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Lionel BirglenDepartment of Mechanical Engineering
Profile in the Directory of Experts of Polytechnique Montréal
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Arslan, M., & Birglen, L. (2023, June). Design, control, and experiments of a low-cost open-source planar cable-driven parallel robot [Paper]. CCToMM Mechanisms, Machines and Mechatronics (M3) Symposium, Québec, Canada (15 pages). External link
Birglen, L. (2024). Robot Hands. In Ang, M. H., Khatib, O., & Siciliano, B. (eds.), Encyclopedia of Robotics (pp. 1-17). External link
Bastien, J., & Birglen, L. (2023). Variable stiffness soft robotic fingers using snap-fit kinematic reconfiguration. IEEE Transactions on Robotics, 39(6), 14 pages. External link
Bastien, J., & Birglen, L. (2023). Power Efficient Design a Compliant Robotic Leg Based on Klann's Linkage. IEEE/ASME Transactions on Mechatronics, 28(2), 814-824. External link
Birglen, L., & Hély, C. (2023, November). Kinematic Analysis of a Biocompatible Lower Limb Model [Paper]. 16th International Federation of Theory of Machines and Mechanisms World Congress (IFToMM WC 2023), Tokyo, Japan. External link
Birglen, L. (2021). Mécatronique : cours avec exercices corrigés. (3rd ed.). External link
Birglen, L. (2019). Design of a partially-coupled self-adaptive robotic finger optimized for collaborative robots. Autonomous Robots, 43(2), 523-538. Available
Birglen, L., & Gouttefarde, M. (2019, May). Comparison of redundancy resolution methods for a cable-suspended spatial parallel robot [Comparaison de méthodes de résolution de la redondance d'un robot parallèle spatial suspendu à câbles]. [Paper]. CCToMM Mechanisms, Machines, and Mechatronics Symposium (M3 2019), Montréal, Qc, Canada (12 pages). External link
Birglen, L., & Gouttefarde, M. (2019, June). Stiffness of planar 2-DOF 3-differential cable-driven parallel robots [Paper]. 4th International Conference on Cable-Driven Parallel Robots, Krakow, Poland. External link
Belzile, B., & Birglen, L. (2018). Practical considerations on proprioceptive tactile sensing for underactuated fingers. Transactions of the Canadian Society for Mechanical Engineering, 42(1), 71-79. Available
Birglen, L. (2018). Mécatronique : cours avec exercices corrigés. (2nd ed.). Unavailable
Birglen, L., & Schlicht, T. (2018). A statistical review of industrial robotic grippers. Robotics and Computer-Integrated Manufacturing, 49, 88-97. External link
Birglen, L. (2017, July). Design of a partially-coupled self-adaptive robotic finger optimized for collaborative robots [Paper]. Robotics: Science and Systems (RSS 2017), Cambridge, MA. External link
Birglen, L., & Fedorov, D. (2017, May). Geometric optimization of a self-adaptive robotic leg [Paper]. CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Montréal, Québec (12 pages). External link
Birglen, L. (2017). Mechanical finger for grasping apparatus. (Patent Application no. US20170252930). External link
Belzile, B., & Birglen, L. (2017). Optimal design of self-adaptive fingers for proprioceptive tactile sensing. Journal of Mechanisms and Robotics-Transactions of the Asme, 9(5), 11 pages. External link
Boucher, J.-M., & Birglen, L. (2017). Performance augmentation of underactuated fingers' grasps using multiple drive actuation. Journal of Mechanisms and Robotics, 9(4), 10 pages. External link
Birglen, L., & Belzile, B. (2017, May). Practical consideration on proprioreceptive tactile sensing for underactuated fingers [Paper]. CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Montréal, Québec. External link
Belzile, B., & Birglen, L. (2017, May). Practical Considerations on Proprioceptive Tactile Sensing for Underactuated Fingers [Considérations pratiques sur la mesure tactile proprioceptive pour des doigts sous-actionnés]. [Paper]. CCToMM Mechanisms, Machines and Mechatronics (M3) Symposium, Montréal, Canada (12 pages). External link
