Robot-assisted Dressing for Closed Geometry Clothing
CS6751: Robot Manipulation
Python, ROS, MoveIt, Panda Franka, Computer Vision
- Developed the first phase of a robot-assisted dressing schemework for closed geometry clothing with shallow grasp, demonstrated with different colors of T-shirt
- Implemented DBSCAN clustering with scores augmentation for bump peak identification algorithm
- Applied MoveIt for Franka arm trajectory planning
CS4701: Artificial Intelligence Practicum
Python, Deep Learning, Computer Vision
- Developed an ML model designed to identify the composer of a music score from a selection of six distinct composers
- Implemented Histogram of Oriented Gradients and Support Vector Machine for feature extraction and classification
- Trained the model with Convolutional Recurrent Neural Network and Connectionist Temporal Classification
CS3110: Functional Programming
OCaml, Formal Methods
- Implemented a Flat LTL to Buchi Automata converter
- This converter takes in strictly-formatted human language, parses and synthesizes it into a simplified Linear Temporal Logic expression, and converts it into a reliable Büchi automaton that is visualized and verifiable
- With the automaton being generated, the user is able to verify if their subsequent tentative actions is executable
MAE4810: Robot Perception
Python
- Implemented Cooperative Multi-Robot Observation of Multiple Moving Targets (B-CMOMMT) algo- rithm and A-CMOMMT and analyzed its computational efficiency and coverage optimization for multi- robot surveillance
CS3420: Embedded System
C, Arduino
- Developed a tideclock system utilizing the FRDM-KL46Z board to send tidal data via UART serial communication
- Implement Arduino code (Arduino Mega) to receive and process the tide data, controlling an LED strip to visually represent the tide's ebb and flow, demonstrating the concept of tidal energy and promoting awareness of sustainability.
