10/31/15
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`STEVEN DUBOWSKY
`Professor of Mechanical Engineering and of Aeronautics and Astronautics
`Massachusetts Institute of Technology
`Cambridge, MA 02139
`(617) 253-2144
`e-mail: dubowsky@mit.edu
`
`EDUCATION
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`1963 BME Rensselaer Polytechnic Institute, Troy, New York
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`
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`Mechanical Engineering and Control Systems
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`1964 MS
`Columbia University
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`
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`School of Engineering and Applied Science
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`
`
`New York City, New York
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`1971
`ScD
`Columbia University
`
`
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`School of Engineering and Applied Science
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`
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`New York City, New York
`
`Registered Professional Engineer, State of California (Control Systems)
`ACADEMIC ACTIVITIES
`Dr. Dubowsky is a Professor Emeritus in the Mechanical Engineering the Department of Mechanical
`Engineering and in the Department of the Aeronautics and Astronautics at MIT, Cambridge. He is
`currently also a PhD Advising Professor in the Department of Mechanical and Industrial Engineering at
`Northeastern University. His research activities have been principally in the dynamic behavior of
`nonlinear machines and electromechanical systems. His work includes analytical and experimental work
`based on parameter identification methods to locate the sources of noises and performance-limiting
`factors in machines. He has studied the effects of system elasticity on the dynamics and control-ability
`mechanisms using advanced structural dynamics techniques. More recently, his work has been focused
`on the planning, control and design of robotic and mechatronic systems. This work includes the
`development of intelligent systems for the elderly, medical devices, space robots, rough terrain systems
`for such application exploration. Dr. Dubowsky and his students have developed algorithms for self-
`learning adaptive control of rigid and flexible robotic manipulators, and for the optimal control and
`planning of robotic systems. More recently Professor Dubowsky has been working on the design of PV
`solar systems with a focus on field systems, including for developing nations.
`In his tenure at MIT Professor Dubowsky has been the Director of the MIT Mechanical Engineering Field
`and Space Robotics Laboratory. He has been the Associate Director of the Interdepartmental Laboratory
`for Manufacturing and Productivity and for six years he was the Head of the Systems and Design
`Division of the Mechanical Engineering Department. During the 1977-1978 academic year, he was a
`visiting faculty member in the Engineering Department, Cambridge University, Cambridge, England,
`and a Visiting Fellow at Queen's College, Cambridge. During the 1988-89 academic year, Professor
`Dubowsky was a visiting professor at the California Institute of Technology and in the summers of 1991
`to 1994 a visiting professor at the Université Pierre et Marie Curié in Paris, France. In the summer of 1992
`he taught at the School for Advanced Studies in Industrial and Applied Mathematics (SASIAM) in Bari,
`Italy. In Fall of 1995 he held the positions of Visiting Professor and Distinguished NATO Fellow at the
`Laboratoire de Robotique de Paris, Paris France. In the winter of 1996 he was Visiting Professor at the
`Naval Postgraduate School, Monterey, California. During the 2002/2004 academic years he was a
`Visiting Professor at Stanford University.
`His research has been sponsored by a number of industrial firms in the United States, Europe and Asia,
`as well as NSF, NASA, DARPA, DOE, The US Army, The French agencies EDF and CNRS, the Korean
`KEPRI, the British SERC, Japan’s NASA, and others. He is a Fellow the ASME and IEEE. Dr. Dubowsky
`is currently the Chief Technology Officer of PVpure Inc. of Cambridge, MA.
`HONORS AND SPECIAL RECOGNITION RECEIVED
`Best Paper Award 11th ASME Mechanisms Conference
`Selected as One of the Outstanding Young Men of America for 1977
`United States Junior Chamber of Commerce U.S. Jaycees
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`10/71
`3/77
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`Robert Bosch Exhibit 2004 - Page 1
`COSTCO (Petitioner) v. ROBERT BOSCH (Patent Owner)
`IPR2016-00034; IPR2016-00036; IPR2016-00038;
`IPR2016-00039; IPR2016-00040; IPR2016-00041
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`

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`4/77
`9/77-9/78
`9/78-7/80
`9/78
`79-Present
`79-Present
`12/79
`
`80-Present
`80-Present
`80-Present
`
`10/80
`
`9/82
`85-Present
`88
`5/93-6/93
`
`1993-1995
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`9/95 -1/96
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`9/95 -1/96
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`4/96
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`4/96
`
`Elected 10-Year Term as an Associate of the Danforth Foundation
`Elected Visiting Fellow, Queens’ College Cambridge University
`Elected Chairman of the ASME Design Engineering Technology Conference
`Best Paper Award at the 1978 ASME Design Engineering Technical Conference
`American Men and Women of Science
`Who’s Who in the West
`Best Paper Award for 1979, Dynamic Systems and Control
`Division of the ASME
`Who’s Who in Education
`Who’s Who in Technology Today
`Member Honorary Editorial Board, Mechanisms and Machine
`Theory J. of Int. Fed. of the Theory of Machines and Mechanisms
`Elected General Chairman, 1980 ASME Design Engineering
`Technical Conferences, Beverly Hills, CA
`Best Paper Award 1982 ASME Design Technical Conference
`Who’s Who in America
`Elected Fellow, American Society of Mechanical Engineers
`Elected Honorary Senior Research Fellow
`UK Scientific and Engineering Research Council SERC
`Elected to Distinguished Lecturers Program
`IEEE Robotics and Automation Society
`Elected as a Distinguished NATO Fellow
`Paris, France
`Elected as a Distinguished CNRS Fellow
`Paris, France
`Finalist, Best Paper Award, 1996 IEEE International Conference
`on Robotics and Automation, Minneapolis, MN.
