Projects
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.
GTSAM Optimization & Loop Closure
Applying GTSAM Levenberg–Marquardt optimization and loop closure detection on trajectory datasets. Demonstrates factor graph-based state estimation central to modern SLAM pipelines. Optimization successfully corrected odometry drift across 2D and 3D benchmark datasets including grid, sphere, and torus pose graphs.
Training Steerable CNNs
Comparing standard and group-equivariant steerable CNNs (C2–C8, D1–D8) on Rotated MNIST to show how building rotational symmetry into network architecture improves generalization to unseen rotations. The best equivariant model (D8) achieved 97.24% accuracy on Rotated MNIST, compared to 26.0% for a standard baseline CNN.
Smart Motor Driver
Custom motor control board with integrated current sensing, encoder feedback, and closed-loop control algorithms for precision robotics applications.
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 extended build volume for large-scale prototyping and manufacturing applications.
Rational Number Computing Accelerator
Hardware accelerator design in VHDL for efficient rational number computations in embedded systems.