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{{UserProfile |  
== Karl Kruusamäe ==
fullname=Karl Kruusamäe |
'''meil:''' karl.kruusamae (ätt) ut (punkt) ee<br>
picture=Karl_k_2019.jpg |
'''telefon:''' (+372) 737 4832<br>
email=karl.kruusamae@ut.ee |
'''mobiil:''' (+372) 503 0479<br>
mobile=+372 5886 3299 |
'''skype:''' karl_kruusamae<br>
skype=karl_kruusamae |
[https://www.etis.ee/portaal/isikuCV.aspx?TextBoxName=kruusam%C3%A4e&PersonVID=53578&lang=et&FromUrl0=isikud.aspx Minu profiil Eesti Teadusinfosüsteemis]
orcid=0000-0002-1720-1509 |
<br>
gscholar=https://scholar.google.com/citations?user=aZlNwwoAAAAJ |
etis=https://www.etis.ee/cv/Karl_Kruusamae |
other=
{{UserProfileItem | LinkedIn | [https://www.linkedin.com/in/karl-kruusamae Karl Kruusamäe] }}


== Videod ==
{{UserProfileItem | Github |
*Tartu Ülikooli robotikarja animatsioon [[Media:Ut bots 2010 divx.avi| (DivX, 40.9 MB)]]
* [https://github.com/ut-ims-robotics ut-ims-robotics]
* [https://github.com/robotont robotont]
* [https://github.com/temoto-framework TeMoto Framework]
* [https://github.com/kruusamae kruusamae]
}}
 
== Theses topics for students ==
* [[Theses in Robotics|Theses and project topics for BSc and MSc level students]]
}}
 