Birglen, L. (2016). Mécatronique : cours avec exercices corrigés. Unavailable
Belzile, B., & Birglen, L. (2016). Stiffness analysis of underactuated fingers and its application to proprioceptive tactile sensing. IEEE/ASME Transactions on Mechatronics, 21(6), 2672-2681. External link
Birglen, L. (2015, September). Enhancing versatility and safety of industrial grippers with adaptive robotic fingers [Paper]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany. External link
Belzile, B., & Birglen, L. (2015, August). Instantaneous-Stiffness Plane Analysis of Underactuated Fingers [Paper]. ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Boston, Massachusetts, USA (10 pages). External link
Boucher, J.-M., & Birglen, L. (2015, August). Underactuated Finger Closing Motion Control Using Dual Drive Actuation [Paper]. ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Boston, Massachusetts, USA (10 pages). External link
Birglen, L., & Ruella, C. (2014). Analysis and optimization of one-degree of freedom robotic legs. Journal of Mechanisms and Robotics, 6(4), 041004-041004. External link
Belzile, B., & Birglen, L. (2014). A compliant self-adaptive gripper with proprioceptive haptic feedback. Autonomous Robots, 36(1-2), 79-91. External link
Birglen, L. (2014). Self-adaptive mechanical finger and method. (Patent no. US8720964). External link
Belzile, B., & Birglen, L. (2014, May). Stiffness analysis of double tendon underactuated fingers [Paper]. IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China. External link
Birglen, L., & Ruella, C. (2013, August). Traversability analysis of a novel one-DOF robotic leg [Paper]. ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Portland, OR, USA. External link
Birglen, L. (2011). The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers. Mechanical Sciences, 2(1), 41-49. Available
Birglen, L. (2010). From flapping wings to underactuated fingers and beyond: a broad look to self-adaptive mechanisms. Mechanical Sciences, 1(1), 5-12. Available
Birglen, L. (2010, August). The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers [Paper]. ASME/IFToMM International Workshop on Underactuated Grasping, Montréal, Québec. Unavailable
Birglen, L., & Herbecq, F. (2009, August). Self-adaptive compliant grippers capable of pinch preshaping [Paper]. ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference (DETC 2009), San Diego, CA. External link
Bres, A., Monsarrat, B., Dubourg, L., Birglen, L., Perron, C., Jahazi, M., & Baron, L. (2010). Simulation of friction stir welding using industrial robots. Industrial Robot, 37(1), 36-50. External link
Birglen, L. (2009). Type synthesis of linkage-driven self-adaptive fingers. Journal of Mechanisms and Robotics, 1(2), 021010-021010. External link
Birglen, L., Laliberté, T., & Gosselin, C. (2008). Design and Control of the Laval Underactuated Hands. In Underactuated Robotic Hands (Vol. 40, pp. 171-207). External link
Birglen, L., Laliberté, T., & Gosselin, C. (2008). Grasp Stability of Underactuated Fingers. In Underactuated Robotic Hands (Vol. 40, pp. 61-115). External link
Birglen, L., Laliberté, T., & Gosselin, C. (2008). Grasping vs. Manipulating. In Underactuated Robotic Hands (Vol. 40, pp. 7-31). External link
Birglen, L., Laliberté, T., & Gosselin, C. (2008). Kinetostatic Analysis of Robotic Fingers. In Underactuated Robotic Hands (Vol. 40, pp. 33-60). External link
Birglen, L., Laliberté, T., & Gosselin, C. (2008). Optimal Design of Underactuated Fingers. In Underactuated Robotic Hands (Vol. 40, pp. 117-138). External link
Birglen, L., Laliberté, T., & Gosselin, C. (2008). Underactuated robotic hands. External link
Birglen, L., Laliberté, T., & Gosselin, C. (2008). Underactuation between the fingers. In Underactuated Robotic Hands (Vol. 40, pp. 139-169). External link
