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Projects

  • Robotic Assistance for Blood-Brain Barrier Opening Using Focused Ultrasound

    • A recent approach for targeted BBB opening using focused ultrasound is a promising breakthrough in brain medicine. The project aims to use robotic assistance for accurate and targeted BBB opening. I am working on optimizing the robot path planning in an optimization problem involving robotic constraints risen from the biology and physics of the problem, as well as developing the system using ROS2 on Universal Robots UR5.

    • I was recruited after finishing the M2 internship for a 12 months Research Engineer contract to improve the idea and extend the functionality of proposed algorithms to bring them closer to medical application.
       

  • Automatic Hand-Eye Registration, a ROS2 Framework for all serial manipulators.

    • This project makes it possible to automate the hand-eye registration for an industrial serial manipulator. The Hand-Eye registration process is defined as finding the transformation between the last frame of the robot and the tooltip via a visual localization device. The project exploits ROS2 action server-client dynamics to achieve this.

    

  • ROS2 Driver for NDI medical-grade visual localization system using ros2-control

    • This project includes drivers for ros2_control for communication with NDI localization systems for performance-critical applications
       

  • Design and Implementation of a SWARM computational motion planning algorithm based on fluid dynamics PDE for Robotic Swarms

    • The project aims to design a novel motion planning algorithm for a swarm of non-holonomic robots based on the numerical solution of Navier-Stokes’s equations. The project also produced a swarm platform.

    • Project sources and full documentation website are available at this link.

  

  • COVID-19 Lung CT Image Segmentation using Deep Learning

    • We investigated two structurally-different deep learning techniques, SegNet and U-NET, for semantically segmenting COVID-19 infected tissue regions in CT lung images.

 

  • RBF neural networks for Al-Sin lake evaporation estimation and prediction
     

  • Indoor UAV positioning system for research applications

    • ANFIS and ANN positioning systems compared to classical geometry system. The system is published in an IEEE conference proceeding ICASSDA2018, and it received the best paper award in the conference.

 

  • Optimized control of traffic lights based on Reinforcement Learning
     

  • Multi-choice exam marking using Qt5 Desktop application cross-platform software tool

    • Design a software with Qt GUI in C++ for multi-choice exam marking with results statistics. The software was considered to be implemented campus-wide in Tishreen University.

  • Biological simulation using Cellular Automata
     

  • Micro-QuadCopter, multi-microcontroller system

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