Professor NAVARRO ALARCON, David

Research Assistant Professor
Address:
Mechanical and Automation Engineering
Room 112, William M.W. Mong Engineering Building
Chinese University of Hong Kong, Shatin, N.T.
Hong Kong SAR, China
Tel:
Fax:
e-mail:
Website:
(852) 3943 3537
(852) 2603 6002
dnavarro@mae.cuhk.edu.hk
http://www.mae.cuhk.edu.hk/~dnavarro/

Biography

David was born in Mexico, where he studied robotics and manufacturing at the Centre for Research and Advanced Studies (CINVESTAV) of the National Polytechnic Institute. In January 2014, he obtained the Ph.D. degree in mechanical and automation engineering from The Chinese University of Hong Kong (CUHK), with the doctoral dissertation titled "Lyapunov-based Adaptive Methods to Servo-Control Elastic Deformations". He worked from February 2014 to July 2015 as a post-doctoral fellow at the Department of Mechanical and Automation Engineering of CUHK. Currently, he is a Research Assistant Professor at the newly established CUHK T Stone Robotics Institute (CURI) where he coordinates the research work of the medical robotics laboratory. His main research interests include: sensor-guided robot manipulation, development of medical/interventional robotic systems, force regulation of compliant mechanisms, and applied control engineering. David has participated in several ITF-sponsored medical robotics projects; he is currently the Principal Investigator of the SHIAE-sponsored project "Development of an MRI-guided Robotic System for Breast Biopsy" which is conducted in collaboration with Time Medical Systems (a medical imaging company at the HKSTP). David is a member of the IEEE and ASME, a Guest Editor of the Robotics and Autonomous Systems Journal, and a founding member of the IROS Workshop Series on "Multimodal Sensor-Based Robot Control".

Research

  • Robotics
  • Control engineering

Teaching by Years

2016/2017

  • MAEG1010 Introduction to Robot Design

2015/2016
  • MAEG1010 Introduction to Robot Design

Honors & Awards

  • Doctoral fellowship award (overseas) by the National Council of Science and Technology of Mexico, 20092013
  • Master fellowship award by the National Council of Science and Technology of Mexico, 20062008
  • Best conference paper award at IEEE International Workshop on RObotic and Sensors Environments (ROSE), Ottawa Canada, 2008

Publications

Conference Papers

  • F. Zhong, D. Navarro-Alarcon, Z. Wang, Y.-H. Liu, T. Zhang, and H.M. Yip. Adaptive 3D Pose Computation of Suturing Needle Using Constraints From Static Monocular Image Feedback. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), 55215526, 2016.
  • D. Navarro-Alarcon, Z. Wang, H.M. Yip, Y.-H. Liu, F. Zhong, T. Zhang, J. Shi, and H. Wang. Robust Image-based Computation of the 3D Position of RCM Instruments and its Application to Image-guided Manipulation. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 41154121, 2016.
  • D. Navarro-Alarcon, H.M. Yip, Z. Wang, Y.-H. Liu, W. Lin, and P. Li. Adaptive Image-based Positioning of RCM Mechanisms Using Angle and Distance Features. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 54035409, 2015.
  • W. Lin, D. Navarro-Alarcon, P. Li, Z. Wang, H.M. Yip, Y.-H. Liu, and M.C.F. Tong. Modeling, Design and Control of an Endoscope Manipulator for FESS. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 811816, 2015.
  • H.M. Yip, Z. Wang, D. Navarro-Alarcon, P. Li, Y.-H. Liu, and T.H. Cheung. A New Robotic Uterine Positioner for Laparoscopic Hysterectomy with Passive Safety Mechanisms: Design and Experiments. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 31883194, 2015.
  • Z. Wang, P. Li, D. Navarro-Alarcon, H.M. Yip, Y.-H. Liu, and W. Lin. Design and Control of a Novel Multi-state Compliant Safe Joint for Robotic Surgery. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 10231028, 2015.
  • D. Navarro-Alarcon, Z. Wang, H.M. Yip, Y.-H. Liu, P. Li, and W. Lin. A Method to Regulate the Torque of Flexible-joint Manipulators with Velocity Control Inputs. IEEE Int. Conf. Robotics and Biomimetics (ROBIO), pp. 24372442, 2014.
  • H.M. Yip, P. Li, D. Navarro-Alarcon, Z. Wang, Y.-H. Liu. A New Circular-Guided Remote Center of Motion Mechanism for Assistive Surgical Robots. IEEE Int. Conf. Robotics and Biomimetics (ROBIO), pp. 217222, 2014.
  • D. Navarro-Alarcon and Y.-H. Liu. Lyapunov-stable Eye-in-hand Kinematic Visual Servoing with Unstructured Static Feature Points. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 755760, 2014.
  • D. Navarro-Alarcon and Y.-H. Liu. A Dynamic and Uncalibrated Method to Visually Servo-control Elastic Deformations by Fully-constrained Robotic Grippers. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 44574462, 2014.
  • D. Navarro-Alarcon and Y.-H. Liu. Uncalibrated Vision-based Deformation Control of Compliant Objects with Online Estimation of the Jacobian Matrix. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 49774982, 2013.
  • D. Navarro-Alarcon, Y.-H. Liu, J.G. Romero, and P. Li. Visually Servoed Deformation Control by Robot Manipulators. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 52395244, 2013.
  • P. Li, and H.M. Yip, D. Navarro-Alarcon, Y.-H. Liu, C.F.M. Tong, and I. Leung. Development of a robotic endoscope holder for nasal surgery. IEEE Int. Conf. Information and Automation (ICIA), pp. 11941199, 2013.
  • D. Navarro-Alarcon, P. Li, and H.M. Yip. Energy Shaping Control of Robot Manipulators in Explicit Force Regulation Tasks with Elastic Environments. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 42224228, 2011.