Birglen, L., & Gosselin, C. M. (2006). Force Analysis of Connected Differential Mechanisms: Application to Grasping. International Journal of Robotics Research, 25(10), 1033-1046. External link
Birglen, L., & Gosselin, C. M. (2006). Geometric Design of Three-Phalanx Underactuated Fingers. Journal of Mechanical Design, 128(2), 356-364. External link
Birglen, L., & Gosselin, C. M. (2006). Grasp-State Plane Analysis of Two-Phalanx Underactuated Fingers. Mechanism and Machine Theory, 41(7), 807-822. External link
Birglen, L. (2006, September). An introduction to the analysis of linkage-driven compliant underactuated fingers [Paper]. ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference (DETC 2006), Philadelphia, PA, United States (9 pages). External link
Birglen, L., & Gosselin, C. M. (2006, September). Optimally unstable underactuated gripper: Synthesis and applications [Paper]. ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference (DETC 2006), Philadelphia, PA, United States. External link
Birglen, L., & Gosselin, C. M. (2005, April). Fuzzy Enhanced Control of an Underactuated Finger Using Tactile and Position Sensors [Paper]. IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, Spain. External link
Birglen, L. (2004). Analysis and control of underactuated robotic hands [Ph.D. Thesis, Université Laval]. Unavailable
Birglen, L., & Gosselin, C. M. (2004). Kinetostatic analysis of underactuated fingers. IEEE Transactions on Robotics and Automation, 20(2), 211-221. External link
Birglen, L., & Gosselin, C. (2004, July). Optimal design of 2-phalanx underactuated fingers [Paper]. International Conference on Intelligent Manipulation and Grasping, Genova, Italy. Unavailable
Birglen, L., & Gosselin, C. M. (2003, September). On the force capability of underactuated fingers [Paper]. IEEE International Conference on Robotics and Automation (ICRA 2003), Taipei, Taiwan. External link
Birglen, L., Gosselin, C., Pouliot, N., Monsarrat, B., & Laliberté, T. (2002). SHaDe, a new 3-DOF haptic device. IEEE Transactions on Robotics and Automation, 18(2), 166-175. External link
Chapdelaine, B., Celce, M., Vidal, C., Birglen, L., & Monsarrat, B. (2024, May). Simulation and Experimental Validation of an Autonomous Perching and Takeoff Method for a Multirotor UAV on Vertical Surfaces using a Suction Cup [Paper]. 2024 IEEE International Conference on Robotics and Automation (ICRA 2024), Yokohama, Japan. External link
Carmona, J.-P., Birglen, L., Chaussée, J., Dervault, F., Deshaies, M., Boileau, E., & Turenne, S. (2015, May). Topology optimization of a flap track support for additive manufacturing [Paper]. 62nd CASI Aeronautics Conference and AGM 3rd GARDN Conference, Montréal, Québec. Unavailable
Dubois, P.-O., & Birglen, L. (2015, August). Analysis and design of a remote center compliance universal joint [Paper]. ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Boston, Massachusetts, USA (10 pages). External link
Doria, M., & Birglen, L. (2009). Design of an underactuated compliant gripper for surgery using nitinol. Journal of Medical Devices, 3(1), 011007-011007. External link
Doria, M., & Birglen, L. (2008, October). Design of an underactuated compliant gripper for surgery using Nitinol [Paper]. CEIMEXCAN 2008, Montréal, Québec. Unavailable
Farzanehkaloorazi, M.H., Bonev, I. A., & Birglen, L. (2021). Simultaneous task placement and sequence optimization in an inspection robotic cell. Robotica, 39(12), 2110-2130. External link
Fedorov, D., & Birglen, L. (2019). Design of a Compliant Mechanical Device for Upper Leg Rehabilitation. IEEE Robotics and Automation Letters, 4(2), 870-877. External link
Fedorov, D., & Birglen, L. (2018). Differential noncircular pulleys for cable robots and static balancing. Journal of Mechanisms and Robotics, 10(6), 1-8. Available
