Patents

  • M. Greenspan, “Method and Apparatus for Positional Error Correction in a Robotic Pool System Using a Cue-Aligned Local Camera”, United States Patent no. 7,831,337, Nov. 9, 2010.
  • M. Greenspan and N. Burtnyk, “Real Time Collision Detection”, Canadian Patent no. 2,120,534, May 4, 2004.
  • M. Greenspan, “Method for Recognizing 3D Objects in Range Images”, United States Patent no. 6,026,189, Feb. 15, 2000.
  • N. Burtnyk and M. Greenspan, “System for Determining the Pose of An Object Which Utilizes Range Profiles and Synthetic Profiles Derived from a Model”, United States Patent no. 5,471,541, Nov. 28, 1995.
  • M. Greenspan and N. Burtnyk, “Real Time Collision Detection”, United States Patent no. 5,347,459, Sept. 13, 1994.

Reports

  • M. T. Ahmed and M. Greenspan, “Laser Profiling for Real-Time Sugar Cane Joint Recognition: a technical report submitted to Transformix Engineering Inc. under the FedDev project ”, in preparation, April 2012.
  • M. Greenspan, “OSM Embedded CD System Architecture: a technical report submitted to MDRobotics Inc. under the OSM project”, Saikl Technologies Inc., 22 Feb. 2004, 17 pages
  • M. Greenspan, “OSM Embedded CD User’s and Test Guide: a technical report submitted to MDRobotics Inc. under the OSM project”, Saikl Technologies Inc., 22 Feb. 2004, 15 pages.
  • M. Greenspan (plus10 others), “Defense Sciences Advisory Board: Report of the Autonomous Intelligent Systems Study Group”, (classified), summer 2003.
  • M. Greenspan, “Comparison of Embedded Collision Detection Methods for the On-Orbit Safety Monitor: a technical report submitted to MDRobotics Inc. under the OSM project”, Saikl Technologies Inc., 2 Feb. 2003, 33 pages.
  • M. Greenspan, “Pose Determination of a Free-Flying Satellite from Sparse Range Data: a technical report submitted to MDRobotics Inc. under the ROSA project”, Saikl Technologies Inc., 8 May 2002.

Theses

  • M. Greenspan, “Geometric Probing for 3D Object Recognition in Dense Range Data”, Ph.D. Thesis, Carleton University , Ottawa , Canada , 1999.
  • M. Greenspan, “A Robotic Tactile Sensing System”, M.A.Sc. Thesis, University of Ottawa , Ottawa , Canada , 1991.