Research
and Publications
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Below are some research highlights.
Ongoing Research: Robot Embodiment
Ongoing Research: Robot Embodiment
This work is the focus of my research efforts at the University of Melbourne. Once the work is public, this section of the website will be updated with a more representative photo and a link to the paper(s).
This is a copy of the flyer used when recruiting participants. The study is no longer active.
Dissertation Work: Developing Assistive Robots for the Visually Impaired - How does your intended demographic influence information fusion of communications from a robot?
Dissertation Work: Developing Assistive Robots for the Visually Impaired - How does your intended demographic influence information fusion of communications from a robot?
This work was completed as part of my doctoral dissertation in Mechanical Engineering and Human-Robot Interaction. This section focused on agent-based modeling approaches as a way to classify human/robot teaming behavior - specifically, it focused on the idea that modeling interactions with people who are Blind and Low Vision (BLV) necessitated data collection from BLV participants, and that Simulated Disability would result in different modeling results. The dissertation is located here.
Exerpt from Figure in paper highlighting predominant themes in interviews with makerspace operators and disabled makers (based on number of interviewees in each category who brought up the theme).
Accessible Makerspaces (Co-Authored Work)
Accessible Makerspaces (Co-Authored Work)
This project was spearheaded by Kat Allen at Tufts University as part of her doctoral research. It solicited insights from both makerspace organizers and makers with disabilities to inform future makerspace development. A link to the paper is here.
Modeling Human/Robot Search Teams and Evaluating Performance in Simulation
Modeling Human/Robot Search Teams and Evaluating Performance in Simulation
At Tufts University in the Automated Systems and Robotics (ASAR) lab, we explored using agent-based modeling approaches to model team search with uncertain detection, and the total number of hidden objects unknown (such as would be the case in search and rescue operations). With this model, we created a Bayesian Estimation Method to estimate the total number of objects, N, hidden in the search area (including objects not yet found) and estimated the searcher skill level, S. In more recent work, we also started modeling how this would impact the ability to monitor information conflict; specifically, we developed a time-sensitive conflict threshold to identify acceptable (and expected) amounts of information differences.
Slide from ION ITM Presentation on Bayesian Estimation Algorithm
Slide from ION ITM Presentation on Bayesian Estimation Algorithm
Upper plot shows that the searcher has a relatively high skill level, and the lower estimates that there are roughly 10 objects hidden, despite only 8 being found.
Image from IEEE HST 2022 Paper
Image from IEEE HST 2022 Paper
Plot shows a threshold for information conflict over time. The conflict scores are from a case where Agent A (of A, B, and C) had wrong background information. The grey lines falling outside of the bounds of the black threshold shows that there is persistent information conflict.
Photo Credit: Jeremy Gasowski
Undergraduate Research - Autonomous Surface Vehicle @ University of New Hampshire
Undergraduate Research - Autonomous Surface Vehicle @ University of New Hampshire
From June 2018 to May 2019, I worked on the Autonomous Surface Vehicle (ASV) project, first as a summer undergraduate researcher and then as part of my senior capstone project. The goal of the project was autonomous ocean mapping using pairs of ASVs and Unmanned Underwater Vehicles (UUVs). I worked on the theoretical control design of the ASV; both our larger system (shown in the figure on the left) and in our smaller prototype for tank testing. In addition, I served as the team lead of the interdisciplinary team, which required writing grant proposals through UNH programs, representing our team at community events, and assisting teammates as needed (including doing engineering design, helping with testing of our system, and teaching control theory to computer science students and underclassmen).
Image taken from documentation. Note, I modified the electronics, the casing was kept from the older prototype.
NSF REU - Rehabilitation Engineering @ Cleveland State University
NSF REU - Rehabilitation Engineering @ Cleveland State University
Summer 2017
I was part of the first year cohort for the Rehabilitation Engineering National Science Foundation (NSF) Research Experiences for Undergraduates (REU) site at Cleveland State University. As a rising junior, I was responsible for reverse engineering a non-functioning wireless load cell prototype, troubleshooting what did/didn't work, and then 46 pages documenting the updated version.
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