Center for Maritime Systems Date of Birth: 17/08/74 Stevens Institute of Technology. Nationality: British Hoboken, NJ 07030, USA

Transcription

1 RUSTAM STOLKIN Center for Maritime Systems Date of Birth: 17/08/74 Stevens Institute of Technology Nationality: British Hoboken, NJ 07030, USA Office: (+1) Home: (+1) Education University College London: PhD, Computer Vision, June Thesis: Combining observed and predicted data for robot vision in poor visibility Nominated for British Machine Vision Association best thesis prize. Research sponsored by and undertaken in industry. Oxford University: MEng, Engineering Science, June1998. (combined masters and bachelors degree) Thesis: Using robots for quality measurement in the car industry Music Scholarship, Previous employment Stevens Institute of Technology, USA Research Assistant Professor (Sept to present) Research Associate (Sept to Sept. 2005) o Research: - Computer Vision I have developed novel algorithms for real time tracking of moving targets (people, vehicles etc.) from a camera which is itself subject to arbitrary motion. This work has applications to defence and surveillance but can also be applied to robotics and automation. These algorithms are fast, flexible and robust to challenging conditions (camera motion, camouflaged objects etc.). A focus of my work is continuous machine learning in computer vision rapid relearning of flexible statistical models of the background and/or the tracked object at each frame during tracking with moving camera. This work has included relatively expensive algorithms for model based 3D tracking of rigid bodies, and also very fast/cheap algorithms for 2D tracking of arbitrary deforming colored regions (e.g. people). This work is significant in that we have shown that rapid continuous relearning of changing backgrounds can enable exceptionally cheap tracking in cases with very large/arbitrary/unknown camera motion. I have also worked extensively on performance evaluation in computer vision, developing calibrated video sequences with known 6dof ground-truth camera positions at every frame and have experience with camera calibration and computational geometry. I have also worked extensively on various kinds of probabilistic image segmentation, including the use of data fusion (e.g. fusing poor visibility observed images with good visibility but partially erroneous predicted images during segmentation). - Robotics I have developed techniques to enable an underwater robot to navigate optimally wrt forecast estuarine currents. This work is critical for enabling novel robot deployments in fast flowing, changeable marine environments which have not previously been attempted. It also enables robotics research to be linked to Stevens major computational ocean modelling efforts. I am also investigating tracking/localization algorithms for underwater robots, probabilistically fusing incomplete/uncertain/intermittent sensory data. I have developed innovative educational projects, based around underwater robotics, for undergraduate, high school and middle school classrooms. This work has led to a $1.2million NSF grant, enabling these materials to be further developed and disseminated to 72 teachers and approximately 2600 K-12 students in New Jersey. I am also investigating applications of vision based tracking to robot control (visual servoing) and for robot vehicle guidance. I have also investigated some techniques for swarm control of collaborating robot vehicles.

