Dissertation


  1. Elkaim, G., “System Identification for Precision Control of a WingSailed GPS-Guided Catamaran,” Ph.D. Thesis, Department of Aeronautics and Astronautics, Stanford University, 2002. [Thesis (pdf)] [Defense Slides (pdf)] [Defense Video]




Journal Papers


  1. (1)Choi, J., Curry, R., Elkaim, G., “Minimizing maximum curvature of quadratic Bézier curves with a tetragonal concave polygonal boundary constraint,” Journal of Computer Aided Design, Vol. 44, No. 4, April 2012, pp. 311-319, doi:10.1016/j.cad.2011.10.008 (pdf)

  2. (2)Lizarraga, M., Curry, R., Elkaim, G., “Reprogrammable UAV Autopilot System (Part 2)— Testing and Results,” Circuit Cellar Magazine, Vol. 250, May 2011, pp. 36-43. [not peer-reviewed] (pdf)

  3. (3)Lizarraga, M., Curry, R., Elkaim, G., “Reprogrammable UAV Autopilot System (Part 1)— System Hardware and Software,” Circuit Cellar Magazine, Vol. 249, April 2011, pp. 24-35. [not peer-reviewed] (pdf)

  4. (4)Vasconcelos, J., Elkaim, G., Silvestre, C., Oliveira, P., Cardeira, B., “Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame,” IEEE Transactions on Aerospace Electronic Systems, Vol. 47, No. 2, April 2011, pp. 1293-1306, doi:10.1109/TAES.2011.5751259. (pdf)

  5. (5)Choi, J., Curry, R., Elkaim, G., “Continuous Curvature Path Generation Based on Bezier Curves for Autonomous Vehicles,” IAENG International Journal of Applied Mathematics, Vol. 40, No. 2, May 2010, pp. 91-101. (pdf)

  6. (6)Elkaim, G. H., “System Identification based Control of an Unmanned Autonomous Wind- Propelled Catamaran,” Control Engineering Practice, Vol. 17, No. 1, January 2009, pp. 158-169, doi:10.1016/j.conengprac.2008.05.014. (pdf)

  7. (7)Elkaim, G. H., “Airfoil Section Design and Configuration Analysis of a Free-Rotating Wing-Sail for an Autonomous Marine Surface Vehicle,” AIAA Journal of Aircraft, Vol. 45, No. 6, November/December 2008, pp. 1835-1852, doi:10.2514/1.27284. (pdf)

  8. (8)Elkaim, G. H., Foster, C., “Extension of a Non-Linear, Two-Step Calibration Methodology to Include Non-Orthogonal Sensor Axes,” IEEE Journal of Aerospace Electronic Systems, Vol. 44, No. 3, July 2008, pp. 1070-1078. (pdf)

  9. (9)Gebre-Egziabher, D., Elkaim, G. H., “MAV Attitude Determination from Observations of Earth's Magnetic and Gravity Field Vectors,” IEEE Journal of Aerospace Electronic Systems, Vol. 44, No. 3. July 2008, pp. 1012-1028. (pdf)

  10. (10)Elkaim, G. H., “The Atlantis Project: A GPS-Guided Wing-Sailed Autonomous Catamaran,” NAVIGATION, Journal of the Institute of Navigation, Vol. 53, No. 4, Winter 2006, pp. 237-247. (pdf)

  11. (11)Elkaim, G. Decker, E., Oliver, G., Wright, B., “Go Deep: Marine Mammal Marker for at-Sea Monitoring,” GPS World, Vol. 18, No. 8, Aug. 2006 [not peer-reviewed] (pdf)

  12. (12)Gebre-Egziabher, D., Elkaim, G. H., “Calibration of Strapdown Magnetometers in the Magnetic Field Domain,” ASCE Journal of Aerospace Engineering. Vol. 19. No. 2, April 2006, pp. 1-16 (pdf)

  13. (13)G. Elkaim, “An Autonomous Wing-Sailed Catamaran, Part II: Wingsail Construction” CATALYST, Journal of the Amateur Yacht Research Society, Vol. 17, Sept. 2004, pp. 37-51 [not peer-reviewed] (pdf)