== Publications ==
 
 
=== Journal Articles ===
 
* Raudmäe, R., Schumann, S., Vunder, V., Oidekivi, M., Nigol, M.K., Valner, R., Masnavi, H., Singh, A.K., Aabloo, A., Kruusamäe, K. (2023) [http://doi.org/10.1016/j.ohx.2023.e00436 <nowiki>ROBOTONT – Open-source and ROS-supported omnidirectional mobile robot for education and research</nowiki>], ''HardwareX''. [http://doi.org/10.1016/j.ohx.2023.e00436 http://doi.org/10.1016/j.ohx.2023.e00436]
* Masnavi, H., Shrestha, J., Kruusamae, K., Singh, A.K. (2023) [http://doi.org/10.1109/LRA.2023.3312969 <nowiki>VACNA: Visibility-Aware Cooperative Navigation With Application in Inventory Management</nowiki>], ''IEEE Robotics and Automation Letters''. [http://doi.org/10.1109/LRA.2023.3312969 http://doi.org/10.1109/LRA.2023.3312969]
* Shashank Srikanth, Mithun Babu, Houman Masnavi, Arun Kumar Singh, Karl Kruusamäe, Krishnan Madhava Krishna (2022) [https://doi.org/10.3390/s22082995 <nowiki>Fast Adaptation of Manipulator Trajectories to Task Perturbation by Differentiating through the Optimal Solution</nowiki>], ''Sensors''. [https://doi.org/10.3390/s22082995 https://doi.org/10.3390/s22082995]
* Masnavi, H., Shrestha, J., Mishra, M., Sujit, P.B., Kruusamae, K., Singh, A.K. (2022) [http://doi.org/10.1109/LRA.2022.3190087 <nowiki>Visibility-Aware Navigation With Batch Projection Augmented Cross-Entropy Method Over a Learned Occlusion Cost</nowiki>], ''IEEE Robotics and Automation Letters''. [http://doi.org/10.1109/LRA.2022.3190087 http://doi.org/10.1109/LRA.2022.3190087]
* Robert Valner, Houman Masnavi, Igor Rybalskii, Rauno Põlluäär, Erik Kõiv, Alvo Aabloo, Karl Kruusamäe, Arun Kumar Singh (2022) [http://doi.org/10.3389/frobt.2022.922835 <nowiki>Scalable and heterogenous mobile robot fleet-based task automation in crowded hospital environments—a field test</nowiki>], ''Frontiers in Robotics and AI''. [http://doi.org/10.3389/frobt.2022.922835 http://doi.org/10.3389/frobt.2022.922835]
* Masnavi, H., Adajania, V.K., Kruusamae, K., Singh, A.K. (2022) [http://doi.org/10.1109/ACCESS.2022.3157977 <nowiki>Real-Time Multi-Convex Model Predictive Control for Occlusion-Free Target Tracking with Quadrotors</nowiki>], ''IEEE Access''. [http://doi.org/10.1109/ACCESS.2022.3157977 http://doi.org/10.1109/ACCESS.2022.3157977]
* Valner, R., Wanna, S., Kruusamäe, K., Pryor, M. (2022) [http://doi.org/10.1145/3522580 <nowiki>Unified Meaning Representation Format (UMRF)-A Task Description and Execution Formalism for HRI</nowiki>], ''ACM Transactions on Human-Robot Interaction''. [http://doi.org/10.1145/3522580 http://doi.org/10.1145/3522580]
* Valner, R., Vunder, V., Aabloo, A., Pryor, M., Kruusamae, K. (2022) [http://doi.org/10.1109/ACCESS.2022.3173647 <nowiki>TeMoto: A Software Framework for Adaptive and Dependable Robotic Autonomy With Dynamic Resource Management</nowiki>], ''IEEE Access''. [http://doi.org/10.1109/ACCESS.2022.3173647 http://doi.org/10.1109/ACCESS.2022.3173647]
* Karl Kruusamäe (2021) [https://www.vikerkaar.ee/archives/27646 <nowiki>En attendant Robot</nowiki>], ''Vikerkaar''.
* Valner, R., Dydynski, J.M., Cho, S., Kruusamäe, K. (2021) [http://doi.org/10.1177/0018720820902293 <nowiki>Communication of Hazards in Mixed-Reality Telerobotic Systems: The Usage of Naturalistic Avoidance Cues in Driving Tasks</nowiki>], ''Human Factors''. [http://doi.org/10.1177/0018720820902293 http://doi.org/10.1177/0018720820902293]
* Rastgar, F., Masnavi, H., Shrestha, J., Kruusamae, K., Aabloo, A., Singh, A.K. (2021) [http://doi.org/10.1109/LRA.2021.3061398 <nowiki>GPU Accelerated Convex Approximations for Fast Multi-Agent Trajectory Optimization</nowiki>], ''IEEE Robotics and Automation Letters''. [http://doi.org/10.1109/LRA.2021.3061398 http://doi.org/10.1109/LRA.2021.3061398]
* Rinne, P., Põldsalu, I., Ratas, H.K., Kruusamäe, K., Johanson, U., Tamm, T., Põhako-Esko, K., Punning, A., Peikolainen, A.-L., Kaasik, F., Must, I., van den Ende, D., Aabloo, A. (2020) [http://doi.org/10.3791/61216 <nowiki>Fabrication of carbon-based ionic electromechanically active soft actuators</nowiki>], ''Journal of Visualized Experiments''. [http://doi.org/10.3791/61216 http://doi.org/10.3791/61216]
* Valner, R., Kruusamäe, K., Pryor, M. (2018) [http://doi.org/10.3390/robotics7010009 <nowiki>TeMoto: Intuitive multi-range telerobotic system with natural gestural and verbal instruction interface</nowiki>], ''Robotics''. [http://doi.org/10.3390/robotics7010009 http://doi.org/10.3390/robotics7010009]
* Zhu, Z., Horiuchi, T., Kruusamäe, K., Chang, L., Asaka, K. (2016) [http://doi.org/10.1021/acs.jpcb.5b12634 <nowiki>Influence of Ambient Humidity on the Voltage Response of Ionic Polymer-Metal Composite Sensor</nowiki>], ''Journal of Physical Chemistry B''. [http://doi.org/10.1021/acs.jpcb.5b12634 http://doi.org/10.1021/acs.jpcb.5b12634]
