Publications

Lauro Ojeda/Publications

Journal Papers

  • Hoffmann, A., Moldwin, M., Strabel, B., Ojeda, L. “Enabling Boomless CubeSat Magnetic Field Measurements with the Quad-Mag Magnetometer and Underdetermined Blind Source Separation”. Journal of Geophysical Research – Space Physics . 08/2023, Accepted, in press
  • Strabel, B., Regoli, L., Moldwin, M., Ojeda, L., Shi, Y., Thoma, J., Narrett, I., Bronner, B., Pellioni, M. “Quad-Mag Board for CubeSat Applications”.
  • Geoscientific Instrumentation, Methods and Data Systems . 11/16/2022; 11(2): 375-388, Accepted, in press
  • Nouredanesh, M., Ojeda, L., Alexander, N., Godfrey, A., Schwenk, M., Melek, W., Tung, M. “Automated Detection of Older Adults’ Naturally-Occurring Compensatory Balance Reactions: Translation from Laboratory to Free-living Conditions”. IEEE Journal of Translational Engineering in Health & Medicine. 04/2022
  • Davidson, S., Cain, S., Ojeda, L., Zaferiou, A., Vitali, R., Stirling, L., Perkins, N. “Quantifying warfighter performance during a bounding rush (prone- sprinting-prone) maneuver”. Applied Ergonomics. 07/2021; 94
  • Hauth, J., Jabri, S., Kamran, F., Feleke, E., Mekonen, K., Ojeda, L., Handelzalts, S., Nyquist, L., Alexander, N., Huan, X., Wiens, J., Sienko, K. “Automated Loss of Balance Event Identification in Older Adults at Risk of Falls during Real-World Walking Using Wearable Inertial Measurement Units”. Sensors. 06/2021; 21(14): 4661
  • Potter, M., Cain, S., Ojeda, L., Gurchiek, R., McGinnis, R., Perkins, N. “Error-state Kalman filter for lower-limb kinematic estimation: Evaluation on a 3-Body model”. PLOS ONE. 03/2021
  • Kowalsky, D., Rebula, J., Ojeda, L., Adamczyk, P., Kuo, A. “Human walking in the real world: Interactions between terrain type, gait parameters, and energy expenditure”. PLoS One. 01/2021
  • Handelzalts, S., Alexander, N., Mastruserio, N., Nyquist, L., Strasburg, D., Ojeda, L. “Detection of Real-World Trips in At-Fall Risk Community Dwelling Older Adults Using Wearable Sensors”. Frontiers in Medicine. 09/2020; 7: 514
  • Quann, M., Ojeda, L., Smith, W., Rizzo, D., Castanier, M., Barton, K. “Power Prediction for Heterogeneous Ground Robots through Spatial Mapping and Sharing of Terrain Data”. IEEE Robotics and Automation Letters . 01/2020
  • Quann, M., Ojeda, L., Smith, W., Rizzo, D., Castanier, M., Barton, K. “Off-Road Ground Robot Path Energy Cost Prediction Through Probabilistic Spatial Mapping”. Journal of Field Robotics . 10/2019
  • Potter, M., Ojeda, L., Perkins, N., Cain, S. “Effect of IMU Design on IMU-Derived Stride Metrics for Running”. Sensors. 06/2019; 19(11): 2488
  • Quann, M., Ojeda, L., Smith, W., Rizzo, D., Castanier, M., Barton, K. “Chance Constrained Reachability in Environments with Spatially Varying Energy Costs”. Robotics and Autonomous Systems . 05/2019
  • Vitali, R., Cain, S., Ojeda, L., Potter, M., Zaferiou, A., Davidson, S., Coyne, M., Hancock, C., Mendoza, A., Stirling, L., Perkins, N. “Body-worn IMU array reveals effects of load on performance in an outdoor obstacle course”. PLOS ONE. 03/2019
  • Ojeda, L., Adamczyk, P., Rebula, J., Nyquist, L., Strasburg, D., Alexander, N. “Reconstruction of body motion during self-reported losses of balance in community-dwelling older adults”. Journal of Medical Engineering & Physics . 12/2018; 64: 86-92
  • Eckner, J., Conley, R., Garton, H., Weiss, N., Ojeda, L., Esquivel, A., Kassel, R., Kulik, G., Ransford, P., Broglio, S., Ashton-Miller, J. “Comparing head impact kinematics simultaneously measured using 6 different sensors in a human cadaver model”. Neurology. 12/2018
  • Deema, T., Ojeda, L., Johnson, D., Gates, D., Mower Provost, E., Barton, K. “Low-back Electromyography (EMG) Data-driven Load Classification for Dynamic Lifting Tasks”. PLOS ONE. 02/2018; 13(2)
  • Pannier, C., Ojeda, L., Wang, Z. , Hoelzle, D., Barton, K. “An Electrohydrodyanimc Jet Printer with Integrated Nanometrology”. Mechatronics. 01/2018; 56: 268-276