2 - Recognition and Threat Detection I have developed novel algorithms for machine analysis of acoustic signals. This includes an algorithm for automatic passive acoustic detection of diver presence for US Navy fleet protection. The algorithm has been modified to assist marine biologists with detection and surveying of soniferous fish species with important application to the commercial fisheries. - Sensor systems I have undertaken probabilistic analysis of diver detection results (above), yielding relationships between probability of detection and range. This lead to techniques for optimal placement of distributed arrays of threat detection sensors and ways of localizing/tracking diver motion through an arbitrarily arranged array of sensors. My related work has optimized diver detecting sensor arrays with respect to environmental data and prior knowledge of threat behavior. I am now applying similar techniques to optimal placement of sensors or sensor/robot combinations for acquiring oceanographic data. This also has defence applications for determining current conditions in hostile harbors without prior information. o Education: - Supervision of research students In 3 years at Stevens I have worked closely with 5 graduate students within the Center for Maritime Systems laboratory on diverse subjects including robot path-planning, diver detection, sensor optimization, wave energy harnessing, benthic sampling. I also collaborate with graduate students in the Dept. Computer Science on vision based tracking. I presently provide hands-on day to day project and thesis supervision for 4 graduate students. I have also worked closely with several undergraduates on research projects, including computer vision, robot path planning and sensor placement for threat detection. Over the past year I have enabled 3 undergraduates to achieve IEEE conference and IEEE journal publications on novel research topics. Another 2 undergraduates have an IEEE paper in review for ICRA Undergraduate lecturing I regularly teach full lecture courses and short laboratory courses for the engineering school, for which I have consistently received exceptional student reviews (see student feedback attached at end of this CV). I have also developed and taught a special 3 credit course on Scientific basis of music for Dept. of Physics. - Educational innovation At Stevens I have developed and piloted 2 new courses for undergraduate students. Introduction to Underwater Robotics is a short introductory course for freshmen. It has also been piloted with high school students and has led to a major $1.2million NSF grant for dissemination to K-12 classrooms. Scientific Basis of Music is a special 3 credit course which I developed and piloted for Dept. of Physics. I am also carrying out educational research with freshman engineers to determine critical misconceptions and fundamental knowledge gaps in undergraduate engineering students. Sira Ltd., UK (1999 to 2004) Research Associate Computer Vision / imaging research in industry. As a Faraday Associate my doctoral research was sponsored by the UK Dept. of trade and industry as part of an effort to stimulate cross-fertilization between academia and industry. - Sponsored by Intelligent Imaging program a consortium of UK industries and academia dedicated to real applications of Computer Vision and imaging technologies. - Doctoral research undertaken between academia and industry. - Presentations to industrial audiences. - Practical experience of managing a complex project in a corporate environment. - Industrial training. - Steering committee member for partnership between Dept. Trade and Industry, London University and Sira Ltd. University College London, UK (1999 to 2004) Part time teaching - Tutor in Engineering Mathematics (Undergraduate) - Lecturer in Engineering Mathematics (Undergraduate) - Lecturer in Applied Electricity (Undergraduate)

3 - Demonstrator in control lab (Undergraduate) - Lecturer in Engineering Mathematics (Masters) Private tutoring, UK (1999 to 2004) - Successfully tutored students from many UK universities in a wide variety of engineering disciplines. - Tutored many high school students in mathematics, mechanics and physics. The Smith Group Ltd., UK (1998) System Engineer As a system engineer, I was involved in a variety of defense related projects, developing and evaluating specialized equipment for government agencies. Geodetic Technology PLC, UK (1998) Control Engineer I was involved in the development of an innovative, computer controlled machine tool based on a parallel robotic manipulator design ( Stewart platform or hexapod ). Parallel robots use six actuated rods which each connect the base to the end effector, achieving 6 dof manipulation with greater precision and rigidity than conventional robot arms. - Industrial robotics - Measurement, calibration and kinematics issues - Interfaced between academic roboticists and industrial engineers ROVER Group, UK (1997) Research and development work - Developed Robotic Autobody Quality Measurement System. - Designed robot mounted electro-mechanical device - Pneumatic circuits - Control system - Sensors and instrumentation Membership of professional societies and institutions Institute of Electrical and Electronics Engineers Robotics and Automation Society American Society for Engineering Education Honours and awards US Environmental Protection Agency, Honorable Mention, for Wave Energy Harnessing Device, IEEE Robotics and Automation Society travel award, Nominated for British Machine Vision Association Sullivan Prize for best computer vision thesis, UK Society for Underwater Technology, best presentation prize, Access for Industry conference, University College London, graduate research forum, best presentation prize, UK, Dept. of Trade and Industry, Faraday Associateship, UK, Engineering and Physical Science Research Council, Studentship, Music scholarship, Oxford University, Synergistic activities Reviewer for International Conference on Robotics and Automation, Session chair Homeland Defence session, IEEE Marine Technology Society Conference, Reviewer for International Conference on Intelligent Robots and Systems, Reviewer for Institute of Physics, Journal of Measurement Science and Technology (computer vision), Book editor Vision Systems Pattern Recognition Techniques, Advanced Robotic Systems International, Book editor Scene Reconstruction, Pose Estimation and Tracking, Advanced Robotic Systems International, Reviewer for ineer Journal of Engineering Education, Robotics and educational development work for NSF ITEST BUILD-IT project, Judge, LEGO FIRST Robotics competition, Jersey City school district, 2006, Session chair, Robot Vision session, Canadian Conference on Computer and Robot Vision, 2005.

