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Joint seminar with the Mechanical Engineering Department
Applications of Noncommutative Harmonic Analysis in Robotics and Imaging

Gregory Chirikjian
Computer Science and Mechanical Engineering
Johns Hopkins University

Place and Time
Scaife Hall 125
Refreshments 2:45 pm
Talk 3:15 pm

Abstract
Noncommutative harmonic analysis is a generalization of classical Fourier analysis. In this talk it is shown how many problems in robotics including the generation of both manipulator workspaces and mobile robot configuration spaces can be performed in a computationally efficient way using these techniques. It is also shown how rotation-invariant matched filtering and computed tomography algorithms can be formulated in a natural way using the terminology of noncommutative harmonic analysis.

Speaker Biography
Dr. Gregory S. Chirikjian received his PhD in Applied Mechanics from the California Institute of Technology in 1992. Since then he has been on the faculty at Johns Hopkins, where he is currently an associate professor of mechanical engineering, with a joint appointment in computer science. Dr. Chirikjian works in robotics and, more generally, in applications of group theory in engineering. He is an associate editor of the ASME J. Mechanical Design, a Presidential Faculty Fellow, a Pi Tau Sigma gold medalist, and recipient of several best-paper awards.

Speaker Appointments
For appointments, please contact the host Howie Choset, at choset+@ri.cmu.edu.