  • Tammana, A., McKay, C., Cain, S., Davidson, S., Vitali, R., Ojeda, L., Stirling, L., Perkins, N. “Load-Embedded Inertial Measurement Unit Reveals Lifting Performance”. Applied Ergonomics. 01/2018; 70: 68-76
  • Zaferiou, A., Ojeda, L., Cain, S., Vitali, R., Davidson, S., Sterling, L., Perkins, N. “Quantifying Performance on an Outdoor Agility Drill using Foot- Mounted Inertial Measurement Units”. PLOS ONE. 11/2017; 12(11)
  • Ojeda, L., Zaferiou, A., Cain, S., Vitali R., Davidson S., Stirling L., Perkins, N. “Estimating Stair Running Performance using Inertial Sensors”. Sensors. 11/2017; 17(11)
  • Vitali, R., Cain, S., McGinnis, R., Ojeda, L., Davidson, S., Perkins, N. “Method for Estimating Three-Dimensional Knee 3 Rotations Using Two Inertial Measurement Units”. Sensors. 08/2017; 17(9)
  • Shorter, A., Shao, Y., Ojeda, L., Barton, K., Rocho-Levine, J., van der Hoop, J., Moore, M. “A day in the life of a dolphin: using bio-logging tags for improved animal-health and well-being”. Marine Mammal Science. 07/2017; 33(3): 785-802
  • Ehrlich, J., Ojeda, L., Wicker, D., Howson, A., Lakshminarayanan, V., Moroi, S. “Head-Mounted Display Technology for Low Vision Rehabilitation and Vision Enhancement”. American Journal of Ophthalmology . 04/2017; 176: 26-32
  • Rebula, J., Ojeda, L., Adamczyk, P., Kuo, A. “The Stabilizing Properties of Foot Yaw in Human Walking”. Journal of Biomechanics . 02/28/2016; 53: 1-8
  • Ojeda, L., Rebula, J., Kuo, A., Adamczyk, P. “Influence of contextual task constraints on preferred stride parameters and their variabilities during human walking”. Medical Engineering & Physics . 08/2015; 37(10): 929-936
  • Ojeda, L., Rebula, J., Adamczyk, P, Kuo, A. “Mobile platform for motion capture of locomotion over long distances”. Journal of Biomechanics . 09/2013; 46(13): 2316-2319 Lauro Ojeda
  • Rebula, J., Ojeda, L., Adamczyk, P., Kuo, A. “Measurement of Foot Placement and its Variability with Inertial Sensors”. Gait Posture. 06/2013; 38(4): 974-980
  • Akula, M., Dong, S., Kamat, V.R, Ojeda, L., Borrell, A., Borenstein, J. “Integration of Infrastructure Based Positioning Systems and Inertial Navigation for Ubiquitous Context-Aware Engineering Applications”. Advanced Engineering Informatics . 01/2011; 25(4): 640-655
  • Aggarwal, P., Thomas, D., Ojeda, L., Borenstein, J. “Map Matching and Heuristic Elimination of Gyro Drift for Personal Navigation Systems in GPS- denied Conditions”. Journal of Measurement Science and Technology . 02/2010; 22(2)
  • Borenstein, J., Ojeda, L. “Heuristic Reduction of Gyro Drift in Vehicle Tracking Applications”. International Journal of Vehicle Information and Communication Systems. 08/2009; 2(1/2): 78-98
  • Borenstein, J., Ojeda, L., Kwanmuang, S. “Heuristic Reduction of Gyro Drift, for Personnel Tracking Systems”. Journal of Navigation. 01/2009; 62(1): 41-58
  • Ojeda, L., Borenstein, J. “Non-GPS Navigation for Security Personnel and Emergency Responders”. Journal of Navigation. 01/2007; 60(3): 391-407
  • Ojeda, L., Cruz, D., Reina, G. , Borenstein, J. “Current-Based Slippage Detection and Odometry Correction for Mobile Robots and Planetary Rovers”. IEEE Transactions on Robotics . 04/2006; 22(2): 366-378
  • Reina, G., Ojeda, L., Milella, A., Borenstein, J. “Wheel Slippage and Sinkage Detection for Planetary Rovers”. IEEE Transactions on Mechatronics, Special Issue on Novel Aspects in Robotics. 04/2006; 11(2): 185-195
  • Ojeda, L., Borenstein, J., Witus, G., Karlsen, R. “Terrain Characterization and Classification with a Mobile Robot”. Journal of Field Robotics . 02/2006; 23(2): 103-122
  • Ojeda, L., Reina, G., Cruz, D., Borenstein, J. “The FLEXnav precision dead-reckoning system”. International Journal of Vehicle Autonomous Systems. 01/2006; 4(2-4): 173-195
  • Ojeda, L., Borenstein, J. “Methods for the Reduction of Odometry Errors in Over-constrained Mobile Robots”. Autonomous Robots Journal. 05/2004; 16(3): 273-286
  • Chung, H., Ojeda, L., Borenstein, J. “Accurate Mobile Robot Dead-reckoning with a Precision-calibrated Fiber Optic Gyroscope”. IEEE Transactions on Robotics and Automation. 02/2001; 17(1): 80-84