  14. (14)G. Elkaim, “An Autonomous Wing-Sailed Catamaran,” CATALYST, Journal of the Amateur Yacht Research Society, Vol. 16, April 2004, pp. 21-36 [not peer-reviewed] (pdf)

  15. (15)G. Elkaim, B. Parkinson, “System Identification for Precision Control of a GPS-Autonomous Catamaran,” Journal of Gyroscopy and Navigation, Vol. 36, No. 1, 2002, pp. 75-87 [in Russian] (pdf)

  16. (16)T. Bell, M. O’Connor, G. Elkaim, B. Parkinson, “Realistic Autofarming: Closed-Loop Tractor Control over Irregular Paths using Kinematic GPS,” Journal of Navigation, Royal Institute of Navigation (UK), Vol. 51, No. 3, Fall 1998, pp. 327-335 (pdf)

  17. (17)M. O'Connor, G. Elkaim, B. Parkinson, “Carrier Phase DGPS for Closed-Loop Control of Farm and Construction Vehicles,” NAVIGATION, Journal of the Institute of Navigation, Vol. 43, No. 2, Summer 1996, pp. 167-178 (pdf)



Patents


  1. (18)“Method and system for automatic control of vehicles based on carrier phase differential GPS,” Parkinson, B. W., O'Connor; M. L., Elkaim, G. H.,and Bell, T., United States Patent #6,052,647, granted April 18, 2000. (pdf)





Book Chapters


  1. (19)Elkaim, G., Lie, F. A., and Gebre-Egziabher, D., “Principles of Guidance, Navigation and Control of UAVs,” in Handbook of Unmanned Aerial Vehicles, ISBN 978-90-481-9708-8, Springer, July 2013. (pdf)


  1. (20)Choi, J., Curry, R., Elkaim, G., “Piecewise Bezier Curves Path Planning with Continuous Curvature Constraint for Autonomous Driving, Machine Learning and Systems Engineering,” Lecture Notes in Electrical Engineering 68, Springer Science+Business Media B.V., 2010. (pdf)


  1. (21)Choi, J., Curry, R., Elkaim, G., “Path Planning based on Bezier Curve for Autonomous Ground Vehicles,” in Proceedings of the Advances in Electrical and Electronics Engineering - IAENG Special Edition of the World Congress on Engineering and Computer Science 2008 (WCECS 2008), pp. 158-166, IEEE Computer Society 2009. (pdf)


  1. (22)B. Parkinson, J.J. Spilker, G. Elkaim, “Global Navigation Satellite System,” Encyclopedia of Space Science and Technology, Wiley and Sons, 2003. pp. 730-759 (pdf)





Conference Papers


  1. (23)Lizarraga, M., Elkaim, G., Curry, R., “SLUGS UAV: A Flexible and Versatile Hardware/Software Platform for Guidance Navigation and Control Research,” Invited Tutorial Session, Airborne Experimental Test Platforms: From Theory to Flight, American Control Conference, ACC13, Washington D.C., 17-19 June 2013, submitted (pdf)

  2. (24)Lizarraga, M., Curry, R., Elkaim, G., “Flight Test Results for An Improved Line of Sight Guidance Law for UAVs” American Control Conference, ACC13, Washington D.C., 17-19 June 2013, submitted (pdf)

  3. (25)Mairs, B., Elkaim, G., “SeaSlug: A High-Uptime, Long-Deployment Marine Sensor Platform” American Control Conference, ACC13, Washington D.C., 17-19 June 2013, submitted (pdf)

  4. (26)Curry, R., Lizarraga, M., Elkaim, G., Mairs, B., “L2+, an Improved Line of Sight Guidance Law for UAVs” American Control Conference, ACC13, Washington D.C., 17-19 June 2013, submitted (pdf)

  5. (27)Loh, J., Elkaim, G., “Roughness Map for Autonomous Rovers” American Control Conference, ACC13, Washington D.C., 17-19 June 2013, submitted (pdf)

  6. (28)Elkaim, G., “Misalignment Calibration Using Body Frame Measurements” American Control Conference, ACC13, Washington D.C., 17-19 June 2013, submitted (pdf)

  7. (29)Williams T., Wolfe L., Davis T., Kendall T., Richter B., Elkaim G., Wilmers C., “Energetics and mechanics of mountain lions: a step by step analysis for carnivore conservation,” Integrative and Comparative Biology, Vol. 52, Supplement 1, April 2012, pp. E193-E193, doi:10.1093/icb/ics078 (pdf)

