Developed systems software in C++ and Python on ROS for multiple robots used across different industries, including medical, marine, and space.
Autonomous Racing Motorcycle Robot:
•Partnered with Yamaha to develop systems software in C++ and Python on ROS for an autonomous racing motorcycle robot, featured at the Tokyo Motor Show, on Discovery Channel, and YouTube with 5.3M+ views.
•Interfaced with actuators, sensors (GPS, IMU), and CAN bus. Conducted HIL simulation testing. Implemented path and balance algorithms in close collaboration with controls researchers.
•Reignited project momentum by advocating for and promptly implementing a state estimator that significantly enhanced localization accuracy at high speed, culminating in the groundbreaking achievement of driving 200kph and becoming of the world’s fastest autonomous ground vehicle.
Autonomous Factory Robots:
•Architected software from the ground up in C++ and Python on ROS with one other teammate for 5 reconfigurable autonomous factory robots designed to supplant static conveyor belt lines.
•Engineered a scheduler for task orchestration of the robot fleet and waypoint-based path follower.
•Shattered perceivedly unattainable project deadlines, by asserting the need for a comprehensive project plan, formulating it, and ensuring close adherence.
Mining Robot:
•Created robot teleoperation UI and tools using Qt and RViz for a mining robot to deliver and deploy explosives in hazardous environments. Displayed critical sensor data such as LiDAR and IMU.
VR Robot Teleoperation:
•Designed immersive virtual reality robot teleoperation control rooms in C++ and Unreal Engine, facilitating operator training and real-time robot control for the medical, marine, and space industries.
Medical Device:
•Eliminated major sources of human error via precise synchronization of code and documentation by building a robust C++ code-generative UML state-machine model for FDA verification.