`Best Paper Award for Manipulation, 1998 IEEE International Conference
`on Robotics and Automation, San Francisco , CA.
`Elected Fellow of the Institute of Electrical and Electronic Engineers
`ASME Machine Design Award
`Best Paper Award ASME 27th Biennial Mechanisms and Robotics Conference
`Selected as a Fellow of the NASA Institute of Advanced Concepts
`Best Paper Award–World Congress of the International Federation for the
`Promotion of Mechanism and Machine Science, Besancon, France
`Best Paper Award, 10 International Conferences on Climbing and Walking Robots,
`Singapore
`Best Paper Award, ASME 2010 Mechanisms and Robotics Conference, Montreal, 8/2010
`
`1/01
`2001
`9/02
`9/02 – 8/07
`6/07
`
`7/2007.
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`
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`2
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`Robert Bosch Exhibit 2004 - Page 2
`COSTCO (Petitioner) v. ROBERT BOSCH (Patent Owner)
`IPR2016-00034; IPR2016-00036; IPR2016-00038;
`IPR2016-00039; IPR2016-00040; IPR2016-00041
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`

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`Canada.
`Best Paper Award, ASME 2011, Mechanisms and Robotics Conference, Washington DC, 8/2011
`The ASME Achievement Award for Robotics and Mechanisms
`
`
`
`8/2013
`PROFESSIONAL ACTIVITIES
`American Society of Mechanical Engineers (Fellow)
`Institute of Electrical and Electronic Engineering (Fellow)
`ASME Mechanisms Committee (6-year elected term), Elected Chairman, 1978-80
`Associate Editor, Mechanism and Machine Theory, 1975-81
`U.S. Council for the Theory of Machines and Mechanisms
`Member, General Committee, ASME Design Engineering Division, 1979-Present
`Senior Member, Robotics Institute of the Society of Manufacturing Engineers, 1983-Present
`Member, Executive Committee, ASME Design Engineering Division, 1983-Present
`Founding Editor, Journal of Mechanisms, Transmissions and Automation in Design, 1982-87
`In addition to his university duties, Professor Dubowsky has consulted for a number of firms in the area
`of design and analysis of electromechanical systems as well as consulting to legal firms in the area of
`product safety and patents. These consulting assignments have dealt with such widely spread devices as
`vibration isolation systems, large scale telescopes tracking systems, construction equipment, the design of
`high speed automated manufacturing machinery, and robotic manipulators, and have included the
`following organizations:
`Hughes Aircraft Corporation, El Segundo, CA
`Lockheed Research Laboratories, Palo Alto, CA
`Optical Science Consultants (Associate), Yorba Linda, CA
`Perkin-Elmer Corporation (Corporate Consultant), Wilton, CT
`Wyle Laboratories, Los Angeles, CA
`SRI International, Menlo Park, CA
`EG & G Inc., Wellesley, MA
`Schlumberger Corporation, Corporate Research Laboratories, Ridgefield, CT
`Foster-Miller Corp., Waltham, MA
`SVG Corporation, Mountain View, CA
`Texas Instruments, Dallas, TX
`General Dynamic, Phoenix, AZ
`Lincoln, Lavatories, Concord, MA
`FSRobotics, Boston, MA
`Northrop Grumman Corporation, Los Angeles, CA
`Siemens Corporation, Munich Germany.
`Robert E. Bosch Company, Germany
`QinetiQ of North America, Washington, DC.
`Prior to becoming a faculty member, from 1964 to 1971, Professor Dubowsky was a Senior Engineer
`with the Perkin-Elmer Corporation, Optical Technology Division, in Danbury, Connecticut, and was
`involved in the design and analysis of complex mechanisms, electromechanical and electro-optical
`systems used in precision, high-speed optical systems and devices. These designs require the
`solutions to problems in the areas of applied mechanics and servomechanisms using both classical
`and analytical methods and complex numerical techniques. Duties also involved the direction of
`experimental programs for the development of electronics and electromechanical hardware for use in
`these systems.
