Teaching Activities

Prof. Emil M. Petriu

 ELG 4912  Electrical Engineering Design Project I (Fall 2018)




Lecture:  Friday 14:30 - 15:50 / FTX 147B


·      Syllabus


·      Before proceeding with any hands-on experiments:

(i)      all students must attend the mandatory “Health, Safety and Risk Management in Engineering”  and Electrical Hazards, EECS Lab Safety Guidelines” presentations, and then sign the attendance documents certifying their participation;

(ii)     all students must carry out a “Project Hazard and Risk Assessment” of their specific project, experimental setups and protocols. This assessment should be done using the standard form (French version, or English version). 

(iii)    all students should make sure that their projects comply with the uOttawa Office of Research and Ethics  guidelines.


·      What is a Professional Engineer?, Professional Engineering Practice,  PEO Code of Ethics, Engineering and CIPS Code of Ethics

·      Health, Safety and Risk Management in Engineering (by Dr. Pierre Laflamme), Electrical Hazards, EECS Lab Safety Guidelines (by Alan Stewart), uOttawa Office of Risk Management,  Workplace Hazardous Materials Information System - A Guide to the Legislation, Safety Code 6: Health Canada's Radiofrequency Exposure Guidelines

·      Report Format (MT, Final)


Links of interest:

Electrical, Computer, and Software Engineering - historical perspective, Engineering Practice and Design, Guidelines Engineering ReportsMCG@uOttawa, How to Write a Design Report,

The World According to Big Data (by Rami Abielmona), Canada’s economy in 2041: How we’ll work, live and spend (The Globe and Mail), MetaScan 3: Emerging Technologies, Policy Horizons Canada, 2013,  Five Technological Applications Impacting Manufacturing Innovation, Electrical Engineers Are Building the Future of Health Care, Integrating Robotics, Artificial Intelligence and 3D Printing Technologies into Canada’s Healthcare Systems [Senate of Canada, 2017], Health and societal implications of medical and technological advances (paper), Research into exoskeleton walking devices big leap forward for human-robot interactions (CBC News),  How mixed reality is bringing Star Trek’s holodeck to a business near you  [Financial Post],  Why Human-Controlled, Force-Multiplying Robots Are the Future of Work on Earth [IEEE Spectrum, 2017], Video Friday: DARPA's LUKE Arm, Human Support Robot, and Starting a Robotics Company [IEEE Spectrum, 2017], Starting a Robotics Company? Sell a Service, Not a Robot [IEEE Spectrum, 2017], IEEE-The Institute Special Report: Startups,  A Road Map for Engineering Students Who Aspire to Start a Company, If I Were a Student Again: My Next Choice, The Rodney Brooks Rules for Predicting a Technology’s Commercial Success,  

Ethically Aligned Design: A Vision for Prioritizing Human Wellbeing with Artificial Intelligence and Autonomous Systems [IEEE, 2016],  Self-Driving Cars – IT Aspects, Soyuz rocket: 'Faulty sensor' led to launch failure,  Self-Driving Wheelchairs Debut in Hospitals and Airports [IEEE Spectrum, 2017], Derailed Amtrak train was travelling 80 km/h over speed limit [NTSB - World - CBC News, Dec. 2017], Reports of Smart car fires in Ontario multiply [CBC News, Dec. 2017], Volvo reduces autonomous driving tests to find the right sensors – [engadget, Dec. 2017], The Big Problem With Self-Driving Cars Is People, Should a self-driving car kill the baby or the grandma? Depends on where you’re from,  

IEEE Spectrum, Robotics Trends, Medical Design Briefs,  Intelligent Power Today Magazine,

Metrology, Standards Council of CanadaYouTube, NIST: National Institute of Standards and Technology, IEEE Standards Association,  IEEE 488, Keysight Technologies – Metrology & Calibration Standards, National Instruments - Fundamentals to Building a Test System: Selecting Instrumentation, 1547-2003 - IEEE Standard for Interconnecting Distributed Resources with Electric Power Systems,  

