ADROC: Autonomous Diver-Relative Operator Configuration
A method for diver approach by AUVs using monocular vision. Read more
Posts by Collection
portfolio
Diver Detection
Deep learning methods for detection of divers Read more
HREye: Emitted Light for AUV Communication and Gaze
A new device and system for light-based robot communication, including a new capability for underewater robots: gaze indication Read more
LoCO-AUV
A Low-Cost, Open Autonomous Underwater Vehicle. Collaboration with many IRVLab members. Read more
RCVM: Robot Communication Via Motion
My method for robot-to-human communication using motion of AUVs. Read more
SIREN: Sound Based Comunication For AUVs
A sound-based communication method for AUVs, using musical tones and synthesized speech. Read more
Trash Detection
Deep learning methods for detection of underwater debris Read more
publications
Toward a Generic Diver-Following Algorithm: Balancing Robustness and Efficiency in Deep Visual Detection
Published in IEEE Robotics and Automation Letters, 2019
A deep learning based diver detection method and a diver following algorithm for AUVs. Read more
Robot Communication Via Motion: Closing the Underwater Human-Robot Interaction Loop
Published in International Conference on Robotics and Automation (ICRA), 2019
A motion-based robot-to-human communication method: a sort of robot body language. Read more
Robotic detection of marine litter using deep visual detection models
Published in International Conference on Robotics and Automation (ICRA), 2019
One of the first annotated datasets of trash, and an evaluation of four deep detectors trained on that dataset. Read more
A Generative Approach Towards Improved Robotic Detection of Marine Litter
Published in IEEE International Conference on Robotics and Automation (ICRA), 2020
A method for generating synthetic images of underwater trash, improving detector performance by providing more examples. Read more
Design and experiments with LoCO AUV: A low cost open-source autonomous underwater vehicle
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
A low-cost, open-source AUV for multipurpose use in underwater research, education, etc. Read more
Robot Communication Via Motion: A Study on Modalities for Robot-to-Human Communication in the Field
Published in ACM Transactions on Human Robot Interaction, 2021
Three studies evaluating a motion-based communication method for AUVs in simulation, in a full-loop context, and compared to other communication systems in a variety of phsyical orientations. Read more
Predicting the Future Motion of Divers for Enhanced Underwater Human-Robot Collaboration
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
A method for predicting the future motion of divers using LSTMs. Read more
Towards Robust Visual Diver Detection Onboard Autonomous Underwater Robots: Assessing the Effects of Models and Data
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
A new dataset for diver detection (100k images) in video contexts, with evaluations of a variety of deep detectors on the diver detection task. Read more
Using Monocular Vision and Human Body Priors for AUVs to Autonmously Approach Divers
Published in International Conference on Robotics and Automation (ICRA), 2022
A method which allows AUVs to approach divers using only monocular vision. Read more
Underwater Robot-To-Human Communication Via Motion: Implementation and Full-Loop Human Interface Evaluation
Published in Robotics: Science and Systems (RSS) 2022, 2022
An evaluation of motion, light, and sound for underwater robot communication. Read more
HREyes: Design, Development, and Evaluation of a Novel Method for AUVs to Communicate Information and Gaze Direction
Published in To appear, ICRA 2023, pre-print available on arXiv, 2022
Robotic Detection of a Human-Comprehensible Gestural Language for Underwater Multi-Human-Robot Collaboration
Published in International Conference on Intelligent Robots and Systems (IROS), 2022
A method for recognizing robotic gestures with another robot, for inter-robot communication via motion. Read more
talks
Robot Communication Via Motion: Closing the Underwater Human-Robot Interaction Loop
Published:
An interactive presentation presenting a poster on my ICRA 2019 publication. Poster can be found here. Read more
Robotic detection of marine litter using deep visual detection models
Published:
An interactive presentation presenting a poster on my ICRA 2019 publication. Poster can be found here. Read more
LoCO-AUV
Published:
This talk was conducted online due to COVID-19, in the form of a pre-recorded video. Slides are available in pdf form here (videos not embedded). Read more
Predicting the Future Motion of Divers for Enhanced Underwater Human-Robot Collaboration
Published:
This talk was conducted online due to COVID-19, in the form of a pre-recorded video and a short interactive talk. Slides for the pre-recorded video are available in pdf form here (videos not embedded). Read more
ADROC: Approaching Divers Using Monocular Vision
Published:
Slides for the pre-recorded video are available in pdf form here (videos not embedded). Poster available here. Read more
Underwater Robot-To-Human Communication Via Motion: Implementation and Full-Loop Human Interface Evaluation
Published:
Slides for the pre-recorded video are available in pdf form here (videos not embedded). Poster available here. Read more
teaching
Teaching Assistant for CSCI 4061: Operating Systems
Undergraduate course, University of Minnesota, Department of Computer Science and Engineering, 2019
In the Spring of 2019, I served as a teaching assistant for CSCI 4061: Operating Systems. My duties included teaching two weekly labs and office hours, proctering and grading exams, and designing, developing, and creating automated grading for one large programming assignment. The class had a total size of some 400 students, and my two labs were comprised of approximately twenty sustends each. Read more
Teaching Assistant for CSCI 5551: Introduction to Intelligent Robotic Systems
Graduate course, University of Minnesota, Department of Computer Science and Engineering, 2020
In the Fall of 2020, I served as a TA for the graduate level course: CSCI 5551: Introduction to Intelligent Robotic Systems. I helped to run the course website, created, administered, and evaluated a programming-based homework on ROS, and taught a lecture on ROS, the Robot Operation System. It was a challenging semester, due to the new online-learning paradigm necessitated by COVID, but it was rewarding nontheless! It was really fun to teach students about ROS and help them to learn real robot programming skills, even without access to real robots. Read more