Fedorov, D., & Birglen, L. (2018). Geometric optimization of a self-adaptive robotic leg. Transactions of the Canadian Society for Mechanical Engineering, 42(1), 49-60. Available
Fedorov, D., & Birglen, L. (2018, August). Kinematic and potential energy analysis of self-adaptive robotic legs [Paper]. ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE 2018), Québec, Québec. External link
FarzanehKaloorazi, M. H., Bonev, I. A., & Birglen, L. (2018, August). Parameters identification of the path placement optimization problem for a redundant coordinated robotic workcell [Paper]. ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, (IDETC/CIE 2018), Québec, Québec. External link
FarzanehKaloorazi, M.H., Bonev, I. A., & Birglen, L. (2018). Simultaneous path placement and trajectory planning optimization for a redundant coordinated robotic workcell. Mechanism and Machine Theory, 130, 346-362. External link
Fedorov, D., & Birglen, L. (2017). Design of a Self-Adaptive Robotic Leg Using a Triggered Compliant Element. IEEE Robotics and Automation Letters, 2(3), 1444-1451. External link
Fedorov, D., & Birglen, L. (2015, August). Analysis and design of a two degree of freedom Hoeckens-pantograph leg mechanism [Paper]. ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference (DETC 2015), Boston, Massachusetts, USA (9 pages). External link
Hély, C., Birglen, L., & Xie, W.-F. (2017). Feasibility study of robotic fibre placement on intersecting multi-axial revolution surfaces. Robotics and Computer-Integrated Manufacturing, 48, 73-79. External link
Khakpour, H., Birglen, L., & Tahan, S.-A. (2015). Analysis and optimization of a new differentially driven cable parallel robot. Journal of Mechanisms and Robotics, 7(3). External link
Khakpour, H., Tahan, S.-A., Sabourin, M., Beaulieu, S., & Birglen, L. (2015, August). Experimental study on abrasive Waterjet method to polish hydraulic turbines [Paper]. 3rd International Conference on Manufacturing Engineering and Technology for Manufacturing Growth (METMG 2015), Vancouver, Canada. Unavailable
Khakpour, H., Birglen, L., & Tahan, S.-A. (2015). Uniform scanning path generation for abrasive waterjet polishing of free-form surfaces modeled by triangulated meshes. International Journal of Advanced Manufacturing Technology, 77(5-8), 1167-1176. External link
Khakpour, H., Birglen, L., Tahan, A., & Paquet, F. (2014, September). Experimental study on abrasive waterjet polishing of hydraulic turbine blades [Paper]. 27th IAHR Symposium on Hydraulic Machinery and Systems (IAHR 2014), Montréal, Québec (10 pages). Available
Khakpour, H., Birglen, L., & Tahan, S.-A. (2014). Synthesis of differentially driven planar cable parallel manipulators. IEEE Transactions on Robotics, 30(3), 619-630. External link
Khakpour, H., & Birglen, L. (2014, September). Workspace augmentation of spatial 3-DOF cable parallel robots using differential actuation [Paper]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, United states. External link
Khakpour, H., & Birglen, L. (2013). Numerical analysis of the grasp configuration of a planar 3-DOF linkage-driven underactuated finger. Journal of Computational and Nonlinear Dynamics, 8(2). External link
Leroux, G., Gagnon, É., Birglen, L., & Leveque, N. (2024). Robotization of “in situ” acoustic measurements. The Journal of the Acoustical Society of America, 155(3_Suppleme), A282-A282. External link
Li, M., Belzile, B., Imran, A., Birglen, L., Beltrame, G., & St-Onge, D. (2023, August). From Assistive Devices to Manufacturing Cobot Swarms [Paper]. 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2023), Busan, Republic of Korea. External link
Larouche, L.-A., & Birglen, L. (2013). Assisted design of linkage-driven adaptive soft fingers. Industrial Robot, 40(4), 337-346. External link
