IEEE requires that your PDF files embed all fonts. If you are including figures, it might prove difficult to embed them. Here is a recipe that works. Start with a file called “ICRA05.pdf”.
- convert to ps: pdftops ICRA05.pdf
- convert back to pdf using prepress settings: ps2pdf14 -dPDFSETTINGS=/prepress ICRA05.ps
- check new ICRA05.pdf for horrendous formatting errors due to double conversion.
(Source: Owen Kaser.)