Tallinn University of Technology
T. Kossas, W. Remmas, R. Gkliva, A. Ristolainen, and M. Kruusmaa, “Whisker-based tactile navigation algorithm for underground robots,” in 2024 International Conference on Robotics and Automation (ICRA). IEEE, 2024, forthcoming

M. Egerer, A. Ristolainen, L. Piho, L. Vihman, and M. Kruusmaa, “Hall effect sensor-based low-cost flow monitoring device: Design and validation,” IEEE Sensors Journal, 2024. link

egerer 2024 ieee sensors

V. Gomez, W. Remmas, M. Hernando, A. Ristolainen, and C. Rossi, Bioinspired whisker sensor for 3d mapping of underground mining environments,” Biomimetics, vol. 9, no. 2, p. 83, 2024. link

gomez 2024

E. Dubrovinskaya, C. Meurer, M. Ludvigsen, T. Mo-Bjørkelund, A. Vasilijevic, and M. Kruusmaa, “Fresh-salt water mixing region detection with low-cost pressure sensors,” in OCEANS 2023-Limerick. IEEE, 2023, pp. 1–5. link


S. Godon, M. Kruusmaa, and A. Ristolainen, “Maneuvering on non-newtonian fluidic terrain: a survey of animal and bio-inspired robot locomotion techniques on soft yielding grounds,” Frontiers in Robotics and AI, vol. 10, p. 1113881, 2023. link

Godon 2023
A. Dzipalski, J. Morton, N. Papachristou, R. Maier, W. MacPherson, A. Ristolainen, M. Kruusmaa, E. Reilent, B. Wolf, P. Pirih et al., “A multiplexed FBG-based sensor platform for flow and temperature measurements in the baltic sea,” in 2023 European Workshop on Optical Fibre Sensors. SPIE, 2023, p. 1264307. link

W. Remmas, A. Chemori, M. Kruusmaa "Fault-tolerant control allocation for a bio-inspired underactuated AUV in the presence of actuator failures: Design and experiments," Ocean Engineering, vol 285, ARTN 115327, 2023. link

