My research focuses on two thrusts: (1) embedding sensing, computation, and actuation into materials to make materials smart, and (2) investigating how robots can take advantage of such smart materials to improve perception and control. I currently study two classes of systems: smart material systems that can change their physical properties based on local sensing and distributed computation and robotic manipulation. Here, I explore a combination of symbolic AI and novel methods from machine learning.Together, these will allow the creation of a new generation of general purpose robotic systems.
A Soft Pneumatic Actuator that Can Sense Grasp and Touch.
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems.
2317-2323.
2015
Navigation with Foraging.
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems.
3150-3157.
2013
CSCA 5312 - Basic Robotic Behaviors and Odometry
Primary Instructor
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Fall 2023 / Spring 2024 / Summer 2024 / Fall 2024
Introduction to autonomous mobile robots, including forward kinematics (�odometry�), basic sensors and actuator, and simple reactive behavior. The course is centered around two laboratory exercises in the realistic, physics-based simulator �Webots� in which students will experiment with simple reactive behaviors for collision avoidance and line following, state machines, and basic forward kinematics of non-holonomic systems. An overarching objective of this course is to understand the role of the physical system on algorithm design and its role as source of uncertainty that makes robots non-deterministic.
CSCA 5332 - Robotic Mapping and Trajectory Generation
Primary Instructor
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Fall 2023 / Spring 2024 / Summer 2024 / Fall 2024
Building upon the course �Basic Robotic Behaviors and Odometry�, students will learn how to perform basic inverse kinematics of (non-)holonomic systems using a feedback control approach and how to process multi-dimensional sensor signals such as laser range scanners to create discrete representations of the environment (mapping). Also in this course, the overarching focus is mechanisms and sensors as sources of uncertainty and techniques to model and control for them.
CSCA 5342 - Robotic Path Planning and Task Execution
Primary Instructor
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Fall 2023 / Spring 2024 / Summer 2024 / Fall 2024
Building upon the courses �Basic Robotic Behaviors and Odometry� and �Robotic Mapping and Trajectory Generation�, students will learn how implement high-level reasoning for generating trajectories (path planning) and sequencing tasks under uncertainty of sensing and actuation. As a first cap stone in the robotics specialization, this course will also lead toward the implementation of a complex mobile manipulation system, combining behaviors, sensing, control and planning developed in previous modules.
CSCI 1300 - Computer Science 1: Starting Computing
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Fall 2019 / Fall 2021
Teaches techniques for writing computer programs in higher level programming languages to solve problems of interest in a range of application domains. Appropriate for students with little to no experience in computing or programming. Degree credit not granted for this course and CSCI 1310 and CSCI 1320 and ECEN 1310. Same as CSPB 1300.
CSCI 3302 - Introduction to Robotics
Primary Instructor
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Spring 2021 / Fall 2022 / Fall 2023 / Spring 2024 / Fall 2024
Introduces students to fundamental concepts in autonomous robotics: mechanisms, locomotion, kinematics, control, perception and planning. Consists of lectures and lab sessions that are geared toward developing a complete navigation stack on a miniature mobile robotic platform. Same as ECEN 3303 and CSPB 3302.
CSCI 4830 - Special Topics in Computer Science
Primary Instructor
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Spring 2022
Covers topics of interest in computer science at the senior undergraduate level. Content varies from semester to semester. Only 9 credit hours from CSCI 4830 and/or CSCI 4831 can count toward Computer Science BS or BA.
CSCI 4950 - Senior Thesis
Primary Instructor
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Fall 2022 / Spring 2023 / Fall 2024
Provides an opportunity for senior computer science majors to conduct exploratory research in computer science as an option for the capstone requirement. Department enforced prerequisites: 35 hours of Computer Science coursework including Foundation courses, Upper-Division writing, CS GPA 3.0. Department consent required, contact academic advisor for details. May be repeated up to 8 total credit hours.
CSCI 7000 - Current Topics in Computer Science
Primary Instructor
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Spring 2020 / Spring 2022 / Fall 2024
Covers research topics of current interest in computer science that do not fall into a standard subarea. May be repeated up to 18 total credit hours.
ECEN 3303 - Introduction to Robotics
Primary Instructor
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Fall 2022 / Fall 2023 / Spring 2024 / Fall 2024
Introduces students to fundamental concepts in autonomous robotics: mechanisms, locomotion, kinematics, control, perception and planning. Consists of lectures and lab sessions that are geared toward developing a complete navigation stack on a miniature mobile robotic platform. Same as CSCI 3302 and CSPB 3302.
GEEN 1400 - Engineering Projects
Primary Instructor
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Spring 2018
First-year students solve real engineering design problems in interdisciplinary teams. Design projects vary by section. Curriculum focuses on iterative design process, teamwork and team dynamics, supporting design with testing and analysis, and technical writing. Completed projects are exhibited at an end-of-semester design expo. Students are responsible for contributing towards their design project budget, workshop costs, and course arduino kit (approximately $125). Degree credit not granted for this course and ASTR 2500, ASEN 1400, ASEN 1403 and ECEN 1400.
MCEN 6949 - Master's Candidate for Degree
Primary Instructor
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Fall 2020
Registration intended for students preparing for a thesis defense, final examination, culminating activity, or completion of degree.