Publications

Peer-Reviewed Journals

  1. K.-M. Lee and S. Foong, “Lateral Optical Sensor With Slip Detection for Locating Live Products on Moving Conveyor,” in IEEE Transactions on Automation Science and Engineering, vol. 7, no. 1, pp. 123-132, Jan. 2010. doi: 10.1109/TASE.2009.2025505
  2. S. Foong, K.-M. Lee and K. Bai, “Harnessing Embedded Magnetic Fields for Angular Sensing With Nanodegree Accuracy,” in IEEE/ASME Transactions on Mechatronics, vol. 17, no. 4, pp. 687-696, Aug. 2012. doi: 10.1109/TMECH.2011.2119325
  3. S. Y. Huang, B.-I. Wu and S. Foong, “Surface-enhanced Raman scattering enhancement factor distribution for nanoparticles of arbitrary shapes using surface integral equation method”, Journal of Applied Physics, 113, 044304 (2013). doi: 10.1063/1.4789022.
  4. E. Arroyo, S. Foong and K. L. Wood, “Modeling and Experimental Characterization of a Fluttering Windbelt for Energy Harvesting,” Journal of Physics: Conference Series 557 (2014). doi: 10.1088/1742-6596/557/1/012089
  5. F. Y. Wu, S. Foong and Z. Sun, “A Hybrid Field Model for Enhanced Magnetic Localization and Position Control,” in IEEE/ASME Transactions on Mechatronics, vol. 20, no. 3, pp. 1278-1287, June 2015. doi: 10.1109/TMECH.2014.2341644
  6. R. Sahay, H. Y. Low, A. Baji, S. Foong and K. L. Wood, “A State-of-the-Art Review and Analysis on the Design of Dry Adhesion Materials for Applications such as Climbing Micro-robots”, RSC Advances, Issue 63, 2015. doi: 10.1039/C5RA06770G
  7. Z. Sun, S. Foong, L. Maréchal, U.-X. Tan, T. H. Teo, and A. Shabbir, “A Non-invasive Real-time Localization System for Enhanced Efficacy in Nasogastric Intubation,” Annals of Biomedical Engineering (2015) 43: 2941. doi:10.1007/s10439-015-1361-0
  8. H. Shen, K.-M. Lee, L. Hu, S. Foong and X. Fu, “Effects of reconstructed magnetic field from sparse noisy boundary measurements on localization of active neural source,” Medical & Biological Engineering & Computing (2016) 54: 177. doi:10.1007/s11517-015-1381-9
  9. L. Maréchal, S. Foong, S. Ding, K. L. Wood, V. Patil and R. Gupta, “Design Optimization of a Magnetic Field-Based Localization Device for Enhanced Ventriculostomy.” ASME Journal of Medical Devices, 2016, 10(1):011006-011006-9. doi:10.1115/1.4032614
  10. C. Telenko, K. L. Wood, K. Otto, M. R. Elara, S. Foong, K. L. Pey, U.-X. Tan, B. Camburn, D. Moreno and D. Frey, “Designettes: An Approach to Multidisciplinary Engineering Design Education,” ASME. Journal of Mechanical Design, 2015;138(2):022001-022001-11. doi:10.1115/1.4031638.