4 Press reports of my work Innovative learning, ABC News. TV news spot on my robotics education work, 10/30/07. Taking learning underwater, 7online.com, Eyewitness News, 10/30/07. Robot versus robot in Hoboken, CableVision TV news appearance, 07/08/07. Robotics brings science to earth, Asbury park Press, 08/07. Stevens team receives honorable mention at National Sustainable Design Expo. Jersey Journal. 29/5/07. EPA Honors Three Local Universities for Sustainability Projects. EPA Press Release. 24/5/07. Science ITEST comes to NPS funded through NSF. Teaching and Learning Connection. Winter Machine Vision. Military and Aerospace Electronics. August Lessons in innovation. Instructor encourages students to put scientific principles to use one LEGO brick at a time. Asbury Park press. 15/3/06. Teaching experience Stevens Institute of Technology Undergraduate lecturing - Dept. Mechanical Engineering E126 Structures and mechanics of materials (4 credits), 2005, E101 / E102 Introduction to underwater robotics (1 credit), 2005, 2006, Dept. Physics PEP -551-CA Scientific basis of music (3 credits), Both Intro to underwater robotics and Scientific basis of music are new courses which I have developed. Supervision / advising / assistance of PhD student research - Computer and robot vision - Machine recognition of acoustic signals - Optimal path planning for underwater robots - Optimal sensor placement - Benthic sampling machinery - Generating electricity from ocean waves Supervision of undergraduate research - Sensor placement optimization (undergrad student achieved IEEE conference and journal publications), Robot path-planning (two undergrad students co-authored IEEE ICRA paper), Computer Vision (tracking/servoing) - two undergraduate research scholars funded for summer projects, Paper submitted to ICRA University College London Masters level - Lectured mathematics course for Engineering MSc. - Tutored MSc in statistics. Undergraduate level - Lecturing, tutoring and examining in engineering mathematics. - Lecturing and tutoring in applied electricity. - Dynamics and control laboratory course. - Preparation of lecture notes and study aids for students. - Grading of examination scripts and course work. Other university level teaching, UK I have successfully tutored undergraduates from: - Imperial College London - South Bank University - Manchester University - City University - Sheffield University - Kingston University - University of East London Subjects tutored have included: - Mathematics - Statistics - Control theory - Dynamics - Statics - Structural engineering - Materials science - Thermodynamics

5 - Fluid mechanics - Electrical engineering - Digital Logic High-school level teaching I have enjoyed teaching UK secondary level (high school) students over the last 12 years: - Mathematics and Physics - A-level (16 to 18 year olds) - GCSE (14 to 16 year olds) PhD students supervised / advised / assisted Dov Kruger, Davidson Laboratory. Optimal path planning for an underwater robot. Expected graduation With Kruger, I am developing novel path planning algorithms that enable an Autonomous Underwater Vehicle (AUV) to follow optimal trajectories with respect to current speeds forecast from a computational estuarine model, while avoiding obstacles. The work aims to facilitate novel AUV deployments, with robots riding fast currents both up and down the Hudson estuary region. The first few months of this research led to a paper at IEEE ICRA. We are now expanding the work to form a series of further publications and Kruger s doctoral thesis. This work is part of the Maritime Security Laboratory (MSL) research effort. Sreeram Radhakrishnan, Davidson Laboratory. Diver detection from passive acoustic sensors. Exp. Grad With Radhakrishnan, I have developed a technique for detecting the presence of scuba divers in passive acoustic hydrophone signals. The same algorithm has also been applied to assist marine biologists with detecting soniferous fish. I closely supervised the first year of Radhakrishnan s research, leading to two papers. This work is part of the Maritime Security Laboratory (MSL) research effort. Peter Rogowski, Davidson Laboratory. Optimal sensor placement for ocean estuary forecasting. Exp. Grad Rogowski has been tasked with finding ways to choose optimal locations for sensors to model conditions in harbours and estuaries. With Rogowski, I am developing algorithms for sensor placement optimization, and mutual optimization of sensor positions and AUV trajectories. This work is part of the Maritime Security Laboratory (MSL) research effort. Michael Raftery, Davidson Laboratory. Design of a Wave Energy Harnessing Device. Expected graduation Raftery s research involves designing machinery which can harness ocean waves to generate electricity. I currently assist Raftery with analysis of dynamics and electro-mechanical design, planning and interpreting experiments, and closely supervise his writing of papers, grant proposals and theses. Richard Sheryll, Davidson laboratory. Design of a Benthic Sampling Device. Expected graduation This is an electro-mechanical design project, in which Sheryll is developing novel machinery for retrieving high pressure samples of exotic organisms from the bottom of the deep ocean trenches. I assist Sheryll with thermodynamics, electromechanical design and preparation of papers and theses. As a side project, I have also worked with Sheryll to develop innovative educational projects in underwater robotics which has led to at least 6 publications for Sheryll and a $1.2million NSF grant for Stevens. Mathew Burlick, Dept. Computer Science, Video-acoustic-seismic sensor fusion in an urban environment. I am beginning work with Burlick as part of a project investigating the fusion of vision with acoustic sensors for identifying and tracking moving vehicles in cluttered urban environments. Academic thesis advisor George Kamberov. Robert Bader, Dept. Computer Science, Vision based tracking. I am beginning work with Bader to investigate vision based tracking, as part of the Maritime Security Laboratory (MSL) research effort. Academic thesis advisor George Kamberov.

