51³Ô¹Ï

Topic

Spatial Computing for Human-Robot Interaction in Cyber-Physical Systems

Department of Mechanical Engineering

Date & location

• Monday, July 21, 2025

• 2:00 P.M.

• Virtual Defence

Reviewers

Supervisory Committee

• Dr. Homayoun Najjaran, Department of Mechanical Engineering, 51³Ô¹Ï (Supervisor)

• Dr. Brandon Haworth, Department of Computer Science, UVic (Non-Unit Member) 

External Examiner

• Dr. Keivan Ahmadi, Department of Mechanical Engineering, 51³Ô¹Ï 

Chair of Oral Examination

• Dr. Irina Paci, Department of Chemistry, UVic

   

Abstract

This thesis investigates the challenges and opportunities in enhancing human robot interaction (HRI) and collaboration by integrating spatial technologies and digital twin frameworks. It explores the technological transformations of Industry 4.0 and 5.0 in fostering closer human-machine collaboration and examines the deployment challenges of robotic systems and their seamless integration into digital twin environments. A key focus is the role of immersive interfaces in enabling intuitive and effective human-robot communication. Contemporary spatial technologies increasingly blur the boundaries between physical and digital worlds, enhancing situational awareness and interaction fidelity, while promoting the human perspective within automated systems. To support scalable deployment and modularity, a container-based pipeline was developed to encapsulate robotic systems and their digital twins, enabling real-time control, isolated execution, and seamless integration across heterogeneous software and hardware platforms. In parallel, the role of extended reality (XR) in facilitating human-robot communication was examined through both theoretical framing and practical implementation in virtual and mixed reality settings. The work also explores the integration of 3D Gaussian Splatting as an emerging technique for scene representation in immersive applications, including the HRI scenarios, to evaluate its potential for improving human understanding of the spatial context through highly realistic and natural environments. Together, these contributions demonstrate a framework for human-centered robotics, leveraging spatial computing as a bridge between physical systems and virtual environments. By promoting more natural, intuitive, and context-aware interaction, this work lays the foundation for advancing human-centered cyber-physical systems. This is achieved by ensuring intelligent systems remain adaptable, transparent, and compatible with human interaction in real-world settings.