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Siddharth Oli
Research Assistant, Simon Fraser University
Email: soli[at]sfu[dot]ca
Short Bio
I am a Research Assistant at Robot Automation and Motion Planning (RAMP) lab at Simon Fraser University. I am pursuing my Master's in Applied Science from SFU, expecting to graduate in spring, 2014. I did my Bachelor in Electrical engineering from MNNIT, allahabad, India in 2009.
My research is in the area of path planning for robots in human inhabited environment. I am developing algorithms which reason about human reaction to a robot's motion and account for it while planning. It is a tough problem as humans are tricky subjects!
Education
Simon Fraser University (SFU)
Master of Applied Science in Engineering Science Sep, 2011 - Present
Relevant Courses: Introduction to Robotics, Machine Learning, Computational Robotics, Medical Image Processing and Analysis Cumulative GPA: 4.00/4.33
Motilal Nehru National Institute of Technology, India
Bachelor of Technology in Electrical Engineering Aug, 2005 – May, 2009
Relevant Courses: Control Systems I & II, Electrical Drives, Instrumentation, Process Control
Cumulative GPA: 8.54/10.00
Interest and Expertise
Robot Motion Planning
Perception
Machine Learning
Research Projects
Path planning algorithm for a robot navigating in a human inhabited environment making use of an Human Motion Behaviour Model (HMBM).
This method results in more human-like navigation capabilities for robots.
A fast obstacle detector, using a Kinect RGB-D camera.
The detector puts a uniquely colored 3D bounding box around objects.
This tracker uses a laser range finder to scan for human legs. Based on the leg measurements, it estimates and tracks people’s
position and expected motion.
The implemented system shows robust results and can detect multiple moving obstacles.
Interest points are defined on a human hand and their position is used to determine the required tool orientation for a hand-over task,
using a previously trained Support Vector Machine (SVM).
The project is a part of a scheme to achieve smooth hand-over task betweens robots and humans.
A generalized Open-GL program which plans a path for a robot rotating and translating among stationary obstacles using
navigation function I (NF1) in the userdefined world model.
Power Electronic Interface for distributed generation using wind turbines
Developed a power electronic interface to adjust a wind turbine’s rotational speed to get maximum power output. The power
electronic circuit was controlled using a microcontroller running the maximum power point tracking (MPPT) algorithm.
Neural Network approach to speech processing
A speech recognition application in MATLAB for classification of speech signals by training neural networks.
The application could recognize a limited set of words or could be used to recognize speakers.
Interfacing Honeywell HMC6352 with on-board FPGA
Project done as a part of industrial training at the Vision Instruments Division, Instrument Research and Defense
Establishment (IRDE). Project served as an introduction to FPGAs and VHDL programming.
Publications
Siddharth Oli, Bruno L’Esperance and Kamal Gupta, "Human Motion Behaviour Aware Planner (HMBAP) for Path Planning in Dynamic Human Environments" in press IEEE International Conference on Aadvanced Robotics 2013.