6 Undergraduate research students supervised / advised / assisted Lucas Vickers, Dept. Computer Science. Sensor placement optimization for threat detection. I worked for approximately 1 year with Lucas during which he achieved both IEEE conference and IEEE journal publications, while still an undergraduate, on probabilistic optimization of distributed sensor systems with respect to computational environmental models. Aaron Blum and Joseph Brigante, Dept. Computer Science. Optimal underwater robot path planning. I worked with Aaron and Joseph over summer 2006, helping them co-author a paper on adaptive robot path-planning, presented at the IEEE ICRA robotics conferenc. Morgan Baron and Colin Harrier, Dept. Mechanical Engineering. Real time visual tracking/servoing. I helped Morgan and Colin gain Technogenesis Scholarships to work with me over summer 2007 on robotic vision and visual servoing applications of probabilistic visual tracking algorithms. The students implemented a real time visual tracking algorithm achieving 30fps with a firewire cam and a cheap webcam when tracking arbitrary deforming objects. They also implemented the algorithm on a small ARM7 microcontroller, showing that they could track in real time using very small/cheap/simple embedded vision systems. They also built their own motorized pan-tilt mount from scratch and are investigating using the tracker to servo the camera to follow the tracked target. Grants Pending ONR MURI (Biometrics in the Maritime Domain) $7,500, This project fuses computer vision techniques (face recognition, gait recognition, motion tracking) and novel acoustic techniques (motion sensitive active ultrasound sonar) to develop robust methods for identifying individuals at moderate ranges ( meters) in difficult conditions (camera/target motion, poor visibility etc). NSF (Ocean Technology and Interdisciplinary Co-ordination program) $760, Development of a sound-homing device for seeking soniferous fish and other underwater sound sources Co-PI. Development of an underwater robot platform, novel acoustic homing device and pattern recognition algorithms for detecting, homing and identifying unknown underwater sound sources and soniferous fish species. NSF (GK-12 program) $3,000, New Jersey Alliance for Engineering Education (NJAEE) Co-PI. The objective of the New Jersey Alliance for Engineering Education (NJAEE) is to create a partnership that promotes the integration of problem-solving, innovation and inventiveness within mainstream high school STEM curricula, while fostering the cross-fertilization of innovative teaching methods across K-12, college and university level education. A cohort of graduate engineering students (GK-12 Fellows) will collaborate with high school STEM teachers, education professionals and engineering professors to design, develop, and implement innovative and motivating educational modules and activities. Current NSF BUILD-IT $1,200, (Information Technology Experiences for Students and Teachers program) Project developer and co-leader (PI d through education dept.). Development of innovative underwater robotics projects for 72 teachers and approximately 2600 students from socioeconomically and racially diverse middle and high schools throughout New Jersey. These will consist of intensive, three-week, in-class experiences in the design, construction, and programming of underwater robotic vehicles. ONR Secure Infrastructure Technology Laboratory Diver detection, vision based boat tracking, underwater robotics, sensor systems. Complete Stevens Technogenesis Program $7,000 summer 2007 Vision Guided Robotics using Continuous Machine Learning PI. Two undergraduate student scholarships funded for summer research projects in robotic vision.