Larouche, L.-A., & Birglen, L. (2010, August). Design and first experiments with a new underactuated finger [Paper]. ASME/IFToMM International Workshop on Underactuated Grasping, Montréal, Québec. Unavailable
Laliberté, T., Birglen, L., & Gosselin, C. M. (2002). Underactuation in robotic grasping hands. Machine Intelligence & Robotic Control, 4(3), 11 pages. Unavailable
Maghami, A., Imbert, A., Côté, G., Monsarrat, B., Birglen, L., & Khoshdarregi, M. (2023). Calibration of Multi-Robot Cooperative Systems Using Deep Neural Networks. Journal of Intelligent & Robotic Systems, 107(4), 14 pages. External link
Massin, J., & Birglen, L. (2022, May). Analysis of the Walking Chair from Tokyo Institute of Technology with Screw Theory [Paper]. 2nd USCToMM Symposium on Mechanical Systems and Robotics (USCToMM MSR 2022), Rapid City, SD. External link
Mouazé, N., & Birglen, L. (2022). Bistable compliant underactuated gripper for the gentle grasp of soft objects. Mechanism and Machine Theory, 170, 104676 (17 pages). External link
Mouazé, N., Nguyen, T., & Birglen, L. (2021). Non-cylindrical wrapping rods and compliant adapters for multi-mode twisting string actuation. International Journal of Mechanisms and Robotic Systems, 5(1-2), 93-110. External link
Mouazé, N., & Birglen, L. (2021, June). Point-spring modeling of the grasp of a deformable object by an angular gripper [Paper]. CCToMM Mechanisms, Machines and Mechatronics (M3) Symposium (12 pages). External link
Mouazé, N., & Birglen, L. (2020). Deformation Modeling of Compliant Robotic Fingers Grasping Soft Objects. Journal of Mechanisms and Robotics, 13(1), 11 pages. External link
Mouazé, N., & Birglen, L. (2020). Preliminary Design of a Revolute to Prismatic Morphing Compliant Joint. Transactions of the Canadian Society for Mechanical Engineering, 44(4), 481-491. External link
Mouazé, N., Nguyen, T., & Birglen, L. (2020, May). Twisting string actuation with noncircular wrapping rods [Paper]. USCToMM Symposium on Mechanical Systems & Robotics (MSR 2020), Rapid City, SD, USA. External link
Mouazé, N., & Birglen, L. (2019, May). Preliminary design of a revolute to prismatic morphing compliant join [Paper]. CCToMM Mechanisms, Machines and Mechatronics Symposium (M3 2019), Montréal, Qc, Canada (11 pages). Unavailable
Mouazé, N., & Birglen, L. (2019, May). Preliminary Design of a Revolute to Prismatic Morphing Compliant Joint [Conception préliminaire d’une articulation rotoide compliante changeant en une liaison prismatique]. [Paper]. CCToMM Mechanisms, Machines and Mechatronics (M3) Symposium, Montréal, Canada (11 pages). External link
Mouazé, N., & Birglen, L. (2018, August). Deformation Analysis of a Compliant Underactuated Finger Grasping a Soft Object [Paper]. ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Québec, Québec. External link
Mohebbi, A., Baron, L., Achiche, S., & Birglen, L. (2014, November). Fuzzy decision making for conceptual design of a visual servoing system using mechatronic multi-criteria profile (MMP) [Paper]. ASME 2014 International Mechanical Engineering Congress & Exposition (IMECE 2014), Montréal, Québec (10 pages). External link
Mohebbi, A., Baron, L., Achiche, S., & Birglen, L. (2014, August). Neural network-based decision support for conceptual design of a mechatronic system using mechatronic multi-criteria profile (MMP) [Paper]. 2014 International Conference on Innovative Design and Manufacturing (ICIDM 2014), Montréal, Québec. External link
Mohebbi, A., Baron, L., Achiche, S., & Birglen, L. (2014, August). Trends in concurrent, multi-criteria and optimal design of mechatronic systems: A review [Paper]. 2014 International Conference on Innovative Design and Manufacturing (ICIDM 2014), Montréal, Québec. External link