Outline of Robotics [Wikipedia], Robotic Systems -Basics, Robot Kinematics [Wikipedia], Homogeneous Transformation Matrices, Accuracy of the kinematic model, Robot Sensors, Position Recovery,  Haptic Sensors & Interfaces, Development of a tactile and vision integrated system, and object identification techniques for SPDM applications, Vision-Based Sensing and Control for Space Robotics Applications, Instrumentation and Sensor Fusion for Systems Control, ROSRobot Software Development, The Origin Story of ROS, the Linux of Robotics [IEEE Spectrum, 2017]

Biology Inspired Robots, Mission-Driven Robotic Intelligent Sensor Agents,  Virtual Environments   World’s first humanoid Open Source 3D printed robot InMoov, InMoov Demo at Maker Faire Paris 14,  Moveable Factory: Addibot, 3D Printer on Wheels (rbr - robotics business review),  Building the Future: Space Station Crew 3-D Prints First Student-Designed Tool in Space (http://www.nasa.gov), Building Tomorrow’s Robots [MIT Technology Review, 2017],  BioIn Robotics Lab at uOttawa

Internet of Things (Wikipedia), Networks of ‘Things’- NIST Special Publication 800-183  (by Jeffrey Voas - US National Institute of Standards and Technology), The Internet of Things for Health Care: A Comprehensive Survey (Ch. VIII. IoT HEALTHCARE CHALLENGES AND OPEN ISSUES),  

Intellectual Property Law Primer (by Adam M. Tracey), Entrepreneurship & Innovation (by Mark Pearson), Applying for Patents - p1 & p2 (by Tet Yeap),   Innovation and Invention - What it means and why it matters (by Peter MacKinnon & Peter Chapman), Entrepreneurship & Finance -How to turn your project into something more (by Nolan Beanlands),  chalk&wire an Entrepreneurship Success Story: Extreme Human Factors (by Dr. Thom Whalen) & chalk&wire Life in the Agile Lane (by Mr. Geoff Irvine),

uOttawa Makerspace, Selecting the Right Material for 3D Printing (Proto Labs), 

MathWorks™ Robotics, MathWorksRobootics Systems Toolbox, MathWorks™ Image Processing Toolbox, MathWorks™ Computer Vision System Toolbox, MathWorks™ Fuzzy Logic Toolbox, MathWorks™ Neural Network Toolbox , 

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·   Dilbert on the Turing Test



ELG 5386 - Neural Networks and Fuzzy Systems (Fall 2018)



Lecture:    Monday 11:30 - 12:50, CRX C309,   Thursday 13:00 - 14:20, CRX C309


Description:  Neuro-fuzzy and soft computing. Fuzzy set theory: rules, reasoning and inference systems. Regression and optimization; derivative-based optimization - genetic algorithms, simulated annealing, downhill simplex search. Neural Networks: adaptive networks; bidirectional associative memories; supervised and unsupervised learning; learning from enforcement. Applications: neuro-fuzzy modelling and control, pattern recognition.


Syllabus (pdf)


Links of interest:

Will artificial intelligence become conscious?, AI Future: Microsoft’s View,  Ethically Aligned Design: A Vision for Prioritizing Human Wellbeing with Artificial Intelligence and Autonomous Systems [IEEE, 2016], Computer-Controlled Human Operators,  Turing TestThe Ethics of Using Brain Implants to Upgrade Yourself, L. A. Zadeh, "Fuzzy logic," IEEE Computer, April 1988,  J. C. Bezdek, "Fuzzy models - What are they, and why?," IEEE Tr. Fuzzy Systems, Feb. 1993 , Machine Learning for Data-Driven Control of Robots, Former Head of Google China Foresees an AI Crisis—and Proposes a SolutionIEEE Spectrum, September 2018,  Human-Level Intelligence or Animal-Like Abilities?, Clever crows reveal 'window into the mind',  Brief Introduction to Computational Intelligence, 

