Curriculum Vitae

Sascha Stoeter, Ph.D.

stoe...@gmail.com (click on the three dots to reveal)
stoeter@gmail.com
www.stoeter.com

+41-43-535 87 63

Ellen-Widmann-Weg 6
8050 Zürich
Switzerland

Education

University of Minnesota, USA 1998 – 2003 Ph.D. in Computer and Information Sciences, minor in Electrical Engineering; adviser Nikolaos Papanikolopoulos 1996 – 1997 M.S. in Computer and Information Sciences, minor in Electrical Engineering; adviser Maria Gini
University of Braunschweig — Institute of Technology, Germany Diplomvorprüfung in Computer Science and majority of work completed for Diplom degree before transferring to and obtaining M.S. at University of Minnesota; developed new minor field Communication Theory/Film	1991 – 1996
See list of courses.

Professional and Research Experience

ABB, Switzerland Principal Scientist, 2008 – present Development Manager, 2007 – 2008. Responsible for ABB's main manufacturing execution system and business connectivity framework called ECS. Led development team of nine engineers distributed over several countries; substantially improved ECS usability, documentation and applicability Senior Software Engineer, 2006 – 2008 Led multi-months projects with teams spanning multiple time zones and cultures; successfully deployed ECS at customer sites Developed detailled concepts for next generations of ECS and Knowledge Manager frameworks Developed highly-integrated adapters to third-party systems, extending framework's market reach Introduced new internal documentation system, thus preserving team knowledge and making it easily accessible Conducted multi-day ECS training workshops for developers, users, and sales force Coordinated collaborations with universities and supervised students	2006 – present
ETH Zürich, Switzerland Postdoctoral Associate, Institute of Robotics and Intelligent Systems, reporting to head of institute Managed one main attraction for university's 150-year anniversary celebration; led team and oversaw budget of CHF 335k Supervised graduate students conducting research projects Incorporated manufacturing tolerances of micron-sized parts by adapting models for microassembly tasks through computer vision Teacher and examiner for selected robotics lectures German-speaking liaison of English-operating institute	2004 – 2006
University of Minnesota, USA Ph.D. Dissertation. Developed novel dynamic contour approach to visual tracking that allows topological changes; created world’s smallest robotic system that autonomously climbs stairs by jumping (See demonstration videos.) Research Assistant, Center for Distributed Robotics, reported to head of center Led team of graduate and undergraduate students to develop software architecture for new reconfigurable mobile robot Co-led team of six graduate and undergraduate students to build a distributed framework for wrangling heterogeneous mobile robots; designed object model and implemented communication subsystem Wrote sections of funding proposals Coordinated software/hardware integration with industry partners Presented project to grant sponsors and donors such as U.S. Marines and alumni associations Extended Java-based mobile robot simulator to allow different terrain types Developed remote control for miniature robots for Palm PDAs, thereby reducing cost as well as amount and weight of equipment required for teleoperating the robots by 90% Developed low-level firmware update for miniature robot to provide it with increased mobility options Induced and administered Linux workstations for research projects Robot Competition. In team of six, designed data-sharing protocol for university's award-winning mobile robot team	1997 – 2003
Volkshochschule Braunschweig, Germany Instructor for C and C++. Developed and taught evening courses for continuing education and training of professional adults	1997 – 1998
University of Braunschweig — Institute of Technology, Germany Research Assistant, Institute for Robotics and Process Control. Evaluated and programmed 3D geometry toolkits for collision detection, improving reliability of automated assembly processes Teaching Assistant, Institute for Programming Languages. Assisted students with problem solving and graded their solutions Distributed Filesystem. Implemented majority-consensus-based locking filesystem; in team of two, responsible for system design and deadlock detection Robotic Regrasping of Polyhedral Objects. In team of two, responsible for system design, simulation tool integration, object stability determination and robot arm control, providing manipulator new flexibility to handle poorly placed parts Model Train Control. In team of four, responsible for user interface and error reporting subsystem Functional Simulation of RISC Processor. In team of three, responsible for developing ALU with Statemate and implementing it in C	1993 – 1996

