MAGIC: Manipulation for Automated Geometric Inspection and Construction
Architected a ROS2-driven dual-arm system that reorients WAAM parts for full-surface inspection, merging perception, motion planning, and reconstruction pipelines.
Project Library
Deep dives into robotics, embodied AI, and machine learning projects. Each case study captures the challenge, research process, and outcomes.
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Augmenting Learned Centroidal Controller with Adaptive Force Control
Integrated an L1 adaptive disturbance estimator with CAJUN’s centroidal policy to stabilize quadruped jumping despite payload shifts and inertia mismatch.
Functional Locomotion Policy for rough terrain traversal for Wheeled Biped
Designing a policy for safe, robust wheeled-biped motion that transports liquids without spillage across uneven warehouse terrain. Standing equilibrium policy achieved; velocity-control behaviors in progress.
VEX V5 Autonomy Tools
End-to-end autonomy stack for the VEX V5 platform: particle-filter SLAM, Wavefront/RRT planners, controllers, and conversational HRI.
F1/10th: High-Speed Autonomous Racing Stack
Modular autonomy stack featuring LiDAR disparity extender, EKF sensor fusion, and MPC control; demonstrated live at the Safety21 Expo.
DUm-E: Perception-Driven Assistive Manipulator for Object Tracking
Built a perception-led pick-and-place system with real-time visual tracking integrated into a ROS2 manipulation stack.
ANVI: Accessible Navigation for the Visually Impaired
Affordable wearable blending deep learning vision, sensor fusion, and safety telemetry to guide visually impaired users with real-time audio cues.
ARIBOT: Autonomous Railway Inspection Platform
ROS-driven inspection robot combining ultrasonic, laser, and vision analytics with a live dashboard to surface actionable maintenance alerts for rail operators.
OpenQuad: Open-Source Platform for Drone Autonomy
Open-source Pixhawk + ROS quadcopter platform enabling gesture control, person tracking, and dockerized simulation for autonomy research.
Pepper: Multi-Modal Personal Assistant Robot
Full-stack personal assistant robot integrating SLAM, speech interfaces, and depth-guided manipulation for responsive home assistance.
SPARO: Sparse Photo to Radiance Object Reconstruction
Structure-from-Motion and NeRF pipeline that transforms sparse captures into editable radiance fields for 3D asset creation and simulation.
Predictive Analytics for Structural Health Monitoring
Machine learning analytics that fuse vibration data with LSTM models and dimensionality reduction to forecast rotor and bearing faults ahead of failure.
LEWI: Wi-Fi Mapping for Enclosed Spaces
Wi-Fi signal-based mapping pipeline that reconstructs occluded geometry using compressive sensing for cooperative UAV deployments.
Supernumerary Robotic Fingers for Therapeutic Recovery
Wearable supernumerary fingers delivering intuitive control and assistive manipulation for patients progressing through upper-limb rehabilitation.
SSC: Sign-to-Speech Communication Interface
Battery-powered glove translating calibrated sign gestures into synthesized speech via multi-sensor fusion and LSTM decoding.
STAR: FMCW Radar for Wildlife Vital Sign Monitoring
mmWave FMCW radar platform capturing wildlife respiration and heartbeat remotely while flagging anomalous activity in all-weather conditions.
Machine Vision Optimisation for Automotive Test Benches
Replaced manual throttle sensor endurance testing with fiducial tracking, automated analytics, and fault alerts to improve throughput and safety.