  11. N. Tan, R. E. Mohan, S. Foong, M. Yamakita, M. Iwase, S. Hatakeyama, N. Kamamichi, L. Song, Y. Wang and Q. Zhu, “IDC Robocon: A Transnational Teaming Competition for Project-Based Design Education in Undergraduate Robotics,” Robotics. 2016; 5(3):12, doi:10.3390/robotics5030012
  12. E. Wilhelm, S. Siby, Y. Zhou, X. J. S. Ashok, M. Jayasuriya, S. Foong; J. Kee, K. L. Wood, N. O. Tippenhauer, “Wearable Environmental Sensors and Infrastructure for Mobile Large-Scale Urban Deployment,” in IEEE Sensors Journal, vol. 16, no. 22, pp. 8111-8123, Nov.15, 2016. doi: 10.1109/JSEN.2016.2603158
  13. S. Foong and Z. Sun, “High Accuracy Passive Magnetic Field-Based Localization for Feedback Control Using Principal Component Analysis,” Sensors. 2016; 16(8):1280. doi:10.3390/s16081280
  14. H. H. Hariri, G. S. Soh, S. Foong and K. Wood, “Locomotion Study of a Standing Wave Driven Piezoelectric Miniature Robot for Bi-Directional Motion,” in IEEE Transactions on Robotics, vol. 33, no. 3, pp. 742-747, June 2017. doi: 10.1109/TRO.2017.2656902
  15. F. Wu, A. Vibhute, G. S. Soh, K. L. Wood and S. Foong, “A Compact Magnetic Field-Based Obstacle Detection and Avoidance System for Miniature Spherical Robots,” Sensors. 2017; 17(6):1231, doi:10.3390/s17061231
  16. G. Dharmawan, B. W. C. Sedore, S. Foong and G. S. Soh, “An Agile Robotic System Mounted on Scaffold Structures for On-Site Construction Work,” Construction Robotics. 2017 doi: 10.1007/s41693-017-0005-3/
  17. G. Koronis, A. Silva and S. Foong, “Predicting the flexural performance of woven flax reinforced epoxy composites using design of experiments, ” in Materials Today Communications, vol. 13, 2017, pp. 317-324.  doi: 10.1016/j.mtcomm.2017.10.019
  18. X. Chen, A. G. Dharmawan, S. Foong and G. S. Soh, “Seam Tracking of Large Pipe Structures for An Agile Robotic Welding System Mounted on Scaffold Structures”, Robotics and Computer-Integrated Manufacturing, vol. 50, pp. 242-255, April 2018.  doi: 10.1016/j.rcim.2017.09.018
  19. G. Dharmawan, H. H. Hariri, G. S. Soh, S. Foong and K. L. Wood, “Design, Analysis, and Characterization of a Two-Legged Miniature Robot with Piezoelectric-Driven Four-Bar Linkage,” Journal of Mechanisms and Robotics, 2018
  20. J. P. McIntire, F. C. Webber, D. K. Nguyen, Y. Li, S. Foong, K. L. Schafer, W. Y. Chue, K. Ang, E. T. Vinande and M. M. Miller, “LeapFrogging: A Technique for Accurate Long-Distance Ground Navigation and Positioning Without GPS,” NAVIGATION, Journal of the Institute of Navigation, 2018.
  21. Z. Sun, L. Maréchal and S. Foong, “Passive Magnetic-based Localization for Precise Untethered Medical Instrument Tracking,” Computer Methods and Programs in Biomedicine, (In Press)

Book Chapters

  1. Z. Sun, L. Maréchal and S. Foong, “Chapter 7: Passive Magnetic Localization in Medical Intervention,” Electromagnetic Actuation and Sensing in Medical Robotics, Series in Bioengineering, 2018 (Editors: H. Ren, & J. Sun, In Press)

Peer-Reviewed Conferences

  1. K.-M. Lee and S. Foong, “Lateral optical sensor with slip detection of natural objects on moving conveyor,” 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008, pp. 329-334. doi: 10.1109/ROBOT.2008.4543229
  2. K.-M. Lee, S. Foong and J. Jones, “Effects of overlapping detection on ellipsoidal object singulation with live broiler handling applications,” 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xian, 2008, pp. 758-763. doi: 10.1109/AIM.2008.4601755
  3. S. Foong and K.-M. Lee, “Magnetic field-based multi-DOF orientation sensor for PM-based spherical actuators,” 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Singapore, 2009, pp. 481-486. doi: 10.1109/AIM.2009.5229968
  4. S. Foong and K.-M. Lee, “Organized sensor network design for active feedback control,” 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Singapore, 2009, pp. 572-577. doi: 10.1109/AIM.2009.5229952
  5. D. Zhu, Q. Qi, Y. Wang, K.-M. Lee and S. Foong, “A prototype mobile sensor network for structural health monitoring,” Proceedings of  SPIE 7294, Nondestructive Characterization for Composite Materials, Aerospace Engineering, Civil Infrastructure, and Homeland Security 2009, 72941A. doi:10.1117/12.815863
  6. S. Foong, K.-M. Lee and K. Bai, “Magnetic field-based sensing method for spherical joint,” 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, 2010, pp. 5447-5452. doi: 10.1109/ROBOT.2010.5509790
