Summary
Computer engineering student with experience in Robotics and skilled at Python, C, C, MATLAB, VHDL, Verilog, Embedded C/C, LATEX.
Research Experience
Designed, manufactured, and tested a six-DoF robot arm built for safe operation in human-collaborative tasks.
Constructed CAD models in SolidWorks and performed FEA to develop Quasi-Direct Drive actuators for the arm.
Hand calculated L10 bearing life and power requirements for PMSMs for component selection and integration.
Evaluated torque requirements for different arm configurations using dynamic simulations in Drake.
Manufactured prototypes using a combination of water jetting, 3D printing, milling, lathe, and power tools.
Programmed STM32 microcontrollers to enable 2kHz real-time communication over UDP and CAN bus.
Wrote firmware patches for ()Drive (open-source brushless controller) to analyze anti-cogging performance.
Designed custom PCBs in Altium Designer for AMS on-axis magnetic encoders and STM32 microcontrollers.
Manufactured custom single-layer PCBs using LPKF ProtoMat (milling/drilling) and ProtoLaser (etching).
Calibrated sensors and set up RPi Zeros to allow plug-and-play data acquisition at 60Hz.
Designed sensor mounts in SolidWorks and 3D printed them to integrate the sensor with UR5 and Kuka arms.
Programmed real-time end-effector trajectory tracking for a Kuka arm using Drake.
Implemented an adaptive backstepping controller to allow the gripping of deformable objects without slipping.
Currently developing a control strategy to pick up and route cables along a pre-generated path in 3D space.
Education
Personal Projects
Implemented a basic CPU core in Verilog that is compliant with the RV32I instruction set.
Designed a 5-stage pipeline and utilized Xilinx's IP integrator to use the BRAM on the Artix-7 FPGA.
Used MATLAB to design, simulate basic FIR filters and IIR filters and generate their impulses responses.
Programmed STM32 to use the ADC for sampling and the DAC for generating the output for "real-time" filtering.
Tested the implementation using a waveform generator as the source and an oscilloscope to probe the output.
Skills
Programming: Python, C, C, MATLAB, VHDL, Verilog, Embedded C/C, LATEX
Hardware: 3D Printing, Manual Milling, Manual Lathe, Laser Cutting/Engraving, Waterjet, Machine Shop Tools
Software: Altium Designer, SolidWorks, Xilinx Vivado, GNU Arm Toolchain, ROS
Self Evaluation
Internship
Certifications
Involvement
Coursework
Awards
Publications
Languages
