Journal

Industrial robots are good at repeating taught motions, but disassembly targets do not always remain exactly where a fixed program expects them. This paper combines the Interfacing Toolbox for Robotic Arms (ITRA) with decoupled hybrid visual servoing (DHVS), allowing camera observations to update robot motion during battery-handling subtasks.

Predicting battery remaining useful life means estimating how much useful cycling remains before a defined end-of-life threshold. This study asks whether carefully tuning a convolutional model, and then adding recurrent memory, improves that estimate from lithium-ion cell histories.

This paper investigates whether an explicit, learnable memory can improve lithium-ion battery remaining-useful-life prediction. It compares CNN-DNC and CNN-LSTM-DNC architectures, asking how feature extraction, recurrent processing and external memory interact—not simply whether the model with more components wins.

Looking at a component is an intuitive way to indicate interest, but turning that gaze into a robot movement requires geometry, calibration and planning. This working paper, co-authored with Alireza Rastegarpanah and Rustam Stolkin, investigates eye tracking for selecting targets and specifying paths in a mixed-reality battery-disassembly workcell.

Some thoughts about my professional journey, and personal hopes.

Catching an object requires the hand to meet a future position, not simply follow the object’s latest visible location. My MSc thesis with Sang-Hoon Yeo uses virtual reality to examine how changing a ball’s downward acceleration affects that prediction, eye tracking and interception performance.

A worked explanation of shortest-path search using accumulated movement cost, with the class implementation below.