SOFTWARE
Welcome to my Software Projects section! Currently, I am a graduate student in Robotics at BU, engaged in a software-focused program that provides me with hands-on experience in a variety of techniques. I have expertise in SDE, Motion-Planning Algorithms, Optimization, and Machine Learning. Take a look at my projects to discover how I utilize these skills to develop innovative solutions in the industry.
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Click on Pictures or Titles if you want to learn more about a project!
Skills: Python, ROS, MATLAB, Probabilistic Road-Mapping, Gazebo, RVIZ, Data Structures
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Synthesized Probabilistic Road-Map using Python to navigate a simulated maze
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Developed ROS and MATLAB scripts to communicate with and track a quadruped in Gazebo and RVIZ
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Analyzed the relationship between node sample-complexity and node distribution methods
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Investigated the quadruped's footstep accuracy, resulting in a leg redesign to enhance step repeatability
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Presented to a panel of Mechanical and Electrical engineers resulting in Departmental Honors distinction and thesis award
Skills: MATLAB, State-space Control, Nonlinear Control, Taylor Series
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Derived nonlinear equations of motion for double pendulum using knowledge of nonlinear dynamics
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Linearized equations using Taylor-Series and Simulink, decreasing motion accuracy by 11% and computational time by 60%+
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Plotted and animated trajectory using MATLAB and Simulink to compare linear and nonlinear motion
Skills: LabVIEW, MATLAB, Simulink, State-space Control, Nonlinear Control, Log Decrement, Taylor-Series
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Implemented code to collect data from Cart-Pendulum system using LabVIEW, load cell, and strain gauges
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Formulated model relating nonlinear motion between the pendulum, cart, and control input using Simulink and MATLAB
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Linearized model to reduce computational time by 15 seconds while maintaining accuracy within 2% of nonlinear model using Taylor-Series and Simulink
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Analyzed robustness of models by modifying weights of pendulum and cart, initial conditions, and force inputs
Skills: PLC(Siemens Simatic), Ultrasonic, Vibration, Light, Magnetic Switch, Motion Sensors, Simulink
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Defined algorithm for home security system, including motion, vibration, magnetic lock, and emergency sensors and passcode to arm/disarm using Simulink
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Implemented algorithm into PLC using Siemens Simatic and validated system with Reachability analysis
