Student Talks
Intelligent Diabetes Assistant: A Telemedicine System for Modeling and Managing Blood Glucose
Event Location: GHC 7101Abstract: The creation of a diabetes management assistant that can remotely collect data, increase communication between patient and care provider, and automatically analyze all available information could improve the health of many diabetics. Individual models, taking into account nutrition, medication, and exercise, with appropriate mathematical modeling, can learn accurate representations of specific [...]
Learning Methods for Thought Recognition
Event Location: NSH 3305Abstract: This thesis proposal considers the problem of training machine learning classifiers in domains where data are very high dimensional and training examples are extremely limited or impossible to collect for all classes of interest. As a case study, we focus on the application of thought recognition, where the objective is to [...]
Improving Teleoperation of Mobile Robots and Manipulators in Large Workspaces via Haptic Feedback
Event Location: GHC 6501Abstract: Many applications today involving mobile robots require human control because the task to solve or the environment to move in is too complicated for existing fully autonomous systems. While computers today are already better than humans at controlling machines at a low level and can provide operators with a higher level [...]
Control of Full-Body Humanoid Push Recovery Using Simple Models
Event Location: GHC 8115Abstract: Humanoid robots represent the state of the art in complex robot systems, but the design of controllers can be challenging and tedious. High performance controllers that can handle unknown perturbations will be required if complex robots are to one day interact safely with people in everyday environments. The high degree of [...]
Ambulatory Manipulation
Event Location: GHC 6115Abstract: Robots with legs have a number of advantages over those with wheels, such as greater ability to navigate through rough terrain, more flexible manipulation of objects, and fully holonomic control of the body. However, leveraging these advantages on a multi-legged system is computationally intensive and often relegates leg usage exclusively to [...]
Mapping Large Urban Environments with GPS-Aided SLAM
Event Location: GHC 6115Abstract: Simultaneous Localization and Mapping (SLAM) has been an active area of research for several decades, and has become a foundation of indoor mobile robotics. However, although the scale and quality of results have improved markedly in that time period, no current technique can effectively handle city-sized urban areas. The Global Positioning [...]
A Self-Supervised Machine Learning Framework for Augmenting Cartographic Resources
Event Location: NSH 1109Abstract: Maps are important for both human and robot navigation. Given a route, driving assistance systems brief maps to guide human drivers to their destinations. Similarly, topological maps of road network provide a robotic vehicle with information about where it can drive and what driving behaviors it should use. Maps simplify both [...]
Illuminating Water Drops
Event Location: NSH 1305Abstract: Water drops are present throughout our daily lives. Microscopic droplets create fog and mist, and large drops fall as rain. Because of their shape and refractive properties, water drops exhibit a wide variety of visual effects. If not directly illuminated by a light source, then they are difficult to see. But [...]
Rhythmic Human-Robot Social Interaction
Event Location: NSH 3305Abstract: Social scientists have identified and begun to describe rhythmic and synchronous properties of human social interaction. However, social interactions with robots are often stilted due to temporal mismatch between the behaviors, both verbal and nonverbal, of the interacting partners. This thesis brings the theory of interactional synchrony to bear on the [...]
3D Reconstruction and Tracking of Anatomical Structures from Endoscopic Images
Event Location: NSH 3305Abstract: Endoscopy is attracting increasing attention for its role in minimally invasive, computer-assisted and tele-surgery. Analyzing images from endoscopes to obtain meaningful information about anatomical structures such as their 3D shapes, deformations and appearances, is crucial to such surgical applications. However, 3D reconstruction from endoscopic images is challenging due to the small [...]