Vartholomeos P, Bergeles C, Qin L, Dupont P. Closed-loop Position Control of an MRI-powered Biopsy Robot. Conf Proc 5th Hamlyn Symposium on Medical Robotics 2012: in press.

Nadeau C, Ren H, Krupa A, Dupont P. Target Tracking in 3D Ultrasound Volumes by Direct Visual Servoing. Conf Proc 5th Hamlyn Symposium on Medical Robotics 2012: in press.

Dupont P, Chawarski S, Butler E, Hammond-Oakley R, Gosline A, Codd P, Anor T, Madsen J, Lock J. Extending the Reach and Stability of Manually Steerable Neuroendoscopes Through Robotics. Conf Proc 5th Hamlyn Symposium on Medical Robotics 2012: in press.

Bergeles C, Qin L, Vartholomeos P, Dupont P. Tracking and Position Control of an MRI-Powered Needle-Insertion Robot. Conf Proc IEEE Engineering in Medicine and Biology Conference (EMBC) 2012: in press.

Butler E, Hammond-Oakley R, Chawarski S, Gosline A, Codd P, Anor T, Madsen J, Dupont P, Lock J. Robotic Neuroendoscope with Concentric Tube Augmentation. Conf Proc IEEE/RSJ Intelligent Robots and Systems (IROS) 2012: in review.

Gosline A, Vasilyev N, Veeramani A, Wu MT, Schmitz G, Chen R, Arabagi V, del Nido P, Dupont P. Metal MEMS Tools for Beating-heart Tissue Removal. Conf Proc IEEE International Conference on Robotics and Automation 2012:1921-1936. Best Medical Robotics Paper Award.

Vartholomeos P, Akhavan-Sharif R, Dupont P. Motion planning for Multiple Millimeter-scale Magnetic Capsules in a Fluid Environment. Conf Proc IEEE International Conference on Robotics and Automation 2012:1927-1932.

Ren H, Dupont P. Tubular Enhanced Geodesic Active Contours for Continuum Robot Detection using 3D Ultrasound. Conf Proc IEEE International Conference on Robotics and Automation 2012:2907-2912.

Vartholomeos P, Qin L, Dupont P. MRI-powered Actuators for Robotic Interventions. Conf Proc IEEE/RSJ Intelligent Robots and Systems (IROS) 2011:4508-4515. Finalist for IROS 2011 Best Paper Award.

Ren H, Vasilyev N, Dupont P. Detection of Curved Robots using 3D Ultrasound. Conf Proc IEEE/RSJ Intelligent Robots and Systems (IROS) 2011:2083-2089.

Ren H, Dupont P. Tubular Structure Enhancement for Surgical Instrument Detection in 3D Ultrasound. Conf Proc IEEE Engineering in Medicine and Biology Conference (EMBC) 2011:7203-7206.

Laing G, Dupont P. Beating-heart Mitral Valve Chordal Replacement. Conf Proc IEEE Engineering in Medicine and Biology Conference (EMBC) 2011:2476-2479.

Butler E, Folk C, Cohen A, Vasilyev N, Chen R, del Nido P, Dupont P. Metal MEMS Tools for Beating-heart Tissue Approximation. Conf Proc IEEE International Conference on Robotics and Automation 2011:411-416. Finalist for Best Medical Robotics Paper.

Lock J, Dupont P. Friction Modeling in Concentric Tube Robots. Conf Proc IEEE International Conference on Robotics and Automation 2011:1139-1146.

Bedell C, Lock J, Gosline A, Dupont P. Design Optimization of Concentric Tube Robots Based on Task and Anatomical Constraints. Conf Proc IEEE International Conference on Robotics and Automation 2011:398-403. Finalist for Best Medical Robotics Paper.

Anor T, Madsen J, Dupont P. Algorithms for Design of Continuum Robots Using the Concentric Tubes Approach: A Neurosurgical Example. Conf Proc IEEE International Conference on Robotics and Automation 2011:667-673.

Mahvash M, Dupont P. Stiffness Control of a Continuum Manipulator in Contact with a Soft Environment. Conf Proc IEEE/RSJ International Conference on Intelligent Robots and Systems 2010:863-870.