Nassar, F., & Birglen, L. (2021). Force analysis of minimal self-adaptive fingers using variations of four-bar linkages. Mechanical Sciences, 12(2), 1037-1049. External link
Olivieri, P., Birglen, L., Maldague, X., & Mantegh, I. (2014). Coverage path planning for eddy current inspection on complex aeronautical parts. Robotics and Computer-Integrated Manufacturing, 30(3), 305-314. External link
Olivieri, P., Birglen, L., Maldague, X., & Mantegh, I. (2014). Path planning for eddy current inspection around probable defects. Canadian Aeronautics and Space Journal, 60(3), 49-57. External link
Olivieri, P., & Birglen, L. (2013, April). Path planning for Eddy current inspection around probable defects [Paper]. 60th CASI Aeronautics Conference and AGM Aerospace Clusters (AERO 2013), Toronto, Ontario. Unavailable
Qin, Z., Baron, L., & Birglen, L. (2010). A new approach to the dynamic parameter identification of robotic manipulators. Robotica, 28(4), 539-547. External link
Qin, Z., Baron, L., & Birglen, L. (2009). Robust design of inertial measurement units based on accelerometers. Journal of Dynamic Systems, Measurement and Control, 131(3), 031010-031010. External link
Qin, Z., Ren, Q., Baron, L., Balazinski, M., & Birglen, L. (2008, May). Joint friction identification for robots using TSK fuzzy system based on subtractive clustering [Paper]. Annual Meeting of the North American Fuzzy Information Processing Society (NAFIPS 2008), New York City, NY, United States. External link
Ren, Q., Qin, Z., Baron, L., Birglen, L., & Balazinski, M. (2007, June). Identification of rigid-body dynamics of robotic manipulators using type-2 fuzzy logic filter [Paper]. Annual Meeting of the North American Fuzzy Information Processing Society (NAFIPS 2007), San Diego, CA, United States. External link
Shan, X., & Birglen, L. (2024). Bistable Stopper Design and Force Prediction for Precision and Power Grasps of Soft Robotic Fingers for Industrial Manipulation. Journal of Mechanical Design, 146(4), MD-23-1495 (10 pages). External link
Sion, A., Birglen, L., & Wouwer, A. V. (2021, June). Gait simulation of an hexapodal robot walking across various terrains [Paper]. CCToMM Symposium on Mechanisms, Machines, and Mechatronics (CCToMM M3 2020). External link
Shan, X., & Birglen, L. (2020). Modeling and analysis of soft robotic fingers using the fin ray effect. International Journal of Robotics Research, 39(14), 1686-1705. External link
Stavenuiter, R. A. J., Birglen, L., & Herder, J. L. (2016). A planar underactuated grasper with adjustable compliance. Mechanism and Machine Theory, 12, 295-306. External link
Taha, H. A., Yacout, S., & Birglen, L. (2020, November). Detection and Monitoring for Anomalies and Degradation of a Robotic Arm Using Machine Learning [Paper]. Stuttgart Conference on Automative Production (SCAP 2020). External link
Taha, H., Yacout, S., & Birglen, L. (2020, November). Robotic arms anomalies and degradation monitoring and detection by using machine learning [Paper]. Stuttgart Conference on the Automotive Production (SCAP 2020). Unavailable
Xu, B., Xie, W.-, Viens, M., Mohseni E., E., Birglen, L., & Mantegh, I. (2013, October). Intelligent Eddy curent crack detection system design based on neuro-fuzzy logic [Paper]. International Workshop on Smart Materials and Smart Structures, Calgary, Alberta, Canada. Unavailable
Zheng, J., Xie, W. F., Viens, M., Birglen, L., & Mantegh, I. (2015). Design of an advanced automatic inspection system for aircraft parts based on fluorescent penetrant inspection analysis. Insight: Non-Destructive Testing and Condition Monitoring, 57(1), 18-24 and 34-18-24 and 34. External link
Zheng, J., Xie, W.-F., Viens, M., Birglen, L., & Mantegh, I. (2012, July). Design of advanced automatic inspection system for turbine blade FPI analysis [Paper]. 39th Annual Review of Progress in Quantitative Nondestructive Evaluation, Denver, Colorado, USA. External link