Selected Skills

• German (native tongue), English (fluent), French (basic knowledge)
• C++, C#, C, Assembler, Modula-2, Pascal, MATLAB, Java, Perl
• OpenCV, IPP, OpenGL, GTK+, FLTK
• UML, CORBA
• XHTML, CSS, XML
• WebSphere MQ, ISA-95
• Linux, Windows, Mac OS X
• Can prepare toothsome Darjeeling and Earl Grey

Awards and Activities

• Best Video Award at IEEE International Conference on Robotics and Automation, 2000
• First place in AAAI Find Life on Mars contest, 1997
• Awarded fellowships from University of Minnesota, 1997 and 2003
• Participant in several exchange programs in USA and France, 1985, 1992, 1996 – 1997

Community Activities

• Program committee member for DARS 2006
• Reviewer for reputable international conferences and journals, and conference session chair, ongoing
• Presenter for research-related TV reports, high school students, and at science exhibitions and the Minnesota State Fair, ongoing
• Elected Secretary of Computer Science Graduate Student Association, and student representative on Computing Committee, Department of Computer Science and Engineering, University of Minnesota, 2000 – 2002
• Web maintainer for Minnesota International Student Association, 1999 – 2000

Conference Presentations

• Improving Tracking Precision for Microassembly. IEEE International Conference on Robotics and Automation, Orlando, Florida, USA, May 2006.
• Closed Dynamic Contour Models that Split and Merge. IEEE International Conference on Robotics and Automation, New Orleans, Louisiana, USA, April 2004.
• Verteilte Steuerung heterogener mobiler Roboter. Autonome Mobile Systeme, Karlsruhe, Germany, November 2000.
• A Robot Team for Exploration and Surveillance: Design and Architecture. Intelligent Autonomous Systems, Venice, Italy, July 2000.
• Real-time Door Detection in Cluttered Environments. IEEE International Symposium on Intelligent Control, Rio, Greece, July 2000.
• Generating Polyhedral Convex Cones from Contact Graphs for the Identification of Assembly Process States. IEEE International Conference on Robotics and Automation, San Francisco, California, USA, April 2000.
• Planning of Regrasp Operations. IEEE International Conference on Robotics and Automation, Detroit, Michigan, USA, May 1999.

Publications

Refereed Journal and Magazine Articles

1. S. Stoeter, N. Papanikolopoulos. Kinematic Motion Model for Jumping Scout Robots. IEEE Transactions on Robotics, vol. 22(2), pp. 398–403, April 2006. [errata]
2. J. Pearce, B. Powers, C. Hess, P. Rybski, S. Stoeter, N. Papanikolopoulos. Using Virtual Pheromones and Cameras for Dispersing a Team of Multiple Miniature Robots. Journal of Intelligent & Robotic Systems, vol. 45(4), pp. 307–321, April 2006.
3. S. Stoeter, N. Papanikolopoulos. Autonomous Stair-Climbing with Miniature Jumping Robots. IEEE Transactions on Systems, Man, and Cybernetics—Part B, vol. 35(2), pp. 313–325, April 2005.
4. C. Dos Santos, S. Stoeter, P. Rybski, N. Papanikolopoulos. Mosaicking Images—Panoramic Imaging for Miniature Robots. IEEE Robotics and Automation Magazine special issue on Panoramic Robotics, vol. 11(4), pp. 62–68, December 2004.
5. D. Perrin, E. Kadioglu, S. Stoeter, N. Papanikolopoulos. Grasping and Tracking Using Constant Curvature Dynamic Contours. International Journal of Robotics Research, vol. 22(10/11), pp. 855–871, October 2003.
6. C. McMillen, K. Stubbs, P. Rybski, S. Stoeter, M. Gini, N. Papanikolopoulos. Resource Scheduling and Load Balancing in Distributed Robotic Control Systems. Robotics and Autonomous Systems, Elsevier, vol. 44(3–4), pp. 251–259, September 2003.
7. P. Rybski, S. Stoeter, N. Papanikolopoulos, I. Burt, T. Dahlin, M. Gini, D. Hougen, D. Krantz, F. Nageotte. Sharing Control. IEEE Robotics and Automation Magazine, vol. 9(4), pp. 41–48, December 2002.
8. P. Rybski, S. Stoeter, M. Gini, D. Hougen, N. Papanikolopoulos. Performance of a Distributed Robotic System Using Shared Communications Channels. IEEE Transactions on Robotics and Automation special issue on Advances in Multirobot Systems, vol. 18(5), pp. 713–727, October 2002.
9. S. Stoeter, P. Rybski, K. Stubbs, C. McMillen, M. Gini, D. Hougen, N. Papanikolopoulos. A Robot Team for Surveillance Tasks: Design and Architecture. Robotics and Autonomous Systems, Elsevier, vol. 40/2–3, pp. 173–183, August 2002.
10. P. Rybski, N. Papanikolopoulos, S. Stoeter, D. Krantz, K. Yesin, M. Gini, R. Voyles, D. Hougen, B. Nelson, M. Erickson. Rangers and Scouts: A Team of Robots for Reconnaissance and Surveillance. IEEE Robotics and Automation Magazine, pp. 14–24, December 2000.

