The University of British Columbia
  Selected Publications  

Journal Papers

  • C. Hennessey and Peter D. Lawrence, “Improving the Accuracy and Reliability of Remote System-Calibration-Free Eye-Gaze Tracking” IEEE Tr. On Biomedical Engineering, v. 56, no. 7, pp. 1891-1900, July, 2009.
  • C. Hennessey and P. Lawrence “Non-Contact Binocular Eye-Gaze Tracking for Point-of-Gaze Estimation in Three Dimensions”, IEEE Tr. on Biomedical Engineering, v. 56, No. 3, pp. 790-799, Mar. 2009.
  • Craig Hennessey, Borna Noureddin, and Peter Lawrence, “Fixation Precision in High-Speed Noncontact Eye-Gaze Tracking”, IEEE Tr. Systems, Man, and Cybernetics, Part. B, v. 38, no. 2, pp. 289-298, April, 2008.
  • Farhad Ghassemi, Shahram Tafazoli, Peter D. Lawrence, Keyvan Hashtrudi-Zaad, “Design and Calibration of an Integration-Free Accelerometer-Based Joint Angle Sensor”, IEEE Tr. on Instrumentation and Measurement, v. 57, no. 1, pp. 150-159, Jan. 2008.
  • A. Bashashati, B. Noureddin, R.K. Ward, P.D. Lawrence and G.E. Birch, "Effect of eye-blinks on a self-paced brain interface design", Clinical Neurophysiology, v. 118, no. 7, pp. 1639-1647 July, 2007.
  • A. Bashashati, B. Noureddin, R.K. Ward, P.D. Lawrence, G.E. Birch, “An experimental study to investigate the effects of a motion tracking electromagnetic sensor during EEG data acquisition”, IEEE Tr. On Biomedical Engineering, v. 53, no. 3, pp. 559-563, Mar. 2006.
  • P. Saeedi, P. D. Lawrence, and D. G. Lowe, "Vision-Based 3D Trajectory Tracking for Unknown Environments", IEEE Tr. on Robotics and Automation, v. 22, no. 1, pp. 119-136, Feb. 2006.
  • B. Noureddin, P.D. Lawrence, and C.F. Man, "A Non-Contact Device For Tracking Gaze in a Human Computer Interface", Special Issue on Eye Detection and Tracking, Computer Vision and Image Understanding, v. 98, no. 1, pp. 52-82, Apr. 2005.
  • P. Saeedi, P. D. Lawrence, D. G. Lowe, P. Jacobsen, D. Kusalovic, and K. Ardron, "An Autonomous Excavator with Vision-Based Track Slippage Control", IEEE Trans. on Control Systems Technology, v. 13, no. 1, pp. 67-84, Jan. 2005.
  • A. Saravi, P.D. Lawrence, and F. Lam, "Implementation of a Mechanics-Based System for Estimating the Strength of Timber", IEEE Transactions on Instrumentation and Measurement, v. 53, no. 2, pp. 284-292, April, 2004.
  • S. Tafazoli, S.E. Salcudean, K. Hashtrudi-Zaad, P.D. Lawrence, “ Impedance Control of a Teleoperated Excavator”, IEEE Trans. on Control Systems Technology, v. 10, no. 3, pp. 355-367, May, 2002.
  • S. Tafazoli, P. D. Lawrence, and S. E. Salcudean, "Identification of Inertial and Friction Parameters for Excavator Arms," IEEE Tr. on Robotics and Automation, v. 6, no. 5, pp. 966-971, 1999.
  • M. Khoshzaban, F. Sassani, and P. D. Lawrence, "Nonlinear Dynamic Modelling and Validation of a Two-Stage Spool-Operated Servovalve,“ IEEE/ASME Transactions on Mechatronics, v.4 no. 3, pp. 324-334, Sep., 1999.