* Zhu, Z., Horiuchi, T., Kruusamae, K., Chang, L., Asaka, K. (2016) [http://doi.org/10.1088/0964-1726/25/5/055024 <nowiki>The effect of ambient humidity on the electrical response of ion-migration-based polymer sensor with various cations</nowiki>], ''Smart Materials and Structures''. [http://doi.org/10.1088/0964-1726/25/5/055024 http://doi.org/10.1088/0964-1726/25/5/055024]
* Kruusamäe, K., Sugino, T., Asaka, K. (2015) [http://doi.org/10.1063/1.4923351 <nowiki>Ionic and viscoelastic mechanisms of a bucky-gel actuator</nowiki>], ''Journal of Applied Physics''. [http://doi.org/10.1063/1.4923351 http://doi.org/10.1063/1.4923351]
* Horiuchi, T., Kruusamäe, K., Zhu, Z., Asaka, K. (2015) [http://doi.org/10.1016/j.sna.2015.09.034 <nowiki>Evaluating curvature and making picture-overlaid trajectory of motion of largely bent carbon nanotube composite bucky gel actuator using camera measurement system</nowiki>], ''Sensors and Actuators, A: Physical''. [http://doi.org/10.1016/j.sna.2015.09.034 http://doi.org/10.1016/j.sna.2015.09.034]
* Karl Kruusamae, Ken Mukai, Takushi Sugino, Kinji Asaka (2015) [http://doi.org/10.1109/tmech.2014.2362917 <nowiki>Electroactive Shape-Fixing of Bucky-Gel Actuators</nowiki>], ''IEEE/ASME Transactions on Mechatronics''. [http://doi.org/10.1109/tmech.2014.2362917 http://doi.org/10.1109/tmech.2014.2362917]
* Karl Kruusamäe, Andres Punning, Alvo Aabloo, Kinji Asaka (2015) [http://doi.org/10.3390/act4010017 <nowiki>Self-Sensing Ionic Polymer Actuators: A Review</nowiki>], ''Actuators''. [http://doi.org/10.3390/act4010017 http://doi.org/10.3390/act4010017]
* Kruusamäe, K., Mukai, K., Sugino, T., Asaka, K. (2014) [http://doi.org/10.1088/0964-1726/23/2/025031 <nowiki>Mechanical behaviour of bending bucky-gel actuators and its representation</nowiki>], ''Smart Materials and Structures''. [http://doi.org/10.1088/0964-1726/23/2/025031 http://doi.org/10.1088/0964-1726/23/2/025031]
* Andres Punning, Indrek Must, Inga Põldsalu, Veiko Vunder, Rauno Temmer, Karl Kruusamäe, Friedrich Kaasik, Janno Torop, Pille Rinne, Tõnis Lulla, Urmas Johanson, Tarmo Tamm, Alvo Aabloo (2014) [http://doi.org/10.1177/1045389x14546656 <nowiki>Lifetime measurements of ionic electroactive polymer actuators</nowiki>], ''Journal of Intelligent Material Systems and Structures''. [http://doi.org/10.1177/1045389x14546656 http://doi.org/10.1177/1045389x14546656]
* Punning, A., Kim, K.J., Palmre, V., Vidal, F., Plesse, C., Festin, N., Maziz, A., Asaka, K., Sugino, T., Alici, G., Spinks, G., Wallace, G., Must, I., P�ldsalu, I., Vunder, V., Temmer, R., Kruusam�e, K., Torop, J., Kaasik, F., Rinne, P., Johanson, U., Peikolainen, A.-L., Tamm, T., Aabloo, A. (2014) [http://doi.org/10.1038/srep06913 <nowiki>Ionic electroactive polymer artificial muscles in space applications</nowiki>], ''Scientific Reports''. [http://doi.org/10.1038/srep06913 http://doi.org/10.1038/srep06913]
* Karl Kruusamäe, Ken Mukai, Takushi Sugino, Kinji Asaka (2014) [http://doi.org/10.1177/1045389x14538538 <nowiki>Impact of viscoelastic properties on bucky-gel actuator performance</nowiki>], ''Journal of Intelligent Material Systems and Structures''. [http://doi.org/10.1177/1045389x14538538 http://doi.org/10.1177/1045389x14538538]
* Einike Pilli, Marek Sammul, Piia Post, Ülle Aasjõe, Karl Kruusamäe (2013) [http://doi.org/10.12697/eha.2013.1.08 <nowiki>Eesti kõrgkoolide esmakursuslaste õpi- ja teadmuskäsitus</nowiki>], ''Eesti Haridusteaduste Ajakiri = Estonian Journal of Education''. [http://doi.org/10.12697/eha.2013.1.08 http://doi.org/10.12697/eha.2013.1.08]
* Kruusamäe, K., Punning, A., Aabloo, A. (2012) [http://doi.org/10.3390/s120201950 <nowiki>Electrical model of a carbon-polymer composite (CPC) collision detector</nowiki>], ''Sensors''. [http://doi.org/10.3390/s120201950 http://doi.org/10.3390/s120201950]
* Kruusamäe, K., Brunetto, P., Punning, A., Kodu, M., Jaaniso, R., Graziani, S., Fortuna, L., Aabloo, A. (2011) [http://doi.org/10.1088/0964-1726/20/12/124001 <nowiki>Electromechanical model for a self-sensing ionic polymer-metal composite actuating device with patterned surface electrodes</nowiki>], ''Smart Materials and Structures''. [http://doi.org/10.1088/0964-1726/20/12/124001 http://doi.org/10.1088/0964-1726/20/12/124001]
* Kruusamäe, K., Brunetto, P., Graziani, S., Punning, A., Di Pasquale, G., Aabloo, A. (2010) [http://doi.org/10.1002/pi.2752 <nowiki>Self-sensing ionic polymer-metal composite actuating device with patterned surface electrodes</nowiki>], ''Polymer International''. [http://doi.org/10.1002/pi.2752 http://doi.org/10.1002/pi.2752]
 