Refereed Conference Proceedings

1. S. Stoeter, M. Probst, B. Nelson, M. Abásolo Iranzo. Improving Tracking Precision for Microassembly (poster). Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, Florida, USA, May 2006.
2. S. Stoeter, N. Papanikolopoulos. Closed Dynamic Contour Models that Split and Merge. Proceedings of the IEEE International Conference on Robotics and Automation, vol. 4, pp. 3883–3888, New Orleans, Louisiana, USA, April/May 2004.
3. S. Stoeter, I. Burt, N. Papanikolopoulos. Scout Robot Motion Model. Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September 2003.
4. B. Kratochvil, I. Burt, A. Drenner, D. Goerke, B. Jackson, C. McMillen, C. Olson, N. Papanikolopoulos, A. Pfeifer, S. Stoeter, K. Stubbs, D. Waletzko. Heterogeneous Implementation of an Adaptive Robotic Sensing Team. Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September 2003.
5. J. Pearce, P. Rybski, S. Stoeter, N. Papanikolopoulos. Dispersion Behaviors for a Team of Multiple Miniature Robots. Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September 2003.
6. S. Stoeter, P. Rybski, M. Gini, N. Papanikolopoulos. Autonomous Stair-Hopping with Scout Robots. Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September/October 2002.
7. P. Rößler, S. Stoeter, P. Rybski, N. Papanikolopoulos. Visual Servoing of a Miniature Robot Toward a Marked Target. Proceedings of the IEEE International Conference on Digital Signal Processing, Santorini, Greece, July 2002.
8. P. Rybski, S. Stoeter, M. Gini, D. Hougen, N. Papanikolopoulos. A Distributed Surveillance Task using Multiple Miniature Robots. First International Conference on Autonomous and Multi-Agent Systems, pp. 1393–1394, Bologna, Italy, July 2002.
9. D. Perrin, E. Kadioglu, S. Stoeter, N. Papanikolopoulos. Localization of Miniature Mobile Robots Using Constant Curvature Dynamic Contours. Proceedings of the IEEE International Conference on Robotics and Automation, Washington, D.C., USA, May 2002.
10. C. McMillen, K. Stubbs, P. Rybski, S. Stoeter, M. Gini, N. Papanikolopoulos. Resource Scheduling and Load Balancing in Distributed Robotic Control Systems. Proceedings of the International Conference on Intelligent Autonomous Systems, pp. 223–230, Marina del Rey, California, USA, March 2002.
11. P. Rybski, S. Stoeter, M. Gini, D. Hougen, N. Papanikolopoulos. Effects of Limited Bandwidth Communications Channels of the Control of Multiple Robots. Proceedings of the IEEE International Conference on Intelligent Robots and Systems, pp. 369–374, Maui, Hawaii, USA, October/November 2001.
12. P. Rybski, I. Burt, T. Dahlin, M. Gini, D. Hougen, D. Krantz, F. Nageotte, N. Papanikolopoulos, S. Stoeter. System Architecture for Versatile Autonomous and Teleoperated Control of Multiple Miniature Robots. Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea, May 2001.
13. P. Rybski, S. Stoeter, M. Gini, D. Hougen, N. Papanikolopoulos. Dynamic Scheduling of a Fixed Bandwidth Communications Channel for Controlling Multiple Robots (poster). Proceedings of the 5th Autonomous Agents 2001, pp. 153–154, Montreal, Canada, May 2001.
14. S. Stoeter, P. Rybski, M. Gini, D. Hougen, N. Papanikolopoulos. Verteilte Steuerung heterogener mobiler Roboter. Autonome Mobile Systeme, pp. 270–277, Karlsruhe, Germany, November 2000. [errata]
15. D. Hougen, M. Erickson, P. Rybski, S. Stoeter, M. Gini, N. Papanikolopoulos. Autonomous Mobile Robots and Distributed Exploratory Missions. Proceedings of the International Symposium on Distributed Autonomous Robotic Systems, Knoxville, Tennessee, USA, October 2000.
16. S. Stoeter, P. Rybski, M. Erickson, M. Gini, D. Krantz, D. Hougen, N. Papanikolopoulos, M. Wyman. A Robot Team for Exploration and Surveillance: Design and Architecture. Intelligent Autonomous Systems, pp. 767–774, Venice, Italy, July 2000.
17. S. Stoeter, F. Le Mauff, N. Papanikolopoulos. Real-time Door Detection in Cluttered Environments. Proceedings of the IEEE International Symposium on Intelligent Control, pp. 187–192, Rio, Greece, July 2000.
18. N. Papanikolopoulos, S. Stoeter, P. Rybski, M. Gini, D. Hougen, M. Erickson. Experiments with a Team of Miniature Robots. Proceedings of the IEEE Mediterranean Conference on Control and Automation, Rio, Greece, July 2000.
19. P. Rybski, S. Stoeter, M. Erickson, M. Gini, D. Hougen, N. Papanikolopoulos. A Team of Robotic Agents for Surveillance. Proceedings of the Fourth International Conference on Autonomous Agents, pp. 9–16, Barcelona, Spain, June 2000.
20. D. Hougen, S. Benjaafar, J. Bonney, J. Budenske, M. Dvorak, M. Gini, H. French, D. Krantz, P. Li, F. Malver, B. Nelson, N. Papanikolopoulos, P. Rybski, S. Stoeter, R. Voyles, K. Yesin. A Miniature Robotic System for Reconnaissance and Surveillance. Proceedings of the IEEE International Conference on Robotics and Automation, pp. 501–507, San Francisco, California, USA, April 2000.
21. H. Mosemann, T. Bierwirth, F. Wahl, S. Stoeter. Generating Polyhedral Convex Cones from Contact Graphs for the Identification of Assembly Process States. Proceedings of the IEEE International Conference on Robotics and Automation, pp. 744–749, San Francisco, California, USA, April 2000.
22. S. Stoeter, S. Voss, N. Papanikolopoulos, H. Mosemann. Planning of Regrasp Operations. Proceedings of the IEEE International Conference on Robotics and Automation, Detroit, Michigan, USA, May 1999.