  7. K. Bai, K.-M. Lee and S. Foong, “Direct field-feedback control for multi-DOF spherical actuators,” 2011 IEEE International Conference on Robotics and Automation, Shanghai, 2011, pp. 5825-5830. doi: 10.1109/ICRA.2011.5980399
  8. S. Foong, X. Chen and K.-M. Lee, “Optimized Distributed Field-Based Sensing for Control of Voice Coil Motor,” 2011 ASME Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2:145-151. doi:10.1115/DSCC2011-5999
  9. A. Ananthanarayanan, S. Foong and S. Kim, “A compact two DOF magneto-elastomeric force sensor for a running quadruped,” 2012 IEEE International Conference on Robotics and Automation, Saint Paul, MN, 2012, pp. 1398-1403. doi: 10.1109/ICRA.2012.6225201
  10. F. Wu, N. M. Robert, D. D. Frey and S. Foong, “Enhanced magnetic localization with artificial neural network field models,” 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, 2013, pp. 1560-1565. doi: 10.1109/ICRA.2013.6630778
  11. F. Wu, D. D. Frey and S. Foong, “A hybrid magnetic field model for axisymmetric magnets,” 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Wollongong, NSW, 2013, pp. 786-791. doi: 10.1109/AIM.2013.6584189
  12. S. Y. Huang and S. Foong, “MRI-based noninvasive electrical property retrievals,” 2013 6th IEEE/International Conference on Advanced Infocomm Technology (ICAIT), Hsinchu, 2013, pp. 244-244. doi: 10.1109/ICAIT.2013.6621573
  13. Y. M. Srinivasa, S. Foong, D. Madhavan, U.-X. Tan; L. Hu; X. Fu; Y. L. Lo, “Non-contact parametric estimation and localization of human head for transcranial magnetic stimulation (TMS),” 2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM), Manila, 2013, pp. 241-246. doi: 10.1109/RAM.2013.6758591D
  14. Z. Sun, S. Foong, L. Maréchal, T. H. Teo, U.-X. Tan and A. Shabbir, “Design and analysis of a compliant non-invasive real-time localization system for nasogastric intubation,” 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Besacon, 2014, pp. 1091-1096. doi: 10.1109/AIM.2014.6878226
  15. E. H. Aoki, S. Foong, D. Madhavan and Y. L. Lo, “A Bayesian framework for calibration and real-time localization of magnetometers using a controllable passive permanent magnet,” 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Besacon, 2014, pp. 346-353. doi: 10.1109/AIM.2014.6878103
  16. A. G. Dharmawan, A. A. Vibhute, S. Foong, G. S. Soh and K. Otto, “A survey of platform designs for portable robotic welding in large scale structures,” 2014 13th International Conference on Control Automation Robotics & Vision (ICARCV), Singapore, 2014, pp. 1683-1688. doi: 10.1109/ICARCV.2014.7064569
  17. X. Niu, A. P. Suherlan, G. S. Soh, S. Foong, K. Wood and K. Otto, “Mechanical development and control of a miniature nonholonomic spherical rolling robot,” 2014 13th International Conference on Control Automation Robotics & Vision (ICARCV), Singapore, 2014, pp. 1923-1928. doi: 10.1109/ICARCV.2014.7064610
  18. B. Petry, S. Ortega-Avila, S. Nanayakkara and S. Foong, “Birdie: Towards a true flying experience”. In “Workshop on Assistive Augmentation”, Extended Abstracts of the 32nd Annual SIGCHI Conference on Human Factors in Computing Systems (CHI14), Toronto, Canada
  19. Z. Cheng, S. Foong, D. Sun and U. X. Tan, “Algorithm for design of compliant mechanisms for torsional applications,” 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Besacon, 2014, pp. 628-633. doi: 10.1109/AIM.2014.6878149
  20. E. H. Aoki, S. Foong, D. Madhavan and Y. L. Lo, “A robust stochastic magnetic field model for sensor network mapping,” 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems (SCIS) and 15th International Symposium on Advanced Intelligent Systems (ISIS), Kitakyushu, 2014, pp. 512-517. doi: 10.1109/SCIS-ISIS.2014.7044786 – [BEST APPLICATION PAPER AWARD]
  21. L. Maréchal; S. Foong; S. Ding; D. Madhavan; K. L. Wood; R. Gupta; V. Patil; C. J. Walsh, “Optimal spatial design of non-invasive magnetic field-based localization systems,” 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014, pp. 3510-3516. doi: 10.1109/ICRA.2014.6907365
  22. E. Arroyo, S. Foong, L. Maréchal and K. L. Wood, “Experimental Study of an Omni-Directional Wind Fluttering Energy Harvester,” 2014 ASME Dynamic Systems and Control Conference, V003T53A002. doi:10.1115/DSCC2014-5916.
