Welcome to my blog, where theory meets practice, and where scientific elegance meets cool engineering impact. Fields that consume the bulk of my attention currently include control theory, game theory, robotics, and certainly deep/reinforcement learning.

Research Background

In stereotactic radiosurgery of the head and neck region, patients are typically positioned in a supine manner on a 6-DOF robotic couch for motion alignment correction with respect to an incident radiation. As such, the precision of delivery of radiation dose to target tumor is extremely important. Target miss in dosimetry angle or errors arising from patient positioning have been known to cause eczema, brain complications, and the exposure of organs at risks.

igrt setup

To prevent the patient from drifting from pre-calibrated pose on the 6-DOF robotic treatment couch, clinicians fixate metallic rings/frames, or elastic plastic masks on the patient’s head and neck region so that involuntary motion by the patient is greatly minimized. But the use of such rings or masks have undesirable effects such as attenuating the radiation beam (thus minimizing incident dose and treatment efficacy), or making the patient uncomfortable. The majority of such masks employed do not compensate for real-time patient deviation from planned targets. To compensate for such drifts, I proposed a neuro-adaptive controller for a network of compliant soft-robot systems to automatically move the patient’s head and neck to desired pose based on a learning based finite-state machine.

igrt setup

The idea is that by actuating elastomeric polymer enclosures that inflate or deflate based on the amount of air that is sent into them or by the amount of pressure that is exerted on them by a human-body part (such as the head or neck), one can achieve a desired level of pose in frameless or maskless radiotherapy without sacrificing patient comfort or treatment efficacy as existing technologies allow.

Random Facts

  • I work on problems with bandwidth spanning from concept through the build, test, debug, and delivery. I fancy conceptualization, finding issues and directions, definitions, expositions and critical insight. I like to investigate the physics behind machines, and to understand the interconnectedness of components, seeing design flaws, and improvising upon them to achieve some sort of epic grandeur.

  • I regularly peer-review for the following academic conferences and journals:

            - Institute of Physics: Measurement Science and Technology (Journal)

            - International Conference on Robotics and Automation (ICRA)

            - International Conference on Intelligent Robots and Systems (IROS)

            - Neural Computing and Applications (NCAA Journal)

            - International Federation of Automatic Control (IFAC) World Congress

            - American Control Conference (ACC)

  • I had my masters degree in Control Systems from Sheffield Uni in the UK.

  • I had my Bachelors in Physics. Specifically, my thesis was on the single fractional parentage coefiicients in the sd-shell nuclei, advised by Prof. Ademola Amusa.

  • I am a co-owner of the Linux, OpenStack, and Unix Networking video tutorials on this youtube page.

  • I am a member of North Texas Drone Users Group. We fly our drones, micro-UAVs, and mini-planes around the DFW area every Saturday just to disturb the peace and quiet of boring citizens.

  • I enjoy mentoring committed undergraduates, masters students, and occasionally high school students that are interested in computer vision, control, and robotics.

            - Ajith is a Senior Robotics Software Engineer at Samsung Research, America.

            - Adwait is an Engineer at Drov. Tech, MN.

            - Rachel is currently an undergrad at MIT’s CSAIL department.

Name Etymology

People often ask me how to pronounce my name, and its meaning. Here we go:

  • Lekan is the short form of “Olalekan”, which literally means “wealth increased by a factor of one” in Yoruba, a (Benin-Congo) language of the Yoruba people of West Africa.

  • Lekan is pronounced “Lay-con”, or “Lay-kañ”, where “añ” is akin to the intonation of “ION” in say, “captION”.

  • My last name is rather a little long-winding to roll on the tongue. But let me deconstruct its meaning first. From what I understand, my paternal ancestors migrated from the Delta area of Nigeria (Warri, specifically) to Yorubaland many generations ago. They fully assimilated into the local Yoruba culture, and became part Ifá divinators, and part Ogun worshippers to boot (it is rather amusing that I chose the Engineering profession given that Ogun is generally worshipped by blacksmiths and technologists); “molu” is a compressed form of “mu olu”, often abbreviated as “m’olu” or “molu” in contemporary Yoruba; it means “to take victory” or something of that facsimile. If you’re catching my drift already, you’ll see where this is going: Ogunmolu means “the god of iron prevailed”. It’s altogether pronounced as “O-goon-moe-loo”. There you go.

  • When I am not busy, I am probably on quora, the ros answers forum or the pytorch forum answering and posting questions.

  • Among the places I call home include Lagos, Nigeria; Sheffield, United Kingdom; Boston, MA; and of course Tokyo, Japan.