Refereed Workshop Proceedings

1. P. Rybski, S. Stoeter, M. Gini, N. Papanikolopoulos. Programming and Controlling the Operations of a Team of Miniature Robots. Proceedings from the 2002 NRL Workshop on Multi-Robot Systems, Alan C. Schultz and Lynne E. Parker (eds.), Multi-Robot Systems: From Swarms to Intelligent Automata, pp. 65–72, Washington, D.C., USA, March 2002.
2. P. Rybski, S. Stoeter, M. Gini, D. Hougen, N. Papanikolopoulos. Performance of a Distributed Robotic System Using Shared Communications Channels. Proceedings of SPIE Photonics Boston, pp. 84–95, Newton, Massachusetts, USA, October/November 2001.
3. S. Stoeter, N. Papanikolopoulos, P. Rybski, D. Krantz, K. Yesin, M. Gini, D. Hougen, F. Nageotte, B. Nelson. User Interfaces for a Robotic Distributed System. Proceedings of the Second Biomorphic Explorers Workshop: Bio-Inspired Engineering of Exploration Systems, December 2000.
4. D. Hougen, S. Stoeter, P. Rybski, M. Erickson, M. Gini, N. Papanikolopoulos. Behavioral Decomposition of Robotic Exploratory Missions. International Conference for Smart Systems and Robotics for Medicine and Space Applications, Houston, Texas, USA, September 2000.
5. D. Hougen, J. Bonney, J. Budenske, M. Dvorak, M. Gini, D. Krantz, F. Malver, B. Nelson, N. Papanikolopoulos, P. Rybski, S. Stoeter, R. Voyles, K. Yesin. Reconfigurable Robots for Distributed Robotics. Government Microcircuit Applications conference, Anaheim, California, USA, March 2000.