  23. X. Chen, G. S. Soh, S. Foong and K. Otto, “Pose estimation of robotic end-effectors under low speed motion using EKF with inertial and SE(3) measurements,” 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Busan, 2015, pp. 1585-1590. doi: 10.1109/AIM.2015.7222769
  24. Z. Sun, S. Foong, L. Maréchal, T. H. Teo, U. X. Tan and A. Shabbir, “Using heterogeneous sensory measurements in a compliant magnetic localization system for medical intervention,” 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Busan, 2015, pp. 133-138. doi: 10.1109/AIM.2015.7222521
  25. Z. Cheng, S. Foong, D. Sun and U. X. Tan, “Towards a multi-DOF passive balancing mechanism for upper limbs,” 2015 IEEE International Conference on Rehabilitation Robotics (ICORR), Singapore, 2015, pp. 508-513. doi: 10.1109/ICORR.2015.7281250
  26. J. P. F. Cortés, T. H. Ching, C. Wu, C. Y. Chionh, S. Nanayakkara and S. Foong, “BWard: An optical approach for reliable in-situ early blood leakage detection at catheter extraction points,” 2015 IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), Siem Reap, 2015, pp. 232-237. doi: 10.1109/ICCIS.2015.7274626
  27. L. Maréchal, S. Foong, Z. Sun and K. L. Wood, “Design optimization of the sensor spatial arrangement in a direct magnetic field-based localization system for medical applications,” 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Milan, 2015, pp. 897-900. doi: 10.1109/EMBC.2015.7318507
  28. A. Dharmawan, B. Sedore, G. S. Soh, S. Foong and K. Otto, “Robot Base Placement and Kinematic Evaluation of 6R Serial Manipulators to Achieve Collision-Free Welding of Large Intersecting Cylindrical Pipes,” 2015 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Volume 5C: 39th Mechanisms and Robotics Conference:V05CT08A010. doi:10.1115/DETC2015-47038.
  29. V. A. Ajay, A. P. Suherlan, G. S. Soh, S. Foong, K. L. Wood and K. Otto,  “Localization and Trajectory Tracking of an Autonomous Spherical Rolling Robot Using IMU and Odometry,” 2015 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Volume 5A: 39th Mechanisms and Robotics Conference:V05AT08A058. doi:10.1115/DETC2015-47223
  30. B. W. C. Sedore, A. G. Dharmawan, G. S. Soh, S. Foong and K. Otto, “Pose Accuracy of a Mobile Robotic System Mounted on Scaffold Structures”, 14th IFToMM World Congress in Mechanism and Machine Science, Taipei, Taiwan, 2015. doi: 10.6567/IFToMM.14TH.WC.OS13.054
  31. K. F. Yong, J. P. Forero, S. Foong, and S. Nanayakkara, “FootNote: designing a cost effective plantar pressure monitoring system for diabetic foot ulcer prevention,” In Proceedings of the 6th Augmented Human International Conference (AH 2015). ACM, New York, NY, USA, 167-168. doi:10.1145/2735711.2735819
  32. H. H. Hariri, L. A. Prasetya, S. Foong, G. S. Soh, K. N. Otto and K. L. Wood, “A tether-less Legged Piezoelectric Miniature Robot using bounding gait locomotion for bidirectional motion,” 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, pp. 4743-4749. doi: 10.1109/ICRA.2016.7487676
  33. Z. Sun, K. C. T. Soh, S. Udomsawaengsup, A. Shabbir and S. Foong, “Modular design of a real-time passive magnetic localization system for enhanced safety in nasogastric intubation,” 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore, 2016, pp. 329-334. doi: 10.1109/BIOROB.2016.7523647
  34. J. E. Low, Y. H. Pheh and S. Foong, “Analysis of wing twist effects on hover flight dynamics of a single rotor aerial craft,” 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Banff, AB, 2016, pp. 323-328. doi: 10.1109/AIM.2016.7576787
  35. F. Wu, L. Maréchal, A. Vibhute, S. Foong, G. S. Soh and K. L. Wood, “A compact magnetic directional proximity sensor for spherical robots,” 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Banff, AB, 2016, pp. 1258-1264. doi: 10.1109/AIM.2016.7576943
  36. Z. Sun, S. Foong, L. Maréchal, T. H. Teo, U. X. Tan and A. Shabbir, “Real-time sensor fault detection and compensation in a passive magnetic field-based localization system,” 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Banff, AB, 2016, pp. 1040-1046. doi: 10.1109/AIM.2016.7576907