Fuzzy Control (slides, notes,  paper1, paper 2, paper3, paper4), Grey Wolf Optimizer Algorithm-Based Tuning of Fuzzy Control Systems with Reduced Parametric Sensitivity, (10.1109/TIE.2016.2607698), Computers & the Human Brain / Neuromorphic Computing Timeline, J.S. Albus – Computational Theory of Mind, A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (CMAC), Can We Copy the Brain, IEEE Spectrum – Special Report, 2017, Neural Networks-Basics (slides), Applications of Random-Pulse Machine Concept to NN Design (paper),  Intel Starts R&D Effort in Probabilistic Computing for AI ,  Intel’s ‘Loihi’ chip, 'Human Brain' Supercomputer Switched On to Unlock Secrets of the Mind , Neural Networks-Modelling Applications (slides),  NN Models of 3D Objects (paper),  NN Modelling of 3D Object Elastic Behaviour (paper), NN Mapping and Clustering of Elastic Behavior From Tactile and Range Imaging (paper), Google's Artificial-Intelligence Wizard Unveils a New Twist on Neural Networks, Behavior-Based Neuro-Fuzzy Controller for Mobile Robot Navigation (paperslides),  A Review of Computational Intelligence Techniques in Wireless Sensor and Actuator Networks (paper)


IEEE Computational Intelligence Society: Multimedia Tutorials Center

MathWorks™ Fuzzy Logic Toolbox, MathWorks™ Neural Network Toolbox 




Courses Taught in Previous Years


 ITI 1100 Digital Systems

Elements of Digital Logic Circuits (pdf), Asynchronous Arbiter (p1, p2, p3, p4)


ELG 5161 Robotics: Control, Sensing and Intelligence (Fall 2017)




Description:    Robotics as the intelligent connection of perception to action. Advanced robotics technologies.

Robot arm kinematics and dynamics. Planning of manipulator trajectories. Control of robot manipulators. Robot-level programming. Sensors and sensory perception. Control problems for sensory controlled robotic-based flexible manufacturing systems. Task-level programming. Knowledge-based control for mobile robots.  This course is equivalent to EACJ 5207 at Carleton University.


Syllabus (pdf)


Links of interest:

Robotics [Wikipedia], Outline of Robotics [Wikipedia], Robotics Trends, IEEE Spectrum, BioIn Robotics Lab at uOttawa,  Smarter Robots: Implications for the workplace of the future Intelligent Robotic Systems,  Robot Sensors, Homogeneous Transformation Matrices, Robot Kinematics [Wikipedia], Kinematics -Manipulator Motion, Accuracy of the kinematic model, Kinematic Model of Robot Arm, Introduction to Robot Kinematics, Robot Control, ROSRobot Software Development, The Origin Story of ROS, the Linux of Robotics, Position Recovery,  Force-Position Control, Compliance, Haptic Sensors, Touch Sensing for Humanoid Robots, (10.1109/MIM.2015.7271221), XYZ RGB, Machine Vision, Object recognition using pseudo-random color encoded structured light, Pattern Recognition, Vision-Based Robotic Sensing and Control, Syntactic Pattern Recognition, Visual position recovery for an automated guided vehicle, Multisensor Data Fusion,  Mission-Driven Robotic Intelligent Sensor Agents, Fukushima disaster: The robots going where no human can,  Robotic Telemanipulation, Why Human-Controlled, Force-Multiplying Robots Are the Future of Work on Earth, Baxter's Homunculus: Virtual Reality Spaces for Teleoperation in Manufacturing, Watch Six of the Coolest Surgical Robots in Action, FDA-approved robot assistant gives surgeons force feedback, Hadfield behind the controls of Canadarm2, Human-Instrument Symbiotic Partnership for Multimodal Environment Perception (paper, slides), Resource Management of a Multi-Robot Assembly Cell, Biology Inspired Robots,  Human Emotion and Cognition Recognition from Body Language of the Head, Helping robots understand body language,  Musculoskeletal Robots -Scalability in Neural Control,  Hierarchical Animation Control of Avatars in 3D Virtual Environments,

The origami bots that could do surgery, Self-Driving Cars – IT Aspects, Self-Driving Wheelchairs Debut in Hospitals and Airports,  Autonomous Vehicles' Future May Be Further Away, Different Than Imagined,  Can we teach robots ethics?,  Welcoming Our New Robot Overlords ,  Computer-Controlled Human Operators - A new paradigm for human-computer interaction: humans guided and controlled by the computer; Starting a Robotics Company? Sell a Service, Not a Robot


