Publications
Reviews | |
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*E. Roth, *S. Sponberg and N. J. Cowan. “A comparative approach to closed-loop computation”. Curr Opin Neurobiol, 25:54-62, 2014. [pdf] *Contributed equally. | |
N. J. Cowan, M. M. Ankarali, J. P. Dyhr, M. S. Madhav, E. Roth, S. Sefati, S. Sponberg, S. A. Stamper, E. S. Fortune, and T. L. Daniel . “Feedback control as a framework for understanding tradeoffs in biology”.Integr Comp Biol, 54(2):223-237, 2014. [pdf] |
Journal Publications | |
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M. S. Madhav*, R. P. Jayakumar*, A. Demir, S. A. Stamper, E. S. Fortune and N. J. Cowan. “High-resolution behavioral mapping of electric fishes in Amazonian habitats”. Sci Rep, 8:5830, 2018. [pdf] *Contributed equally. [Data and Source Code] | |
E. E. Sutton, A. Demir, S. A. Stamper, E. S. Fortune and N. J. Cowan. “Dynamic modulation of visual and electrosensory gains for locomotor control”. J R Soc Interface, 13(118):20160057, 2016. [pdf] [Data and Source Code] | |
A. Lamperski and N. J. Cowan. “Optimal control with noisy time. IEEE Transactions on Automatic Control” , 61(2):319-333, 2016. Preprint: arXiv:1401.0202. | |
M. M. Ankarali, S. Sefati, M. S. Madhav, A. Long, A. J. Bastian, and N. J. Cowan. “Walking dynamics are symmetric (enough)”. J R Soc Interface, 12(108):20150209, 2015. [pdf] [Data and Source Code] | |
I. Uyanik, M. M. Ankarali, N. J. Cowan, U. Saranli, and O. Morgul. “Identification of a vertical hopping robot model via harmonic transfer functions”. Trans Inst Measurement Control, 38(5):501-511, 2016. [pdf] | |
J. P. Swensen, M. Lin, A. M. Okamura, and N. J. Cowan. “Torsional Dynamics of Steerable Needles: Modeling and Fluoroscopic Guidance”. IEEE Trans Biomed Eng, 61(11):1-1, 2014. [pdf] | |
J. M. Mongeau, A. Demir, C. J. Dallmann, K. Jayaram, N. J. Cowan, and R. J. Full. “Mechanical processing via passive dynamic properties of the cockroach antenna can facilitate control during rapid running”. J Exp Biol, 217(18):3333-3345. [pdf] | |
M. M. Ankarali, H. Tutkun Şen, A. De, A. M. Okamura, and N. J. Cowan. “Haptic feedback enhances rhythmic motor control by reducing variability, not improving convergence rate”. J Neurophysiol, 111(6):1286-1299, 2014. [pdf] [Download cover illustration] | |
J. M. Mongeau, A. Demir, J. Lee, N. J. Cowan, and R. J. Full. “Locomotion and mechanics mediated tactile sensing: antenna reconfiguration simplifies control during high-speed navigation in cockroaches”. J Exp Biol, 216(24):4530-4541, 2013. [pdf] Highlighted in Inside JEB: Antenae’s Mechanical Role in Escaping | |
A. Rosenberg, N. J. Cowan, and D. E. Angelaki. “The visual representation of 3D object orientation in parietal cortex”. J Neurosci, 33(49):19352-19361, 2013. [pdf] | |
S. Sefati, I. D. Neveln, E. Roth, T. R. T. Mitchell, J. B. Snyder, M. A. MacIver, E. S. Fortune and N. J. Cowan. “Mutually opposing forces during locomotion can eliminate the tradeoff between maneuverability and stability”. Proc Nat Acad Sci, 110(47):18798-18803, 2013. [pdf] [Supp. pdf] | |
M. S. Madhav, S. A. Stamper, E. S. Fortune, and N. J. Cowan. “Closed-loop stabilization of the jamming avoidance response reveals its locally unstable and globally nonlinear dynamics”. J Exp Biol, 216:4272-4284, 2013. [pdf] | |
