I am not longer formally working full-time as a researcher. I work full-time in industry, so research is something of a side-thing for now.


While I was at Istanbul Technical University I was affiliated with the following research laboratories.


We got part way through a TÜBİTAK-sponsored project on application of deep learning methods for depth from a single image to robot applications before I left academia in 2019. We have lots of ideas to explore still and are still working on them out of the scope of the project; there is never enough time…


We (about 10 of us, including 2 university staff, 3 graduate students and 5 undergraduate students) finished a TÜBİTAK-sponsored project on sensory substitution. We still have lots of ideas to explore, but time is limited and there is so much to do!


  • Machine learning.
  • Artificial Intelligence.
  • Cognitive robotics.
  • Computer vision.
  • Perception for robotics.
  • Human-in-the-loop.
  • Integration (reasoning, motion planning, prediction, perception).
  • Mobile manipulation.
  • Assistive sensing.
  • Re-use and abstraction.
  • Physical cognition.
  • Analogy and metaphor.
  • Cognitive modelling.
  • Environmental applications.


For publication statistics, see my google scholar profile:

  • Pourghaemi, H., Gholamalizadeh, T., Mhaish, A., İnce, G. & Duff, D.J. (2018). Real-time Shape-based Sensory Substitution for Object Localization and Recognition. Submitted to the Eleventh International Conference on Advances in Computer-Human (ACHI), Rome, France.
  • Gholamalizadeh, T., Pourghaemi, H., Mhaish, A., İnce, G. & Duff, D.J. (2017). Sonification of 3D Object Shape for Sensory Substitution: An Empirical Exploration. Presented at the Tenth International Conference on Advances in Computer-Human (ACHI), Nice, France. Available at
  • Mhaish, A., Gholamalizadeh, T., İnce, G. & Duff, D.J. (2016). Assessment of a visual to spatial-audio sensory substitution system. Presented at the 24th Signal Processing and Communication Application Conference (SIU), Zonguldak, Turkey. Available at
  • Duff, D. J., (2015). Orientation Averaging Using Spatial Extension. Presented at the Turkish Robotics Conference (TORK), Istanbul, Turkey. Availale at
  • Duff, D.J., Erdem, E., Patoğlu, V. (2013). Integration of 3D Object Recognition and Planning for Robotic Manipulation: A Preliminary Report. Knowledge Representation and Reasoning in Robotics Workshop at ICLP 2013, Istanbul, Turkey. Available at
  • Duff, D. J. (2011, December). Visual motion estimation and tracking of rigid bodies by physical simulation (PhD Thesis). University of Birmingham. Available at
  • Duff, D. J., Mörwald, T., Stolkin, R., & Wyatt, J. (2011). Physical simulation for monocular 3D model based tracking. In Proceedings of the IEEE International Conference on Robotics and Automation. Presented at the ICRA, Shanghai, China: IEEE. doi:doi:10.1109/ICRA.2011.5980535 – Preprint available at
  • Duff, D. J., Wyatt, J., & Stolkin, R. (2010). Motion Estimation Using Physical Simulation. In Proceedings of the IEEE International Conference on Robotics and Automation (pp. 1511–1517). Presented at the ICRA, Anchorage, AL, USA: IEEE. doi:doi:10.1109/ROBOT.2010.5509590 – Preprint available at
  • Johnson, B. W., Hautus, M. J., Duff, D. J., & Clapp, W. C. (2007). Sequential processing of interaural timing differences for sound source segregation and spatial localization: Evidence from event‐related cortical potentials. Psychophysiology44(4), 541–551. doi:10.1111/j.1469-8986.2007.00535.x – Available at,
  • Duff, D. J., & Guesgen, H. W. (2002). An Evaluation of Buffering Algorithms in Fuzzy GISs. In M. J. Egenhofer & D. M. Mark (Eds.), Geographic Information Science (Vol. 2478, pp. 80–92). Presented at the GIS, Berlin, Heidelberg: Springer Berlin Heidelberg. Available at