Dissertation
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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
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(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)
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(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 [not peer-reviewed] (pdf)
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(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 [not peer-reviewed] (pdf)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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
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(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
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(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)
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(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)
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(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)
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(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
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(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)
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(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)
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(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)
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(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)
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(27)Loh, J., Elkaim, G., “Roughness Map for Autonomous Rovers” American Control Conference, ACC13, Washington D.C., 17-19 June 2013, submitted (pdf)
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(28)Elkaim, G., “Misalignment Calibration Using Body Frame Measurements” American Control Conference, ACC13, Washington D.C., 17-19 June 2013, submitted (pdf)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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)
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(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
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(82)Elkaim, G., “A Technological Approach to RealTime Course Recording,” UC Santa Cruz Faculty Focus, Vol. 11:1, Spring 2005, pp. 1,4. (pdf)
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(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)