I am a Postdoctoral Fellow in the Sheikh Zayed Institute for Pediatric Surgical Innovation at Children's National Medical Center, Washington DC. I currently work on developing a surgical robot arm with a custom-built near-infrared imaging system.

I obtained a PhD in Computing Science from the University of Alberta. My PhD work was on Uncalibrated Vision-based Control and Motion Planning of Robotic Arms in Unstructured Environments under the supervision of Professor Martin Jagersand. I have been a member of the robotics research group for the past few years. Read more about some of our group's projects on the Robotics and Vision Research Group page or my publications page.

My current research interests are surgical robotics, visual servoing, visual supervisory control of robots, and mobile manipulation in unstructured environments.

Recent updates:

[August 2012] PhD thesis successfully defended! [pdf (5.5 MB)]

[July 2012] Two papers accepted for IROS 2012. Camera-ready papers to be posted in publications page by the end of the month.

[June 2012] PhD thesis page updated with videos.

[Feb 2012] We are working on an application of Travis' nearest-neighbour tracker in visual servoing

[October 2010] I have used the trifocal tensor for uncalibrated visual servoing of a 6dof manipulator [pdf]. The results will appear at IROS 2010 in Taipei, Taiwan. See you at IROS!

[August 2010] We have two papers and a poster at the i-SAIRAS 2010, Aug. 30-Sep. 2, 2010, Sapporo, Japan:
Robust uncalibrated visual servoing for On-Orbit-Servicing [pdf][youtube];
A modular and flexible bimanipulation system for space-analogue experiments [pdf];
Predictive display from computer vision models [pdf]

[July 2010] Our paper on the design aspects of mobile manipulators from off-the-shelf components appeared in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM10), July 6-9, 2010, in Montreal, QC. [pdf]

[May 2010] I just came back from ICRA 2010 held in Anchorage, AK. Wonderful conference overall. My paper [pdf] was the last paper presented at the regular conference!