Selected conference papers

  • Potter, M., Cain, S., Ojeda, L., Gurchiek, R., McGinnis, R., Perkins, N. “Using Opensim To Validate And Compare IMU-Based Kinematic Estimation Methods”. NACOB 2022, Ottawa, Canada, 08/2022
  • Potter, M., Cain, S., Ojeda, L., Gurchiek, R., McGinnis, R., Perkins, N. “IMU-Based Estimation Of Ankle And Hip Joint Centers Using An Error-State Kalman Filter”. NACOB 2022, Ottawa, Canada, 08/2022
  • Jabri, S., Hauth, J., Kamran, F., Feleke, E., Mekonen, K., Ojeda, L., Handelzalts, S., Nyquist, L., Alexander, N., Huan, X., Wiens, J., Sienko, K. “Automatic IMU-based Loss-of-Balance Detection in Older Adults during Real-World Walking”. ISPGR 2022, Montreal, Canada, 07/2022
  • Nguyen, P., Spires, M., Leonard, J., Ojeda, L. “Gait Effect Assesment of Orthotic Shoes on Diabetic Peripheral Neuropathy Patients”. ASB 2021, Virtual, 08/2021
  • Potter, M., Cain, S., Ojeda, L., Gurchiek, R, McGinnis, R., Perkins, N. “Soft Hinge Correction for IMU-Based Hip Joint Angle Estimates for Arbitrary Gait”. ASB 2021, Virtual, 08/2021
  • Nguyen, P., Spires, M., Leonard, J., Ojeda, L. “Analysis of Week-long Inertial Sensor Data, Lessons Learned”. Dynamic Walking 2021, Virtual, 05/20/2021
  • Potter, M., Cain, S., Ojeda, L., Perkins, N. “IMU-based Kinematic Estimates for a Simplified Model of the Human Lower-limbs: Simulation and Experiment”. ASB 2020, Virtual, 08/2020
  • Wang, y., Liu, J., Ojeda, L., Adamczyk, P. “Long-term Wearable Sensor Suite for Real-World Biomechanical Tracking in Prosthetics”. Dynamic Walking, 05/2020
  • Potter, M., Cain, S., Ojeda, L., Perkins, N. “MU-based Estimation of Walking Kinematics for 3-body Lower-limb Model”. Dynamic Walking, 05/2020
  • Quan M., Ojeda L., Smith, W., Rizzo, D., Castanier, M., Barton K. “Ground Robot Terrain Mapping and Energy Prediction in Environments with 3-D Topography”. American Control Conference, 06/2018
  • Joseph, C., Zaferiou, A., Ojeda, L., Perkins, N., Stirling, L. “An Optimal Control Model for Assessing Human Agility Trajectories”. IEEE Aerospace Conference, Big Sky, MT, United States of America, 03/2018
  • Quann, M., Ojeda, L., Smith, W., Rizzo, D., Castanier, M., Barton, K, “An Energy-Efficient Method for Multi-Robot Reconnaissance in an Unknown Environment”. American Control Conference, Seattle, WA, United States of America, 05/2017
  • Adamczyk, P., Ojeda, L. , Kuo, A. “Reconstructing the unusual gait events in everyday life”. Dynamic Walking, Columbus, OH, 07/2015
  • Wang, Z., Pannier, C., Ojeda, L., Barton, K., Hoelzle, D. “An Application of Spatial Iterative Learning Control to Micro-Additive Manufacturing”. American Control Conference, Boston, MA, 07/2015
  • Rebula, J., Ojeda, L. , Adamczyk, J., Kuo, A. “Steering Into the Fall: Foot Heading Stabilizes Humna Walking”. Dynamic Walking, Zurich, Switzerland, 06/2014
  • Rebula, J., Ojeda, L., Adamczyk, J., Kuo, A. “Long-Term Measurement of Foot Placement and its Variability During Walking”. XXIV Congress of the International Society of Biomechanics , Natal, Brazil, 08/2013
  • Rebula, J., Ojeda, L. , Adamczyk, J., Kuo, A. “Long-Term Measurement of Foot Placement During Walking Using IMUs”. Dynamic Walking, Pittsburgh, PA, 06/2013
  • Rebula, J., Adamczyk, J., Ojeda, L., Kuo, A. “Gait Measurement with Foot Mounted Inertial Sensors”. Gait and Clinical Movement Analysis Society (GCMAS), Grand Rapids, MI, 05/2012
  • Rebula, J., Ojeda, L., Adamczyk, J., Kuo, A. “Long Term Measurement of Spontaneous Walking with Foot Mounted Inertial Sensors”. Dynamic Walking, Pensacola Beach, FL, 05/2012
  • Kwanmuang, S., Borenstein, J., Ojeda, L. “Magnetometer-enhanced Personal Locator for Tunnels and GPS- denied Outdoor Environments”. Proceedings of the SPIE Defense, Security + Sensing; Unmanned Systems Technology XIII, Conference DS117: Unmanned, Robotic and Layered Systems, Orlando, FL, 04/2011