`Other major assignments included: the development of numerical processing of photographic scenes to
`improve signal to noise levels and image enhancement; the analysis of thermal effects on optical system
`performance; the study of spacecraft dynamics and attitude control systems as to interactions with
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`Robert Bosch Exhibit 2004 - Page 3
`COSTCO (Petitioner) v. ROBERT BOSCH (Patent Owner)
`IPR2016-00034; IPR2016-00036; IPR2016-00038;
`IPR2016-00039; IPR2016-00040; IPR2016-00041
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`scientific instrumentation performance; the development of mathematical models for on-line computer
`evaluation of system elements during manufacture. Earlier industrial positions have been with the
`General Dynamics Corporation, Electric Boat Division and the American Electric Power Service
`Corporation.
`Professor Dubowsky has authored and co-authored over three hundred professional and scholarly
`technical papers. Below are representative papers written in the past 10 years.
`PRINCIPAL PUBLICATIONS IN THE LAST 10 YEARS.
`Sujan, V. and Dubowsky, S. ”Design of a Lightweight Hyper-redundant Deployable Binary
`Manipulator,” ASME Journal of Mechanical Design, Volume 126, No. 1, January 2004, pp 29-39.
`Iagnemma, K, Brooks, C.A., and Dubowsky, S., “ Visual, Tactile, and Vibration-Based Terrain Analysis
`for Planetary Rovers,” Proceedings of the 2004 IEEE Aerospace Conference, Big Sky Montana, March 6-13
`2004.
`Iagnemma, K., Spenko, M., Golda, D., and Dubowsky, S., Reactive Navigation of High-Speed Mobile
`Robots in Rough Terrain, Proceeding of the SPIE Conference on Unmanned Ground Vehicle Technology,
`Orlando, FL, March 2004.
`Bolzmacher, C., Hafez, M., Khoudja, B., Bernardoni, P., and Dubowsky, S., “Polymer Based Actuators for
`Virtual Reality Devices,” SPIE Smart Structures Conference, San Diego, CA, March 14-18, 2004
`Lichter, M. D. and Dubowsky, S. “State, Shape, and Parameter Estimation of Space Objects from Range
`Images,” Proceedings of the IEEE Int. Conference on Robotics and Automation (ICRA ’04), New Orleans,
`April 2004.
`Vogan, J., Kacher, D., Wingert,A. , Hafez, H., Plante,J.S, Jolesz, F., and Dubowsky, S., “Manipulation in
`MRI Devices using Electrostrictive Polymer Actuators: With an Application to Reconfigurable Imaging
`Coils,” Proceedings of the IEEE Int. Conference on Robotics and Automation (ICRA ’04), New Orleans,
`April 2004.
`Golda D., Iagnemma, K., and Dubowsky,S., “Probabilistic Modeling and Analysis of High-Speed Rough-
`Terrain Mobile Robots,” Proceedings of the IEEE Int. Conference on Robotics and Automation (ICRA ’04),
`New Orleans, April 2004.
`Sujan, V.A., Dubowsky, S, Huntsberger, H., Aghazarian, H., Cheng, Y. and Schenker, P., “An Architecture
`for Distributed Environment Sensing with Application to Robotic Cliff Exploration,” The Journal of
`Autonomous Robots, Volume 16, No. 3, May 2004, pp 287-311.
`DF Kacher, J Vogan, A Wingert, M Hafez, J-S Plante, S Dubowsky, FA Jolesz. “Development of a
`Reconfigurable MRI Coil using Electrostrictive Polymer Artificial Muscle Actuators,” Proceedings of the
`International Society of Magnetic Resonance in Medicine (2004) p3394, 12th Scientific Meeting, (May 15-
`21, 2004) Kyoto, Japan.
`Ueno, H., Vickram, M, Steven Dubowsky,S., Sekiguchi, T., Mitsushige Oda, M., and Ohkami, Y,
`“Simulation Analysis and Experiments of On-orbit Assembly Behavior on Flexible Structure by
`Cooperative Robots,” 24th International Symposium on Space Technology, Miyazaki, Japan, May 30 –
`June 6, 2004.
`Sujan, V.A. and Dubowsky, S. “Visually Guided Cooperative Robot Actions Based on Information
`Quality,” Journal of Autonomous Robots, Vol 17, August 2004, pp. 1-22.
`Yu,H., Spenko, H. and Dubowsky, S., “Omni-directional Mobility Using Active Split Offset Castors,”
`ASME Journal of Mechanical Design, Volume 126, No.5, pp 822-829, September 2004.