7 ONR Navy Force Protection Technology Assessment Project Threat detection, assessment and decision making aids for Navy fleet protection. Publications Books and book chapters 1) R. Stolkin, editor, Vision Systems Pattern Recognition Techniques. Book published by Advanced Robotic Systems International, ) R. Stolkin, Continuous Machine Learning in Computer Vision Tracking with Adaptive Class Models. Book chapter in Pose Estimation and Tracking, G. Obinata, A Dutta, eds., Advanced Robotic Systems International, ) R. Stolkin, R. Sheryll, L. Hotaling, Build your own underwater robot using LEGO and other simple materials. Proposal and sample chapter in review. 4) R. Stolkin, Progressive Training for High Register Horn Playing. Completed draft seeking publisher. Peer reviewed journal papers 1) R. Stolkin, A. Greig, J. Gilby. An EM / E-MRF algorithm for adaptive model based tracking in extremely poor visibility. Journal of Image and Vision Computing. Elsevier, in press ) R. Stolkin, L. Vickers, J. Nickerson. Using Environmental Models for Sensor Placement Optimization. IEEE Sensors Journal, ) R. Stolkin, A. Greig, J. Gilby. A calibration system for measuring 3D ground truth for validation and error analysis of robot vision algorithms. Journal of Measurement Science and Technology. Institute of Physics, ) R. Stolkin, I. Florescu. Probabilistic analysis and optimization of thresholded feature based detection systems. IEEE Sensors Journal, 2007, in review. Peer reviewed conference proceedings papers 1) R. Stolkin, I. Florescu, M. Baron, C. Harrier. Efficient visual servoing with the ABCshift tracking algorithm. Proc. IEEE International Conference on Robotics and Automation. In review, ) R. Stolkin, L. Hotaling, R. Sheryll. Discovery learning in the classroom using ROVs and AUVs. Proc. IEEE International Conference on Robotics and Automation. In review, ) R. Stolkin, I. Florescu, G. Kamberov. An adaptive background model for CAMSHIFT tracking with a moving camera. Proc. International Conference on Advances in Pattern Recognition, ) R. Stolkin, M. Hodgetts, A. Greig, J. Gilby. Extended-Markov Random Fields for Predictive Image Segmentation. Proc. International Conference on Advances in Pattern Recognition, ) D. Kruger, R. Stolkin, A. Blum, J. Briganti. Optimal AUV path planning for extended missions in complex, fastflowing estuarine environments. Proc. IEEE International Conference on Robotics and Automation, ) R. Stolkin, A. Greig, J. Gilby. Measuring complete ground-truth data and error estimates for real video sequences, for performance evaluation of tracking, camera pose and motion estimation algorithms. Proc. International Conference on Computer Vision, BenCOS workshop, ) R. Stolkin, L. Hotaling, R. Sheryll, C. Chassapis, B. McGrath, K. Sheppard. A paradigm for vertically integrated curriculum innovation how curricula were developed for undergraduate, middle and high school students using underwater robotics. Abstract accepted for International Conference on Engineering Education, 2007.

8 8) R. Stolkin, R. Sheryll, L. Hotaling. Braitenbergian experiments with simple aquatic robots, Proc. IEEE MTS OCEANS, ) R. Stolkin, I. Florescu. Probabilistic analysis of a passive acoustic diver detection system for optimal sensor placement and extensions to localization and tracking, Proc. IEEE MTS OCEANS, ) R. Stolkin, S. Radhakrishnan, A. Sutin, R. Rountree. Passive acoustic detection of modulated underwater sounds from biological and anthropogenic sources, Proc. IEEE MTS OCEANS, ) M. Raftery, R. Stolkin. Ocean Surface Wave Energy Harnessing Development at Stevens Institute of Technology, Proc. IEEE MTS OCEANS, ) P. Rogowski, R. Stolkin. A technique for optimizing the placement of oceanographic sensors with example case studies for the New York Harbor region, Proc. IEEE MTS OCEANS, ) R. Stolkin, L. Hotaling, R. Sheryll. A simple ROV project for the engineering classroom. Proc. IEEE / Marine Technology Society OCEANS conference, ) L. Vickers, R. Stolkin, J. Nickerson. Environmental Models Aid Sensor Placement Optimization for Detecting Underwater Threats. Proc. IEEE Military Communications Conference, workshop on Situation Management, ) L. Hotaling, R. Stolkin, R. Sheryll. Discovery based learning in the engineering classroom using underwater robotics. Proceedings of the American Society for Engineering Education Annual Conference. Chicago, Nominated for best paper award. 16) R. Stolkin et al. Feature based passive acoustic detection of a diver. Proc. SPIE Defense and Security Symposium, ) R. Stolkin, J. Nickerson. Combining multiple autonomous mobile sensor behaviours using local clustering. Proc. IEEE Military Communications Conference, workshop on Situation Management, ) L. Hotaling, R. Stolkin, R. Sheryll. Discovery based learning in the engineering classroom using underwater robotics. Proc. ASEE Northeast Regional Conference, ) R. Stolkin, L. Hotaling, R. Sheryll Using underwater robotics in the engineering classroom. Proc. ROBOLAB Conference. Austin, ) R. Stolkin, A. Greig, J. Gilby. Video with ground-truth for validation of visual registration, tracking and navigation algorithms. Proc. IEEE Canadian Conference on Computer and Robot Vision, pp , ) R. Stolkin, M. Hodegtts, A. Greig. An EM / E-MRF Strategy for Underwater Navigation, Proc. 11 th British Machine Vision Conference, Newspaper articles 1) R. Stolkin. Review The Creation, An Appeal to Save Life on Earth, by E.O. Wilson. Ananda Bazar Patrika, to be published Oct ) R. Stolkin. Review The God Delusion by Richard Dawkins. Bookline Quarterly Journal, ) R. Stolkin. Patterns of an Artificial Mind. Ananda Bazar Patrika (India s oldest daily > 7million readers). History of Indian mathematics and modern AI. Extended feature article to coincide with International Conference on Advances in Pattern Recognition at Indian Statistical Institute, Calcutta, 24 TH December, ) R. Stolkin. Genetic Engineering, letter to the editor, Private Eye magazine, December 2005.