  8. (30)Gottlieb, J., Graham, R., Maughan, T., Py, F., Ryan, J., Elkaim, G., Rajan, K., “An Experimental Momentum-based Front Detection for Autonomous Underwater Vehicles,” IEEE Conference on Robotics and Automation, 2012, ICRA 2012, St. Paul, MN, USA, May, 2012. (pdf)

  9. (31)Elkaim, G., “A Hole in One: A Project-Based Class on Mechatronics,” IEEE Conference on Microelectronic Systems Education, 2011, MSE 2011, San Diego, CA, USA, June 5-6, 2011. (pdf)

  10. (32)Choi, J., Curry, R., Elkaim, G., “Curvature-Continuous Trajectory Generation with Corridor Constraint for Autonomous Ground Vehicles,” The 49th IEEE Conference on Decision and Control, CDC 2010, Atlanta, Georgia, USA, Dec. 15-17, 2010. (pdf)

  11. (33)Choi, J., Curry, R., Elkaim, G., “Real-Time Obstacle Avoiding Path Planning for Mobile Robots,” AIAA Guidance, Navigation and Control Conference, AIAA GNC 2010, Toronto, Ontario, Canada, Aug. 2-5, 2010. (pdf)

  12. (34)Curry, R., Lizarraga, Elkaim, G., “The Design of Rapidly Reconfigurable Filters for Attitude and Position Determination ” AIAA Infotech Conference, Atlanta, GA, Apr. 20-22, 2010. (pdf)

  13. (35)Choi, J., Curry, R., Elkaim, G., “Smooth Path Generation Based on Bezier Curves for Autonomous Vehicles,” World Congress on Engineering and Computer Science, WCECS 2009, San Francisco, CA, Oct. 20-22, 2009. (Best Student Paper) (pdf)

  14. (36)Muldoon, A., Elkaim, G., and Wheeden, B, “Improved Orbital Debris Trajectory Estimation Based on Sequential TLE Processing,” 60th International Astronautical Congress, IAC2009, Daejeon, Korea, Oct. 16-19, 2009. (pdf)

  15. (37)Lizarraga, M., Elkaim, G., Horn, G., Curry, R., Dobrokhodov, V., and Kaminer, I., “Low Cost Rapidly Reconfigurable UAV Autopilot for Research and Development of Guidance, Navigation and Control Algorithms,” International Conference on Mechatronic and Embedded Systems and Applications, ASME/IEEE MESA09, San Diego, CA, Aug. 30-Sept. 2, 2009. (pdf)

  16. (38)Choi, J., Curry, R., and Elkaim, G., “Collision Free Real-Time Motion Planning for Omnidirectional Vehicles,” European Control Conference, ECC’09, Budapest, Hungary, Aug. 23-26, 2009 (pdf)

  17. (39)Choi, J., Curry, R., and Elkaim, G., “Obstacle Avoiding Real-Time Trajectory Generation of Omnidirectional Vehicles,” American Control Conference, ACC 2009, St. Louis, MI, June 10-12, 2009, pp. 5510-5515, doi:10.1109/ACC.2009.5160683 (pdf)

  18. (40)Lizarraga, M., Dobrokhodov, V., Elkaim, G., Curry, R., and Kaminer, I., “Simulink Based Hardware-in-the-Loop Simulator for Rapid Prototyping of UAV Control Algorithms,” AIAA Infotech Conference, Seattle, WA, Apr. 6-9, 2009 (pdf)

  19. (41)Ilstrup, D., Lizarraga, M., Elkaim, G., and Davis, J., “Aerial Photography using a Nokia N95,” World Congress on Engineering and Computer Science, WCECS 2008, San Francisco, CA, Oct. 22-24, 2008 [Student Merit Award] (pdf)

  20. (42)Choi, J., Elkaim,G., “Bézier Curves for Trajectory Guidance,” World Congress on Engineering and Computer Science, WCECS 2008, San Francisco, CA, Oct. 22-24, 2008 [Student Best Paper Award] (pdf)