  37. M. P. Samy, S. Foong, G. S. Soh and K. S. Yeo, “Automatic optical & laser-based defect detection and classification in brick masonry walls,” 2016 IEEE Region 10 Conference (TENCON), Singapore, 2016, pp. 3521-3524. doi: 10.1109/TENCON.2016.7848711
  38. Y. Hu, A. Vibhute, S. Foong and G. S. Soh, “Autonomous docking of miniature spherical robots with an external 2D laser rangefinder,” 2016 IEEE Region 10 Conference (TENCON), Singapore, 2016, pp. 3525-3529. doi: 10.1109/TENCON.2016.7848712
  39. F. C. Webber, K. H. Schafer, E. T. Vinande, J. P. McIntire, D. D. Jensen, S. Foong, W. Y. Chue, Y. Li, K. Ang, R. H. Crawford and G. H. Wong, “Singapore-U.S. Tactical All-Inclusive Navigation (SUSTAIN) collaborative innovation,” 2016 ASEE International Forum, New Orleans, Louisiana. https://peer.asee.org/27256
  40. A. Dharmawan, S. Foong and G. S. Soh. “Simultaneous Optimal Robot Base Placement and Motion Planning Using Expanded Lagrangian Homotopy,” 2016 ASME Dynamic Systems and Control Conference. doi: 10.1115/DSCC2016-9882
  41. D. S. Elvitigala, R. Peiris, E. Wilhelm, S. Foong, and S. Nanayakkara, “GrabAmps: grab a wire to sense the current flow,” In Proceedings of the 8th Augmented Human International Conference (AH 2017), ACM, New York, NY, USA, Article 30, 4 pages, doi: 10.1145/3041164.3041199
  42. J. P. McIntire, F. C. Webber, D. K. Nguyen, Y. Li, S. Foong, K. L. Schafer, W. Y. Chue, K. Ang, E. T. Vinande and M. M. Miller, “LeapFrogging: A Technique for Accurate Long-Distance Ground Navigation and Positioning Without GPS”, ION Pacific PNT 2017, Honolulu, Hawaii.
  43. A. G. Dharmawan, H. H. Hariri, S. Foong, G. S. Soh, K. L. Wood, “Steerable Miniature Legged Robot Driven by a Single Piezoelectric Bending Unimorph Actuator”, 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017, pp. 6008-6013. doi: 10.1109/ICRA.2017.7989710
  44. A. R. Chowdhury, A. Vibhute, G. S. Soh, S. Foong, K. L. Wood, “Implementing Caterpillar Inspired Roll Control of a Spherical Robot”, 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017, pp. 4167-4174. doi: 10.1109/ICRA.2017.7989479
  45. J. E. Low, L. S. T. Win, C. H. Tan, D. S. B. Shaiful, G. S. Soh, S. Foong, “Design and Dynamic Analysis of a Transformable HOvering Rotorcraft (THOR)”, 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017, pp. 6389-6396. doi: 10.1109/ICRA.2017.7989755
  46. T. Lembono, J. E. Low, L. S. T. Win, S. Foong, U-X. Tan, “Orientation Filter and Angular Rates Estimation in Monocopter Using Accelerometers and Magnetometer with Extended Kalman Filter”, 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017, pp. 4537-4543. doi: 10.1109/ICRA.2017.7989527
  47. S. K. H. Win, C. H. Tan, D. S. B. Shaiful, J. E. Low, G. S. Soh and S. Foong, “The Effects of Chordwise Wing Optimization of Single-Winged Samara in Autorotation,” 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Munich, 2017, pp. 815-820. doi: 10.1109/AIM.2017.8014118
  48. S. Satria, S. Foong, G. S. Soh and K. L. Wood, “Robust Variable Phase Shaper for Vibration Suppression of Start-Stop Motion of a Spherical Rolling Robot,” 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Munich, 2017, pp. 1675-1681. doi: 10.1109/AIM.2017.8014259
  49. A. R. Chowdhury, G. S. Soh, S. Foong, K. L. Wood, “Experiments in Second Order Sliding Mode Control of a CPG based Spherical Robot”, 20th IFAC World Congress, vol. 50, no. 1, 2017, pp. 2365-2372. https://doi.org/10.1016/j.ifacol.2017.08.426.
  50. S. Foong, K. Subburaj and K. L. Wood, “An Inductive, Design-Centric Approach to Control Engineering Education with a Competitive Atmosphere,” 2017 ASME Dynamic Systems and Control Conference, Tysons, VA. doi: 10.1115/DSCC2017-5157
  51. C. H. Tan, J. T. H. Goh, W. J. Ang, J. L. Lee, E. S. Lin, G. S. Soh and S. Foong, “Design and Development of Micro-Aerial Vehicle for Tree Inspections,” 2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), Ningbo, 2017.