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Sensor fusion with biomedical applications in mobile robotic systems (supported by NSERC)
    In the proposed research, the fusion aspects of the multisensor robot system will be studied. More specifically, fusion strategies to handle all major problems associated with multisensor robot systems will be developed. Dynamic model of a multisensor robot system, which has the space and orientation constrains imposed by the placement of multiple sensor will be derived. And also, the optimal placement of the sensors required by the desired tasks to each sensor in the system will be achieved.  
A voice-controlled wireless mobile robotic system
    A voice-controlled wireless mobile robotic system capable of recognizing voice commands is designed. A comparison of HTK-developed HMM against a commercially available Microsoft speech recognition engine (SDK 5.1) in terms of accuracy is studied. The experimental evaluation and accuracy tests will show the ability of the VCR software to control a robot with simple human voice commands.
Robotic eye project
    This project aims to design an assistive device that will help patients with eye-implant to have natural eye movement. Ocular implant is routinely used for patients who lose their eye for various reasons. The artificial eye can be made like a real eye cosmetically. But the problem is that it is static and does not have the natural movement. In current research, we are trying to improving the previous model and solve new issues related to this problem.
Wall climbing robot
    The aim of this project is to design a wall-climbing robot to scan external surfaces of gas or oil tanks or pipelines and inspect defects with non-destructive sensors. The robot also needs to be semi-autonomous. The robot should also be capable of carrying multiple sensors, electronic circuits, computational resources, wireless communication devices etc. A wall-climbing robot should not only be light but also have a large payload so that it may reduce excessive adhesion forces and carry instrumentations during navigation. (Supported by Imperial Oil)
Using Tele-robotic Skull Drill for Neurosurgical Applications
    This proposal research aims to build an image-guided telerobotic system for neurosurgery. More specifically, this project is to investigate the remote drilling of a hole in the skull to relieve the pressures associated with head trauma and chronic conditions (Supported by NSERC, NSHRF).
Investigation of Trajectory Tracking Control Algorithm for Mobile Platforms
    This project aims to use an intuitive way of trajectory tracking control for the autonomous mobile platforms. It is implemented by combining the way point guidance approach and the model reference tracking control where the way points which sit on the reference path is regulated in a close-loop fashion by exploiting the position and orientation errors. The proposed algorithm basically could be decomposed into two separate tasks, which are the geometric tasks and the dynamics assignments tasks. Besides, the velocity could be kept constant or global method which depends on the system of the mobile platforms where some of autonomous vehicles could have fine velocity control.

Robotics Laboratory for Biomedical, Rehabilitation and Assistive Technologies
(supported by CFI)


Dr. Jason Gu, PEng.

SMIEEE,MIEE
Professor
Electrical and Computer Engineering
Dalhousie University
Halifax, Nova Scotia
Canada  B3J 2X4
(902) 494-3163 (office)
(902) 422-7535 (fax)

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Last updated: August, 2011