  • Ojeda, L., Borenstein, J. “Transfer Alignment from a Personal Dead Reckoning System to a Handheld IMU”. Proceedings of the SPIE Defense, Security + Sensing; Conference DS209: Head- and Helmet-Mounted Displays XVI: Design and Applications, Orlando, FL, 04/2011
  • Akula, M., Dong, S., Kamat, V.R., Ojeda, L., Borrell, A., Borenstein, J. “Integration of Global Positioning System and Inertial Navigation for Ubiquitous Context-Aware Engineering Applications”. Proceedings of the 2010 International Conference on Computing in Civil and Building Engineering (ICCCBE 2010), Reston, VA, 06/2010
  • Borenstein, J., Thomas, D., Sights, B., Ojeda, L., Bankole, P., Fellars, D. “Human Leader and Robot Follower Team: Correcting Leader’s Position from Follower’s Heading”. Proceedings of the SPIE Defense, Security + Sensing; Unmanned Systems Technology XII, Conference DS117: Unmanned, Robotic, and Layered Systems, Orlando, FL, 04/2010
  • Borenstein, J., Ojeda, L. “Heuristic Reduction of Gyro Drift in Gyro-based Vehicle Tracking”. SPIE Defense, Security + Sensing, Conference DS107: Sensors, and Command, Control, Communications, and Intelligent (C3I) Technologies for Homeland Security and Homeland Defense VIII, Orlando, FL, 04/2009
  • Borenstein, J., Ojeda, L., Kwanmuang, S. “Heuristic Reduction of Gyro Drift in IMU-based Personnel Tracking Systems”. SPIE Defense, Security + Sensing, Conference DS301: Optics and Photonics in Global Homeland Security V, Orlando, FL, 04/2009
  • Ojeda, L., Borenstein, J. “Personal Dead-reckoning System for GPS-denied Environments.”. IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR2007), Rome, Italy, 09/2007
  • Ojeda, L., Borenstein, J. “Non-GPS navigation with the personal dead-reckoning system”. SPIE Symposium on Defense & Security, Orlando, FL, 04/2007
  • Reina, G., Ojeda, L., Milella, A., Borenstein, J. “Measures for Wheel Slippage And Sinkage Detection In Rough- Terrain Mobile Robots”. Proceedings of ASME International Mechanical Engineering Congress and Exposition , Orlando, FL, 11/2005
  • Ojeda, L., Borenstein, J., “Odometry for Dismounted Soldiers”, Intelligent Vehicle Systems Symposium & Exhibition, Traverse City, MI, 06/2005
  • Ojeda, L., Borenstein, J., Witus, G. “Terrain Trafficability Characterization with a Mobile Robot”. Proceedings of the SPIE Defense and Security Conference, Unmanned Ground Vehicle Technology VII, Orlando, FL, 04/2005
  • Ojeda, L., Raju, M., Borenstein, J. “FLEXnav: A Fuzzy Logic Expert Dead-reckoning System for the Segway RMP”. Proceedings of the SPIE Defense and Security Symposium, Unmanned Ground Vehicle Technology VI (OR54) , Orlando, FL, 04/2004
  • Ojeda, L., Reina, G., Borenstein, J. “Experimental Results from FLEXnav: An Expert Rule-based Dead-reckoning System for Mars Rovers”. IEEE Aerospace Conference, Big Sky, MT, 03/2004
  • Ojeda, L., Borenstein, J. “Reduction of Odometry Errors in Over-constrained Mobile Robots”. Proceedings of the UGV Technology Conference at the 2003 SPIE AeroSense Symposium, Orlando, FL, 04/2003
  • Chung, H., Ojeda, L., Borenstein, J. “Sensor fusion for Mobile Robot Dead-reckoning with a Precision-calibrated Fiber Optic Gyroscope”. Proceedings of the 2001 IEEE International Conference on Robotics and Automation , 05/2002
  • Ojeda, L., Borenstein, J. “FLEXnav: Fuzzy Logic Expert Rule-based Position Estimation for Mobile Robots on Rugged Terrain”. Proceedings of the 2002 IEEE International Conference on Robotics and Automation , Washington, DC, 05/2002
  • Ojeda, L., Borenstein, J. “Experimental Results With the KVH C-100 Fluxgate Compass in Mobile Robots”. Proceedings of the IASTED International Conference on Robotics and Applications, Honolulu, HI, 08/2000
  • Ojeda, L., Chung, H., Borenstein, J. “Precision Calibration of Fiber-optics Gyroscopes for Mobile Robot Navigation”. Proceedings of the IEEE International Conference on Robotics and Automation , San Francisco, CA, 04/2000