`Iagnemma, K., Kang, S., Shibly, H. and Dubowsky, S. "On-Line Terrain Parameter Estimation for
`Wheeled Mobile Robots with Application to Planetary Rovers," IEEE Transactions on Robotics and
`Automation, Volume 20, No. 5, October 2004, pp 921-927.
`Iagnemma, K and Dubowsky, S., “Traction Control of Wheeled Robotic Vehicles in Rough Terrain,” The
`International Journal of Robotics Research, Volume 23, No. 10-11, October-November 2004, pp 1029-1040.
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`COSTCO (Petitioner) v. ROBERT BOSCH (Patent Owner)
`IPR2016-00034; IPR2016-00036; IPR2016-00038;
`IPR2016-00039; IPR2016-00040; IPR2016-00041
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`

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`Iagnemma, K. and Dubowsky, S. "Estimation, Planning, and Control of Mobile Robots in Rough Terrain
`with application to Planetary Rovers," Springer Tracts in Advanced Robotics series (STAR), Heidelberg,
`2004.
`Shibly, H., Iagnemma, K, and Dubowsky, S., “An Equivalent Soil Mechanics Formulation for Rigid
`Wheels in Deformable Terrain, with Application to Planetary Exploration Rovers’” The Journal of Terra-
`mechanics, Volume 42, pp 1-13, 2005.
`Dubowsky, S., Boston, P., Iagnemma, K., Lambeth, D., Liberatore, S., and Plante, J.S., “Microbots for
`Large-Scale Planetary Surface and Subsurface Exploration,” Proceedings of the Space Technology and
`Applications International Forum, Albuquerque, NM, February 13-17, 2005
`Marco A. Meggiolaro, Steven Dubowsky and Constantinos Mavroidis, "Geometric and elastic error
`calibration of a high accuracy patient positioning system", Mechanism and Machine Theory, Volume 40,
`Issue 4, pp.415-427, April 2005.
`Sujan,V. A., and Dubowsky, S., An Efficient Information-Based Visual Robotic Mapping in Unstructured
`Environment, The International Journal of Robotics Research. Vol. 24, No. 4, April 2005.
`Hiroshi Ueno (NASDA), Steven Dubowsky, Chris Lee, Chi Zhu(MIT), Yoshiaki Ohkami, Shuichi
`Matsumoto, Mitsushige Oda(NASDA) “Space Robotic Mission Concepts For Capturing Stray Objects,”
`The Journal of Space Technology, Transactions of the JSASS, (In Press).
`Brooks, C., Iagnemma, K., and Dubowsky S., “Vibration-based Terrain Analysis for Mobile Robots,
`Proceedings of the IEEE Int. Conference on Robotics and Automation (ICRA ’05), Barcelona, Spain, April
`2005.
`Matthew D. Lichter, M.D., and Dubowsky, S., “Shape, Motion, and Parameter Estimation of Large
`Flexible Space Structures using Multiple Range Images,” Proceedings of the IEEE Int. Conference on
`Robotics and Automation (ICRA ’05), Barcelona, Spain, April 2005.
`Brooks, C,A., Iagnemma, K.D. and Dubowsky, S., Dubowsky, Visual Wheel Sinkage Measurement for
`Planetary Rover Mobility Characterization, Autonomous Robots, Vol. 21, Number 1, August, 2006, pp.
`55-64.
`Lichter, M.D., Dubowsky,S., Ueno, H., and Mitani, S., “Shape, Motion, and Parameter Estimation of
`Flexible Space Structures using Laser Rangefinders,” Robotics: Science and Systems 2005, Cambridge,
`MA, June 8-11, 2005.
`Plante, J. S, Santer, M., Pellegrino, S., and Dubowsky, S. ”Compliant Bistable Dielectric Elastomer
`Actuators For Binary Mechatronic Systems, Proceedings of the ASME Conference on Mechanisms and
`Robotics, Long Beach California, September, 23-29, 2005.
`Tzeranis, D., Ishijima, Y., and Dubowsky, S., “Manipulation of Large Flexible Structural Modules by
`Robots Mounted on Large Flexible Structures,” Proceedings of the Eighth International Symposium on
`Artificial Intelligence, Robotics and Automation in Space, I-SAIRAS, Munich, Germany, September, 2005.
`Ishijima, Y., Tzeranis, D., and Dubowsky, S., “On-Orbit Maneuvering of Large Space Flexible Structures
`by Free-Flying Robots,” Proceedings of the Eighth International Symposium on Artificial Intelligence,
`Robotics and Automation in Space, I-SAIRAS, Munich, Germany, September, 2005.
