Publications

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• Two-Stage Robotic Crystal Mounting of Protein Crystals for X-Ray Data Collection
  In Proc. of the IEEE Int. Conf. on Automation Science and Engineering (CASE'08), Arlington, VA, August 2008, pp.1019-1024 (paper & poster).
  (with Peter K. Allen)
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• Automated Streak Seeding With Micromachined Silicon Tools
  Acta Crystallographica Section D, Vol.62, 2006, pp.1039-1045
  (with Sergey Vorobiev, William Edstrom, Ting Song, Andrew Laine, John Hunt and Peter K. Allen)
  • Full text (preprint)
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• Streak Seeding Automation Using Silicon Tools
  Technical Report CUCS-015-06, Columbia University, Computer Science Deptartment, 2006
  (with Sergey Vorobiev, William Edstrom, Ting Song, Andrew Laine, John Hunt and Peter K. Allen)
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• Microrobotic Streak Seeding For Protein Crystal Growth
  Robotics: Science and Systems Conference, Cambridge, MA, June 2005, pp.137-143
  (with Peter K. Allen, Ting Song, Andrew Laine, William Edstrom and John Hunt)
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• Robotic Protein Crystal Streak Seeding Using Silicon Microtools
  International Conference on Structural Genomics, Washington, DC, November 2004 (poster).
  (with Peter K. Allen, William Edstrom, John Hunt, Ting Song and Andrew Laine)
  • Poster
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• A Microrobotic System For Protein Streak Seeding
  Technical Report CUCS-041-04, Columbia University, Computer Science Deptartment, 2004
  (with Peter K. Allen, Ting Song, Andrew Laine, William Edstrom and John Hunt)
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• Localization Methods for a Mobile Robot in Urban Environments
  IEEE Transactions on Robotics, Vol.20, No.5, October 2004, pp.851-864.
  (with Peter K. Allen)
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• Visually-Guided Protein Crystal Manipulation Using Micromachined Silicon Tools
  In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'04), Sendai, Japan, September 2004, pp.236-241.
  (with Peter K. Allen and William Edstrom)
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• Microrobotic Crystal Mounting Using Computer Vision
  Microrobotics for Biomanipulation Workshop, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'03), Las Vegas, NV, October 2003.
  (with Peter K. Allen and Youcef Mezouar)
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• Design, Implementation and Localization of a Mobile Robot for Urban Site Modeling
  PhD Thesis, Computer Science Department, Columbia Unviversity, New York, NY, November 2002.
  (Advisor: Prof. Peter K. Allen)
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• Vision for Mobile Robot Localization in Urban Environments
  In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'02), Lausanne, Switzerland, October 2002, pp.472-477.
  (with Peter K. Allen)
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• AVENUE: Automated Site Modeling in Urban Environments
  In Proc. of the 3rd Conference on Digital Imaging and Modeling (3DIM'01), Quebec City, Canada, May 2001, pp.357-364.
  (with Peter K. Allen, Ioannis Stamos, Ethan Gold and Paul Blaer)
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• Design, Architecture and Control of a Mobile Site-Modeling Robot
  in Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA'00), San Francisco, California, April 2000, pp.3266-3271.
  (with Peter K. Allen, Ethan Gold and Paul Blaer)
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• Reasoning in Multi-Context Systems
  MS Thesis, Faculty of Mathematics and Informatics, Sofia University, Sofia, Bulgaria, May 1996.
  (Advisor: Prof. Christo Dichev)
  • Full text (in Bulgarian)
  • Abstract in English
  • Bibtex entry