Lock J, Laing G, Mahvash M, Dupont P. Quasistatic Modeling of Concentric Tube Robots with External Loads. Conf Proc IEEE/RSJ International Conference on Intelligent Robots and Systems 2010:2325-2332.

Dupont P, Lock J, Itkowitz, B. Real-time Position Control of Concentric Tube Robots. Conf Proc IEEE International Conference on Robotics and Automation 2010:562-568.

Walker R, Andersson S, Belta C, Dupont P. IN-Haptics: Interactive Navigation Using Haptics. Conf Proc IEEE Haptics Symposium 2010:463-466.

M. Mahvash and P. Dupont, Fast Needle Insertion to Minimize Tissue Deformation and Damage, Conf. Proc. IEEE International Conference on Robotics and Automation 2009: 3097-3102.

P. Dupont, J. Lock and E. Butler, Torsional Kinematic Model for Concentric Tube Robots, Conf Proc IEEE International Conference on Robotics and Automation 2009:3851-3858.

M. Mahvash and P. Dupont, Bilateral Teleoperation of Flexible Surgical Robots. New Vistas and Challenges in Telerobotics Workshop, IEEE 2008 International Conference on Robotics & Automation, Pasadena, CA, 19-23 May, 2008.

P. Novotny, J. Stoll, P. Dupont and R. Howe, Real-Time Visual Servoing of a Robot Using Three Dimensional Ultrasound, IEEE 2007 International Conference on Robotics and Automation, Roma, Italy, 10-14 April, 2007.

P. Sears and P. Dupont, Inverse Kinematics of Concentric Tube Steerable Needles. IEEE Int. Conf. Robotics & Automation. Rome, Italy, 10-14 April, 2007.

P. Sears and P. Dupont, A Steerable Needle Technology Using Curved Concentric Tubes. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), Beijing, China, October 9-15, 2006.

P. Novotny, J. Stoll, N. Vasilyev, P. del Nido, P. Dupont and R. Howe, GPU Based Real-time Instrument Tracking with Three Dimensional Ultrasound, 9th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI 2006), Copenhagen, Denmark, October 1-6, 2006.

P. Novotny, D. Kettler, P. Jordan, P. Dupont, P. del Nido and R. Howe, Stereo Display of 3D Ultrasound Images for Surgical Robot Guidance, IEEE 2006 International Conference of the Engineering in Medicine and Biology Society, New York City, August 30 ­ September 3, 2006.

J. Stoll, P. Novotny, P. Dupont and R. Howe, Real-time 3D Ultrasound-based Servoing of a Surgical Instrument., Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, May 15-19, 2006.

J. Stoll and P. Dupont, Force Control for Grasping Soft Tissue, Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, May 15-19, 2006.

J. Stoll and P. Dupont (2005). Passive Markers for Ultrasound Tracking of Surgical Instruments, 8th International Conference on Medical Image Computing and Computer Assisted Intervention, Palm Springs, CA, Oct. 26-29

M. Heverly, P. Dupont and J. Triedman (2005). Trajectory Optimization for Dynamic Needle Insertion, Proceedings of the IEEE International Conference on Robotics & Automation, Barcelona, pp. 1658-1663

T. Debus, P. Dupont (2004). Distinguishability and Identifiability of Contact States, Proceedings of the IEEE International Conference on Robotics & Automation, New Orleans, pp. 1135-1140.

R. Beasley, R. Howe and P. Dupont (2004). Kinematic Error Correction for Minimally Invasive Surgical Robots, Proceedings of the IEEE International Conference on Robotics & Automation, New Orleans, pp. 358-364.

T. Debus, P. Dupont, and R. Howe (2003). Contact State Estimation using Multiple Model Estimation and Hidden Markov Models, The 8th International Symposium on Experimental Robotics, Sant’ Angelo d’Ischia, Italy, 8-11 July 2002. Experimental Robotics VIII, Springer Tracts in Advanced Robotics, Vol. 5, B. Siciliano, (Ed.), Springer, New York, 2003, pp. 517-526.

Thomas Debus, Pierre Dupont, Tae-Jeong Jang, and Robert Howe (2002). Multichannel Vibrotactile Display for Teleoperated Assembly, Proceedings of the IEEE International Conference on Robotics & Automation, Washington D.C, 11 May 2002.