J. P. Dyhr, K. A. Morgensen, T. L. Daniel, and N. J. Cowan. “Flexible strategies for flight control: an active role for the abdomen”. J Exp Biol, 216:1523-1536, 2013 . [pdf] Highlighted in Inside JEB: “The Abdomen: The Secret to Stabilising Flight” | |
S. A. Stamper*, M. S. Madhav*, N. J. Cowan, and E. S. Fortune. “Beyond the Jamming Avoidance Response: Weakly electric fish respond to the envelope of social electrosensory signals”. J Exp Biol, 215:4196-4207, 2012 . [pdf] *Contributed equally. Ranked as one of the top 3 publications in 2012 in J Exp Biol. Highlighted in Inside JEB: “Gregarious Electric Fish Adjust to Maintain Social Envelope” | |
S. A. Stamper, E. Roth, N. J. Cowan, and E. S. Fortune. “Active sensing via movement shapes spatiotemporal patterns of sensory feedback”. J Exp Biol, 215:1567-1574, 2012. [pdf] | |
N. J. Cowan, E. J. Chastain, D. A. Vilhena, J. S. Freudenberg, and C. T. Bergstrom. “Nodal dynamics, not degree distributions, determine the controllability of complex networks.” PLoS One, (7)6:e38398, 2012. [pdf] | |
E. Roth, K. Zhuang, S. A. Stamper, E. S. Fortune, and N. J. Cowan. “Stimulus predictability mediates a switch in locomotor smooth pursuit performance for Eigenmannia virescens.” J Exp Biol. 214:1170-1180, 2011. [pdf] [Download cover illustration] | |
K. B. Reed, A. Majewicz, V. Kallem, R. Alterovitz, K. Goldberg, N. J. Cowan, and A. M. Okamura. “Robot-assisted needle steering.” IEEE Robot Autom Mag (RAM), 18(4):35-46, 2011. [pdf] | |
D. C. Rucker, R. J. Webster III, G. S. Chirikjian, and N. J. Cowan. “Equilibrium conformations of concentric-tube continuum robots.” Int J Robot Res. 29:1263-1280, 2010. [pdf] | |
V. Kallem, D. E. Chang, and N. J. Cowan. “Task-induced symmetry and reduction with application to needle steering.” IEEE Trans Autom Control, 55(3):664-673, 2010. [pdf] | |
K. B. Reed, A. M. Okamura, and N. J. Cowan. “Modeling and control of needles with torsional friction.” IEEE Trans Biomed Eng, 56(12):2905-2916, 2009. [pdf] | |
S. Carver, N. J. Cowan, and J. Guckenheimer. “Lateral stability of the spring-mass hopper suggests a two step control strategy for running.” Chaos, 19(2), 2009. [pdf] | |
S. G. Carver, T. Kiemel, N. J. Cowan, J. J. Jeka. “Optimal motor control may mask sensory dynamics.” Biol Cybern, 101(1):35-42, 2009. [pdf] | |
V. Kallem and N. J. Cowan. “Image guidance of flexible tip-steerable needles.” IEEE Transactions on Robotics, 25(1):191-196, 2009. [pdf] | |
R. J. Webster III, J. M. Romano, and N. J. Cowan. “Mechanics of precurved-tube continuum robots.” IEEE Trans Robot, 25(1):67-78, 2009. [pdf] | |
S. Carver, E. Roth, N. J. Cowan, and E. S. Fortune. “Synaptic plasticity can produce and enhance direction selectivity.” PLoS Comp Biol, 4(2):e32 2008. Cover Article for February 2008 issue. [pdf] | |
J. Lee, S. N. Sponberg, O. Y. Loh, A. G. Lamperski, R. J. Full, and N. J. Cowan. “Templates and anchors for antenna-based wall following in cockroaches and robots.” IEEE Trans Robot (Special Issue on Bio-Robotics), 24(1):130-143, 2008. [pdf] | |
N. J. Cowan and E. S. Fortune. “The critical role of locomotion mechanics in decoding sensory systems.” J Neurosci, 27(5):1123-1128, 2007. [pdf] | |
N. J. Cowan. “Navigation functions on cross product spaces.” IEEE Trans Autom Control, 52(7):1297–1302, 2007. [pdf] | |