Refereed Videos

1. B. Kratochvil, I. Burt, T. Dahlin, A. Drenner, M. Gini, D. Hougen, C. McMillen, B. Nelson, N. Papanikolopoulos, P. Rybski, S. Stoeter, K. Stubbs, D. Waletzko, K. Yesin. A New Generation of Scout Robots with Multiple Mobility Modes. Video proceedings of the IEEE International Conference on Robotics and Automation, Washington, D.C., USA, May 2002.
2. B. Kratochvil, I. Burt, T. Dahlin, A. Drenner, M. Gini, C. McMillen, B. Nelson, N. Papanikolopoulos, P. Rybski, S. Stoeter, K. Stubbs, D. Waletzko, K. Yesin. A New Generation of Scout Robots with Enhanced Sensing and Mobility. Video proceedings of the SPIE International Symposium on Aerospace/Defense Sensing, Simulation, and Controls, Orlando, Florida, USA, April 2002.
3. P. Rybski, S. Benjaafar, J. Budenske, M. Dvorak, M. Gini, D. Hougen, D. Krantz, P. Li, F. Malver, B. Nelson, N. Papanikolopoulos, S. Stoeter, R. Voyles, K. Yesin. A Robotic Reconnaissance and Surveillance Team. Video proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, California, USA, April 2000.

Technical Reports

1. S. Stoeter, N. Papanikolopoulos. Closed Dynamic Contours that Split and Merge. Technical Report 03‑008, Department of Computer Science and Engineering, University of Minnesota, Minneapolis, Minnesota, USA, February 2003.
2. P. Rößler, S. Stoeter, P. Rybski, N. Papanikolopoulos. Visual Servoing of a Miniature Robot Toward a Marked Target. Technical Report 02‑005, Department of Computer Science and Engineering, University of Minnesota, Minneapolis, Minnesota, USA, January 2002.
3. P. Rybski, S. Stoeter, M. Gini, D. Hougen, N. Papanikolopoulos. Performance of a Distributed Robotic System Using Shared Communications Channels. Technical Report 01‑031, Department of Computer Science and Engineering, University of Minnesota, Minneapolis, Minnesota, USA, July 2001.

Other Publications

1. S. Stoeter, D. Milenovic. Transforming Shopfloor Connectivity. ABB Review, Zurich, Switzerland, no. 1/2009, pp. ??–??, March 2009.
2. S. Stoeter. Ein unerfüllter Menschheitstraum. CHemie plus — Schweizer Fachzeitschrift der Chemieberufe, Solothurn, Switzerland, no. 3, pp. 62–65, 2005.
3. S. Stoeter. Ein unerfüllter Menschheitstraum. Bulletin — Magazin der Eidgenössischen Technischen Hochschule Zürich, Zürich, Switzerland, no. 296, pp. 28–31, January 2005.
4. S. Stoeter. Vision-based Control of Miniature Jumping Scout Robots. Ph.D. dissertation, University of Minnesota, Minneapolis, Minnesota, USA, December 2003. [errata]
5. P. Rybski, I. Burt, A. Drenner, B. Kratochvil, C. McMillen, S. Stoeter, K. Stubbs, M. Gini, N. Papanikolopoulos. Evaluation of the Scout Robot for Urban Search and Rescue. Proceedings of the AAAI 2001 Mobile Robot Competition and Exhibition Workshop, Seattle, Washington, USA, August 2001.
6. P. Rybski, D. Hougen, S. Stoeter, M. Gini, N. Papanikolopoulos. Control of Multiple Small Surveillance Robots at AAAI 2000. Proceedings of the AAAI 2000 Mobile Robot Competition and Exhibition Workshop, Austin, Texas, USA, August 2000.
7. S. Stöter. Robotlethen. c't, no. 10/97, p. 94, Hanover, Germany, September 1997.
8. P. Rybski, S. Stoeter, C. Wyman, M. Gini. A Cooperative Multi-Robot Approach to the Mapping and Exploration of Mars. Proceedings of the National Conference on Artificial Intelligence, pp. 798–799, Providence, Rhode Island, USA, July 1997.