Research Projects

Protein Streak Seeding

Project icon The goal of the Protein Streak Seeding project is the creation of an innovative high-throughput microrobotic system for a protein crystallography task called streak seeding. The system uses visual feedback from a camera mounted on a microscope to control a motorized stage and a micromanipulator and that has the tool attached as its end-effector. We have designed and manufactured unique new tools.

Protein Crystal Mounting

Project icon The Protein Crystal Mounting project addresses the need in the Protein Crystallography community for high-throughput (HTP) equipment which will help improve the execution of a specialized task, called crystal mounting. The goal of this project is to produce a microrobotic system capable of performing the task autonomously, quickly and robustly. We have built a robotic system for crystal mounting which relies on visual feedback from a camera looking through a microscope to control a micromanipulator with the tool used for mounting attached as its end-effector.

AVENUE: Autonomous Vehicle for Exploration and Navigation in Urban Environments

Project icon This project targets the automation of the urban site modeling process. AVENUE addresses the data acquisition problem by building a mobile system that will autonomously navigate around a site and create a model with minimum human interaction, if any. In addition to the built-in odometry, we have equipped the robot with a compass and tilt sensor, GPS and a camera, and have developed methods for accurate localization via computer vision and sensor fusion.

Exploration of Unknown Environments by an Autonomous Mobile Robot

Project icon My candidacy exam at Columbia University. This is a survey of 23 state-of-the-art works in the area of mobile robot exploration of unknown environments according to the Columbia University Candidacy Exam requirements.

Particle-based 3-D modeling from stereo

Project icon This project explores the creation of a 3-D model of an object from stereo image pairs. The surface of the object is modeled as a set of surface patches, a.k.a particles.

Calibration of an IBM 7575 SCARA robot and a turntable stage

Project icon This project addresses the need for a program that will automatically determine the transformation between the coordinate frame of an IBM-7575 SCARA robot with a laser range finder mounted on its end-effector and a mobile turntable stage placed anywhere on the robot platform.

Reasoning in Multi-Context Systems

Project icon My master's thesis at Sofia University. It presents an approach to formalization of reasoning in multiple context. The reasoning process is broken into local reasoning fragments each of which is associated with a context.