MathWorks™ Robotics, MathWorksRobootics Systems Toolbox,

MathWorks™ Image Processing Toolbox, MathWorks™ Computer Vision System Toolbox,


MetaScan 3: Emerging Technologies, Policy Horizons Canada, 2013,  Robots are so much smarter than they used to be [Financial Post, 2014], How Ontario put the future of operating-room robots in question [The Globe and Mail, 2017], Integrating Robotics, Artificial Intelligence and 3D Printing Technologies into Canada’s Healthcare Systems; The rise of the robots? [BBC, 2016], Ethically Aligned Design: A Vision for Prioritizing Human Wellbeing with Artificial Intelligence and Autonomous Systems [IEEE, 2016], Automation Across the Nation: Understanding the potential impacts of technological trends across Canada [DATA INSIGHTS, Brookfield Institute for Innovation + Entrepreneurship, June 2017], Robots roam Mount Etna volcano as part of lunar testing ground, AI vs Doctors [IEEE Spectrum, 2017]

World’s first humanoid Open Source 3D printed robot InMoov, InMoov Demo at Maker Faire Paris 14



ELG 5124  Virtual Environments

IntroductionCollaborative Virtual Environments [Prof. N.D. Georganas]3D Object Location,  Graphical Perspective [Wikipedia], General Homogeneous Transformation Matrix (p1, p2, p3),  Computer Graphics (Prof. M. Haage, Lund U, Sweden), Geometry of Perspective Drawing [Prof. A. Treibergs, U of Utah], Projective Geometry Applied to Computer Vision [Stanford U], 3D Object Recovery Using Structured Light (slides) (paper1) (paper2paper3), Coded Structured Light Bibliography [J.P. Marco]3D Object Modelling - Issues and Techniques [A.M. Cretu], 3D Viewing, Kinematics and Dynamics Modelling [J.C. Delannoy], Head Tracking for Desktop VR, NN Modelling of Geometric and Elastic Properties of 3D Objects (slides),  EM Models for EDA (paper, slides), Solid Modelling [Wikipedia], 3D Human Anatomy and Biology Models [3DScience.com], Human Head Model (paper1, paper2, paper3, slides),  Humanoid Avatar - Modelling and Animation (paper1, paper2, paper3, slides1, slides2), Animation-Demo Reel [M.D. Petriu],  Active Research Topics in Human Machine Interfaces [SAND2000-2779, Unlimited Release],  Haptic Interfaces (slides),  Microsoft Surface Computing - Multi-Touch Technologies (video2), Virtual Environments - Applications ( Ch. 8 in [Burdea&Coiffet, 2003], slides), Man-Computer Symbiosis [J.C.R. Licklider],  Robotic, Human, and Symbiotic Sensor Agents (paper1, paper2, paper3, paper4, paper 5, paper6, slides),  Multimedia – From Wagner to Virtual Reality, Computer and Video Games [Wikipedia]

Cortona VRML Client
ZBrush by Pixiologic
3D Interaction CyberForce® Tactile Feedback System
New Wildcat Realizm Graphics Technology
X-Plane by Laminar Research
Google Earth  - A 3D interface to the planet
Google SketchUp 6
MapWindow GIS: open source programmabale geographic information system tools
Humanoid Animation Working Group
ISO/IEC FCD 19774:200x, Humanoid animation (H-Anim)
Poser 7 - Art of 3D Figure Design ( e frontier)
The Sims
Second Life, Sweden plans Second Life embassy, Banks in Second Life have frozen withdrawals .
The Ultimate Distance Learning
Second Life is releasing code to the open source community
10 Downing Street virtual tour
Mars Exploration Rover (CNN)        
Game theorists share Nobel prize
2007 International Consumer Electronics Show (CES)
IBM Research Unveils 3D Avatar to Help Doctors Visualize Patient Records ans Improve Care 
Make Your Very Own Virtual World with OLIVE (IEEE  Spectrum, Jan 2008)