`Dubowsky, S., Quinn, R., Marzwell, N. and Bradley, A.T., “Joint Technical Architecture for Robotic
`Systems (JTARS),” Proceedings of the Eighth International Symposium on Artificial Intelligence, Robotics
`and Automation in Space, I-SAIRAS, Munich, Germany, September, 2005.
`Mitani, S., Lichter, MD., Dubowsky, S., and Ueno, H., "Ground Experiment about Shape, Motion, and
`Parameter Estimation of Flexible Space Structures using Laser Rangefinder", Proceedings of the
`Mechanical Engineering Congress, 2005, Tokyo, Japan, September 19-22 2005 (in Japanese).
`Boston, P.J. and Dubowsky, S., “Hopping Microbot Access to Subsurface (Cave) and Rugged Terrain on
`Mars and Hazardous Extreme Earth Astrobiology Sites, Proceedings of the American Geophysics Union
`Congress, San Francisco, CA, 5–9 December 2005.
`Plante, JS., Dubowsky, S., "On the Nature of Dielectric Elastomer Actuators and Its Implications for Their
`Design," Proceedings of the SPIE Smart Structures and Materials 2006: Electroactive Polymer Actuators
`and Devices, Proceedings of SPIE, San Diego, CA, March 2006.
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`Robert Bosch Exhibit 2004 - Page 5
`COSTCO (Petitioner) v. ROBERT BOSCH (Patent Owner)
`IPR2016-00034; IPR2016-00036; IPR2016-00038;
`IPR2016-00039; IPR2016-00040; IPR2016-00041
`
`

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`Boning, P. and Dubowsky, S., “Identification of Actuation Efforts using Limited Sensory Information for
`Space Robots,” Proceedings for the 2006 IEEE International Conference on Robotics and Automation,
`Orlando, May 15-19, 2006.
`Spenko, M., Kuroda, Y., Dubowsky, S. and Iagnemma, K., “Hazard Avoidance for High-Speed Mobile
`Robots in Rough Terrain,” Journal of Field Robotics, Volume 23, No. 5, pp. 311-331, May, 2006
`Garretson, J., R., Becker, W., T., and Dubowsky, S., “The Design of a Friction Compensation Control
`Architecture for a Heavy Lift Precision Manipulator in Contact with the Environment,” Proceedings of
`the 2006 IEEE International Conference on Robotics and Automation, Orlando, May 15-19, 2006.
`Boning, P., and Dubowsky, S., “A Study of Minimal Sensor Topologies for Space Robots,” Proceedings of
`the 10th International Symposium on Advances in Robot Kinematics June 25 - 29, 2006, Ljubljana,
`Slovenia, also, Advances In Robot Kinematics, 2006, Part 6, 413-422, Roth And Lenarcic (Eds), Springer.
`Wingert, A., Lichter, M.D., and Dubowsky, S., “On the Design of Large-Degree of Freedom Digital
`Mechatronic Devices based on Bi-stable Dielectric Elastomer Actuators,” IEEE/ASME Journal of
`Mechatronics. Vol. 11, No.4, August 2006, pp 448-456.
`Spenko, M., Yu, H-Y, Dubowsky, S. “A Robotic Personal Aid for the Mobility and Health Monitoring for
`the Elderly,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, Volume 14, Issue 3,
`Sept. 2006 pp 344 – 351.
`Spenko, M., Dubowsky, S., and Iagnemma, K., “Experimental Validation of High Speed Hazard
`Avoidance Control For Unmanned Ground Vehicles,” Proceedings of SYROCO 2006: 8th IFAC Int'l
`Symposium on Robot Control. Bologna, Italy, September 6-8, 2006.
`Tzeranis, D., and Dubowsky, S., “Vibration Control in the Assembly of Large Flexible Structures by
`Teams of Space Robots,” Proceedings of SYROCO 2006: 8th IFAC Int'l Symposium on Robot Control.
`Bologna, Italy, September 6-8, 2006.
`Boston, P., and Dubowsky, S., “Hopping Microbots for Caves and Rugged Surface Terrain,” American
`Institute of Aeronautics and Astronautics (AIAA) Space 2006, 19 - 21 September 19-21 2006, San Jose,
`California.
`Lichter, M.D., Hiroshi Ueno, H., and Dubowsky, S., “Vibration Estimation of Flexible Space Structures
`using Teams of Vision Sensors,” The International Journal of Robotics Research, Vol 25, No. 10, October
`2006, pp 1000-1012.
`Dubowsky S., Plante J-S., and Boston P., "Low Cost Micro Exploration Robots for Search and Rescue in
`Rough Terrain," Proceedings of the IEEE International Workshop on Safety, Security and Rescue
`Robotics, National Institute of Standards and Technology (NIST) , Gaithersburg, MD, USA, August 22-24,
`2006.
