Intro:
I'm interested in mechatronics, robotics, biomedical engineering and biomechanics. I've worked with a variety of robotic, haptic, and imaging systems/techniques, as well as done work with computer graphics, image processing, and signal processing.
Post-Doctoral Research
I am currently at Children's Hospital Boston working on surgical robotic systems for percutaneous beating heart surgery.
Doctoral Research
I Completed my PhD with Dr. Vincent Hayward at Mcgill. My research focused on robotic actuation for haptic interfaces. I'm working with Eddy Current Brakes as viscous dampers for improved performance. Check out the publications page for recent results. This work was related to mechatronics, robotics, continum mechanics, and control systems research.
Master's Research
I did my Masters of Applied Science degree at UBC in the Electrical and Computer Engineering Department under the supervision of Tim Salcudean and Joseph Yan. The general area of research was medical robotics, specifically real-time simulation of deformable objects with fluid inclusions for haptic rendering of surgical procedures.
Computer Graphics Demos:
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Finite Element Modeling for Tissue Simulation (Source Code) Here is a nice gif of a simple elastostatic 2D finite element simulation that uses C, OpenGL with the GLUT window environment, and the GSL (Gnu Scientific Library). |
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Particle Simulation (Source Code) This is written in C with the glut library for graphics based on Baraff
and Witkin's
Reality Based Modelling Course from Siggraph 97. |
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Course Papers:
Some course and technical papers from graduate coursework
Tools:
Brian Mirtich's Volume Integration, Matlab Port . A version I cut down to only give the volume enclosed by a polyhedral surface, here . Details on the method found at Brian's UCBerkeley Site
Links:
MIT Touch Lab, UBC Robotics Lab, NETGEN FEA Mesher, GRUMMP FEA Mesher, Morten Bro Nielson's HomePage, Simon DiMaio's Homepage, Julian Guerrero's Homepage, Orcun Goksel's Homepage