PhD Thesis Defense

Event Location: GHC 8102Abstract: The task assignment problem is one of the fundamental combinatorial optimization problems. It has been extensively studied in operation research, management science, computer science and robotics. In multi-robot systems (MRS), there are various applications of task assignment, such as environmental monitoring, disaster response, extraterrestrial exploration, sensing data collection and collaborative autonomous [...]

Event Location: NSH 1305Abstract: Snake robots are ideally suited to highly confined environments because their small cross-sections and highly redundant kinematics allow them to enter and move through tight spaces with a high degree of dexterity. Despite these theoretical advantages, snake robots also pose a number of practical challenges that have limited their usefulness in [...]

Event Location: GHC 8102Abstract: Human observers are adept at detecting anomalies in realistic computer-generated (CG) facial animations. With an increased demand for CG characters in education and entertainment applications, it is important to animate accurate, realistic facial expressions. In this thesis, we develop a framework to explore representations of two key facial expressions: blinks and [...]

Event Location: NSH 3305Abstract: Miniature flapping flight systems hold great promise in matching the agility of their natural counterparts, bees, flies, and hummingbirds. Characterized by reciprocating wing motion, unsteady aerodynamics, and the ability to hover, insect-like flapping flight presents an interesting locomotion strategy capable of functioning at small size scales and is still a current [...]

Event Location: GHC 2109Abstract: Many computer vision problems, such as object classification, motion estimation or shape registration rely on solving the correspondence problem. Existing algorithms to solve spatial or temporal correspondence problems are usually NP-hard, difficult to approximate, lack flexible models and mechanism for feature weighting. This proposal addresses the correspondence problem in computer vision, [...]

Event Location: NSH 1507Abstract: Advances in hardware design have made wheeled mobile robot(WMRs) exceptionally mobile. To fully exploit this mobility, WMR planning, control,and estimation systems require motion models that are fast and accurate. Much of the published theory on WMR modeling is limited to 2D or kinematics, but 3D dynamic (or force-driven) models are required [...]

Event Location: GHC 4405Abstract: As robots become increasingly available and capable, there has been an increased interest in having robots continue to perform autonomously over time despite changes in their environment. This thesis recognizes the wide variations in the applications and constraints of mobile robot localization in human environments, and proposes a number of localization [...]

Event Location: NSH 3305Abstract: Robots are increasingly performing collaborative tasks with people in our homes, workplaces, and outdoors, and with this increase in interaction comes a need for efficient communication between human and robot teammates. One way to achieve this communication is through natural language, which provides a flexible and intuitive way to issue commands [...]

Event Location: NSH 3305Abstract: Motion planning is a central problem in robotics and is crucial to finding paths to navigate and manipulate safely and efficiently. Ideally, we want planners which find paths quickly and of good quality. Additionally, planners should generate predictable motions, which are safer when operating in the presence of humans. While the [...]

Event Location: NSH 3305Abstract: Robot-assisted surgery has been increasingly adopted in a wide variety of surgical applications because it offers fine manipulation with high precision and dexterity. Despite the commercial success of robotic platforms, practical use in microsurgery is still challenging due to a considerable level of accuracy required at sub-millimeter scales. Limited visualization and [...]