Christopher N. Roman. Contact. Research interests. Education. Research experience. Work WHOI MS #7 Woods Hole, MA (508)

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1 Christopher N. Roman Contact Work WHOI MS #7 (508) Research interests Education My research interests focus on developing sensing systems and methods for acoustic and photographic seafloor mapping. This work involves underwater vehicle mechanical and control system design, navigation data processing, acoustic instrumentation and signal processing, image processing and mapping algorithm development Ph.D. Ocean Engineering Massachusetts Institute of Technology & Woods Hole Oceanographic Institution MIT department of Ocean Engineering & WHOI department of Applied Ocean Physics and Engineering Dissertation: Self Consistent Bathymetric Mapping from Robotic Vehicles in the Deep Ocean Supervisor: Dr. Hanumant Singh M.S. Mechanical Engineering University of California San Diego Department of Applied Mechanics and Engineering Sciences Thesis: Modeling and Control of a Three Stick Tensegrity Structure Supervisor: Dr. Robert Skelton B.S. Mechanical Engineering Virginia Polytechnic Institute and State University Department of Mechanical Engineering Research experience Developed sonar processing and mapping tools for single beam and multibeam sonars. This software is currently used to process data collected with the JASON Remotely Operated Vehicle (ROV) and the SeaBED Autonomous Underwater Vehicle (AUV) Designed the mechanical and control systems for the SeaBED AUV Completed the design and control of a pneumatically actuated three stick tensegrity structure. Computer control implemented with the Matlab & dspace data acquisition environment Designed and implemented a visual navigation system as the computer vision team leader for the Virginia Tech Autonomous Vehicle Team. 1 of 5

2 Journal papers 2006 R. A. Armstronga, H. Singh, J. Torres, R. S. Nemethc, A. Can, C. Roman, R. Eustice, L. Riggs, G. Garcia-Moliner, Characterizing the deep insular shelf coral reef habitat of the Hind Bank marine conservation district (US Virgin Islands) using the Seabed autonomous underwater vehicle, Continental Shelf Research 26 (2006) Singh, H., Armstrong, R., Gilbes, F., Eustice, R., Roman, C., Pizarro, O. and Torres, J., Imaging Coral I: Imaging Coral Habitats with The SeaBED AUV, The Journal for Subsurface Sensing Technologies and Applications, pp , vol 5, no 1, January, Roman, C. and Reinholtz, C., Robust Course-Boundary Extraction Algorithms for Autonomous Vehicles IEEE Intelligent Systems & Their Applications, Nov 1998, pp32-39 Conference papers 2006 Roman, C. and Singh, H. Consistency Based Error Evaluation for Deep Sea Bathymetric Mapping with Robotic Vehicles IEEE International Conference on Robotics and Automation, May 2006, Orlando Singh, H., Roman, C., Pizarro, O., and Eustice, R. Advances in High Resolution Imaging from Underwater Vehicles 12th International Symposium of Robotics Research, San Francisco, Roman, C. and Singh, H., Improved vehicle based multibeam bathymetry using sub-mapping and SLAM IEEE Intelligent Robotics and Systems (IROS), Roman, C. and Singh, H., Micro-bathymetric mapping using acoustic range images IEEE OCEANS November H. Singh, A. Can, R. Eustice, S. Lerner, N. McPhee, O. Pizarro, and C. Roman, SeaBED AUV offers new platform for high-resolution imaging, EOS, Transactions of the AGU, vol 85, no 31, pp 289, , August H. Singh, R. Eustice, C. Roman, and O. Pizarro, The SeaBED AUV A Platform for High Resolution Imaging. In Proceedings of Unmanned Underwater Vehicle Showcase, Southampton Oceanography Centre, UK, September Roman, C. and Singh, H., Estimation of error in large area underwater photomosaics using vehicle navigation data. OCEANS, 2001 MTS/IEEE Vol 3 Pages Roman, C., Pizarro, O., Eustice, R. and Singh, H., A New Autonomous Underwater Vehicle for Imaging Research, OCEANS 2000 IEEE, vol 1, pp Singh, H., Roman, C., Whitcomb, L. L. and Yoerger, D. R., Advances in Fusion of High Resolution Underwater Optical and Acoustic Data Proceedings, 2000 Int. Symposium on Underwater Technology, Tokyo Japan, pp of 5