9 Technical reports 1) M. Raftery, R. Stolkin. Design of a Wave Energy Harnessing Device. Final report for Phase I of P3 People, Prosperity and the Planet award. Environmental Protection Agency, ) R. Stolkin. Autonomous Underwater Vehicles some possible scenarios and design issues. Report for Maritime Security Laboratory project. Stevens Institute of Technology, ) R. Stolkin. Sensors and detection. Report for Maritime Security Laboratory project. Stevens Institute of Technology, ) R. Stolkin. Simple modeling of the generic behavior and performance of sensors. Report for Maritime Security Laboratory project. Stevens Institute of Technology, ) R. Stolkin. Tracking and localization using range detecting sensors. Report for Maritime Security Laboratory project. Stevens Institute of Technology, ) R. Stolkin. Autonomous co-ordination of mobile robots for forming ad-hoc communications bridges and containment perimeters. Report for Maritime Security Laboratory project. Stevens Institute of Technology, ) R. Stolkin. Adaptive statistical learning and classification of acoustically sensed environments. Report for Maritime Security Laboratory project. Stevens Institute of Technology, ) R. Stolkin. Automating model driven re-deployment of mobile sensors. Report for Maritime Security Laboratory project. Stevens Institute of Technology, Some additional presentations and invited talks 1) M. Raftery, R. Stolkin, T. Wainer, A device for generating electricity from ocean waves. Environmental Protection Agency, 3rd Annual People, Prosperity and the Planet (P3) Award Competition, ) R. Stolkin, Some interdisciplinary projects in Engineering and Computer Science at Stevens Institute of Technology. Invited seminar over-viewing my work. Jadavpur University, Calcutta, Dec ) R. Stolkin, Robot Vision algorithms for poor visibility environments. Society for Underwater Technology Access for Industry Conference, prize winning presentation, ) R. Stolkin, Combining Observed and Predicted Data for Robot Vision in Poor Visibility. Sira Ltd, Intelligent Imaging Program. General Meeting, ) R. Stolkin, Vision based robotic navigation. UCL Graduate Research Forum, prize winning presentation, Other interests Music: - French Horn, professional standard (trained under Tony Halstead, world s leading 18 th C horn player) - Music scholarship, Oxford University (1994). - Concerto and chamber performance. Symphony and opera orchestral work. - Lectures, recitals and demonstrations on history of music and early instruments. - Book in progress - adapting athletic strength training methodology to high register horn playing. Sport: - Weightlifting (trained under Steven Zetolofsky, European Heavyweight Powerlifting Champion) - Boxing (trained under Duke McKenzie, 3 times World Champion). - Rock-climbing and mountaineering.

