Integrating computer vision into a robotic system can provide a closed-loop controlled platform that increases the robustness of a robot's motion. This integration is also known as visual servo control or visual servoing. Visual servoing of a robot manipulator in real-time presents complex engineering problems with respect to both control and image processing particularly when we want the robot arm to perform complicated tasks such as portrait drawing. In my research, the implementation of torque feedback control and Image-based Visual Servoing (IBVS) approaches are proposed to improve previous open-loop portrait drawing tasks performed by Betty, a humanoid robot in the Autonomous Agent Lab, University of Manitoba. The implementations and evaluations of hardware, software and kinematic models are discussed in this document. I examined the problem of estimating ideal edges joining points in a pixel reduction image for an existing point-to-point portrait drawing humanoid robot, Betty. To solve this line drawing problem, two automatic sketch generators are presented. First, a modified Theta-graph, called Furthest Neighbour Theta-graph (FNTG). Second, an extension of the Edge Drawing Lines algorithm (EDLines), called Extended Edge Drawing Lines (eEDLines). The results show that the number of edges in the resulting drawing is significantly reduced without degrading the detail of the output image. The other main objective of this research is to propose the extension of the drawing robot project to further develop a robust visual servoing system for Betty to correct any drawing deviation in real-time as a human does. This is achieved by investigating and developing robust feature (lines and shading) extraction approaches for real-time feature tracking of IBVS in combination with adequate torque feedback in the drawing task.

The purpose of this project was to find out what it is about the self that deserves to be depicted in a work of art; what other artists have done in selfportraiture that may help me in my efforts; and what my own contribution to the history of self-portraiture could be. Self-portraiture is significant in its ability to serve as a personal platform to define the artist's life and relationships with society as well as other individuals. Many times selfportraiture becomes a visual self-search to recognize our own characteristics and traits that make us complete individuals. I investigated the history of self-portraiture as well as the life and work of six artists. I concentrated on the symbolism and psychological undercurrents present in many selfportraits. With my research in mind, four images were created based on preliminary sketches of myself and another close friend. The final images are watercolor, oilbar and sgraffito on paper. Two images are grid pieces and the other two are single companion pieces. The finished pieces were framed andexhibited at the Ball State University Museum of Art. The final images fulfilled all the goals at which I had aimed. They are visually exciting, successfully composed and well constructed. During their execution I was able to elevate the quality of my work, bringing it to a greater maturity level. This group of portraits also worked as a tool to put my life and relationships into a new perspective. / Department of Art

Using portraiture methodology and social practice theory, this study examined the identity work of young people engaged in a teen arts internship program at a contemporary arts center in post-Katrina New Orleans. This research asked four interrelated questions. Through the lens of a teen arts internship at a contemporary arts center in post-Katrina New Orleans, 1) How do contextual figured worlds influence artist identity work? 2) How does artist identity work manifest through personal narratives? 3) How does artist identity work manifest in activities? 4) What are the consequences of artist identity work? The findings of the study highlight how sociocultural factors influence dis/identification with the visual arts in young people and provoke considerations of in/equity in the arts.