Porfolio

Welcome to my portfolio! Here, you’ll discover a range of engineering projects showcasing my experience in areas like C/C++ and Python programming, Robot Operating System (ROS), Simultaneous Localization and Mapping (SLAM), Machine Learning, and Embedded Systems.

While I have a strong interest in robotics, constantly seeking to expand my knowledge and skills, I’m also enthusiastic about exploring new and potentially intriguing fields.

My upcoming coursework and projects in January to March 2024 will include SLAM & Navigation for Robotics, Feedback Systems, and Machine Learning.

To learn more about me and how to reach out, click here.

You can also view my resume here.

Highlight Projects

RGB Data Fusion w/ Isaac Gym (In Progress): Incorporating RGB camera data into Isaac Gym’s simulation environment to augment Unitree’s robotic dog’s ability to navigate extreme terrains, building on existing scan dots and depth camera inputs for advanced parkour capabilities. This aims to enhance the robot’s environmental understanding and performance in challenging landscapes through multisensory integration techniques.

SLAM Turtlebot (In Progress): Developing a complete documented and tested ROS2 C++ Extended Kalman Filter SLAM (Simultaneous Localization and Mapping) package in ROS2 entirely from scratch for a Turtlebot3 Burger.

ROS Package: unified_teleop: Unified Teleop is a ROS package designed to elevate robot teleoperation, supporting a wide range of input devices from game controllers to SpaceNav mice. It offers customizable control schemes, intuitive modifiers, and adaptable communication options to fit any robot’s unique design requirements.

Omnid Robot: Developed teleoperation, lifecycle, and visualization features for Northwestern’s custom Omnid robots, supporting varied control modes and enabling experiments in human-robot collaboration.

Translator Robot: PolyglotBot: In a team, developed an autonomous system translating written phrases and writing them onto a whiteboard with a Franka Robot Arm.

Exploration Robot: Programmed a robot that utilizes Frontier Exploration to autonomously explore a simulated environment in ROS & Gazebo.

Trash Picking Robot: Developed a Trash-Picking Robot with a team, capable of patrolling an area for trash and disposing of it.

Gesture Tracking Glove Prototype: Developed a gesture-tracking glove with a custom PCB, using ESP32 and a variety of sensors for real-time visualization on web platforms.

Custom Webcam PCB: Designed and developed a 50 x 50 mm webcam from scratch, including everything from PCB design, to embedded programming, to CAD for the enclosure.