Patents

  • Ojeda, L., Gardner, T, Sumstrong, J., Holmer, J., Cruz, A., Miller, R., Nguyen, P., Bhamri, A., Huan, “Devices, systems, and methods for biological sample collection”, WO2020237049A1, 11/2020
  • Moldwin, M, and Ojeda, L., 2018, “Magnetic Beacon And Inertial Sensor Localization Technology”, (20190170516), United States Patent and Trademark Office.
  • Chung, H., Ojeda, L., 2014, “Lawn Mower For Forming Images”, (20120158236) United States Patent and Trademark Office.
  • Chung, H., Ojeda, L., 2013, “Distance measuring apparatus”, (1020130095494), 2013.08.28, South Korea
  • Borenstein, J., Ojeda, L., Thomas, D., 2011, “Heading Error Removal System for Tracking Devices”, (20110087450) United States Patent and Trademark Office.
  • Borenstein, J., Ojeda, L., “Accelerometer-compensated Odometry”, 04/2003. (Provisional Patent)

Invention Disclosures

  • Ojeda, L., et. al. “Protective Hygienic Shield for Ophthalmologic Exams”, 2020 [LINK]
  • Moldwin, M., Ojeda, L., Samson, P., “Classroom Active Participation in Computer Simulations”, 06/20162.
  • Ojeda, L.,  et. al. “Haptic Wristband for People with Low Vision”, 05/2016
  • Chung, H., Borenstein, J., Ojeda, L.,”Gyro Calibration”, 11/2000