=== Conference Papers ===
 
* Rastgar, F., Masnavi, H., Kruusamäe, K., Aabloo, A., Singh, A.K. (2023) [http://doi.org/10.23919/ACC55779.2023.10156088 <nowiki>GPU Accelerated Batch Trajectory Optimization for Autonomous Navigation</nowiki>], ''Proceedings of the American Control Conference''. [http://doi.org/10.23919/ACC55779.2023.10156088 http://doi.org/10.23919/ACC55779.2023.10156088]
* Oidekivi, M., Nolte, A., Aabloo, A., Kruusamae, K. (2021) [http://doi.org/10.1109/HSI52170.2021.9538693 <nowiki>Interpreting externally expressed intentions of an autonomous vehicle</nowiki>], ''International Conference on Human System Interaction, HSI''. [http://doi.org/10.1109/HSI52170.2021.9538693 http://doi.org/10.1109/HSI52170.2021.9538693]
* Adajania, V.K., Masnavi, H., Rastgar, F., Kruusamae, K., Singh, A.K. (2021) [http://doi.org/10.1109/IROS51168.2021.9636337 <nowiki>Embedded Hardware Appropriate Fast 3D Trajectory Optimization for Fixed Wing Aerial Vehicles by Leveraging Hidden Convex Structures</nowiki>], ''IEEE International Conference on Intelligent Robots and Systems''. [http://doi.org/10.1109/IROS51168.2021.9636337 http://doi.org/10.1109/IROS51168.2021.9636337]
* Oidekivi, M., Nolte, A., Aabloo, A., Kruusamae, K. (2021) [http://doi.org/10.1109/HSI52170.2021.9538774 <nowiki>Identifying emotions from facial expression displays of robots - Results from a survey study</nowiki>], ''International Conference on Human System Interaction, HSI''. [http://doi.org/10.1109/HSI52170.2021.9538774 http://doi.org/10.1109/HSI52170.2021.9538774]
* Aschenbrenner, D., Rieder, J.S.I., Van Tol, D., Van Dam, J., Rusak, Z., Blech, J.O., Azangoo, M., Panu, S., Kruusamäe, K., Masnavi, H., Rybalskii, I., Aabloo, A., Petry, M., Teixeira, G., Thiede, B., Pedrazzoli, P., Ferrario, A., Foletti, M., Confalonieri, M., Bertaggia, D., Togias, T., Makris, S. (2020) [http://doi.org/10.1109/AIVR50618.2020.00017 <nowiki>Mirrorlabs - Creating accessible Digital Twins of robotic production environment with Mixed Reality</nowiki>], ''Proceedings - 2020 IEEE International Conference on Artificial Intelligence and Virtual Reality, AIVR 2020''. [http://doi.org/10.1109/AIVR50618.2020.00017 http://doi.org/10.1109/AIVR50618.2020.00017]
* Valner, Robert and Vunder, Veiko and Zelenak, Andy and Pryor, Mitch and Aabloo, Alvo and Kruusam{\&#34;{a}}e, Karl (2018) [https://robotics.estec.esa.int/i-SAIRAS/isairas2018/Papers/Session%205b/1_valner_isairas2018_final_inline-50-32-Kruusam%C3%A4e-Karl.pdf <nowiki>Intuitive “Human-on-the-Loop” Interface for Tele-Operating Remote Mobile Manipulator Robots</nowiki>], ''Proceedings of i-SAIRAS 2018''.
* Valner, Robert and Vunder, Veiko and Kruusamäe, Karl and Pryor, Mitchell W and Zelenak, Andy (2018) [https://www.xcdsystem.com/wmsym/2018/pdfs/FinalPaper_18438_0119112319.pdf <nowiki>TeMoto 2.0: Source Agnostic Command-to-Task Architecture Enabling Increased Autonomy in Remote Systems</nowiki>], ''Proceedings of Waste Management Symposia 2018 (WM2018)''.
* Veiko Vunder, Robert Valner, Conor McMahon, Karl Kruusamae, Mitch Pryor (2018) [http://doi.org/10.1109/hsi.2018.8431062 <nowiki>Improved Situational Awareness in ROS Using Panospheric Vision and Virtual Reality</nowiki>], ''2018 11th International Conference on Human System Interaction (HSI)''. [http://doi.org/10.1109/hsi.2018.8431062 http://doi.org/10.1109/hsi.2018.8431062]
