Independent Robotics Research Project

• Developed ROS2 Jazzy autonomous navigation stack for mecanum-wheel robot on Rasberry Pi 5 using a three-layer design: hardware driver, robot description, and system bringup

• Developed a custom hardware abstraction node interfacing with the Yahboom expansion board over serial, publishing encoder, IMU, and wheel odometry data and converting cmd_vel commands into PWM motor control through mecanum inverse kinematics

• Implemented EKF-based state estimation with robot_localization, fusing wheel odometry and IMU angular velocity to improve odom-frame accuracy under wheel slip on high-friction carpet

• Configured Nav2 with AMCL localization, NavFn global planning, and DWB local planning in strafe-only mode to support reliable indoor navigation for an omnidirectional mecanum robot

• Developed a multi-phase goal manager with CCW-only rotate-first behavior and final-heading alignment to compensate for carpet-induced clockwise rotation asymmetry

• Designed proportional motor deadzone compensation to preserve commanded motion direction while overcoming low-speed stall, and integrated RPLIDAR A2M8 and Intel RealSense D435 for 2D mapping and depth-based perception

Collaborated closely with Mr. Opas Siamwalla, Senior Executive Director, to research and develop solutions in autonomous mobile robotics, sensor integration, and SLAM for warehouse automation applications. During the internship, • Built a TurtleBot3 ROS1 prototype for autonomous warehouse navigation and task execution. • Implemented A*-based planning and costmaps for obstacle-aware navigation. • Integrated TF, odometry, localization, and sensor pipelines for end-to-end robot autonomy. • Developed an OpenCV stereo vision pipeline for obstacle detection and localization. • Tested the system in warehouse aisle navigation and real-time obstacle avoidance scenarios.

• Serve on school committee for STEAM curriculum development.

• Encourage student interest in Science, Technology, Engineering and Mathematics (STEM) and participation in middle and high school national science competitions

• Coached a team of 5 junior-level students to win in a local hackathon

• Teach subject matter based on information compiled from textbooks, online sites and other educational materials.

• Assess student comprehension through regular quizzes, tests and assignments.

. Assisted to a team of creative and driven individuals

. Initiated new courses and educational projects for kids - Scientific Cooking