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portfolio

FRACTRAN

Programmed an interpreter to play around with FRACTRAN, Conway’s Turing-complete esoteric programming language.

Self-Powered Flow Rate Sensor

The purpose of this project was to design a self-powered flow velocity sensor. The sensor is different from state-of-the-art implementations of flow rate sensing in that the mechanical design is not only smaller but also optimized for a larger range of flow velocity measurements. The sensor is also able to rectify input voltage signals, charge a battery, power an Arduino and have the ability to be calibrated easily. While this sensor is designed for civil applications (plumbing and piping systems), the mechanical design could be very easily altered to accommodate for flow sensing in water bodies (rivers, ocean currents, etc).

Stealthy Path Planning

This was a toy problem that investigated the development of a stealthy search algorithm that minimizes exposure of the object under consideration to ‘areas of consequence’ on the grid. Areas of consequence could range from capture zones in games to operational range of missiles and mines. In this solution, I elected to use a cost minimizing algorithm, specifically, A* search with a custom-made heuristic. This heuristic evaluates the minimum Euclidean distance to an obstacle on the grid from the node under study and then subtracts it from the Euclidean distance to the destination node. The result is assigned to the priority of the node in the priority queue used in the A* search.

publications

Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control

Published in ASME 2019 Dynamic Systems and Control Conference, 2019

This article presents a novel kinematic model and controller design for a mobile robot with four Centered Orientable Conventional (COC) wheels. When compared to non-conventional wheels, COC wheels perform better over rough terrain, are not subject to vertical chatter and offer better braking capability. However, COC wheels are pseudo-omnidirectional and subject to nonholonomic constraints. Several established modeling and control techniques define and control the Instantaneous Center of Rotation (ICR); however, this method involves singular configurations that are not trivial to eliminate. The proposed method uses a novel ICR-based kinematic model to avoid these singularities, and an ICR-based nonlinear controller for one ‘master’ wheel. The other ‘slave’ wheels simply track the resulting kinematic relationships between the ‘master’ wheel and the ICR. Thus, the nonlinear control problem is reduced from 12th to 3rd-order, becoming much more tractable. Simulations with a feedback linearization controller verify the approach.

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Honors Thesis

Published in Texas ScholarWorks, UT Austin, 2020

My undergraduate honors thesis, which considers the modeling, control and path planning of wheeled mobile robots with four Centered Orientable Conventional (COC) wheels

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Footstep Planning with Encoded Linear Temporal Logic Specifications

Published in arxiv, 2020

This article presents an approach to encode Linear Temporal Logic (LTL) Specifications into a Mixed Integer Quadratically Constrained Quadratic Program (MIQCQP) footstep planner. We propose that the integration of LTL specifications into the planner not only facilitates safe and desirable locomotion between obstacle-free regions, but also provides a rich language for high-level reasoning in contact planning. Simulations of the footstep planner in a 2D environment satisfying encoded LTL specifications demonstrate the results of this research.

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talks

teaching

Teaching experience 1

Undergraduate course, University 1, Department, 2014

This is a description of a teaching experience. You can use markdown like any other post.

Teaching experience 2

Workshop, University 1, Department, 2015

This is a description of a teaching experience. You can use markdown like any other post.