N. J. Cowan, J. Lee, and R. J. Full. “Task-level control of wall following in the American cockroach.” J Exp Biol, 209(9):1617-1629, 2006. [pdf] [ Download cover illustration ] | |
R. J. Webster III, J. S. Kim, N. J. Cowan, G. S. Chirikjian and A. M. Okamura. “Nonholonomic modeling of needle steering.” Int J Robot Res, 25(5-6):509-526, 2006. [pdf] | |
N. J. Cowan and D. E. Chang. “Geometric visual servoing.” IEEE Trans Robot, 21(6):1128-1138, 2005. [pdf] | |
N. J. Cowan, J. Weingarten, and D. E. Koditschek. “Visual servoing via navigation functions.” IEEE Trans Robot and Automat, 18(4):521-533, 2002. [pdf] |
Refereed Conference Publications | |
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A. Kunapareddy and N. J. Cowan, “ Recovering Observability via Active Sensing“. Proc Amer Control Conf (ACC), Submitted, Milwaukee, WI, 2018. | |
S. Sefati, N. J. Cowan, and R. Vidal, “ Learning Shared, Discriminative Dictionaries for Surgical Gesture Segmentation and Classification“. In MICCAI 6th Workshop on Modeling and Monitoring of Computer Assisted Interventions (M2CAI), Munich, Germany, 2015. | |
I. Uyanik*, M. M. Ankarali*. N. J. Cowan, U. Saranli, O. Morgul, and Hitay Ozbay, “ Independent Estimation of Input and Measurement Delays for a Hybrid Vertical Spring-Mass-Damper via Harmonic Transfer Functions“. In Proc. IFAC Workshop on Time Delay Systems, Ann Arbor, MI, 2015. *Contributed equally. |
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I. Uyanik, M. M. Ankarali. N. J. Cowan, U. Saranli, and O. Morgul “ Toward Data-Driven Models of Legged Locomotion using Harmonic Transfer Functions“. Int Conf on Advanced Robotics, Istanbul, Turkey, 2015. | |
S. Sefati, N. J. Cowan, and R. Vidal, “ Linear Systems with Sparse Inputs: Observability and Input Recovery“. Proc Amer Control Conf (ACC), Accepted, Chicago, IL, 2015. | |
M. M. Ankarali and N. J. Cowan, “ System Identification of Rhythmic Hybrid Dynamical Systems via Discrete Time Harmonic Transfer Functions“. Proc IEEE Int Conf on Decision Control (CDC), Los Angeles, CA, 2014. | |
A. Lamperski and N. J. Cowan, “ Time-changed linear quadratic regulators“. Proc Euro Control Conf (ECC), Zurich, Switzerland, 2013. | |
S. G. Carver, E. S. Fortune, and N. J. Cowan, “ State-estimation and cooperative control with uncertain time“. Proc Amer Control Conf (ACC), Washington, DC, 2013. | |
A. Lamperski and N. J. Cowan, “ Time-changed linear quadratic regulators“. Proc Euro Control Conf (ECC), Zurich, Switzerland, 2013. | |
E. Roth and M. B. Reiser and M. H. Dickinson and N. J. Cowan. “A task-level model for optomotor yaw regulation in Drosophila melanogaster: a frequency-domain system identification approach“. Proc IEEE Int Conf on Decision Control (CDC), Maui, Hawaii, 2012. | |
J. P. Dyhr, N. J. Cowan, D. J. Colmenares, K. A. Morgansen, and T. L. Daniel. “ Autostabilizing airframe articulation: animal inspired air vehicle control “. Proc IEEE Int Conf on Decision Control (CDC), Maui, Hawaii, 2012. | |
A. Demir, M. M. Ankarali, J. P. Dyhr, K. A. Morgansen, T. L. Daniel, and N. J. Cowan. “ Inertial redirection of thrust forces for flight stabilization “. Proc Conf on Climbing and Walking Robots (CLAWAR), July 2012, Baltimore, MD, USA. | |