* Andrew Sharp, Karl Kruusamae, Ben Ebersole, Mitch Pryor (2017) [http://doi.org/10.1109/arso.2017.8025195 <nowiki>Semiautonomous dual-arm mobile manipulator system with intuitive supervisory user interfaces</nowiki>], ''2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)''. [http://doi.org/10.1109/arso.2017.8025195 http://doi.org/10.1109/arso.2017.8025195]
* Karl Kruusamae, Mitch Pryor (2016) [http://doi.org/10.1109/hsi.2016.7529630 <nowiki>High-precision telerobot with human-centered variable perspective and scalable gestural interface</nowiki>], ''2016 9th International Conference on Human System Interactions (HSI)''. [http://doi.org/10.1109/hsi.2016.7529630 http://doi.org/10.1109/hsi.2016.7529630]
* Kruusamäe, K., Thompson, J., Pryor, M. (2016) [http://www.scopus.com/inward/record.url?eid=2-s2.0-85018422425&amp;partnerID=MN8TOARS <nowiki>Spatially-Mapped Human-Robot interface for teleoperation of high-precision tasks</nowiki>], ''D and RS 2016 - Decommissioning and Remote Systems''.
* Kruusamäe, K., Sugino, T., Asaka, K. (2015) [http://doi.org/10.1117/12.2083812 <nowiki>Measuring blocking force to interpret ionic mechanisms within bucky-gel actuators</nowiki>], ''Proceedings of SPIE - The International Society for Optical Engineering''. [http://doi.org/10.1117/12.2083812 http://doi.org/10.1117/12.2083812]
* Kruusamäe, K., Mukai, K., Sugino, T., Asaka, K. (2014) [http://doi.org/10.1117/12.2044745 <nowiki>The viscoelastic effect in bending bucky-gel actuators</nowiki>], ''Proceedings of SPIE - The International Society for Optical Engineering''. [http://doi.org/10.1117/12.2044745 http://doi.org/10.1117/12.2044745]
* Kruusamäe, K., Kaasik, F., Punning, A., Aabloo, A. (2013) [http://doi.org/10.1117/12.2012021 <nowiki>Self-sensing ionic electromechanically active actuator with patterned carbon electrodes</nowiki>], ''Proceedings of SPIE - The International Society for Optical Engineering''. [http://doi.org/10.1117/12.2012021 http://doi.org/10.1117/12.2012021]
* Kruusam{\&#34;{a}}e, Karl and Asaka, Kinji (2013) Thermo- and electromechanical properties of bucky-gel bending actuators under external loading, ''第31回日本ロボット学会学術講演会''.
* Juha Kontio and Patric Granholm and Heikki Valmu and Janne M{\&#34;a}ntykoski and Karl Kruusam{\&#34;a}e and Marija Autstuoliene and Loreta Savulioniene and Hussmann, {Peter Munkebo} and Kristina Edstr{\&#34;o}m (2012) Supporting Programme Development with Self‐ and Cross‐evaluations – Results from an International Quality, ''Proceedings of the International Conference on Engineering Education 2012''.
* Kruusamäe, K., Punning, A., Aabloo, A. (2011) [http://doi.org/10.1117/12.880386 <nowiki>Self-sensing properties of carbon-polymer composite (CPC) actuators</nowiki>], ''Proceedings of SPIE - The International Society for Optical Engineering''. [http://doi.org/10.1117/12.880386 http://doi.org/10.1117/12.880386]
* Kruusamäe, K., Brunetto, P., Graziani, S., Fortuna, L., Kodu, M., Jaaniso, R., Punning, A., Aabloo, A. (2010) [http://doi.org/10.1117/12.847503 <nowiki>Experiments with self-sensing IPMC actuating device</nowiki>], ''Proceedings of SPIE - The International Society for Optical Engineering''. [http://doi.org/10.1117/12.847503 http://doi.org/10.1117/12.847503]
* Kruusamäe, K., Punninga, A., Kruusmaa, M., Aabloo, A. (2009) [http://doi.org/10.1117/12.815642 <nowiki>Dynamical variation of the impedances of IPMC</nowiki>], ''Proceedings of SPIE - The International Society for Optical Engineering''. [http://doi.org/10.1117/12.815642 http://doi.org/10.1117/12.815642]
 
