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martin-barczyk

Martin Barczyk, PhD, PEng

Assistant Professor

Engineering

Mechanical Engineering

About Me

Education:

  • Ph.D. in Control Systems, Electrical and Computer Engineering, University of Alberta
  • M.Sc. Electrical and Computer Engineering, University of Alberta
  • B.Eng. Mechanical Engineering, McGill University



Research

My area of focus is Mechatronics - Mechanical Engineering systems augmented with Feedback Control Theory, State Estimation & Data Fusion, Sensor and Actuator hardware and Computer software - and its application in fields such as robotics, aerial and wheeled autonomous vehicles, manufacturing, and consumer electronics. As computing power and sensing technology continue to become more powerful, smaller and cheaper year after year, Mechatronics continues to enable entirely new classes of mechanical systems, from legged robots and self-driving cars down to self-balancing unicycles and autonomously navigating vacuum cleaners.

During grad school my research was focused on state estimation techniques and their implementation onboard an autonomous helicopter UAV. I particularly enjoyed the opportunity to implement and validate my designs onboard hardware and see them perform in real-world conditions. A related project I worked on was the development of a minimum-complexity dynamics model of the helicopter UAV and identification of its parameters for model-based design. I then did a two-year postdoc at Ecole des Mines in Paris, France where I worked with an autonomous wheeled robot and became interested in SLAM (Simultaneous Localization and Mapping) as a testbed for novel state estimation techniques. This also led to developing a new approach to estimating the covariance of estimates obtained from scan matching of images from the onboard depth camera.

As a new prof in the Mechanical Engineering Department at the U of A, I am now in the process of setting up a research group in Mechatronics Systems. I am seeking to (a) build and expand upon my earlier research work, (b) set up challenging testbeds for investigating novel control and state estimation techniques, and (c) explore new applications for mechatronics in traditional mechanical engineering areas such as HVAC, manufacturing and thermofluid systems. If you would like to pursue graduate studies with me in these areas, please email me with your CV and transcript and tell me about yourself and your research interests.

Publications:

M. Barczyk and S. Bonnabel. Towards Realistic Covariance Estimation of ICP-based Kinect V1 Scan Matching: the 1D Case. Accepted at the 2017 American Control Conference, Seattle, WA, May 2017.

S. Bonnabel, M. Barczyk and F. Goulette. On the Covariance of ICP-based Scan-matching Techniques. Proceedings of the 2016 American Control Conference, pp. 5498–5503, Boston, MA, July 2016.

M. Barczyk, S. Bonnabel, J.E. Deschaud and F. Goulette. Invariant EKF Design for Scan Matching-aided Localization. IEEE Transactions on Control Systems Technology, 23(6):2440–2448, November 2015.

M. Barczyk, S. Bonnabel, J.E. Deschaud and F. Goulette. Experimental Implementation of an Invariant Extended Kalman Filter-based Scan Matching SLAM. Proceedings of the 2014 American Control Conference, pp. 4121–4126, Portland, OR, June 2014.

M. Barczyk and A.F. Lynch. Control-Oriented Modeling of a Helicopter UAV with a Bell-Hiller Stabilizer Mechanism. Proceedings of the 2013 American Control Conference, pp. 313–320,Washington, DC, June 2013.

M. Barczyk and A.F. Lynch. Invariant Observer Design for a Helicopter UAV Aided Inertial Navigation System. IEEE Transactions on Control Systems Technology, 21(3):791–806, May 2013.

M. Barczyk and A.F. Lynch. Integration of a Triaxial Magnetometer Into a Helicopter UAV GPS-aided INS. IEEE Transactions on Aerospace and Electronic Systems, 48(4):2947–2960, October 2012.

M. Barczyk and A.F. Lynch. Invariant Extended Kalman Filter Design for a Magnetometer-plus-GPS Aided Inertial Navigation System. Proceedings of the Joint 50th IEEE Conference on Decision and Control and European Control Conference, pp. 5389–5394, Orlando, FL, December 2011.

M. Barczyk and A.F. Lynch. An Attitude and Heading Reference System Design for Indoor UAV Testing. 23rd Canadian Congress of Applied Mechanics, Vancouver, BC, June 2011.

M. Barczyk, M. Jost, D. R. Kastelan, A. F. Lynch, and K. D. Listmann. An Experimental Validation Of Magnetometer Integration Into a GPS-aided Helicopter UAV Navigation System. Proceedings of the 2010 American Control Conference, pp. 4439–4444, Baltimore, MD, June 2010.