Career
Selected Work
Vision server for object recognition
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Wrote a specialized system for image-based search and object recognition, which would detect if an image contains any of a set of known objects in a database and incrementally expand the database by training with single images of new objects. Implemented and adapted a number of pattern recognition algorithms. Supervised the implementation of these algorithms on GPU hardware (Tesla D870 and S1070) using Cuda. Upgraded and maintained a vision server, which processed image training and query requests from mobile phones and other devices over the network. |
Streak seeding robot
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Engineered a production-grade micro-robotic system for high-throughput crystallographic task called protein streak seeding, involving image-based detection of protein crystals and droplets. Developed software for automated streak seeding using specially-designed and fabricated silicon micro-tools in place of traditional crystallographic tools. More... |
Crytal mounting robot
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Designed and constructed a high-precision vision-based micro-robotic prototype for protein crystal harvesting (crystal mounting). Features include a robust pickup mechanism based on a glass capillary connected to a computer-controlled micro-injector, enhanced visual tracking performance, better crystal protection from structural damage from manipulation and dehydration, and integration with the following task in the pipeline. More... |
AVENUE mobile robot
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Designed and engineered an autonomous mobile robot for urban site navigation and 3 D modeling. Utilized an existing mobile platform, a digital compass, a tilt sensor, GPS, a camera mounted on a pan-tilt head, a 3-D laser range scanner, and wireless networking. Devised two methods for robot localization by fusing data from multiple different unsynchronized sources, including a method for visual pose estimation from images of the surroundings. Designed and implemented a distributed object-oriented architecture for system operation, monitoring and control using CORBA, Java and C++. More... |