=== Other ===
 
* Schumann, S., Krūmiņš, D., Vunder, V., Aabloo, A., Siiman, L.A., Kruusamäe, K. (2023) [http://doi.org/10.1007/978-3-031-38454-7_24 <nowiki>A Beginner-Level MOOC on ROS Robotics Leveraging a Remote Web Lab for Programming Physical Robots</nowiki>], ''Lecture Notes in Networks and Systems''. [http://doi.org/10.1007/978-3-031-38454-7_24 http://doi.org/10.1007/978-3-031-38454-7_24]
* Justin W. Hart, Nick DePalma, Mitchell W. Pryor, Bradley Hayes, Karl Kruusamäe, Reuth Mirsky, Xuesu Xiao (2021) [http://doi.org/10.1145/3434074.3444882 <nowiki>Exploring Applications for Autonomous Nonverbal Human-Robot Interaction</nowiki>], ''Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction''. [http://doi.org/10.1145/3434074.3444882 http://doi.org/10.1145/3434074.3444882]
* Fatemeh Rastgar, Arun Kumar Singh, Houman Masnavi, Karl Kruusamae, Alvo Aabloo (2020) [http://doi.org/10.1109/iros45743.2020.9341566 <nowiki>A Novel Trajectory Optimization for Affine Systems: Beyond Convex-Concave Procedure</nowiki>], ''2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)''. [http://doi.org/10.1109/iros45743.2020.9341566 http://doi.org/10.1109/iros45743.2020.9341566]
* Kinji Asaka, Karl Kruusamäe, Kwang Kim, Viljar Palmre, Kam K. Leang (2016) [http://doi.org/10.1007/978-3-319-31530-0_10 <nowiki>IPMCs as EAPs: How to Start Experimenting with Them</nowiki>], ''Electromechanically Active Polymers''. [http://doi.org/10.1007/978-3-319-31530-0_10 http://doi.org/10.1007/978-3-319-31530-0_10]
* Karl Kruusamäe (2011) [http://www.digar.ee/id/nlib-digar:240087 <nowiki>Tehislihased: ajamid mikrorobotitele, kuid mitte ainult</nowiki>], ''Eesti Füüsika Seltsi aastaraamat''.
 
