Robotics
Working on robots with multiple degrees of freedom (DOF), I have gained experience in path planning. This involves optimal trajectory generation to operate within boundary constraints and minimize cost functions and then carryout the desired trajectory using inverse kinematics techniques such as resolved-rate motion control. I have also used ROS in Python to make a TurtleBot autonomously navigate its surrounding.
I have gained experience in using 3D coordinate systems and applying rotation matrices and coordinate transforms. I have implemented point cloud mapping using epipolar geometry by mapping the coordinate of a point to 3D space, given its location in several 2D cameras. I've also used Bag-of-Words (BoG) feature spaces to implement object recognition. I have also used optical flow to track movement, and basic linear image filtering.
Skill Tags: Path planning, Inverse Kinematics, Resolved-rate Motion Control, 3D Coordinate Transforms, Point-Cloud Mapping, Object Recognition, Optical Flow, Autonomous Navigation, Linear Image Filtering, Robot Operating System (ROS)
Optical Flow
Helicopter Adaptive Control
Controls
I have used state-space control to achieve set-point and trajectory tracking in Mulltiple Input Multiple Output (MIMO) Systems, with adaptive control to adapt to uncertainty and changes in the environment, and backstepping to cancel out undesired non-linear behavior. I have used PID classical control theory and analysis in the Z-domain to achieve tracking in continuous-time with a discrete-time controller. I have experience in networked control, where each robot/agent is only aware of its own surrounding, but they work together to carry out a group task, which has appications in robotics and sensor networks. I have used a TI microcontroller to control a brushless DC motor (BLDC) and AC motor. I also have experience in dynamics and audio engineering, and thus have understanding of physical systems, not just electrical ones. I ride a unicycle, and studying controls has shown me a lot about balancing on a unicycle and vice-versa. Controls to be in not just a bunch of math but a language to represent how nature behaves.
Skill Tags: State-Space Control, PID Control, Classical Control Theory, Model Reference Adaptive Control (MRAC), Digital & Discrete-Time Control, Linear Control, Nonlinear Control, Decentralized Networked Control, Dynamics
Programming
My two best coding languages are MATLAB (if you consider it a coding language :D) and C++. My experience in C++ is mainly in embedded devices and computational applications. I've used C++ to make smart embedded devices and use GPUs and threads to make computation much faster, and made the necessary makefiles. I've also coded a bit in C and assembly, where I gained a better understanding of computer aruchitecture and memory management. My use of MATLAB is broad, including robotics, computer vision, control, digital signal processing. I've even done object-oriented programming in MATLAB (yes, it exists), and used Dynamixel_IO, a MATLAB library to control dynamixel motors using only MATLAB. I've also used several other coding languages. I've used Java and Swift to make an LetzChill, an app. I have updated a some of Georgia Tech's websites during my internship in HTML and CSS. I've also used AWS when working for a HighView Technologies, a startup.
Coding Languages: MATLAB, C++, C, Python, Java, Swift, Assembly, VHDL, VBA, CSS, HTML, AWS, R
Skill Tags: CUDA, C-Threads, Embedded Programming, Memory Management, Computer Architecture, App & Web Development
GitHub Link
LetzChill
Computer Science
I have experience in object oriented programming, data structures and algorithms and artificial intelligence, and a some exposure to machine learning. I've used my programming skills in a Pac-man video game, coded in C++ using an Mbed, using polymorphism to easily change the behavior depending on characters, and linked list to create the behavior of the "train ghost". I've used searching and reinforcement learning algorithms such as breath first search, A* algorithm, q-learning and particle filter to find the shortest route for Pac-man in a python version of the game with a slight twist to the rules. I've also had some breif expose to different machine learning techniques such as PCA using SVM, and extracting and comparing the frequency and phase data of natural and artificial images, and using a neural net to determine event-related potential in a P-300 experiment.
Skill Tags: Object Oriented Programming, Data Structures and Algorithms, Aritificial Intelligence, Machine Learning
Analog & Digital Circuits
I've have experience in designing, building, and debugging digital and analog circuits. I've been a graduate teaching assitant for biomedical instrumentation, where I taught analog design and bio-electrical concepts and a graduate and undergraduate teaching assitant for digital design lab, where I helped debug technical issues students had with their digital circuits and VHDL code, and explained the use of oscilloscope and logic analyzers. I had a very similar role as an undergraduate teaching assitant in the electronics insturmentation lab except it was analog circuits this time. I also made a lab where the students had to make a guitar tuner using active filters. I enjoyed debugging circuits. It was like detective work. I even made a digital circuit debugging guide.
I designed and wired-up several analog devices, using my knowledge of filters, signal processing and electro-mechanical-acoustic transducers to make a smart glove with variable pressure force detection (capstone project), a voice scambler, a phasor effect pedal, and design a speaker cabinet with a given speaker coil. I am a huge fan of music, so these projects were very interesting to me with regards to my hobbies.
Skill Tags: Analog Circuit Design, Digital Circuit Design, Circuit Debugging, Testing Signal Processing, Electro-Mechanical Transducers
Instumentation: Oscilloscope, Signal Generator, Logic Analyzer, Soldering, Quartus II, NI Multisim, LTspice, NI ELVIS, EAGLE (PCB)
Voice Scambler
Digital Circuit Debugging Guide
Leadership & Hobbies
I used to be President of Unicycling Club, Picnic Chair of Eta Kappa Nu (ECE Honors Society), CMO of HighView Technologies (Startup) when I was still a Georgia Tech student. The experience gave me a pragmatic understanding of how to get things done, and learning what people like and don't like as you go along.
My biggest hobby is playing the Guitar, Acoustic, Electric or Classical, but mainly Acoustic. Music theory fascinates me. Besides that I also like playing the Piano, Dancing, Unicycling & Juggling, learning Languages and Hapkido, but haven't really committed any time into them lately.