Projects
3D Pointcloud Reconstruction
An incremental Structure from Motion (SfM) pipeline that reconstructs a sparse 3D point cloud from a sequence of images, recovering both scene geometry and camera trajectory.
Stretch 3 Simulation Environment
MuJoCo-based simulation environment for the Hello Robot Stretch 3 platform with ROS 2 integration. Models a kitchen workspace with manipulable objects for validating Reinforcement Learning algorithms, including a Macro MARL PPO model developed at Northeastern University.
2D Mosaic Reconstruction
A 2D image stitching pipeline that builds globally consistent panoramas from overlapping image sequences by combining covariance-weighted graph construction, loop closure detection, and a GTSAM factor graph optimization to eliminate accumulated drift.
Equivariant β-VAE for 3D Shape Generation
Designed and trained a β-Variational Autoencoder with a 3D convolutional encoder-decoder architecture to learn probabilistic latent representations of human spinal bone geometry from voxelized mesh data, evaluating both a standard CNN variant and a group-equivariant steerable CNN with octahedral symmetry across reconstruction and generative metrics.
Feedback Motor Controller
Open-source closed-loop DC motor driver with custom PCB, STM32 firmware in C, onboard PID control and trapezoidal trajectory planning on a 30×40mm board. Plugs directly into any Raspberry Pi or microcontroller via Qwiic connectors — no soldering required. Up to 112 units daisy-chainable on a single I2C bus.
snowBoard
Rugged electronic development board built for low-power outdoor deployment. Features onboard sensing, wireless communication, and a compact form factor designed for field robotics and remote data collection.
Tension Sensing Thread Factory
Manufacturing system with real-time tension monitoring and closed-loop control for automated thread production. Integrates custom sensing hardware with embedded control firmware.
Convertible Wing Drone
Custom built drone that converts to flying wing. AVR based microcontroller is integrated on a custom PCB which runs the custom flight controller firmware.
3D Software Rendering Engine
Custom 3D graphics engine built from scratch, featuring real-time rendering and advanced shading techniques.
Procedural Spherical Map Generator
OpenGL-based tool for generating realistic planetary surfaces using procedural algorithms and noise functions.
Large Volume 3D Printer
Custom-built FDM 3D printer with a 110×75×40 cm build volume — large enough to print a full human torso in one piece. Supports swappable extruders including a syringe extruder. Designed so anyone can replicate it at any size.
Rational Number Computing Accelerator
Hardware accelerator design in VHDL for efficient rational number computations in embedded systems.