== Theses ==
<!--
=== Proceedings and book chapters ===
<ol>
<li value="17">Veiko Vunder, Robert Valner, Conor McMahon, <u>Karl Kruusamäe</u>, Mitch Pryor (2018) {{doi-inline|10.1109/HSI.2018.8431062|Improved Situational Awareness in ROS using Panospheric Vision and Virtual Reality}}, ''2018 11th International Conference on Human System Interaction (HSI)'', 471 - 477.
<li value="16">Robert Valner, Veiko Vunder, Andy Zelenak, Mitch Pryor, Alvo Aabloo, <u>Karl Kruusamäe</u> (2018) Intuitive “human-on-the-loop” interface for tele-operating remote mobile manipulator robots, ''International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2018)'', accepted in April 2018.
<li value="15">Robert Valner, Veiko Vunder, <u>Karl Kruusamäe</u>, Mitchell W. Pryor, Andy Zelenak (2018) [http://www.xcdsystem.com/wmsym/2018/pdfs/FinalPaper_18438_0119112319.pdf TeMoto 2.0: Source Agnostic Command-to-Task Architecture Enabling Increased Autonomy in Remote Systems], ''[https://www.xcdsystem.com/wmsym/2018/ Proceedings of Waste Management Symposia 2018]'', 18438.
<li value="14">Andrew Sharp, <u>Karl Kruusamäe</u>, Ben Ebersole, Mitch Pryor (2017) {{doi-inline|10.1109/ARSO.2017.8025195|Semiautonomous dual-arm mobile manipulator system with intuitive supervisory user interfaces}}, ''2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)''.
<li value="13">Kinji Asaka, <u>Karl Kruusamäe</u>, Kwang Kim, Viljar Palmre, Kam K. Leang (2016) {{doi-inline|10.1007/978-3-319-31530-0_10|IPMCs as EAPs: How to Start Experimenting with Them}}, ''Electromechanically Active Polymers: A Concise Reference'', 215-233.
<li value="12"><u>Karl Kruusamäe</u>, Jack Thompson, Mitch Pryor (2016) Spatially-Mapped Human-Robot Interface for Teleoperation of High-Precision Tasks, ''Decommissioning and Remote System (D&RS 2016)'', 239-243.
<li value="11"><u>Karl Kruusamäe</u>, Mitch Pryor (2016) {{doi-inline|10.1109/HSI.2016.7529630|High-precision telerobot with human-centered variable perspective and scalable gestural interface}}, ''2016 9th International Conference on Human System Interactions (HSI)'', 190-196.
<li value="10"><u>Karl Kruusamäe</u>, Takushi Sugino, Kinji Asaka (2015) {{doi-inline|10.1117/12.2083812|Measuring blocking force to interpret ionic mechanisms within bucky-gel actuators}}, ''Proc. SPIE'' '''9430''', 94300P.
<li value="9"><u>Karl Kruusamäe</u>, Ken Mukai, Takushi Sugino, Kinji Asaka (2014) {{doi-inline|10.1117/12.2044745|The viscoelastic effect in bending bucky-gel actuators}}, ''Proc. SPIE'' '''9056''', 90560G.
<li value="8"><u>Karl Kruusamäe</u>, Kinji Asaka (2013) Thermo- and electromechanical properties of bucky-gel bending actuators under external loading, ''第31回日本ロボット学会学術講演会 (The 31st Annual Conference of the Robotic Society of Japan)'', RSJ2013AC2L2-01.
<li value="7"><u>Karl Kruusamäe</u>, Friedrich Kaasik, Andres Punning and Alvo Aabloo (2013) {{doi-inline|10.1117/12.2012021|Self-sensing ionic electromechanically active actuator with patterned carbon electrodes}}, ''Proc. SPIE'' '''8687''', 868706.
<li value="6">Juha Kontio, Patric Granholm, Heikki Valmu, Janne Mäntykoski, <u>Karl Kruusamäe</u>, Marija Aukstuoliene, Loreta Savulioniene, Peter Munkebo Hussmann, Kristina Edström (2012) Supporting programme development with self‐ and cross‐evaluations – results from an international quality assurance project, ''[http://www.ineer.org/Events/ICEE2012/isbn9789522163110.pdf Proceedings of International Conference on Engineering Education 2012 (ICEE 2012)]'', 816 - 823.
<li value="5"><u>Karl Kruusamäe</u> (2012) [[Media:Kruusamae_efsa2011_lk60-72.pdf|Tehislihased: ajamid mikrorobotitele, kuid mitte ainult]], ''[http://www.fyysika.ee/doc/aastaraamat2011.pdf Eesti Füüsika Seltsi aastaraamat 2011, XXII aastakäik]'', 60-72.
<li value="4">Indrek Must, <u>Karl Kruusamäe</u>, Urmas Johanson, Tarmo Tamm, Andres Punning, Alvo Aabloo (2011-2012) [https://www.taylorfrancis.com/books/9781482266894/chapters/10.1201%2F9781482266894-16 Characterisation of electromechanically active polymers using electrochemical impedance spectroscopy], ''{{doi-inline|10.1201%2F9781482266894 Lecture Notes on Impedance Spectroscopy: Measurement, Modeling and Applications}}'' '''2''', Olfa Kanoun (Ed.), CRC Press / Taylor & Francis Group, pp 113-121
<li value="3"><u>Karl Kruusamäe</u>, Andres Punning, Alvo Aabloo (2011) {{doi-inline|10.1117/12.880386|Self-sensing properties of carbon-polymer composite (CPC) actuators}}, ''Proc. SPIE'' '''7976''', 79760Q.
<li value="2"><u>Karl Kruusamäe</u>, Paola Brunetto, Salvatore Graziani, Luigi Fortuna, Margus Kodu, Raivo Jaaniso, Andres Punning, Alvo Aabloo (2010) {{doi-inline|10.1117/12.847503|Experiments with self-sensing IPMC actuating device}}, ''Proc. SPIE'' '''7642''', 76420V.
<li value="1"><u>Karl Kruusamäe</u>, Andres Punning, Maarja Kruusmaa, Alvo Aabloo (2009) {{doi-inline|10.1117/12.815642|Dynamical variation of the impedances of IPMC}}, ''Proc. SPIE'' '''7287''', 72870V.
</ol>
-->
=== PhD thesis ===
*<u>Karl Kruusamäe</u> (2012), [http://hdl.handle.net/10062/28066 Deformation-dependent electrode impedance of ionic electromechanically active polymers], Dissertationes physicae Universitatis Tartuensis 83 (128 p).
 
=== MSc thesis ===
*<u>Karl Kruusamäe</u> (2008), [[Media:Kruusamae_masterthesis.pdf|Isetundlik IPMC täitur]], Magistritöö (30 EAP, 47 lk), Tartu Ülikooli loodus- ja tehnoloogiateaduskond.
 
