Research Experience

Developed an open-source safety-focused admittance control library (including multi-arm collision avoidance) for physical human-robot interaction with real-time collision avoidance (QP solved online) (C/C++) (GitHub)
Investigated holonomically constrained admittance control using feedback linearization for robot-assisted rehabilitation (C/C++)
Implemented a feedback linearization-based joint-space controller with symbolic dynamics for a Harmonic drive and brushless DC-actuated exoskeleton (C/C++)
Developed virtual dynamics to improve the admittance control scheme of a bimanual 8 degree-of-freedom upper-limb exoskeleton (C/C++)
Developed a Kalman filter-based sensor fusion method to achieve similar human-exoskeleton transparency using only a subset of six-axis force/torque sensors (C/C++)
Implemented a rate-limiting filter to suppress unstable human-induced oscillations due to physiological and mechanical time delays (C/C++)

Designed and implemented a distributed feedback-linearized admittance controller to enable safe physical human-robot interaction with a path-stabilized quadrotor platoon using transverse feedback linearization (C/C++)
Primary author of a paper submitted to the 2019 IEEE Conference on Control Technology and Applications, and awarded Outstanding Paper Award and selected as finalist for Best Student Paper

Designed and implemented a radio clock-based ultra low power (~10 μW) clock synchronizer capable of overcoming arbitrarily long clock drift for wireless network devices (MSP430, C)
Developed a benchmark device based on received timepulses from GPS for characterizing the timer device to nanosecond precision (MSP430, Raspberry Pi, C, Python)

Developed a genetic algorithm-based multi-objective non-convex optimizer for beam synthesis on a Cassegrain reflectarray antenna system (MATLAB)
Coauthored a paper for the 2017 IEEE Antennas and Propagation Symposium

Developed toolchains for automatic dynamic response characterization of nonlinear brushless DC motor systems for quadrotor vehicles (C/C++, MATLAB)
Developed a motor selection tool to automatically scrape off-the-shelf motor data from the web and suggest the best suited based on dynamic response requirements (Ruby)

Characterized dynamic responses of dielectric elastomers as soft actuators for use as artificial muscles (MATLAB)
Developed a waveform generator for a 5kV high voltage power supply to actuate elastomers (LabVIEW)