R. Gkliva and M. Kruusmaa, “Soft fluidic actuator for locomotion in multi-phase environments,” IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 10 462–10 469, 2022. link
Soft fluidic actuator for locomotion in multi-phase environments
A. Ristolainen, L. Piho, and M. Kruusmaa, “Feasibility study on distributed flow sensing with inertial sensors in aquaculture fish cages,” Aquacultural Engineering, vol. 98, p. 102271, 2022. link
L. Piho, A. Alexander, and M. Kruusmaa, “Topology and spatial-pressure-distribution reconstruction of an englacial channel,” The Cryosphere, vol. 16, no. 9, pp. 3669–3683, 2022. link
copernicus Piho small
S. Godon, A. Ristolainen, M. Kruusmaa, "An Insight on Mud Behavior Upon Stepping," IEEE Robotics and Automation Letters, 2022, vol. 7, no. 4, pp. 1−8. link
godon ral
M. Ratas, A. Chemori, M. Kruusmaa, "PHA-Based Feedback Control of a Biomimetic AUV for Diver Following: Design, Simulations and Real-Time Experiments," 2022 European Control Conference (ECC). IEEE, 503−509, 2022. link
L. Piho and M. Kruusmaa, “Subsurface flow path modeling from inertial measurement unit sensor data using infinite hidden markov models,” IEEE Sensors Journal, vol. 22, no. 1, pp. 621–630, 2021. link
piho ieee sensors
M. Rätsep, K. E. Parnell, T. Soomere, M. Kruusmaa, A. Ristolainen, and J. A. Tuhtan, “Surface vessel localization from wake measurements using an array of pressure sensors in the littoral zone,” Ocean Engineering, vol. 233, p. 109156, 2021. link
 L. Vihman, M. Kruusmaa, J. Raik, "Systematic Review of Fault Tolerant Techniques in Underwater Sensor Networks". Sensors, 2021, no. 9: 3264. link
W. Remmas, A. Chemori, M. Kruusmaa, "Inverse-model intelligent control of fin-actuated underwater robots based on drag force propulsion,". Ocean Engineering, vol. 239, nr. 109883, 2021. link
W. Remmas, A. Chemori, M. Kruusmaa, "Diver tracking in open waters: A low-cost approach based on visual and acoustic sensor fusion," Journal of Field Robotics, vol. 38 no.3, pp. 494−508, 2021. link
diver tracking
M. Kruusmaa, R. Gkliva, J. Tuhtan, A. Tuvikene, and J. A. Alfredsen, “Salmon behavioural response to robots in an aquaculture sea cage,” Royal Society open science, vol. 7, no. 3, p. 191220, 2020. link
U-CAT with salmon
A. Simha, R. Gkliva, Ü. Kotta, and M. Kruusmaa, “A flapped paddle-fin for improving underwater propulsive efficiency of oscillatory actuation,” IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 3176–3181, 2020. link
C. Meurer, J. F. Fuentes-Pérez, K. Schwarzwälder, M. Ludvigsen, A. J. Sørensen, and M. Kruusmaa, “2D estimation of velocity relative to water and tidal currents based on differential pressure for autonomous underwater vehicles,” IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 3444–3451, 2020. link
M. Rätsep, K. E. Parnell, T. Soomere, M. Kruusmaa, A. Ristolainen, and J. A. Tuhtan, Using spectrograms from underwater total pressure sensors to detect passing vessels in a coastal environment, Journal of Atmospheric and Oceanic Technology, vol. 37, no. 8, pp. 1353–1363, 2020. link
A. Alexander, M. Kruusmaa, J. A. Tuhtan, A. J. Hodson, T. V. Schuler, A. Kääb, "Pressure and inertia sensing drifters for glacial hydrology flow path measurements," The Cryosphere, vol. 14 no. 3, pp. 1009−1023, 2020 link
J. A. Tuhtan, S. Nag, M. Kruusmaa, Maarja, "Underwater bioinspired sensing: New opportunities to improve environmental monitoring," IEEE Instrumentation & Measurement Magazine, vol. 23, nr. 2, pp.30−36, 2020. link
L. Vihman, M. Kruusmaa, J. Raik, "Data-Driven Cross-Layer Fault Management Architecture for Sensor Networks," European Dependable Computing Conference, Munich, Germany, 2020. IEEE, 33−40. link
C. Meurer, J. F. Fuentes-Pérez, N. Palomeras, M. Carreras, and M. Kruusmaa, “Differential pressure sensor speedometer for autonomous underwater vehicle velocity estimation, IEEE Journal of Oceanic Engineering, vol. 45, no. 3, pp. 946–978, 2019. link
A. Ristolainen, J. A. Tuhtan, and M. Kruusmaa, “Continuous, near-bed current velocity estimation using pressure and inertial sensing,” IEEE Sensors Journal, vol. 19, no. 24, pp. 12 398–12 406, 2019. link
original hydromast
N. Muhammad, J. F. Fuentes-Perez, J. A. Tuhtan, G. Toming, M. Musall, M. Kruusmaa, "Map-based localization and loop-closure detection from a moving underwater platform using flow features," Autonomous Robots, vol. 43, nr. 6, pp. 1419−1434, 2019. link
J. F. Fuentes-Pérez, J. A. Tuhtan, M. Eckert, F Româo, M. T. Ferreira, M. Kruusmaa, P. Branco, "Hydraulics of vertical slot fishways: Non-uniform profiles," Journal of Hydraulic Engineering, vol. 145, no. 2. 2019. link
C. Meurer, A. Simha, Ü. Kotta, M. Kruusmaa, "Nonlinear orientation controller for a compliant robotic fish based on asymmetric actuation," IEEE International Conference on Robotics and Automation (ICRA) : May 20-24, 2019, Montreal, Canada. IEEE, 4688−4694. link
R. Gkliva, M. Sfakiotakis, and M. Kruusmaa, “Development and experimental assessment of a flexible robot fin,” in 2018 IEEE International Conference on Soft Robotics (RoboSoft). IEEE, 2018, pp. 208–213. link
U-CAT forces
A. Ristolainen, K. Kalev, J. A. Tuhtan, A. Kuusik, and M. Kruusmaa, “Hydromorphological classification using synchronous pressure and inertial sensing,” IEEE Transactions on Geoscience and Remote Sensing, vol. 56, no. 6, pp. 3222–3232, 2018. link
Ristolainen artikel fig
J. F. Fuentes-Pérez, A. T. Silva, J. A. Tuhtan, A. Garc ́ıa-Vega, R. Carbonell-Baeza, M. Musall, and M. Kruusmaa, “3d modelling of non-uniform and turbulent flow in vertical slot fishways,” Environmental Modelling & Software, vol. 99, pp. 156–169, 2018. link
J. F. Fuentes-Pérez, C. Meurer, J. A. Tuhtan, and M. Kruusmaa, “Differential pressure sensors for underwater speedometry in variable velocity and acceleration conditions,” IEEE Journal of Oceanic Engineering, vol. 43, no. 2, pp. 418–426, 2018. link
J. A. Tuhtan, J. F. Fuentes-Pérez, G. Toming, M. Schneider, R. Schwarzenberger, M. Schletterer, and M. Kruusmaa, “Man-made flows from a fish’s perspective: autonomous classification of turbulent fishway flows with field data collected using an artificial lateral line,” Bioinspiration & biomimetics, vol. 13, no. 4, p. 046006, 2018. link
 J. F. Fuentes-Pérez, M. Eckert, J. A. Tuhtan, M. T. Ferreira, M. Kruusmaa, and P. Branco, “Spatial preferences of iberian barbel in a vertical slot fishway under variable hydrodynamic scenarios,” Ecological Engineering, vol. 125, pp. 131–142, 2018. link
V. Preston, T. Salumäe, and M. Kruusmaa, “Underwater confined space mapping by resource-constrained autonomous vehicle,” Journal of Field Robotics, vol. 35, no. 7, pp. 1122–1148, 2018. link
K. Chen, J. A. Tuhtan, J. F. Fuentes-Pérez, G. Toming, M. Musall, N. Strokina, J.-K. Kämäräinen, and M. Kruusmaa, “Estimation of flow turbulence metrics with a lateral line probe and regression,” IEEE Transactions on Instrumentation and Measurement, vol. 66, no. 4, pp. 651–660, 2017. link
J. F. Fuentes-Pérez, N. Muhammad, J. A. Tuhtan, R. Carbonell-Baeza, M. Musall, G. Toming, and M. Kruusmaa, “Map-based localization in structured underwater environment using simulated hydrodynamic maps and an artificial lateral line,” in 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2017, pp. 128–134. link
T. Salumäe, A. Chemori, and M. Kruusmaa, “Motion control of a hovering biomimetic four-fin underwater robot,” IEEE Journal of Oceanic Engineering, vol. 44, no. 1, pp. 54–71, 2017. link