P. Schenker, B. Hannaford, 'Telerobot Configuration Editor,' Proceedings IEEE Intl. Conf. Systems Man and Cybernetics, Los Angeles, CA, Nov. 1990.

[061]
P.H. Marbot, B. Hannaford, 'Mini Direct Drive Arm for Biomedical Applications,' Proceedings of ICAR 91, pp. 859-864, Pisa Italy, June 1991.

[062]
B. Hannaford, 'Resolution-First Scanning of Multi-Dimensional Spaces,' CVGIP: Graphical Models and Image Processing, vol. 55, pp. 359-369, September 1993.

[063]
B. Hannaford, 'Hidden Markov Model Analysis of Manufacturing Process Information,' Proc. IROS 1991, Osaka, Japan, Nov. 1991.

[064]
C.P. Chou, B. Hannaford, 'Dual Stable Point Model of Muscle Activation and Deactivation,' Biological Cybernetics, vol. 66, pp. 511-523, 1992.

[065]
D. Kung, J. Parsons, B. Hannaford, 'Visualization of Manipulability with Mathematica,' Proceedings IASTED Control & Robotics, Vancouver, August, 1992.

[066]
P. Bhatti, P.H. Marbot, B. Hannaford, 'Microscopic Pick and Place with the Mini-Direct Drive Arm,' SPIE Telemanipulation Symposium, Boston, November, 1992.

[067]
P.H. Marbot, B. Hannaford, 'The Mechanical Spindle: a Replica of the Mammalian Muscle Spindle,' Proceedings, IEEE Conference on Engineering in Medicine and Biology, San Diego, CA, October, 1993.

[068]
I. MacDuff, S. Venema, B. Hannaford, 'The Anthroform Neural Controller: An Architecture for Spinal Circuit Emulation,' Proceedings of IEEE International Conference on EMBS, pp. 1289,90, Paris, 1992.

[069]
W.C. Wang, M. Afromowitz, B. Hannaford, 'Technique for Mechanical Measurements Using Optical Scattering From a Micro-Pipette,' IEEE Transactions on Biomedical Engineering, vol. 41, pp. 298-304, March 1994.

[070]
I. MacDuff, S. Venema, B. Hannaford, 'The Anthroform Neural Controller: A System for Detailed Emulation of Neural Circuits,' Proceedings, IEEE International Conference on Systems, Man, and Cybernetics, vol. 1, pp. 117-22, Chicago, IL, October, 1992.

[072]
C.A. Lawn, B. Hannaford, 'Performance Testing of Passive Communication and Control in Teleoperation with Time Delay,' Proc. IEEE Intl. Conf. on Robotics and Automation, vol. 3, pp. 776-781, Atlanta, GA, May, 1993.

[075]
M. Shoemaker, B. Hannaford, 'A Study and Model of the Role of the Renshaw Cell in Regulating the Transient Firing Rate of the Motoneuron,' Biological Cybernetics, vol. 71, pp. 251-262, 1994.

[076]
P. Buttolo, D.Y. Hwang, B. Hannaford, 'Hard Disk Actuators for Mini-Teleoperation,' Proc. SPIE Telemanipulator and Telepresence Technologies Symposium, pp. 55-61, Boston, October 31, 1994.

[077]
C.P. Chou, B. Hannaford, 'Static and Dynamic Characteristics of McKibben Pneumatic Artificial Muscles,' Proc. IEEE Intl. Conf. on Robotics and Automation, San Diego, CA, May, 1994.

[079]
P. Loughlin, J. Pitton, B. Hannaford, 'Approximating Time-Frequency Density Functions via Optimal Combinations of Spectrograms,' IEEE Signal Processing Letters, vol. 1, pp. 199-202, 1994.

[081]
P. Buttolo, P. Braathen, B. Hannaford, 'Sliding Control of Force Reflecting Teleoperation: Preliminary Studies,' PRESENCE, vol. 3, pp. 158-172, 1994.

[084]
B. Hannaford, P.H. Marbot, M. Moreyra, S. Venema, 'A 5-Axis Mini Direct Drive Robot for Time Delayed Teleoperation,' Proc. Intelligent Robots and Systems (IROS 94), vol. 1, pp. 555-562, Munich, Sept. 1994.

[085]
D.Y. Hwang, B. Hannaford, 'Modeling and Stability analysis of a Scaled Telemanipulation,' Proceedings RO-MAN 94, Nagoya, July, 1994.

[086]
B. Hannaford, J.M. Winters, C.P. Chou, 'The Anthroform Biorobotic Arm,' Video Proceedings, IEEE Intl. Conf. on Robotics and Automation, San Diego, CA, May, 1994.

[087]
K. Kuhn, B. Hannaford, 'A "Hands-On" Course in Consumer Electronics,' Proceedings Workshop on Mechatronics Education, Stanford California, July 1994.

[088]
B. Hannaford, S. Venema, A.K. Bejczy, 'MICROTREX: Micro-Telerobotic Flight Experiment,' Proceedings AIAA Space Programs and Technologies Conference; AIAA 94-4509, Huntsville, Al, September, 1994.

[Th001]
P.H. Marbot, 'Mini Direct Drive Robot for Biomedical Applications,' MSEE Thesis, University of Washington, Department of Electrical Engineering, August, 1991.

[Th002]
C.P. Chou, 'Dual Stable Point Model of Muscle Activation and Deactivation,' MSEE Thesis, University of Washington, Department of Electrical Engineering, Nov, 1991.

[Th003]
W.C. Wang, 'A New Optical Microsensor for Mechanical Detection Using Scattering of a Micro-Pipette,' MSEE Thesis, University of Washington, Department of Electrical Engineering, May, 1992.

[Th004]
C.A. Lawn, 'Design and Construction of a Single-Axis Master-Slave Teleoperation System and The Performance Evaluation of Control Algorithms and Passive Communication Laws with Time Delay,' MSME Thesis, University of Washington, Department of Mechanical Engineering, August, 1992.

[Th005]
P. Braathen, 'Design and Evaluation of Nonlinear Sliding Mode Control for Manipulators in a Bilateral Teleoperation System,' MSEE Thesis, Norwegian Institute of Technology / University of Washington, Feb. 1993.

[Th006]
M. Shoemaker, 'A Study and Model of the Role of the Renshaw Cell in Regulating the Transient Firing Rate of the Motoneuron,' MSEE Thesis, University of Washington, Department of Electrical Engineering, June 1993.

[Th007]
P. Bhatti, 'The SCVMS: A Single Chip Velocity Measurement System for Optical Shaft Encoders,' MSEE Thesis, University of Washington, Department of Electrical Engineering, August 1993.

[Th008]
D.S. Smith, 'Kinematic Do-Ability for Manipulator Analysis,' MSEE Thesis, University of Washington, Department of Electrical Engineering, January 1994.

[Th009]
M.R. Moreyra, 'Design of a Five Degree of Freedom Direct Drive Mini-Robot Using Disk Drive Actuators,' MSME Thesis, University of Washington, Department of Mechanical Engineering, June 1994.

[Th010]
S.C. Venema, 'A Kalman Filter Calibration Method for Analog Quadrature Position Encoders,' MSEE Thesis, University of Washington, Department of Electrical Engineering, June 1994.

[Th011]
F. Boe, 'An Iterative Trajectory Shaping Algorithm based on Run-Time Results,' MSEE Thesis, University of Washington, Department of Electrical Engineering, June 1994.

[Th012]
D. Kung, 'Hidden Markov Model with Explicit Duration and its Application to Robotic Task Segmentation,' MSEE Thesis, University of Washington, Department of Electrical Engineering, June 1994.