Developed the motion planning software architecture for a custom mobile manipulator
Selected, integrated and tuned a trajectory tracking controller and time optimal trajectory generator (TOPPRA)
Designed and implemented a custom navigation planner for hotel hallways that generates human-like and aesthetically pleasing motions
Trained a neural network model to estimate manipulator currents used to add trajectory generator torque constraints for enhanced reliability
Engineered tools to optimize robot paths by smoothing trajectories and reducing, overall joint-space distance by tweaking input configurations using an optimization program
Controls And Software Engineer (M.Eng. Capstone Project)
August 2018
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May 2019
Squishy Robotics
Implemented and tuned a path planning technique using A-star and MPC for a Tensegrity robot
Increased range of communication by 200% by integrating long range radio software
Developed software that allowed interchangeable use of different frequency radios
R&D Test Systems Engineering Intern
May 2018
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August 2018
Tesla, Inc
Created a Python program that automated data logging and was deployed on over 20 workstations replacing hardware worth over $5,000 per dynamometer workstation
Increased data accessibility and reduced post processing time by uploading data to a company-wide server which is accessed by a Jenkins pipeline
Reduced complexity of non-standard test scripts by integrating python into the existing testing architecture
Team President and Business Team Lead Presenter
August 2015
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May 2018
Illini Motorsports (Formula SAE)
Managed and allocated a $30,000+ budget for 6 subsystems for a team of 80 students
Raised funds by building relationships with 10 corporate sponsors and represented the team at major university outreach events
Secured four top 3 finishes as the business team presenter at international university competitions
Optimized vehicle intake geometry using GT-Power simulations, increasing engine power output by 2 HP
Led a team of 6 students to design and validate a new vehicle radiator and fan
Research Assistant
May 2017
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March 2018
Advanced Controls Research Laboratory (Dr. Naira Hovakimyan)
Developed a genetic algorithm in Matlab to find the best path for multiple drones given time, velocity, acceleration and space constraints
Programmed an on-board controller for the motor that increased precision of the manipulator arm by 40% and increased range of motion by 100%
Reduced complexity of non-standard test scripts by integrating python into the existing testing architecture
Education
New York University
August 2023
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Present
PhD Candidate in Electrical and Computer Engineering
University of California, Berkeley
August 2018
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May 2019
M.Eng in Control of Robotic and Autonomous Systems (3.70/4.0)
Stanford Center For Professional Development
January 2022
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May 2023
AI Graduate Program (3.77/4.30)
University Of Illinois At Urbana-Champaign
August 2014
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May 2018
B.S. Mechanical Engineering with Highest Honors (3.89/4.0)
Publications
HPA-MPC: Hybrid Perception-Aware Nonlinear Model Predictive Control for Quadrotors with Suspended Loads
November 2024
Optimal Trajectory Planning for Cooperative Manipulation with Multiple Quadrotors Using Control Barrier Functions
March 2023
Awards
Top 3 in the Business and Sales Presentation event
May 2018
Formula SAE
FSAE Michigan 2016, 2017, 2018 and FSAE Lincoln 2016, 2017, 2018
GM/Philip W. Leistra Jr. Society of Automotive Engineers Award
March 2018
Mechanical Engineering Dept at UIUC
Award for my contributions to the Formula SAE team