  21. (43)Elkaim, G., and Boyce, C. O., “Energy Scavenging and Aerodynamic Performance of a Rigid Wing Propulsion System for an Autonomous Surface Vessel,” ION Global Navigation Satellite Systems Conference, ION-GNSS 2008, Savannah, GA, Sept. 16-19, 2008 (pdf)

  22. (44)Muldoon, A., and Elkaim, G., “Improved Orbit Estimation using GPS Measurements for Conjunction Analysis,” ION Global Navigation Satellite Systems Conference, ION-GNSS 2008, Savannah, GA, Sept. 16-19, 2008 (pdf)

  23. (45)Connors, J., and Elkaim, G., “Trajectory Generation and Control Methodology for an Autonomous Ground Vehicle,” AIAA Guidance, Navigation and Control Conference, AIAA GNC 2008, Honolulu, HI, Aug. 18-21, 2008 (pdf)

  24. (46)Elkaim, G., Choi, J., Garalde, D., and Lizarraga, M., “MACH-1: Control System Modeling and Design for a Mars Flyer,” AIAA Guidance, Navigation and Control Conference, AIAA GNC 2008, Honolulu, HI, Aug. 18-21, 2008 (pdf)

  25. (47)Ilstrup, D., Elkaim, G., “Low Cost, Low Power Structured Light Based Obstacle Detection,”  ION/IEEE Position, Location, and Navigation Symposium, ION/IEEE PLANS 2008, Monterey, CA, May 5-8, 2008, pp. 865-870 (pdf)

  26. (48)Elkaim, G. Decker, E., Oliver, G., Wright, B., “Initial Results from an In-Situ Environmental Monitoring Marine Mammal Tag,” ION/IEEE Position, Location, and Navigation Symposium, ION/IEEE PLANS 2008, Monterey, CA, May 5-8, 2008, pp. 560-567 (pdf)

  27. (49)Lizarraga, M., Elkaim, G., “Spatially Deconflicted Path Generation for Multiple UAVs in a Bounded Airspace,” ION/IEEE Position, Location, and Navigation Symposium, ION/IEEE PLANS 2008, Monterey, CA, May 5-8, 2008, pp. 633-640 (pdf)

  28. (50)Elkaim, G., Lizarraga, M., Pedersen, L., “Comparison of Low-Cost GPS/INS Sensors for Autonomous Vehicle Applications,” ION/IEEE Position, Location, and Navigation Symposium, ION/IEEE PLANS 2008, Monterey, CA, May 5-8, 2008, pp. 285-293 (pdf)

  29. (51)Vasconcelos, J., Elkaim, G., Silvestre, C., Oliveira, P., Cardeira, B., “A Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame,” IFAC Workshop on Navigation, Guidance, and Control of Underwater Vehicles, IFAC NGCUV 2008, Ireland, Apr. 8-10, 2008. (pdf)

  30. (52)Ilstrup, D., Elkaim, G., “Single Frame Processing for Structured Light Based Obstacle Detection,” ION National Technical Meeting, ION NTM 2008, San Diego, CA, Jan. 28-30, 2008, pp. 514-520 (pdf)

  31. (53)Connors, J., Elkaim,G., “Experimental Results for Spline Based Obstacle Avoidance of an Off-Road Ground Vehicle,” ION Global Navigation Satellite Systems Conference, ION GNSS 2007, Fort Worth, TX, Sept. 25-28, 2007, pp. 1484-1490 (pdf)

  32. (54)Elkaim, G., Boyce, C. O., “Experimental Validation of GPS-Based Control of an Unmanned Wing-Sailed Catamaran,” ION Global Navigation Satellite Systems Conference, ION GNSS 2007, Fort Worth, TX, Sept. 25-28, 2007, pp. 1950-1956 (pdf)

  33. (55)Boyce, C. O., Elkaim, G., “Control System Performance of an Unmanned Wind-Propelled Catamaran,” IFAC Conference on Control Applications in Marine Systems, IFAC CAMS 2007, Bol, Croatia, Sept. 19-21, 2007 (pdf)

  34. (56)Elkaim,G., Boyce, C. O., “Experimental Aerodynamic Performance of a Self-Trimming Wing-Sail for Autonomous Surface Vehicles,” IFAC Conference on Control Applications in Marine Systems, IFAC CAMS 2007, Bol, Croatia, Sept. 19-21, 2007 (pdf)