`Plante, J.,S., and Dubowsky, “Large-Scale Failure Modes of Dielectric Elastomer Actuators,” The
`International Journal of Solids and Structures, Volume 43, Nos. 25-26, December, 2006, pp 7727-7751.
`Burg, B., Dubowsky, S., Lienhard, J., and Poulikakos, D., “Thermal Control Architecture for a Planetary
`and Lunar Surface Exploration Micro-Robot,” Proceedings of the Space Technology and Applications
`International Forum, Albuquerque, NM, February 11-15, 2007
`Plante, L. Devita, S. Dubowsky, “A Road to Practical Dielectric Elastomer Actuators Based Robotics and
`Mechatronics: Discrete Actuation,” Proceedings of the 2007 Conferences on Smart Structures, San Diego,
`California, March 2007 (Invited Plenary).
`Dubowsky, S. “Personal Robotic Mobility Aids for the Elderly,” Proceedings of the First International
`Symposium on Information and Robotic Technologies (IRT), University of Tokyo, Tokyo, Japan, March
`2007 (Invited Plenary).
`Becker, W., DiCicco, M., Garretson, J and Dubowsky, S., “A Control Architecture for a Mobile Heavy-Lift
`Precision Manipulator with Limited Sensory Information,” ROBOTICA (International Journal, Special
`Issue on Mobile Manipulators: Basic Techniques, New trends & Applications, Vol. 25, No, 2, pp. 221-235.
`March 2007.
`Plante J.S. and Dubowsky S, "On the Properties of Dielectric Elastomer Actuators and Its Implications for
`Their Design," Journal of Smart Materials and Structures, Vol. 16, no 2, Apr 1, 2007, p 227-236.
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`COSTCO (Petitioner) v. ROBERT BOSCH (Patent Owner)
`IPR2016-00034; IPR2016-00036; IPR2016-00038;
`IPR2016-00039; IPR2016-00040; IPR2016-00041
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`

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`Kesner, S. B., Plante, J. S., Boston, P., Fabian, T., and Dubowsky, S., “Mobility and Power Feasibility of a
`Microbot Team System for Extraterrestrial Cave Exploration,” Proceedings of the 2007 IEEE International
`Conference Robotics and Automation, Rome, Italy, April 2007.
`Dubowsky S. and Boning, P. “The Coordinated Control of Space Robot Teams for the On-Orbit
`Construction of Large Flexible Space Structures,” Proceedings of the 2007 IEEE International Conference
`Robotics and Automation, Special Workshop on Space Robotics, Rome, Italy, April 2007.
`Bilton, A., Ishijima, Y.*, Lichter, M.D., and Dubowsky, S., “A Sensor Architecture for the Robotic Control of
`Large Flexible Space Structures,” The Journal of Field Robotics, , Vol. 24, No. 4, pp 287-310, April 2007.
`DeVita, L.M., Plante, J.S. and Dubowsky, S., “The Design of High Precision Parallel Mechanisms using
`Binary Actuation and Elastic Averaging: With Application to MRI Cancer Treatment,” Proceeding of the
`2007 IFToMM World Congress on Machines and Mechanisms, Besançon, France, June 17-21, 2007.
`Plante, J.S., and Dubowsky, S., "On the Performance Mechanisms of Dielectric Elastomer Actuators,
`“ Journal: Sensors and Actuators A: Physical, Vol.137, No. 1, Pages 96-109, June 2007
`Dubowsky, S., Plante, J., S., Kesner, S. and Boston, P., “A Hopping Mobility Concept for a Rough Terrain
`Search and Rescue Robot,” Proceedings of the 2007 Conference on Climbing and Walking Robots
`(CLAWAR), Singapore, July 2007.
`Boning, P., and Dubowsky, S. “An Experimental Study of The Control of Space Robot Teams Assembling
`Large Flexible Space Structures,” Proceedings of 9th International Symposium on Artificial Intelligence
`and Robotics in Space (ISAIRS 2008), Feb 26-29, 2008, Pasadena, CA.
`Helmick, D., Angelova, A., Clouse, D., Matthies., L., Halatci, I., Brooks, B., Dubowsky, S., and
`Iagnemma, K., “Experimental Results from a Terrain Adaptive Navigation System for Planetary Rovers,”
`Proceedings of 9th International Symposium on Artificial Intelligence and Robotics in Space (ISAIRS
`2008), Feb 26-29, 2008, Pasadena, CA.
`Ono, M., Boning, P., Nohara, T., and Dubowsky, “Experimental Validation of a Fuel-Efficient Robotic
`Maneuver Control Algorithm for Very Large Flexible Space Structures,” Proceedings of the 2008 IEEE
`International Conference on Robotics and Automation ICRA-08, Pasadena, California, May 19-23, 2008.
