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.