Portfolio

Professional Research Experience

Research Assistant, Aug 2024 - present

Center for Additive Manufacturing and Logistics Lab - NCSU, Raleigh, NC

• Developed extension in Nvidia Isaac Sim to dynamically generate manufacturing scenes with robotic manipulators.
• Implemented Sim2Real data acquisition pipeline for model training, evaluation and testing.
• Developed custom autonomous mobile robot with Ackermann steering using ros2_control and Arduino via serial communication.
• Developed simulation of Ackermann drive carlike robot with lidar and camera sensors using Gazebo Classic.
• Implemented VS Code .devcontainer to simplify development pipeline and assist labmates.
• Obtained working familiarity with ROS2 Humble by developing 2 small test projects and teaching 2 lab mates.

Research Assistant, Aug 2024 - present

Active Robotic Sensing Lab - NCSU, Raleigh, NC

• (Work in Progress) Published systematic review on image processing for nematode analysis using machine learning and deep learning methods.
• Performed comprehensive literature review on nematode microscopic image analysis using PRISMA 2020 criteria.

Research Scientist/Engineer, May 2024 – Aug 2024

Naval Surface Warfare Center Dahlgren Division (NSWCDD), Dahlgren, VA

• Developed realistic simulation environment using Unity for modeling quadcopters to enable testing of algorithms and evaluate performance.
• Implemented data acquisition pipeline using the Unity Perception Package for training model and collected RGB, depth, bounding box, and semantic segmentation images automatically.
• Created 1 dynamic path planning algorithm for quadcopter simulation based on orientation relative to waypoint.
• Developed 5 controllers in Unity for control stack to determine low-level control up to high level control using PID loops.
• Analyzed 5 different commonly used robotics simulators for implementing drone behaviors and realistic scenes.

Research Assistant, Jan 2023 - present

Center for Additive Manufacturing and Logistics Lab - NCSU, Raleigh, NC

• Developed Python software to convert real-time data from NI-DAQ hardware at 500k samples/s across 8 channels into images with customizable resolution.
• Gained understanding in optimization, plotting, and GUI development in Python for real-time applications.
• Prototyped over 60 different Python scripts before developing final image generating software.
• Obtained hands-on understanding of electron beam melting technology and usage for real-time imaging.
• Created pixel binning algorithm to map analog 500k position and intensity vectors to pixel grid positions in 250 milliseconds.
• Improved plot generation speed by using blitting and queuing data structures to improve first working prototype by 50% reduction in output time.

Projects

Senior Design, Aug 2023 – May 2024

• Designed and assembled hardware for autonomous differential drive robot to collect and eject tennis balls on tennis court.
• Developed simulation using Gazebo Classic to test and evaluate OpenCV algorithms for ball-detection that was deployed on the autonomous mobile robot.
• Prototyped 3 revisions of model from cardboard to fully 3D printed model with ball intake mechanism using flywheel.
• Implemented Arduino Uno hardware abstraction with ros2_control to enable differential drive via joystick control and autonomous control.
• Managed team of five to prepare 3 comprehensive reports for analyzing market viability, product details, and business proposal, respectively.

Dual SCARA Robot, Sep 2023 – Dec 2023

• Programmed control of Dual SCARA robotic manipulator using Python to connect joystick controller with Arduino to control two servo motors.
• Assisted in design of 3D printed frame for robotic manipulator with holder for pencil to draw using joystick controller.

Industrial Automation Project, Sep 2023 – Dec 2023

• Programmed PLC logic using RSLogix 5000 for conveyor to detect part quality and control conveyor movement based on part quality.
• Designed and assembled hardware for project using conveyor and sensors implemented using switch relays, PLC, and distance sensors.

Technical Skills

ROS2 (Intermediate), Gazebo/Isaac Sim (Intermediate), Python (Intermediate), C++ (Beginner), C# (Beginner), Docker (Intermediate), Unity (Intermediate), SQL (Beginner), CAD/CAM in Fusion 360

Professional Memberships

• Alpha Pi Mu Honor Society
• Society of Manufacturing Engineers (SME)