http:^^www.cs.columbia.edu^~abrams^

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<title>Steven Abrams</title>
<h1>Steven Abrams</h1>

<!WA0><img src="http://www.cs.columbia.edu/~abrams/abrams.gif"><i>&[e-mail]&gt</i><p>


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Contact the <!WA3><a href="http://www.eff.org">Electronic Frontier
Foundation</a> for more information on their 
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"Free Speech Online Blue Ribbon
Campaign."</a><p>

Now... getting back to me and my research which is, presumably, the
reason you clicked your way over here in the first place.<p>

I'm currrently a sixth-year PhD student in Columbia University's
Department of Computer Science working under <!WA5><a
href="http://www.cs.columbia.edu/robotics/people/allen.html">Prof. Peter
Allen </a>.  My primary research interest is in the field of sensor
planning in an active robot work-cell.  (Click <!WA6><a
href="http://www.cs.columbia.edu/robotics/projects/plan.html">here</a>
to learn more about the project.)<p>

I do some work in computational geometry, (right now) mostly
concerned with the efficient computation of the volumes swept by
moving polyhedra.  This is part of the sensor planning work. 
<p>

Another research interst is the development of large-scale
distributed, object-oriented systems for, among other things, the
control of large, multi-sensor robot systems with multiple planning
components.  Other research interests include numerical optimization
techniques, high-level machine vision, and general 3-D geometric
modeling for machine vision.<p>

I also work for Stratasys at their new New York location.
They are a developer and manufacturer of rapid prototyping systems.
The <!WA7><A
HREF="http://saturn.arc.ab.ca/~mantech/MES-gen.html">Manufacturing &
Engineering Services</A> group of the <!WA8><A
HREF="http://saturn.arc.ab.ca/~mantech/MT-Dept.html">Manufacturing
Technologies Department</A> of the <!WA9><A
HREF="http://www.arc.ab.ca/ARC.html">Alberta Research Council</A>
has provided a very nice description of <!WA10><A
HREF="http://saturn.arc.ab.ca/~mantech/RP.html"> Rapid Prototyping</A>
if you are interested in learning more about it.  <p>

Outside of computer science... I'm a music lover. I  like to
listen to, perform, and compose all types of music from Gregorian
chants to modern ``new-age'' synthesized music, although my true
musical passions are jazz, funk, and fusion. I also love dogs.
So I just had to make sure that <!WA11><a href="http://www.cs.columbia.edu/~abrams/dogs.html">Brandy, my dog,
has his own home page.</a> <p>

Some interesting places to go...
<ul>
<li> <!WA12><a href="http://www.cs.columbia.edu/~abrams/dogs.html">Brandy,</a>my sheltie, has his own web page
with pictures and pointers to other neat dog-related internet sites.

<li> The <!WA13><a
href="http://www.cs.columbia.edu/robotics/top.html">Columbia Robotics
Lab</a> home page.

<li><!WA14><IMG SRC="http://www.cs.columbia.edu/Home_Page/bigapple-icon-t.gif">
<!WA15><A HREF="http://www.mediabridge.com/nyc/">New York City
Information Page</A> 

<li> The Carnegie-Melon <!WA16><a
href="http://www.cs.cmu.edu:8001/afs/cs/project/cil/ftp/html/vision.html">
Computer Vision Home Page (with icons - slow)</a>

<li> The Carnegie-Melon <!WA17><a
href="http://www.cs.cmu.edu:8001/afs/cs/project/cil/ftp/html/txtvision.html">
Computer Vision Home Page (without icons - faster)</a>

<li> The U-Mass <!WA18><a href="http://piglet.cs.umass.edu:4321/robotics.html">
Robotics Internet Resources Page</a>

</ul>

<hr>
<h1>Publications</h1>

<dt><!WA19><img src="http://www.cs.columbia.edu/~abrams/ball-green.gif"> Steven Abrams and Peter K. Allen.  <!WA20><a
href=http://www.cs.columbia.edu/robotics/publications/abrams-isatp95.ps.gz>
Swept Volumes and Their Use in Viewpoint Computation in Robot Work-Cells.</a>  To appear <em>Proceedings
IEEE International Symposium on Assembly and Task Planning</em>,
Pittsburgh, PA, August, 1995.

<dt><!WA21><img src="http://www.cs.columbia.edu/~abrams/ball-green.gif"> Steven Abrams and Peter K. Allen.  <!WA22><a
href=http://www.cs.columbia.edu/robotics/publications/abrams-iuw94.ps.gz>
Computing Swept Volumes for Sensor Planning Tasks.</a>  In  <em>Proceedings
Proceedings 1994 DARPA Image Understanding Workshop.</em>


<dt><!WA23><img src="http://www.cs.columbia.edu/~abrams/ball-green.gif">
Steven Abrams, Peter K. Allen, and Konstantinos A. Tarabanis.
Dynamic sensor planning.
In <em>International Conference on Intelligent Autonomous Systems</em>,
  Pittsburgh, PA, February 1993.

<dt><!WA24><img src="http://www.cs.columbia.edu/~abrams/ball-green.gif"> 
Steven Abrams, Peter K. Allen, and Konstantinos A. Tarabanis.  
<!WA25><a href=http://www.cs.columbia.edu/robotics/publications/abrams-ra93.ps.gz>
Dynamic sensor planning.  </a> In <em>Proceedings 1993 IEEE
International Conference on Robotics and Automation</em>, 
Atlanta, GA, May 1993.
Also in Proceedings DARPA 1993 Image Understanding Workshop.

<dt><!WA26><img src="http://www.cs.columbia.edu/~abrams/ball-green.gif">
Steven Abrams and Peter K. Allen.  Sensor planning in an active robotic work
cell.  In <em>Proceedings SPIE Intelligent Robotic Systems Conference on
  Sensor Fusion IV: Control Paradigms and Data Structures</em>, Boston, MA,
  November 1991.
Also in Proceedings DARPA 1992 Image Understanding Workshop.

<dt><!WA27><img src="http://www.cs.columbia.edu/~abrams/ball-green.gif">
S. R. Abrams, J. S. Batchelder, R. T. Farouki, J. U. Korein, J. D. Korein,
  V. Srinivasan, and K. Tarabanis.
A method for fabricatind mechanical parts and models by shelving.
U. S. Patent Application, IBM Docket Y0994-006, 1994.

<dt><!WA28><img src="http://www.cs.columbia.edu/~abrams/ball-green.gif">
S. R. Abrams, J. U. Korein, V. Srinivasan, and K. Tarabanis.
Method and apparatus employing sequential two-dimensional geometry
  for producing shells for fabrication by a rapid prototyping system.
U. S. Patent Application, IBM Docket Y0992-172, 1993.


<dt><!WA29><img src="http://www.cs.columbia.edu/~abrams/ball-green.gif">
Aleksandar Timcenko, Steven Abrams, and Peter K. Allen.
<!WA30><a href=http://www.cs.columbia.edu/robotics/publications/timcenko-ias93.ps.gz>
APHRODITE: Intelligent planning, control and sensing in a
  distributed robotic system.</a>
In <em>International Conference on Intelligent Autonomous Systems</em>,
  Pittsburgh, PA, February 1993.

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