The following projects were done during my studies in the Masters of Robotic Systems Development at Carnegie Mellon University.
- Dragoon: A mobile robot to search for human survivors in disaster scenarios, and report their location to first responders.
- MoonRanger: A robotic rover that will roam the hills of the lunar south pole. How could I resist?
- Franka Water Pouring: Using a robot manipulator to dynamically pour water into a target cup
- Computer Vision: Lukas Kanade tracker, homography estimator, bag of words classifier…among other things!
- Robotic Mobility: Quadcopter controller and Wheeled vehicle controller
Bag of Words Scene Classifier
Overview This was an assignment for the class, 16-720 Introduction to Computer Vision. Our task was to create a bag of words scene classifier and compare it with a neural network we wrote in PyTorch. Process The steps were: Create a filter bank to apply to a scene, then extract features (I chose Harris Corners).…
Dragoon Disaster Response Robot
Overview Dates: August 2020 to Present The cornerstone of the Masters of Robotic Systems Development program is the MRSD Project. My group, HOWD-E Robotics (Hazardous Operations Within Disaster Environments) worked with Draper Laboratory to develop Dragoon, a room mapping and human detection robot intended to be deployed within collapsed building scenarios. Performance Requirements of Dragoon…
Franka Water Pouring System
Overview This was a project developed for the course 16-662 Robot Autonomy. The project was presented as a very loose research topic, and freedom of implementation was given to the students. My team decided to investigate pouring liquids with a robot manipulator. While this task seems simple at first, the complexity arises when trying to…
Homography Estimation and Image Stitching
Overview This was an assignment for 16-720B Introduction to Computer Vision. Our task was to develop a script that identifies a homography and then uses it to perform image stitching to create a panorama image. Process In order to calculate the homography between two images, we first need to find key points that will act…
Lukas-Kanade Image Tracker
Overview This was a project for CMU’s 16-720 B Intro to Computer Vision course. The task was to create an image tracker from scratch and apply several variants including, Lukas-Kanade with translation only, Lukas-Kanade with affine transformations, and the inverse compositional alignment algorithm. Process In order to implement the different trackers, I had to implement…
MoonRanger Lunar Rover
Overview Dates: November 2020 to Present MoonRanger is a robotic lunar rover that will be flying the to Moon in 2022 to search for water on the South Pole. This is a cooperative science mission between Carnegie Mellon University, NASA, and Astrobotic. Its mission will last 2 weeks on Earth (one Lunar day), and will…
Quadcopter Controller
Overview This was an assignment for my Robot Mobility course. The task was to write the code for a 6DOF quadcopter controller, and then use it to execute specified trajectories. Process The first task was to develop the controller architecture, described by the following diagram. This architecture describes the data that was moving between different…
Wheeled Vehicle Controller
Overview This was an assignment for my Robotic Mobility course. The task was to write a controller for a wheeled vehicle that uses the dynamic bicycle model. Process This is the state space model for the error dynamics of the wheeled bicycle model controller. The controller takes in a desired steering angle, then uses that…