Research Interests

Algorithms, Distributed Systems, Robotics, Simulation

Projects

Autonomous Surface Vehicles (ASV) for environmental monitoring (On-going)
Development of autonomous surface vehicles for the mapping, characterization and monitoring of freshwater lakes and reservoirs. Our robotic boat (RoBoat) has already been deployed. We continue to improve the design and payload. See photos here: and videos here:
Submersible Sensor Technology for Environment Science monitoring (On-going)
Development of a submersible, bluetooth supported temperature sensor/logger and accompanying information collection platform to support the activities of project BrOOkie Science and Technology (BOOST). The design and development of the loggers included undergraduate computer science students while the assmebly and deployment engaged tens of local high school students.
Robotics & Automation: Unmanned Aerial Vehicles (UAV) (On-going)
Fixed-wing drone development for flight, hardware-in-the-loop and simulation studies, first person view (FPV) flights and sensor payload characterization.
Robotics & Automation: Virtual Manufacturing Automation Challenge (On-going)
Simulation-based challenge, designed to stimulate research in robotics dealing with problems related to mixed-palletizing and intra-factory package delivery and logistics. Since 2008 we have competed with teams of both undergraduate and graduate students and won a number of the events. Links: VMA-Competition
JHelioviewer - Explore The Sun (Completed)
Visualization software based on the JPEG 2000 compression standard. The JPEG 2000 Interactive Protocol (JPIP) enables serving data in a highly compressed, quality-progressive, region-of-interest-based stream. Developed as open-source software by the European Space Agency (ESA) JHelioviewer Team and part of the ESA/NASA Helioviewer Project. Links: project homepage and my publications
Simulation: Dynamic Ad Hoc Routing Simulator (DARS) (Completed)
Dynamic Ad-Hoc Routing Simulator (DARS) is a platform-independent simulator of mobile, ad hoc network (MANET) protocols. It is expandable and already comes with Ad hoc On Demand Distance Vector (AODV) and Destination-Sequenced Distance-Vector Routing (DSDV). Links: project homepage and my publications
Data Mining Algorithms for Lung Cancer Survivability and Leukemia Incidence and Survivability
Performance evaluation of the C4.5 (J48) and the Naive Bayes classifiers using Surveillance, Epidemiology and End Results (SEER). Program data from the National Cancer Institute. Links: project homepage and my publications
Exploratory Data Analysis. Links: project homepage.
Predictive testing of Leukemia Incidence and Survivability. Links: project homepage.

Videos & Demos

Robotics: Autonomous figure-eight maneuver. Movie [AVI, 123MB/1:30sec]
Source: Graduate Robotics & Inteligent Systems course (2009). Student submission (R. A. Broadhurst) for autonomous planning and navigation lab exercise.
Robotics: Autonomous parallel parking maneuver. Movie (AVI, 28.7MB/19sec)
Source: Graduate Robotics & Inteligent Systems course (2009). Student submission (S. Kamalanathan) for autonomous planning and navigation lab exercise.
Simulation: D* Lite Algorithm (three robots). Movie (AVI, 26.6MB/4:17min) and Caption.
Source: Graduate Robotics &Inteligent Systems course (2009). Student submission (Ramsberg//Cook) using robotSim (by Cogmation) to simulate the D*Lite algorithm for path planning.
Simulation: Spatial Interference in Robot Teams. Movie (AVI, 10.01MB/2:14min) and Caption.
Source: Graduate Robotics &Inteligent Systems course (2009). Student submission (Moxley/Gong) using Pyro to simulate a problem described in the paper "Spatial Interference in Robot Teams by Local-Investment Aggression" by Zuluaga and Vaughn.
Distributed Computing: Simulation of the Byzantine Generals Problem. Movie (AVI, 2.7MB/29sec) and movie (AVI, 1.4MB/14sec)
Source: Graduate Distributed Computing course (2006). Student submission (M. Thurairatnam) for homework exercise.

(my) Code/Software

Any code and routines that appear here are freely available for anyone to use. It is experimental software and available under the Creative Commons Attribution-NonCommercial 3.0 Unported (CC BY-NC 3.0) license. There is no warranty, use this software at your own risk.

Past Research Projects with Students

    - Software Tools & Open Problems in Computational Epidemiology, Jason Weller (MS CS '09), SU08
    - Feature Detection Algorithms, William Bonde (CS '08), SP08
    - Comparative Study of the C4.5 and J48 (Naive Bayes) Algorithms, Hilary Hawkins (CS '08), SP08
    - Path Planning Algorithms, Kristopher Reese (CS '09), WI08
    - WEKA: Data Mining Algorithms for Lung Cancer Survivability, Jamey Adams (MS '07), SU07
    - The Golden Hour: Emergency response using game development engines, Patrick Doody (BS '07), FA06
    - Simulation and analysis with 3-D game engines, Sharif Gaines (BS '07), FA06
    - Algorithmic Techniques for Steganography Detection, Paul Seymer (MS '07), SP06
    - Distributed Access of Solar Physics Data: Web Services and the Virtual Solar Observatory, Sharon Cramer (BS '05), SP05