Conference Papers

  • James R. Borthwick, Peter D. Lawrence and Robert H. Hall, “Mining Haul Truck Localization Using Stereo Vision”, 14th IASTED Int. Conf. on Robotics and Applications (RA 2009), pp. 8 pages, Nov. 2-4, 2009.
  • Nicholas P. Himmelman, James R. Borthwick, Ali H. Kashani, LI-Heng Lin, Alan Poon, Robert A. Hall, Peter D. Lawrence, Septimu E. Salcudean, William S. Owen,  “Rope Shovel Collision Avoidance System”, Proc APCOM 2009 Conference, pp. 8 pages, Vancouver, Oct. 6-9, 2009.
  • Andrew U Rutgers, Peter Lawrence and Robert A Hall, “ Creating a Natural-Illumination Invariant Image of a Moving Scene”, Proc. Int. WorkShop on Imaging Systems, and Techniques (IST-2009), pp. 5 pages, Shenzhen, China, May11-12, 2009
  • Borna Noureddin, Peter D. Lawrence, Gary E. Birch, “Effects of task and EEG-based reference signal on performance of on-line ocular artifact removal from real EEG”, Proc. 4th Int IEEE EMBS Conf. on Neural Engineering, pp. 614-617, Antalya, Turkey, Apr. 29 - May 2, 2009.
  • S. Khosravi, R. Rohling, P.D. Lawrence. “Needle guidance using ultrasound and camera images,” IEEE International Ultrasonics Symposium, pp. 2251-2254,  New York, NY. Oct. 2007.
  • N. Ziraknejad, S. Tafazoli, P. Lawrence, “Autonomous Stereo Camera Parameter Estimation for Outdoor Visual Servoing,” IEEE MLSP07, pp. 157-162, Thessaloniki, Aug. 27-29, 2007.
  • A. H. Kashani, W. S., Owen, P. D. Lawrence, R.A.Hall, “Real-Time Robot Joint Variable Extraction from a Laser Scanner,” IEEE ICAL 2007, pp. 2994- 2999, Jinan, China, Aug. 18-21, 2007.
  • S. Khosravi, R. Rohling, P.D. Lawrence. “One-step needle pose estimation in ultrasound guided biopsies,” 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 3343-3346, Lyon, France. Aug. 2007.
  • B. Noureddin, P.D. Lawrence, G.E. Birch, “Time-frequency Analysis of Eye Blinks and Saccades in EOG for EEG Artifact Removal”, 3rd IEEE EMBS Conference on Neural Engineering, pp. 564-567, May 2007.
  • Wen,Xu, Salcudean,S.E., Morris,J., Ultrasound-only dosimetry for prostate brachytherapy: preliminary phantom results, v. 6513, n. 1,  2007.
  • C. Hennessey, B. Noureddin, and P. Lawrence, “A Single Camera Eye-Gaze Tracking System with Free Head Motion”, Eye Tracking Research and Applications (ETRA-2006), pp.87-94,  ACM Press, Mar. 2006.
  • Albert Saravi, Peter D. Lawrence, Frank Lam, "Real-time intelligent system for estimating the strength of lumber using x-ray images", 4th IASTED International Conference on Visualization, Imaging, and Image Processing, VIIP 2004, Marbella, Spain, pp. 31-36, Sept., 2004.
  • Giselle Flaccavento, Peter Lawrence, and Robert Rohling, "Patient and Probe Tracking during Freehand Ultrasound", MICCAI 2004, (in: Lecture Notes in Computer Science, v. 3217/2004) Saint Malo, France, v. II, pp.585-593, Sept, 2004.
  • Jorge Angeles, Ron Britton, Liuchen Chang, François Charron, Peter Gregson, Peihua Gu, Peter Lawrence, Warren Stiver, David Strong, Paul Stuart, Brian Thompson, "The Engineering Design Competency", CDEN/RCCI Inaugural Conference, Montreal, pp. 10 pages, July,2004.