  35. (57)Connors, J., Elkaim, G., “Analysis of a Spline Based, Obstacle Avoiding Path Planning Algorithm,” IEEE Vehicle Technology Conference, IEEE VTC 2007, Dublin, Ireland, Apr. 22-25, 2007, pp. 2565-2569 (pdf)

  36. (58)Connors, J., Elkaim, G., “Manipulating B-Spline Based Paths for Obstacle Avoidance in Autonomous Ground Vehicles,” ION National Technical Meeting, ION NTM 2007, San Diego, CA, Jan. 22-24, 2007, pp. 1081-1088 (pdf)

  37. (59)Elkaim, G., Foster, C., “Sensor Stability of a Low-Cost Attitude Sensor Suitable for Micro Air Vehicles,”ION National Technical Meeting, ION NTM 2007, San Diego, CA, Jan. 22-24, 2007, pp. 756-770 (pdf)

  38. (60)Elkaim, G., Kelbley, R., “Station Keeping and Segmented Trajectory Control of a Wind-Propelled Autonomous Catamaran,” IEEE Conference on Decision and Control, IEEE CDC 2006, San Diego, CA, Dec. 13-15, 2006, pp. 2424-2429 (pdf)

  39. (61)Elkaim, G., Kelbley, R., “Direct Measurement Based H-infinity Controller Synthesis for an Autonomous Surface Vehicle,” ION Global Navigation Satellite Systems Conference, ION GNSS 2006, Fort Worth, TX, Sept. 22-24, 2006, pp. 1973-1982 [Best of Session] (pdf)

  40. (62)Elkaim, G., Connors, J., and Nagel, J., “The Overbot: An Off-Road Autonomous Ground Vehicle Testbed,” ION Global Navigation Satellite Systems Conference, ION GNSS 2006, Fort Worth, TX, Sept. 22-24, 2006, pp. 1449-1456 (pdf)

  41. (63)Elkaim, G., Foster, C., “Development of the Metasensor: A Low-Cost Attitude Heading Reference System for use in Autonomous Vehicles,” ION Global Navigation Satellite Systems Conference, ION GNSS 2006, Fort Worth, TX, Sept. 22-24, 2006, pp. 1124-1135 (pdf)

  42. (64)Elkaim, G., Kelbley, R.., “Control Architecture for Segmented Trajectory Following of a Wind-Propelled Autonomous Catamaran,” AIAA Guidance, Navigation, and Control Conference, AIAA GNC 2006, Keystone, CO, Aug. 21-24, 2006 (pdf)

  43. (65)Elkaim, G., Woodley, B., Kelbley, R., “Model Free Subspace H-infinity Control for an Autonomous Catamaran,” ION/IEEE Position, Location, and Navigation Symposium, ION/IEEE PLANS 2006, San Diego, CA, Apr. 25-27, 2006, pp. 1005-1013 (pdf)

  44. (66)Elkaim, G. Decker, E., Oliver, G., Wright, B., “Marine Mammal Marker (MAMMARK) Dead Reckoning Sensor for In-Situ Environmental Monitoring,” ION/IEEE Position, Location, and Navigation Symposium, ION/IEEE PLANS 2006, San Diego, CA, Apr. 25-27, 2006, pp. 976-987 (pdf)

  45. (67)Elkaim, G. H., Kelbley, R. J., “A Lightweight Formation Control Methodology for a Swarm of Non-Holonomic Vehicles,” IEEE Aerospace Conference, Big Sky, MT, March 4-11, 2006 (pdf)

  46. (68)Elkaim, G. H., Decker, E., Oliver, G., and Wright, B., “Development of a Marine Mammal Marker (MAMMARK) for In-Situ Environmental Monitoring,” ION National Technical Meeting, ION NTM 2006, Monterey, CA, January 18-20, 2006, pp. 206-216 (pdf)

  47. (69)Elkaim, G. H., Kelbley, R. J., “Extension of a Lightweight Formation Control Methodology to Groups of Autonomous Vehicles,” 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, iSAIRAS 2005, Munich, Germany, September 5-9, 2005 (pdf)