S. Sefati, I. Neveln, M. A. MacIver, E. S. Fortune and N. J. Cowan. “ Counter-propagating waves enhance maneuverability and stability: a bio-inspired strategy for robotic ribbon-fin propulsion “. Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron (BioRob), Rome, Italy 2012. | |
J.P. Swensen and N.J. Cowan. “An almost global estimator on SO(3) with measurement on S^2”. Proc Amer Control Conf, Montreal, Canada, 2012. | |
J.P. Swensen and N.J. Cowan. “Torsional dynamics compensation enhances robotic control of tip-steerable needles”. Proc IEEE Int Conf Robot Autom (ICRA), Saint Paul, MN, USA, 2012. | |
V. Kallem, D. E. Chang, and N. J. Cowan. “Observer design for needle steering using task-induced symmetry and reduction”. World Cong Intl Fed Autom Control (IFAC), 2011. | |
A. Demir, E. W. Samson, and N. J. Cowan. “A tunable physical model of arthropod antennae”. Proc IEEE Int Conf Robot Autom (ICRA), Anchorage, USA, May 3-8, 2010. | |
K. B. Reed, A. M. Okamura, and N. J. Cowan. “Controlling a robotically steered needle in the presence of torsional friction”. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12-17, 2009. | |
K. B. Reed, V. Kallem, R. Alterovitz, K. Goldberg, A. M. Okamura, and N. J. Cowan. “Integrated planning and image-guided control for planar needle steering” . Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron (BioRob), Scottsdale, USA 2008. [pdf] | |
R. J. Webster III, J. M. Romano, and N. J. Cowan. “Kinematics and calibration of active cannulas” . Proc IEEE Int Conf Robot Autom (ICRA), Pasadena, CA, USA, May 19-23, 2008. | |
J. Lee, O. Y. Loh, and N. J. Cowan. “A Hierarchy of neuromechanical and robotic models of antenna-based wall following in cockroaches” . Proc IEEE/RSJ Int Conf Intell Robots Syst (IROS), San Diego, CA, USA, Oct 29 – Nov 2, 2007. | |
V. Kallem, D. E. Chang, and N. J. Cowan. “Task-induced symmetry and reduction in kinematic systems with application to needle steering” . Proc IEEE/RSJ Int Conf Intell Robots Syst (IROS), San Diego, CA, USA, Oct 29 – Nov 2, 2007. | |
V. Kallem, M. Dewan, J. P. Swensen, G. D. Hager, and N. J. Cowan. “Kernel-based visual servoing” . Proc IEEE/RSJ Int Conf Intell Robots Syst (IROS), San Diego, CA, USA, Oct 29 – Nov 2, 2007. | |
V. Kallem, and N. J. Cowan. “Image-guided control of flexible bevel-tip needles” . Proc IEEE Int Conf Robot Autom (ICRA), Rome, Italy, 2007. | |
R. J. Webster, A. M. Okamura, and N. J. Cowan. “Toward active cannulas: miniature snake-like surgical robots” . Proc IEEE/RSJ Int Conf Intell Robots Syst (IROS), Beijing, China, 2006. | |
A. Lamperski, O. Loh, B. Kutscher and N. J. Cowan. “Dynamical wall-following for a wheeled robot using a passive tactile sensor” . Proc IEEE Int Conf Robot Autom (ICRA), Barcelona, Spain, 2005. | |
W. Park, J. S. Kim, Y. Zhou, N. J. Cowan, A. M. Okamura and G. S. Chirikjian. “Diffusion-based motion planning for a nonholonomic flexible needle model” . Proc IEEE Int Conf Robot Autom (ICRA), Barcelona, Spain, 2005. | |
J. Piazzi, D. Prattichizzo and N. J. Cowan. “Auto-epipolar visual servoing” . Proc IEEE/RSJ Int Conf Intell Robots Syst (IROS), Sendai, Japan, 2004. | |
J. Piazzi and N. J. Cowan. “Multi-view visual servoing using epipoles” . Proc IEEE/RSJ Int Conf Intell Robots Syst (IROS), Sendai, Japan, 2004. | |
N. J. Cowan, O. Shakernia, R. Vidal, S. Sastry. “Vision-based follow-the-leader” . Proc IEEE/RSJ Int Conf Intell Robots Syst (IROS), Las Vegas, NV, October 2003. | |
