Autonomous Drone built from scratch
Autonomous Drone built from scratch

Developed an autonomous drone control and path planning package with ROS2(C++) for off-board (RPi) control of a Pixhawk over uXRCE-DDS (PX4). The drone is custom built from scratch.

ROS2C++Path PlanningGazeboSITLPX4KinematicsComputer visionYOLOv8
Autonomous airhockey robot
Autonomous airhockey robot

Programmed a 7DOF robotic arm to autonomously play airhockey by utilizing openCV for puck detection and then performing trajectory prediction for the puck.

ROS2PythonOpenCVMoveit2Trajectory prediction
Low level microcontroller from scratch (PIC32-DIP)
Low level microcontroller from scratch (PIC32-DIP)

Designed and built a microcontroller development board from scratch using a PIC32MX170F256B from Microchip, with a PID motor control interace.

CMicrocontroller board designLow level motor controlPIDCircuit design
Robot arm pen grab, computer vision
Robot arm pen grab, computer vision

Coded a Pincher 4-DOF robot arm in Python to recognize a purple pen with openCV and grab the pen through inverse kinematics

Robot kinematicsOpenCVPython
Rapidly-exploring Random Tree
Rapidly-exploring Random Tree

Implementation of the RRT algorithm

RRTPythonPath Planning
Guide dog - Unitree Go1
Guide dog - Unitree Go1

Programmed a quadruped robot dog to autonomously navigate its surroundings with the aid of voice recognition and a custom-trained object detection model.

ROS2C++YOLOv7/Machine learningNAV2/NavigationRtabmap/3D SLAMPythonComputer vision
Youbot Mobile Pick and Place Manipulation
Youbot Mobile Pick and Place Manipulation

Controlled a Youbot to pick and place a block with user-specified positions and then simulated it in Coppeliasim.

KinematicsMotion PlanningPath PlanningPythonCoppliasimTrajectory Generation
Stereo Visual Odometry from scratch
Stereo Visual Odometry from scratch

Developed a stereo visual odometry pipeline from scratch.

Computer visionKinematicsOpenCVPythonKITTI
Autonomous quadrotor (In progress)
Autonomous quadrotor (In progress)

Built and programmed an autonomous quadrotor from scratch

Sensor FusionControl SystemsEmbedded SystemsViveC
PLC Autonomous Cube Stacker
PLC Autonomous Cube Stacker

Built an autonomous cube stacker with a user interface capable of stacking 16 cubes.

PLCLadder Logic and Structured TextC++Proportional controlMechatronics
EKF SLAM from Scratch
EKF SLAM from Scratch

Developed a ROS2 C++ EKF SLAM package from scratch for a turtlebot with a simulation environment.

ROS2C++RVIZKinematicsMachine Learning
Autonomous thurst vector controlled rocket
Autonomous thurst vector controlled rocket

Invented, built, and tested a thrust vector controlled scaled rocket.

C++PCBPIDEAGLECADWiFi Microcontroller
Advanced Mechatronics
Advanced Mechatronics

Autonomous Mechatronics Embedded System (Computer Vision Line Follower)

Embedded systemsCPIC32OpenCVPCB/Ciruit designCADSerial
2D Physics Engine From Scratch
2D Physics Engine From Scratch

Simulated a planer multi-body dynamics of a jack in the box with external forces and impacts.

Lagrangian/Machine/Impact DynamicsGoogle ColabPythonRigid Body Transform