  48. (70)Elkaim, G. H., Siegel, M., “A Lightweight Control Methodology for Formation Control of Vehicle Swarms,” Proceedings of the 16th IFAC World Congress, IFAC 2005, Prague, July 4-8, 2005 (pdf)

  49. (71)Elkaim, G., Parkinson, B., “System Identification for Precision Control of a GPS-Autonomous Catamaran,” 8th International St. Petersburg Conference on Integrated Navigation Systems, St. Petersburg, Russia, May 27-31, 2001 (pdf)

  50. (72)Gebre-Egziabher, D., Elkaim, G., Powell, J., Parkinson, B., “A Non-Linear, Two-Step Estimation Algorithm for Calibrating Solid-State Strapdown Magnetometers,” 8th International St. Petersburg Conference on Navigation Systems (IEEE/AIAA), St. Petersburg, Russia, May 27-31, 2001 (pdf)

  51. (73)Gebre-Egziabher, D., Elkaim, G., Powell, J., Parkinson, B., “A Gyro-Free Quaternion-Based Attitude Determination System Suitable for Implementation using Low-Cost Sensors,” IEEE Position Location and Navigations Symposium (IEEE PLANS 2000), San Diego, CA, Mar. 13-16, 2000. pp. 185-192 (pdf)

  52. (74)Bell, T., O’Connor, M., Elkaim, G., Parkinson, B., “Realistic Autofarming: Closed-Loop Tractor Control over Irregular Paths using Kinematic GPS,” ION Global Positioning System Conference, ION GPS 1998, Nashville, TN, Sept. 17-20, 1998, pp. 452-461 (pdf)

  53. (75)Elkaim, G., O’Connor, M., Parkinson, B., “System Identification and Robust Control of a Farm Vehicles using CDGPS,” ION Global Positioning System Conference, ION GPS 1997, Kansas City, MO, Sept. 16-19, 1997, pp. 1415-1426 (pdf)

  54. (76)Evans, J. Elkaim, G., Lo, S., Parkinson, B., “System Identification of an Autonomous Aircraft Using GPS,” ION Global Positioning System Conference, ION GPS 1997, Kansas City, MO, Sept. 16-19, 1997, pp. 1065-1074 (pdf)

  55. (77)O'Connor, M., Elkaim, G., Bell, T., Parkinson, B., “Real-Time CDGPS Initialization for Land Vehicles Using a Single Pseudolite,” ION National Technical Meeting, ION NTM 1997, Santa Monica, CA, Jan. 14-16, 1997, pp. 717-730 (pdf)

  56. (78)Elkaim, G., O'Connor, M., Bell, T., Parkinson, B., “System Identification of a Farm Vehicle Using Carrier-Phase Differential GPS,” ION Global Positioning System Conference, ION GPS 1996, Kansas City, MO, Sept. 17-20, 1996, pp. 485 - 494 (pdf)

  57. (79)O'Connor, M., Bell, T., Elkaim, G., Parkinson, B., “Automatic Steering of Farm Vehicles Using GPS,” 3rd International Conference on Precision Agriculture, Minneapolis, Minnesota, June 1996 (pdf)

  58. (80)O’Connor, M., Elkaim, G., Parkinson, B., “Kinematic GPS for Closed-Loop Control of Farm and Construction Vehicles,” ION Global Positioning System Conference, ION GPS 1995, Palm Springs, CA, Sept. 12-15, 1995, pp.1261-1268 (pdf)

  59. (81)Cohen, Cobb, Lawrence, Pervan, Barrows, O'Connor, Gromov, Elkaim, Christie, Powell, Parkinson, et. al., “Automatic Landing of a 737 using GNSS Integrity Beacons,” International Symposium on Precision Approach, Braunschweig Germany, February 1995 (pdf)




Additional Papers


  1. (82)Elkaim, G., “A Technological Approach to RealTime Course Recording,” UC Santa Cruz Faculty Focus, Vol. 11:1, Spring 2005, pp. 1,4. (pdf)

  2. (83)Elkaim, G., “An Autonomous Wing-Sailed Catamaran: Ph.D. Thesis,” Newsletter of the Junk Rig (and Advanced Cruising Rig) Association, Issue #44, Jan. 2005 (pdf)

Publications

Dissertation

journal papers

patents

book chapters

conference papers

Additional papers


CV including publications (pdf)