Projects
A collection of engineering and robotics projects spanning embedded hardware, autonomy, machine learning, and more. Click any card to read the full write-up.
Sim2Real Rotary Inverted Pendulum
Trained a PPO control policy in a custom MuJoCo Gymnasium environment and achieved zero-shot transfer onto an ESP32 microcontroller.
STM32 Custom MCU PCB
Designed a multi-layer STM32-based motor controller PCB in KiCad — custom power distribution, SWD debug interface, CAN bus, and BLDC driver circuitry.
Project Mars — Autonomous Underwater Vehicle
Contributed to an oceanographic survey mission deploying a microSAS sonar sensor on an AUV to capture sub-inch resolution acoustic images of the USS Monitor shipwreck.
Monocular Perception & Object Tracking
Built a real-time monocular perception and object tracking pipeline using OpenCV — detects, classifies, and tracks targets across video frames using depth estimation heuristics.
Barista Robot
Designed and programmed an autonomous barista robot capable of navigating a café environment, picking up cups, and delivering drinks using ROS 2 and a robotic arm.
EKF-LQR Inverted Pendulum Control
Implemented an Extended Kalman Filter (EKF) for state estimation combined with an LQR controller to stabilize an inverted pendulum under sensor noise.
ARRT Connect — Autonomous Robot Racing Team
Contributed to an autonomous robot racing platform — developed perception and navigation modules in ROS 2 for competitive autonomous driving challenges.
TurtleBot3 A* Path Planning
Implemented the A* search algorithm on a TurtleBot3 for autonomous navigation in a mapped environment, including obstacle avoidance and replanning.
8-Puzzle A* Solver
Built an 8-puzzle solver using A* search with admissible heuristics (Manhattan distance), visualizing the solution path and comparing search strategies.