3 Posters 2005 C. Roman, R, Reves-Sohn. H. Singh, S. Humphris, Self Consistent Bathymetric Mapping Using Sub-maps: Survey Results From the TAG Hydrothermal Structure AGU 2005, San Francisco V. Ferrini, D. Fornari, T. Shank, D. Kelly, M, Tivey, S. Carbotte, D. Glickson C. Roman, A. Sterling, High-Resolution sonar surveying at the Ridge2000 Integrated Study Sites: techniques and strategies for improved microbathymetric mapping Ridge2000 Workshop, C. Roman, Underwater Terrain Reconstruction Using Sonar Data Taken from Multiple Vantage Points SLAM (Simultaneous Mapping and Localization) summer school Toulouse France, 2002 C. Roman, H. Singh, Multiscalar, multisensor search and survey with hovering AUVs, 2nd MIT Conference on Technology, Archeology and the Deep Sea, MIT, April, Invited Presentation R. Eustice, O. Pizarro, C. Roman, and H. Singh. UWIT: Underwater Image Toolbox and Mosaicking in Matlab. CenSSIS Research and Industrial Collaboration Conference, Boston, MA, December H. Singh, R. Eustice, C. Roman, O. Pizarro, and N. McPhee. A Short Summary of SeaBED and Some Data Highlights. CenSSIS Research and Industrial Collaboration Conference, Boston, MA, December Teaching and outreach Woods Hole Science and Technology Education Partnership (WHSTEP) science fair project advisor Mentor for the 2002 Intel Science Talent Search. Advised an individual high school student project on underwater computer vision High-Resolution Imaging with Underwater Vehicles, Massachusetts Marine Educators November 2002 Teachers Workshop Error estimation in photomosaics created from underwater vehicles, Dept. of Mechanical Engineering, University of Utah Science buddy, Cummings Middle School, Somerville MA Underwater robots are cool, Massachusetts Marine Educators, Inc. The High School Marine Science Symposium. UMASS/Dartmouth Underwater robotics and imaging Sea Education Association, Guest lecture marine science class Guest lectures and lab teaching assistant, UCSD MAE 143B undergraduate linear controls laboratory. Cruises and fieldwork 2005 North West Pacific Marine Fisheries photographic fish surveys, R/V Thomas Thomp- 3 of 5

4 son & Seabed AUV, Liz Clark chief scientist Lost City hydrothermal vent site, acoustic and photographic mapping. NOAA Ship Ronald H. Brown & HERCULES ROV, Dr. Robert Ballard & Dr. Deborah Kelly chief scientists Mapping ancient ship wrecks off of Chios, Greece, R/V Aegeo & Seabed AUV, Dr. Brendan Foley chief scientist SM2000 sonar mapping the TAG hydrothermal mount at the Mid-Atlantic ridge, R/V Knorr & JASON ROV, Dr. R. Sohn chief scientist Deep Water Archeology at Skerki Bank off Sicily, R/V Knorr & HERCULES ROV, Dr. R. Ballard chief scientist Seabed AUV mapping of the shipwreck USS Monitor, R/V Cape Fear, Dr. H. Singh chief scientist Seabed AUV deep water coral mapping off the US Virgin Islands, R/V Chapman, Dr. H. Singh chief scientist Deep water coral survey off Puerto Rico, Seabed AUV, R/V Sultana, Dr. H. Singh chief scientist SITE99 Experiment conducted out of the Monterey Bay Aquarium and Research Institute demonstrating docking with the Odyssey AUV, R/V Shana Rae, Dr. J. Bellingham chief scientist. Other publications 2004 How a mirage is formed SAIL Magazine, Sept Wind shear SAIL Magazine, July What makes the trades? SAIL Magazine, May Wind gusts SAIL Magazine, June Waves and current SAIL Magazine, April The mysterious marine layer, SAIL Magazine, February 2003 Graduate course work areas Controls: Linear, non-linear and adaptive Signal processing and stochastic processes Computer vision Marine hydrodynamics and vehicle control Optimization References Hanumant Singh (Graduate advisor) Associate Scientist, Applied Ocean Physics & Engineering 4 of 5

5 Blake 211 Woods Hole Oceanographic Institution, MS #7 (508) Dana Yoerger (Committee member) Associate Scientist, Applied Ocean Physics & Engineering Blake 221 Woods Hole Oceanographic Institution, MS #7 (508) John Leonard (Committee member) Associate Professor, MIT Dept. of Mechanical Engineering & MIT Computer Science and Artificial Intelligence Laboratory 77 Mass Ave., Room Cambridge, Massachusetts (617) Robert A. Reves-Sohn (Collaborating scientist) Associate Scientist, Geology and Geophysics Clark S 283 Woods Hole Oceanographic Institution, MS #24 (508) rsohn@whoi.edu February 10, of 5