G. Lawrence, N. J. Cowan and S. Russel. Efficient gradient estimation for motor control learning . Proc Conf on Uncertain Artif Intell (UAI), Acapulco, Mexico, 2003. | |
N. J. Cowan. “Binocular visual servoing with a limited field-of-view” . In Proceedings of the International Symposium on Mathematical Theory of Networks and Systems (MTNS), University of Notre Dame, 2002. | |
N. J. Cowan, J. D. Weingarten and D. E. Koditschek. “Empircal validation of a new visual servoing strategy” . In Proceedings of the Conference on Control Applications (CCA), Mexico City, Mexico, 2001. IEEE. | |
N. J. Cowan, G. Lopes and D. E. Koditschek. “Rigid body visual servoing using navigation functions” . Proc IEEE Int Conf on Decision Control (CDC), Sydney, Australia, 2000. IEEE. Finalist, Best Student Paper. | |
N. J. Cowan and D. E. Koditschek. “Planar image based visual servoing as a navigation problem” . Proc IEEE Int Conf Robot Autom (ICRA), volume 1, pages 611-617, Detroit, MI USA, 1999. IEEE. Expanded Technical Report (University of Michigan CGR-99-01) ps, ps.gz. |
Book Chapters | |
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N. J. Cowan, K. Goldberg, G. S. Chirikjian, G. Fichtinger, R. Alterovitz, K. B. Reed, V. Kallem, W. Park, S. Misra, and A. M. Okamura. Robotic needle steering: Design, modeling, planning, and image guidance. In J. Rosen, B. Hannaford, and R. Satava, Eds., Surgical Robotics – Systems, Applications, and Visions, pp. 557-582. Springer, 2011. [pdf] | |
J. P. Swensen, V. Kallem, N. J. Cowan. Empirical characterization of convergence properties for kernel-based visual servoing. In Visual Servoing via Advanced Numerical Methods, ser. Lecture Notes in Control and Information Sciences, G. Chesi and K. Hashimoto Eds. Heidelberg: Springer-Verlag, vol. 401, pp. 22-38, 2010. [pdf] | |
A. De, J. Lee, N. Keller, and N. J. Cowan. Toward SLAM on graphs. Algorithmic Foundations of Robotics VIII, ser. Springer Tracts in Advanced Robotics, G. Chirikjian, H. Choset, M. Morales and T. Murphy, Eds. Berlin/Heidelberg: Springer-Verlag, vol 57, pp. 631-646, 2010. [pdf] | |
R. J. Webster, J. P. Swensen, J. M. Romano, N. J. Cowan. Closed-form differential kinematics for concentric-tube continuum robots with application to visual servoing. In Proceedings of the Eleventh International Symposium on Experimental Robotics (ISER), 54(1), 485-494, 2009. [pdf] | |
J. Lee, A. Lamperski, J. Schmitt, and N. J. Cowan. Task-Level control of the lateral leg spring model of cockroach locomotion. In Fast Motions in Biomechanics and Robotics: Optimization and Feedback Control, ser. Lecture Notes in Control and Information Sciences, M. Diehl and K. Mombaur, Eds. Heidelberg: Springer-Verlag, vol. 340, pp. 167–188, 2006. [pdf] | |
R. J. Webster, N. J. Cowan, Greg Chirikjian and A. M. Okamura. Nonholonomic modeling of needle steering. In Experimental Robotics IX, vol. 21, pp. 35-44, Tracts in Advanced Robotics, 2006. [pdf] | |
N. J. Cowan. Composing navigation functions on cartesian products of manifolds with boundary. In Algorithmic Foundations of Robotics VI, 91–106, Spring Tracts in Advanced Robotics, 2005. [pdf] | |