S. Selha, P. Dupont, R.D. Howe, and D.F. Torchiana (2001). Optimal Port Placement in Robot-Assisted Coronary Artery Bypass Grafting, Proceedings of the Fourth International Conference on Medical Image Computing and Computer-Assisted Intervention, Utrecht, The Netherlands, 14 October 2001.

Jeff Stoll, Pierre Dupont, and Robert Howe (2001). Ultrasound-based Servoing of Manipulators for Telesurgery, Telemanipulator and Telepresence Technologies VIII Conference, Proceedings of the SPIE Vol. 4570, Newton, MA, 28 October 2001.

S. Selha, P. Dupont, R.D. Howe, and D.F. Torchiana (2001). Dexterity Optimization by Port Placement in Robot-Assisted Minimally Invasive Surgery, Telemanipulator and Telepresence Technologies VIII Conference, Proceedings of the SPIE Vol. 4570, Newton, MA, 28 October 2001.

Thomas Debus, Theresia Becker, Pierre Dupont, Tae-Jeong Jang, and Robert Howe (2001). Multichannel Vibrotactile Display for Sensory Substitution During teleoperation, Telemanipulator and Telepresence Technologies VIII Conference, Proceedings of the SPIE Vol. 4570, Newton, MA, 28 October 2001.

P. Dupont, B. Armstrong, and V. Hayward (2000). Elastic-plastic Friction Model: Contact Compliance and Stiction, Proceedings of the 2000 American Control Conference, Chicago, Illinois, June 28-30, 2000.

T. Debus, J. Stoll, R. D. Howe, and P. Dupont (2000). Cooperative Human and Machine Perception in Teleoperated Assembly, in D. Rus and S. Singh, Eds., Experimental Robotics VII. The Seventh International Symposium. Lecture notes in control and information sciences, Springer-Verlag. Honolulu, HI, December 2000.

T. Debus, P. Dupont and R. Howe (2000). Automatic Identification of Local Geometric Properties During Teleoperation, Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, April 22-28, 2000.

Robert Howe, Thomas Debus, and Pierre Dupont (1999). Twice the Fun: Two Phantoms as a High-Performance Telemanipulation System, , Proceedings of the Fourth Annual PHANTOM Users Group Workshop, Dedham, MA, October 9-12, 1999.

Dimitar Gueorguiev, J. Gregory McDaniel, and Pierre Dupont (1999). Simplified Dispersion Relations for Floquet Waves in a Plate with Multiple Arrays of Attachments, Proceedings of the 17th Biennial Conference on Mechanical Vibration and Noise, ASME 1999 Design Engineering Technical Conferences, Las Vegas, Nevada, September 12-15, 1999.

T. Debus, P. Dupont and R. Howe (1999). Automatic Property Identification via Parameterized Constraints, Proceedings of the 1999 IEEE International Conference on Robotics and Automation, Detroit, MI, May 1999, pp. 1876-1881.

R. Howe, T. Debus and P. Dupont (1998). Haptic Identification of Remote Environment Properties, SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Proceedings of the SPIE Vol. 3524, Boston, MA, November, 1998.

P. Dupont and A. Stokes (1998). Model Reduction Techniques for Shock Loaded Equipment Emulators, Proceedings of the 69th Shock and Vibration Symposium, St. Paul, MN, October 1998.

L. Salvino, P. Dupont, and J. G. McDaniel (1998). Evaluation of Granular-fill Damping in Shock Loaded Box Beams, Proceedings of the 69th Shock and Vibration Symposium, St. Paul, MN, October 1998.

P. Dupont and J. G. McDaniel (1998). An Error Measure for the Shock Testing of Scale Models, Proceedings of the 16th International Conference on Acoustics and 135th Meeting of the Acoustical Society of America, Seattle, WA, June 1998.

P. Kraus, V. Kumar, and P. Dupont (1998). Analysis of Frictional Contact Models for Dynamic Simulation, Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 1998.

P. Kasturi and P. Dupont (1997). Periodic Optimal Control of Dampers, Proceedings of the 1997 ASME Design Engineering Technical Conference, Sacramento, CA, September 1997.

P. Dupont, T. Schulteis, and R. Howe (1997). Experimental Identification of Kinematic Constraints, Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, April 1997, pp. 2677-2682.