Journal Papers
  • D. Navarro-Alarcon, S. Saini, T. Zhang, H. Chung, K. W. Ng, M. K. Chow, Y.-H. Liu Developing a Compact Robotic Needle Driver for MRI-Guided Breast Biopsy in Tight Environments. IEEE Robotics and Automation Letters (RAL), 2017.
  • D. Navarro-Alarcon, H.M. Yip, Z. Wang, Y.-H. Liu, F. Zhong, T. Zhang and P. Li. Automatic 3D Manipulation of Soft Objects by Robotic Arms with Adaptive Deformation Model. IEEE Transactions on Robotics (TRO), vol. 32, no. 2, 2016.
  • J. Chan, I. Leung, D. Navarro-Alarcon, W. Lin, P. Li, D.L.Y. Lee, Y.-H. Liu, and M. Tong. Foot-Controlled Robotic-Enabled Endoscope Holder for Endoscopic Sinus Surgery: A Cadaveric Feasibility Study. The Laryngoscope, issn 1531-4995, 2015.
  • Z. Wang, H.M. Yip, D. Navarro-Alarcon, P. Li, Y.-H. Liu, and D. Sun. Design of a Novel Compliant Safe Joint with Multiple Working States. IEEE/ASME Transactions on Mechatronics, 2015.
  • H.M. Yip, P. Li, D. Navarro-Alarcon, and Y.-H. Liu. Towards Developing a Robot Assistant for Uterus Positioning During Hysterectomy: System Design and Experiments. Journal of Robotics and Biomimetics, vol. 1, no. 1, pp. 111, Apr. 2015
  • D. Navarro-Alarcon, Y.-H. Liu, J.G. Romero, and P. Li. Energy Shaping Methods for Asymptotic Force Regulation of Compliant Mechanical Systems. IEEE Transactions on Control Systems Technology, vol. 22, no. 6, pp. 23762383, Nov. 2014.
  • D. Navarro-Alarcon, Y.-H. Liu, J.G. Romero, and P. Li. On the Visual Deformation Servoing of Compliant Objects: Uncalibrated Control Methods and Experiments. International Journal of Robotics Research, vol. 33, no. 11, pp. 14621480, Sep. 2014.
  • D. Navarro-Alarcon, Y.-H. Liu, J.G. Romero, and P. Li. Model-free Visually Servoed Deformation Control of Elastic Objects by Robot Manipulators. IEEE Transactions on Robotics, vol. 29, no. 6, pp. 14571468, Aug. 2013.