N. J. Cowan, E. J. Ma, M. Cutkosky and R. J. Full. A biologically inspired passive antenna for steering control of a running robot. In Proceedings of the International Symposium on Robotics Research (ISRR), Siena, Italy, 2003. [pdf] | |
N. J. Cowan and D. E. Chang. Toward geometric visual servoing. In Proceedings of the Second Workshop on Control Problems in Robotics and Automation (CPRA), 2002. [pdf] Expanded technical report version: [UCB/CSD 02-1200]. |
Other | |
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S. A. Stamper, S. Sefati, and N. J. Cowan, “Snake robot uncovers secrets to sidewinders’ maneuverability” Commentary Article, PNAS, Early Edition, 2015. | |
M. Madhav, R. Nickl, “Mimicry or Scrutiny? Striking a Partnership Between Engineering Design and Biological Research” in Potentials, IEEE , vol.34, no.2, pp.26,32, March-April 2015. | |
M. D. M. Kutzer, E. W. Tunstel Jr., C. Y. Brown, D. Vahdat, J. E. Clark, N. J. Cowan, and M. Armand. “Morphable limbs for multi-legged climbing on convex structures” in Johns Hopkins APL Tech. Dig.: Autonomous Systems, 32(3), 2013. | |
E. S. Fortune and N. J. Cowan. Breed, M. D. and Moore, J. (ed.). “Robot behavior” in Encyclopedia of Animal Behavior, Academic Press, Oxford, 2010. |
Theses | |
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A. S. S. K. Kunapareddy. “Recovering Observability via Active Sensing”. Masters thesis, Johns Hopkins University, 2016. | |
M. M. Ankarali. “Variability, Symmetry, and Dynamics in Human Rhythmic Motor Control”. Doctoral thesis, Johns Hopkins University, 2015. | |
A. Demir. “Bio-inspired antennal tactile sensing”. Doctoral thesis, Johns Hopkins University, 2014. | |
S. Sefati. “Modeling complex biological and mechanical movements: Applications to animal locomotion and gesture classification in robotic surgery”. Doctoral thesis, Johns Hopkins University, 2014. | |
M. Madhav. “Nonlinear processing of sensory interference drives social behavior in weakly electric fish”. Doctoral thesis, Johns Hopkins University, 2014. | |
S. Stamper. “Making sense: weakly electric fish modulate sensory feedback via social behavior and movement” . Doctoral thesis, Johns Hopkins University, 2012. | |
E. Roth. “Task-level models for image-stabilization behaviors in animals” . Doctoral thesis, Johns Hopkins University, 2012. | |
J. P. Swensen. “Torsional dynamics and rotational estimation of tip-steerable needles” . Doctoral thesis, Johns Hopkins University, 2011. | |
A. De. “Neuromechanical control of paddle juggling” . Masters thesis, Johns Hopkins University, 2010. | |
A. Demir. “A modular, tunable tactile antenna for exploring the mechanics of sensing”. Master’s thesis, Johns Hopkins University, 2009. | |
J. Lee. “Identifying feedback control strategies of running cockroaches and humans” . Doctoral thesis, Johns Hopkins University, 2009. | |
V. Kallem. “Vision-based control on Lie groups with application to needle steering” . Doctoral thesis, Johns Hopkins University, 2008. | |
R. J. Webster, III. “Design and mechanics of continuum robotics for surgery” . Doctoral thesis, Johns Hopkins University, Department of Mechanical Engineering, 2007. | |
N. J. Cowan. Vision-based control via navigation functions. Doctoral thesis, University of Michigan. 2001. | |
N. J. Cowan. Control of the period and duty Cycle of the Morris-Lecar burst signal generator model. Undergraduate thesis, Ohio State University, 1995. |