T. Schulteis, P. Dupont, P. Millman, and R. Howe (1996). Automatic Identification of Remote Environments, Proceedings of the ASME Dynamic Systems and Control Division, presented at the 1996 ASME International Mechanical Engineering Congress and Exposition, Atlanta, GA, November 1996, DSC-Vol. 58, pp. 451-458.

P. Dupont, P. Kasturi, and A. Stokes (1996). Experimental Evaluation of a Semi-active Friction Damper, in Elasto-Impact and Friction in Dynamic Systems, presented at the 1996 ASME International Mechanical Engineering Congress and Exposition, Atlanta, GA, November 1996, DE-Vol. 90, pp. 69-74.

P. Dupont and S. Yamajako(1995). Stability of Rigid-body Dynamics with Sliding Frictional Contacts, Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, MN, April 1996, pp. 378-384.

P. Dupont and A. Stokes (1995). Semi-active Control of Friction Dampers, Proceedings of the 34th Conference on Decision and Control, New Orleans, Dec. 13-15, 1995, pp. 3331-3336.

P. Dupont and P. Kasturi (1995). Experimental Investigation of Friction Dynamics Associated with Normal Load, Symposium on Friction Damping and Friction-Induced Vibration, Proceedings of the ASME 15th Biennial Conference on Mechanical Vibration and Noise, Boston, September 1995, DE-Vol. 84-1, pp. 1109-1115.

P. Dupont and S. Yamajako (1994). Jamming and Wedging in Constrained Rigid-body Dynamics, Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994, pp. 2349-2354.

P. Dupont and E. Dunlap (1993). Friction Modeling and Control in Boundary Lubrication, Proceedings of the 1993 American Control Conference, San Francisco, CA, June 1993, pp. 1910-1914.

B. Armstrong-Helouvry and P. Dupont (1993). Friction Modeling for Control, in Proceedings of the 1993 American Control Conference, San Francisco, CA, June 1993, pp. 1905-1909.

P. Dupont and B. Armstrong-Helouvry (1993). Compensation Techniques for Servos with Friction, Proceedings of the 1993 American Control Conference, San Francisco, CA, June 1993, pp. 1915-1919.

P. Dupont (1992). The Effect of Coulomb Friction on the Existence and Uniqueness of the Forward Dynamics Problem, Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, France, May 1992, pp. 1442-1447.

P. Dupont (1992). The Use of Compliance to Resolve the Existence and Uniqueness of the Forward Dynamics Solution with Coulomb Friction, Proceedings of the CSME Forum 1992, Montreal, Canada, June 1992, pp. 537-542.

P. Dupont (1991). Avoiding Stick-Slip in Position and Force Control through Feedback, Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, April 1991, pp. 1470-1475.

P. Dupont (1990). Friction Modeling in Dynamic Robot Simulation, Proceedings of the 1990 IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, May 1990, pp. 1370-1376.

P. Dupont and S. Derby (1988). An Algorithm for CAD-Based Generation of Collision-Free Robot Paths, CAD Based Programming for Sensory Robots, NATO Advanced Research Workshop, Il Ciocco, Italy, July 4-6, 1988, NATO ASI Series, Vol. F50, Ed. B. Ravani, Springer-Verlag, Berlin, 1988, pp. 433-465.

P. Dupont and S. Derby (1988). A Two Phase Path Planning Algorithm for Robots with Six or More Joints, Trends and Developments in Mechanisms, Machines and Robotics - 1988, Volume 3, ASME 20th Biennial Mechanisms Conference, Kissimmee, Florida, September 25-28, 1988, pp. 415-428.

P. Dupont and S. Derby (1988). A Simple Heuristic Path Planner for Redundant Robots, Trends and Developments in Mechanisms, Machines and Robotics - 1988, Volume 3, ASME 20th Biennial Mechanisms Conference, Kissimmee, Florida, September 25-28, 1988, pp. 429-440.

S. Derby and P. Dupont (1987). Path Planning of Redundant Industrial Robots for Aerospace Assembly, Proceedings of the SME FASTEC '87 Conference, Atlanta, Georgia, October 27-29, 1987, pp. 317-330.

P. Dupont and S. Derby (1986). Planning Collision Free Paths for Redundant Robots Using a Selective Search of Configuration Space, Design Engineering Technical Conference, Columbus, Ohio, October 5-8, 1986, ASME Paper No. 86-DET-145.