`Tadakuma, K., DeVita, L.M., Plante, J.S., Shaoze, Y., and. Dubowsky, S., “The Experimental Study of a
`Precision Parallel Manipulator with Binary Actuation: With Application to MRI Cancer Treatment,”
`Poceedings of the 2008 IEEE International Conference on Robotics and Automation ICRA-08, Pasadena,
`California, May 19-23, 2008.
`S., Kesner, S., Plante, J.. Boston, P., and S. Dubowsky, “Hopping Mobility Concept for a Rough Terrain
`Search and Rescue Robot,” special issue of The Journal Industrial Robot, Vol. 35 Issue 3, May 2008, pp 238-
`245.
`Dubowsky, S., and Plante, J.-S., Chapter Contributors, Binary Actuation, Dielectric Elastomers a
`Electromechanical Transducers: Fundamentals, Materials, Devices, Models & Applications of an
`Emerging Electroactive Polymer Technology, Published by Elsevier, Editors: Federico Carpi, et al, 2008.
`Plante, J.S,, Devita, L., Tadakuma., K., Shaoze Y., and Dubowsky, S. .Chapter Contributors, “Binary an MRI
`Compatible Needle Manipulator for Prostate Cancer Therapy,” Biomedical Applications of Electroactive
`Polymer Actuators, Published by Elsevier, Editors: Federico Carpi, et al. 2008
`Plante, J. S., and Dubowsky, S., “The Calibration of a Parallel Manipulator with Binary Actuation,”
`Proceedings of the 11th International Symposium on Robot Kinematics (ARK 2008), June 22 - 26, 2008,
`Batz-sur-Mer, France.
`Toglia, C., Kettler, D. and Dubowsky, S., A Study of Cooperative Control of Self-Assembling Robots in
`Space with Experimental Validation,” Proceedings of the 2009 International Conference on Robotics and
`Automation, ICRA, Kobe Japan, May 2009.
`Plante, JS., Tadakuma, K., DeVita, L.M., Kacher, D.F., Roebuck, J.R., DiMaio, S.P., Jolesz, F.A., Dubowsky,
`S., “An MRI-Compatible Needle Manipulator Concept Based on Elastically Averaged Dielectric
`Elastomer Actuators for Prostate Cancer Treatment: An Accuracy and MR-compatibility Evaluation in
`Phantoms,” Journal of Medical Devices, 3, 031005 (10p.), 2009.
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`7
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`Robert Bosch Exhibit 2004 - Page 7
`COSTCO (Petitioner) v. ROBERT BOSCH (Patent Owner)
`IPR2016-00034; IPR2016-00036; IPR2016-00038;
`IPR2016-00039; IPR2016-00040; IPR2016-00041
`
`

`
`Boning. P., and Dubowsky, S. “The Coordinated Control of Space Robot Teams for the On-Orbit
`Construction of Large Flexible Space Structures,” Advanced Robotics, Vol 24, November, 2010, pp 303-
`323.
`Arndt, David; Bobrow, James E.; Peters, Steven; Iagnemma, Karl; and Dubowsky, Steven (2009). “Two-
`Wheel Self-Balancing of a Four-Wheeled Vehicle,” IEEE Control Systems Magazine, vol. 31, no. 2, pp.29-
`37, April 2011
`Mazzini, F., Kettler D., Guerrero, J., and Dubowsky, S. “ The Exploration of Unknown Surfaces Using
`Sparse Tactile Data: With Application to Oil Well Mapping, Proceedings of the IEEE Robotic and Sensor
`Environments Conference, November, 2009, Lecco, Italy, November, 2009.
`F. Mazzini, D. Kettler , J. Guerrero, S. Dubowsky "Tactile Robotic Mapping of Unknown Surfaces, with
`Application to Oil Wells," IEEE Transactions on Instrumentation and Measurement 60(2): 420-429 (2011).
`Lee, S., J., Bilton, A.,M., and Dubowsky, S., “On The Kinematics of Solar Mirrors Using Massively
`Parallel Binary Actuation,” Proceedings of the ASME 2010 International Design Engineering Technical
`Conferences & Computers and Information in Engineering Conference IDETC/CIE 2010 August 15-18,
`2010, Montreal, Quebec, Canada.
`Mazzini, F. and Dubowsky, S., “The Tactile Exploration of a Harsh Environment by a Manipulator With
`Joint Backlash,” Proceedings of the ASME 2010 International Design Engineering Technical Conferences
`& Computers and Information in Engineering Conference IDETC/CIE 2010 August 15-18, 2010,
`Montreal, Quebec, Canada.
`Amy M. Bilton, Leah C. Kelley and Steven Dubowsky, “Photovoltaic Reverse Osmosis – Feasibility and a
`Pathway to Develop Technology,” Proceedings of The 2010 EuroMed Conference on Desalination for
`Clean Water and Energy, Tel Aviv, Israel, October 2010.
