Research Page

Home                 My research interests include visually servoed robotics, robot hands, sensor fusion, and control
Course               system design. My multi-disciplined background is in mechanical, electrical and
Projects             computer engineering.
Publications
Vitae

Students

Columbia University Robotics Lab (1995-1999)




The Columbia University Robotics Group is where I pursued visual servoing and grasping research. Adaptive control of a stewart platform was performed at Seoul National University's Fluid Applications and Production Automation lab. Brief summaries, papers and MPEG video clips can be viewed through my member page at http://www.cs.columbia.edu/~paul/researchPage.html. Papers can also viewed from my Drexel site, under the Publications hyperlink above.

Drexel University (Current Home)

The PRISM Lab: Program for Robotics, Intelligent Sensing and Mechatronics at Drexel University. PRISM's working mission statement is to conceive, develop, implement and configure sensor-based solutions and "smart" mechatronic systems for robotics and human augmented applications. NOTE: PRISM's web page http://prism.mem.drexel.edu best viewed in Internet Explorer 5.0 and higher

• Air Muscules photos
• Research Overview Quad Charts ohResearchOverview112002.pdf
• Closed Quarter Aerial Robotics Quad Chart QuadChrt103102.pdf
• Aerial Robotics Research Roadmap cqarRoadMap123002.pdf
• CQAR Aerial Robot Prototype
• LEAP: Low Elevation Aerial Photography web site
• LEAP Poster PPT | PDF
• Human-in-the-loop Visual Servoing web site
• Imagery Tools for Command and Control C2imageryQuadChart.pdf
• Imagery Tools for Command and Control OSIRIS Quad Chart
• Robotic Casualty Extraction Arm for UGVs PPT | PDF

Aerial Robotics for Near-Earth Environments

Near-Earth environments include areas like forests, buildings, tunnels and caves. For an aerial robot to autonomously fly in such environments demands sensor suites for collision avoidance and target localization. We have recently demonstrated autonomous landing and collision avoidance inside a building using a 5-gram optic flow sensor.

Left: The vehicle senses the basketball backboard and saccades to avoid collision. Right: The vehicle autonomously lands.

Video Clips

• Collision Avoidance pipKittyhawkCollisionAvoidance01.mpg
• Autonomous Landing kittyHawkLanding01.mpg
• 08/22/05: Outdoor Autonomous Hover of a Fixed-Wing Vehicle MPEG (10 MB)
• 09/11/05: RC Hirobo Chinook Test Flight with 5 lb payload MPEG (89 MB)
• 09/16/05: Indoor Autonomous Hover of a Fixed-Wing Vehicle MPEG (29 MB)

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