Professor Howard M. Schwartz, Ph.D., PEng.

Graduate Thesis Topics:

1) Robotic and Adaptive Control

We have done substantial research in the area of robotic and adaptive control. We have a direct drive robot and a number of mobile robots and robotic arms on which to test our algorithms in adaptive robot control. This research topic is more suitable for full time graduate students working towards their masters and Ph.D. degrees. The idea is to develop control and learning algorithms that will enable a robot manipulator to identify its own equations of dynamics and accurately control its motion. This research involves some interesting theoretical developments. A number of adaptive control algorithms can be investigated, including Fuzzy systems and Neuro-control systems. The methods developed can be implemented on our direct drive robot.
 

2) Cooperating Swarm Robotics

We are investigating the use of relatively simple robots to achieve swarm based intelligence. We have developed a number of these robots that work together. Methods of adaptation and learning are implemented in each robot. The behaviour of each robot can change to reflect the group and individual goals of the swarm and robot respectively. Ideas from game theory, adaptive control and social colonies are integrated to develop these methods. This thesis topic is suitable for Doctoral and Masters students. Please click on the video below to see 3 of the robots leave a room.

Click here for video of swarm robots leaving a room

  In the next video we show a simulation of a swarm of robots coming together followed by obstacle avoidance. There is no leader and each robot is operating independently following very simple rules. These results can be applied to applications associated with crowd dynamics, automated highways, unmanned vehicles etc.

Click here for video of forming a swarm followed by obstacle avoidance.

 

3) Object Tracking in Video Sequences

We have developed methods of tracking objects in a video sequence. The algorithms are capable of tracking an object continuously and we are also able to count the number of individual objects that are in the video frame. Two videos are shown below. The first video shows the original image sequence of a security camera monitoring a hallway. The second video shows the people tracking algorithm. This algorithm has been implemented in real time at 10 frames per second on a general DSP chip. Please wait until the videos load, they are approximately 50 MB.

Click here for the hall monitor video

Click here for the people tracker video

 

4) On-Line System Identification

A key aspect of intelligent systems and intelligent or adaptive control is the ability of the system to identify its own dynamic or mathematical model in real time as the model is changing. We have recently a published a number of important papers in this area. The thesis topic will be to compare a number of competing algorithms. A list of references can be made available to the student. The student would be required to evaluate the performance of these on-line identification algorithms and compare their performance under differing circumstances. This topic is suitable for both full and part time students.

 

5) Simulation, Visualization and Rapid Prototyping

We are working in collaboration with Prof. Wainer's ( Prof. Wainer's web site ) research group on simulation, visualization and rapid prototyping of real time systems. In the video's below you will see a simulation of people evacuating a building and an example of rapid prototyping of real time software directly from the simulation.

Click here building evacuation video

Click here for rapid prototyping video

 

Bachelor’s Honours Theses


1) Rubik's Cube Solving Robot

The video below shows  a robotic Rubik's Cube solver. It was constructed as a fourth year honours thesis project. The students constructed it out of parts from an old photocopy machine. Click on the link below.

Click here for video of Robotic Rubik's Cube Solver

2) Mobile Robotics

The video below shows a mobile robot being operating with a Handyboard microcontroller. It is using a sonar system to sense obstacles and then changes direction. This work was done as a fourth year honours thesis project.

Click here for video of mobile robot with sonar

3) Cooperating Robots

The video below shows two robots working together. They pass a part from one robot back to the other. The system is completely automated. The student who implemented this system combined real time control theory with real time software. The robots are communicating with each other over a serial connection.

Click here for video of cooperating robots (200 MB)

4) Control of Prosthetic Devices

The video below shows a Rhino robotic arm being control by the motion of a person’s arm. Myoelectric sensors attached to the person sense to person’s muscle signals and then control the motion of the robot. On-going graduate research and fourth year honours thesis are available in this challenging field.

Click here for video of the Control of Prosthetic Arm

 

Thesis Supervision:

I am comfortable supervising theses in the area of control systems and robotics. I am particularly interested in the field of adaptive control and related intelligent control topics. I am also interested in topics associated with the modelling, identification and simulation of dynamic systems. My priorities in supervising graduate students are summarized in order of importance as:

1) The student completes an acceptable thesis and graduates in a timely fashion.
2) The student is interested in their chosen topic.
3) The student has a positive research experience.
4) The student publishes the research in some venue.

I like to start our first meeting by having a general discussion of the student's research interests. In our second meeting, I will propose research topics that may be of interest and I will ask the student to look at literature in the area. Shortly thereafter, the student and I will focus on a particular set of research papers and on a concise topic.

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