`Kelley L. C., Gilbertson, E. Sheikh, A., Eppinger, S., and Dubowsky, S. “On the Feasibility of Solar
`Powered Irrigation,” Journal of Renewable and Sustainable Energy Reviews, 14 December 2010, 2669-
`2682.
`Mazzini, F. and Dubowsky, S. “An Experimental Validation of Robotic Tactile Mapping in Harsh
`Environments Such as Deep Sea Oil Well Sites,” Proceedings of the 12th International Symposium on
`Experimental Robotics, New Deli, India, December 2010.
`Bilton, A. Kelley, L. and Dubowsky, S.,. “Photovoltaic Reverse Osmosis – Feasibility and a Pathway to
`Develop Technology,” Journal of Desalination and Water Treatment,” Volume 31 July 2011.
`Li, L., Kecskemethy, A, Arif, A. F. M. and Dubowsky, “A Novel Approach For Designing Parabolic
`Mirrors Using Optimized Compliant Bands,” The Proceeding ASME 2011 International Design
`Engineering Technical Conferences & Computers and Information in Engineering Conference, August 28-
`31, 2011, Washington, DC.
`Thangavelautham, J., Gallardo, D., Strawser, D., and Dubowsky, S., “Hybrid Fuel Cells Power for Long
`Duration Robot Missions in Field Environments,” Proceedings of the 2007 Conference on Climbing and
`Walking Robots (CLAWAR), Paris, France, September, 2011.
`Li, L and Dubowsky, S., “A New Design Approach for Solar Concentrating Parabolic Dish Based on
`Optimized Flexible Petals,” Mechanisms and Machine Theory Mechanism and Machine Theory, Vo. 46,
`No.10, October 2011, Pages 1536-1548
`Li, L., Kecskemethy, A, Arif, A. F. M. and Dubowsky, S. Optimized Bands: A New Design Concept for
`Concentrating Solar Parabolic Mirrors,” J. Sol. Energy Engineering, Vol. 133, Issue 3, August 2011.
`Boning and S. Dubowsky “A Kinematic Approach to Determining the Optimal Actuator Sensor
`Architecture for Space Robots,” International Journal of Robotic Research - IJRR, vol. 30, no. 9, August 2011.,
`2011.
`Toglia, C., Kennedy, F., and Dubowsky, S., “Cooperative Control of Modular Space Robots,’ Autonomous
`Robots Journal, Volume 31 Number 2-3, September 2011
`Kelley, L., Bilton, A. and Dubowsky, S., “Enhancing the Performance of a Photovoltaic Powered Reverse
`Osmosis Desalination Systems by Active Thermal Management,” The ASME 2011 Congress, November
`11-17, 2011, Denver, CO.
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`8
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`Robert Bosch Exhibit 2004 - Page 8
`COSTCO (Petitioner) v. ROBERT BOSCH (Patent Owner)
`IPR2016-00034; IPR2016-00036; IPR2016-00038;
`IPR2016-00039; IPR2016-00040; IPR2016-00041
`
`

`
`Bilton, A. M., Wiesman, R., Arif, A. F. M., Zubair, S. M., and Dubowsky, S., "On The Feasibility of
`Community-Scale Photovoltaic Powered Reverse Osmosis Systems For Remote Locations."Renewable
`Energy, Vol. 36, No. 12, Pp. 3246-3256, December 2011.
`Mazzini, F. and Dubowsky, S., ”Experimental Validation of The Tactile Exploration by a Manipulator
`With Joint Backlash,” The ASME Transactions, Journal of Mechanisms and Robotics. Vol. 4, No.1, 2012,
`Bilton, A., and Dubowsky., S. “The Modular Design Of Photovoltaic Reverse Osmosis Systems – Making
`Technology Accessible To Non-Experts,” Proceedings of the Desalination For The Environment Clean
`Water And Energy, April 23–26 2012, Barcelona, Spain
`Thangavelautham, J., Daniel Strawser, D., Mei Yi Cheubng, M., and Dubowsky, S., “Lithium Hydride
`Powered PEM Fuel Cells for Long-Duration Small Mobile Robotic Missions,” The Proceedings of
`the 2012 IEEE, International Conference on Robotic and Automation, St. Paul, MN May 14-18, 2012.
`Mazzini, F. and Dubowsky, S., “Whole-Arm Exploration of Harsh Environments,” The Proceedings of
`Symposium On Theory And Practice Of Robots And Manipulators 2012, ROMANSY, Paris France, June
`12-15, 2012.
`Bilton, A.M., and Dubowsky, S., “Inverse Kinematics for the Control of Hyper-Redundant Binary
`Mechanisms with Application to Solar Con