Research Projects
Protein Streak Seeding
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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
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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
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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
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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
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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
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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
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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. |