10 References Academia, USA Prof. George Kamberov (Associate Professor) Dept. Computer Science, Stevens Institute of Technology, Hoboken, NJ 07030, USA. Liesl Hotaling, (Director of Education) The Beacon Institute. 199 Main Street, Beacon, New York 12508, USA. Prof. Ionut Florescu, (Assistant Professor) Department of Mathematical Science. Stevens Institute of Technology, Hoboken, NJ 07030, USA. Academia and industry, United Kingdom Dr. Alistair Greig (Senior lecturer) Dept. Mechanical Engineering, University College London, Gower Street, London WC1E 6BT, UK. Dr. Mark Hodgetts (Senior project engineer) Cambridge Research Systems Ltd. 80 Riverside Estate, Sir Thomas Longley Road, Rochester, Kent ME2 4BH, UK. Prof. Roger Ainsworth, Master of St. Catherines College, Oxford University St. Catherine s College, Oxford, OX1 3UJ, UK. Prof. Gilliane Sills, Dept. Engineering Science, Oxford University (retired) gilliane.sills@eng.ox.ac.uk St. Catherines College, Oxford OX1 3UJ, UK.

11 Course E126, 2006 student feedback on anonymous course questionnaires

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13 Course E126, student feedback on anonymous course questionnaires

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15 E101 / E102 Introduction to underwater robotics Overall, are you satisfied with this project? Very. If this class replaced engineering design, it would be awesome to go to class rather then a chore. 2. Yes, upon completion of this project, I had a much better understanding of the forces at work under water. 3. Yes, it was interesting yet challenging and informative. 4. Yes, I learned quite a bit and it was fun. 5. Yes, I thought it was a fun and instructional experience 6. Yes, but not with my performance. 7. Yes, because we went from last place, to second, then first. 8. Yes, because we improved in standing. 9. Yes, although more time would be sufficient. (new course) 10. Yes 11. Yes 12. Yes 13. Yes Very well run course 2. Yes I am. I learned about making a control box and how to solder. 3. Yes. 4. Yes. 5. Satisfied, despite the fact that our robot didn t function. 6. Yes very much 7. Yes. 8. Yes I am. Would you recommend this project to other students? I already have, it was a lot of fun. 2. Yes, it teaches short-term interval problem solutions. 3. Yes, it enhances your knowledge on ROV s and buoyancy. As well, it is greatly interesting. 4. Yes 5. Yes. 6. Yes. 7. Yes, it is enjoyable and informative. 8. Yes. 9. Yes, definitely it was a great experience. 10. Yes. 11. Yes. 12. Yes, it was interesting and fun. 13. Yes This project would be great for others to do. 2. Yes 3. Yes 4. Yes 5. Yes 6. Yes 7. Strongly 8. Yes Did you find the project as a whole helped you understand the practical engineering applications? Yes, buoyancy and trim were highlighted in this project. 2. Helpful because we were made to think up new ideas. 3. Yes, it helped me understand the weight and buoyancy ratios. 4. Yes. It was cool to see how all the gearing worked and propulsion. 5. I learned that floats must be significantly above weights. 6. Yes. Floats need to be at the highest point of the vehicle and weights at the lowest point-also they need to be evenly distributed left to right and front to back. 7. Yes. Learned about propulsion, gearing, grabbing, buoyancy, and practical. 8. Yes, because I saw the problems that engineers have and how they solve these problems. 9. Yes, as a group we solved many problems throughout the entire design process, including the problems associated with underwater vehicle operation. Other comments and suggestions Have the robots battle until destruction! It was very fun! I enjoyed it a lot. Creating these robots incorporated the whole designing aspect. Actually applying these concepts helps make you understand. Specifically, the principles of gears and buoyancy were greatly stressed. 10. Yes, learning how to balance an underwater vehicle. 11. Yes, it showed how ME concepts are used in real life. 12. Gear ratios and how water effects mechanical design in a whole different way. 13. Yes, gear ratios and such Yes. Specifically motors and gearing 2. Yes it did in terms of how to solder, making a control box and working with electric. 3. _ 4. Yes! To problem solve with a time constraint 5. Yes 6. Yes 7. Yes. It showed how multiple Engineering disciplines mesh to make a working project. 8. No because it was mostly lego. 2 thumbs up! Demonstrated mechanical application well. It allowed me to experiment with my own ideas. I learned how to problem solve very quickly. The project improved our trouble shooting skills. It helped make me find new solutions.