== Videos ==
*Temoto [手元] shared autonomy telerobot agent on YouTube: [https://www.youtube.com/watch?v=L25HHFd00rc (1)]  [https://www.youtube.com/watch?v=3Tm95RDPDhc (2)]  [https://www.youtube.com/watch?v=B90hZZdKxwM (3)]
*Tartu Ülikooli robotikarja animatsioon [[Media:Ut bots 2010 divx.avi| (DivX, 40.9 MB)]] [http://www.youtube.com/watch?v=fgiGQjmEpt8 (YouTube)]
*Team Helina ja Püha Vaim 4000 [[Media:Pv4k_xvid.avi|(XviD, 21.6 MB)]] [http://www.youtube.com/watch?v=y3hvFm8js7w (YouTube)]
*Team Helina ja Püha Vaim 4000 [[Media:Pv4k_xvid.avi|(XviD, 21.6 MB)]] [http://www.youtube.com/watch?v=y3hvFm8js7w (YouTube)]
*Berit Talpsepa robootiline skulptuur "Superheterodüünvastuvõtt" [[Media:Superheterodyne_xvid.avi|(XviD, 21.7 MB)]] [http://www.youtube.com/watch?v=iha5UzRMeww (YouTube)]
*Berit Talpsepa robootiline skulptuur "Superheterodüünvastuvõtt" [[Media:Superheterodyne_xvid.avi|(XviD, 21.7 MB)]] [http://www.youtube.com/watch?v=iha5UzRMeww (YouTube)]
*Team Helina ja Püha Vaim 3000 [[Media:Pyhavaim3k_xvid.avi|(XviD, 28.6 MB)]] [http://www.youtube.com/watch?v=AZLa-TfDKn0 (YouTube)]
*Team Helina ja Püha Vaim 3000 [[Media:Pyhavaim3k_xvid.avi|(XviD, 28.6 MB)]] [http://www.youtube.com/watch?v=AZLa-TfDKn0 (YouTube)]


== Publikatsioonid ==
[[Image:Rising_longhorn_120dpi.png|center|400px]]
*Karl Kruusamäe, Paola Brunetto, Salvatore Graziani, Luigi Fortuna, Margus Kodu, Raivo Jaaniso, Andres Punning, Alvo Aabloo (2010) ''{{doi-inline|10.1117/12.847503|Experiments with self-sensing IPMC actuating device}}'', ''Proc. SPIE'' '''7642''', 76420V.
*Karl Kruusamäe, Paola Brunetto, Salvatore Graziani, Andres Punning, Giovanna Di Pasquale, Alvo Aabloo (2010) ''{{doi-inline|10.1002/pi.2752|Self-sensing ionic polymer-metal composite actuating device with patterned surface electrodes}}'', ''Polymer International'' '''59'''(3), 300-304.
*Karl Kruusamäe, Andres Punning, Maarja Kruusmaa, Alvo Aabloo (2009) ''{{doi-inline|10.1117/12.815642|Dynamical variation of the impedances of IPMC}}'', ''Proc. SPIE'' '''7287''', 72870V.
 
== Ettekanded ==
*[[Media:0910 wednesday 7642-28 karl kruusamae.ppt|Experiments with self-sensing IPMC actuating device.]] EAPAD XII, San Diego, CA USA (10.03.2010)
*[[Media:Kruusamae 2010-03-02 vormistamisest.ppt|Akadeemiliste tekstide vormistamisest.]] Arvutitehnika magistriseminar (02.03.2010)
*[[Media:Kruusamae 2010-02-26.ppt|Musterdatud elektroodidega isetundlik IPMC täitur.]] Ettekanne TÜ ja TTÜ doktorikooli [http://fmtdk.ut.ee “Funktsionaalsed materjalid ja tehnoloogiad”] esimesel teaduskonverentsil (26.02.2010)
*[[Media:Kruusamae_ettekanne_2008-09-18.pdf|Ülevaade 2008. aasta suvel ilmunud IPMC-teemalistest teadusartiklitest.]] IMS Lab seminar (18.09.2008)
*[[Media:Kruusamae_eelkaitsmine_08-05-12.ppt|Magistritöö eelkaitsmine.]] IMS Lab seminar (12.05.2008)
*[http://www.ims.ut.ee/mediawiki/index.php/Self-sensing_IPMC_actuator_by_Karl_Kruusam%C3%A4e_05.02.08 Ettekanne isetundliku IPMC aktuaatori kohta.] IMS Lab seminar (05.02.2008)


== Magistritöö ==
[[Category:IMS-robotics]]
2008-05-27 [[Media:Kruusamae_masterthesis.pdf|Ametlik PDF]]
[[Category:PI]]
  word2007: [[Media:Kruusamae_masters_final.docx|Lae alla DOCX]]

Revision as of 03:01, 17 May 2024

Publications

Journal Articles

Conference Papers

Other

Theses

PhD thesis

MSc thesis

  • Karl Kruusamäe (2008), Isetundlik IPMC täitur, Magistritöö (30 EAP, 47 lk), Tartu Ülikooli loodus- ja tehnoloogiateaduskond.

Videos

Rising longhorn 120dpi.png
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