  • P. Saeedi, P. Jacobsen, K. Ardron, P. D. Lawrence, D. G. Lowe, "Path tracking control for tracked based machines using sensor fusion", 9th Biennial ASCE Aerospace Division International Conference on Engineering, Construction and Operations in Challenging Environments - Earth and Space 2004, in: Engineering, Construction and Operations in Challenging Environments, R.B. Malla and A. Maji, eds, Houston, Texas, USA, pp. 145-152, March 2004.
  • P. Saeedi,  P. D. Lawrence, D. G. Lowe and P. Jacobsen, ”Multi-Sensor Track Controls for Excavator Based Machines”, ISSS-CCCT03 International Conference on Computer,Communication and Control Technologies,  Orlando, Florida, pp. 8 pgs July 2003.
  • A. A., Saravi, P.D. Lawrence and F. Lam, "Identifying the Strength of Boards Using Mechanical Modeling and a Weibull-Based Feature", IEEE CSS Conference on Control Applications (CCA2003), Istanbul, v. 1, pp. 54-59, June, 2003.
  • P. Saeedi, D.G. Lowe and P.D. Lawrence "3D Localization and Tracking in Unknown Environments", IEEE Conf. on Robotics and Automation, Taipei, pp. 1297-1303, Sept.,2003.
  • P. Saeedi, P. Lawrence and D. Lowe, “An Efficient Binary Corner Detector”, Int. Conf. on Control, Automation, Robotics, and Vision, Singapore, pp. 338-343, Dec. 2002.
  • A. A. Saravi, P.D. Lawrence and F. Lam, "Implementation of a Mechanics-Based System for Estimating the Strength of Lumber", 13th Int. Symp. On Non-Destructive Testing of Wood, UCB Berkeley, CA, in Forest Products Society Publ. # 7246, pp. 131-136, August, 2002.
  • F. Ghassemi, S. Tafazoli and P.D. Lawrence, “An Accelerometer-Based Joint Angle Sensor for Heavy-Duty Manipulators”, Proc. IEEE Int. Conf. on Robotics and Automation (ICRA’02), pp. 1771-1776, May, 2002.
  • A. A. Saravi, P.D. Lawrence and F. Lam, "Implementation of a Mechanics-Based System for Estimating the Strength of Lumber", Proc. 19th IEEE Instrumentation and Measurement Technology Conference, IMTC/2002, v. 2, pp. 1179-1182, Anchorage. AK, May 2002.
  • Masoud K. Zavarehi, Farrokh Sassani, and Peter D. Lawrence "Condition monitoring of a hydraulic valve through on- line estimation of the valve orifice area profile", presented at SAE International Off-Highway and Powerplant Congress and Exposition, Milwaukee, WI, in SAE Technical Papers v. SP-1554, Paper 2000-01-2594, pp. 10 pages, Sept.2000.
  • P. Saeedi, P. Lawrence and D. Lowe, “3D Motion Tracking of a Mobile Robot in a Natural Environment,” IEEE Conf. on Robotics and Automation, San Francisco, CA, pp. 1682-1687, 2000.
  • Andrew Watkins, Gregory W. Bond, Peter Lawrence, “tcc for Real-Time Control”, Int. Workshop for Constraints in Control (CC99) in Fifth Int. Conf. on Principles and Practice of Constraint Programming (CP99), Alexandria, Virginia, Oct. 12-16, pp. 9 pgs., 1999.
  • T. Salcudean, W. Zhu, P. Abolmaesumi, S. Bachmann, and P. Lawrence, “A robot system for medical ultrasound”, 9th International Symposium on Robotics Research (ISRR99), Snowbird, Utah, Oct. 9-12, 1999.


  • Lawrence, Peter D., Mauch, Konrad, "Real-time microcomputer system design: an introduction,", McGraw-Hill, New York, 1987. Translated into Japanese, 1989.

2010 © The University of British Columbia, all rights reserved. | Legal / Privacy
Website Design and Development by: Nasim Jahangiri