Technical Competencies
Verified engineering proficiency across robotics middleware, autonomous navigation, mechanical SolidWorks CAD, embedded firmware, and computer vision.
Full-Stack Robotics Capabilities
Seamlessly bridging mechanical design, kinematics simulation, real-time ROS2 node communications, and edge microcontroller deployments.
Universal ROS & ROS2 Ecosystem
End-to-end mastery across all distributions: ROS2 (Humble, Iron, Rolling, Foxy) and ROS1 (Noetic, Melodic) alongside micro-ROS agents, DDS middleware (Cyclone/FastDDS), multi-threaded executors, and custom message architectures.
Nav2 & SLAM Navigation
Cartographer 2D LiDAR SLAM, SLAM Toolbox, Global/Local Costmaps, DWB Controller, and custom recovery behaviors.
MoveIt2 Motion Planning
6-DOF robotic arm trajectory planning, inverse kinematics solvers (KDL/Trac-IK), collision geometry checking, and RViz2 preview.
Gazebo Fortress & URDF/Xacro
Physics simulation digital twins, friction dynamics, inertial tensor matrices, joint transmission plugins, and ROS-Gazebo bridge.
Multi-OS, RT-Linux & FreeRTOS
Hard real-time deterministic computing across Ubuntu Linux (22.04/20.04/18.04 LTS), RT-Linux (PREEMPT_RT kernel), FreeRTOS, Zephyr RTOS, and micro-ROS serial/UDP transport with sub-millisecond task scheduling.
NVIDIA Jetson, STM32, ESP32 & Teensy
Heterogeneous embedded processors: NVIDIA Jetson Orin Nano / Xavier NX, STM32 ARM Cortex-M4/M7, dual-core ESP32, Teensy 4.1 (600MHz ARM Cortex-M7), and Raspberry Pi 5/4 via CAN bus 2.0B / MCP2515, SPI, I2C, and UART.
Pixhawk 2.4.8 & PX4 Autopilot
Autonomous flight mode configuration, MAVLink telemetry, PID stabilization, GPS waypoint navigation, and QGroundControl tuning.
Motor Drivers & PWM Controllers
TB6612FNG H-bridges, PCA9685 16-channel I2C PWM servo shields, optical quadrature wheel encoders, and LiPo power regulation.
OpenCV & Image Processing
Real-time video pipeline processing, HSV color thresholding, contour extraction, edge detection, and visual fiducial marker tracking.
Edge AI Object Detection
MobileNet-SSD, TensorFlow Lite model quantization, and lightweight neural network inference on single-board edge computers.
Multi-Sensor Fusion
Complementary filtering, Extended Kalman Filtering (EKF via robot_localization), and IMU + wheel encoder + LiDAR odometry fusion.
SolidWorks 3D CAD
Parametric 3D part modeling, mechanical assembly mating, kinematic link clearance checking, center-of-mass balancing, and DFM.
FEA Stress & Structural Analysis
Finite Element Analysis simulation for chassis load-bearing, factor-of-safety structural optimization, and dynamic displacement validation.
C++17/20 & Python 3
Real-time object-oriented C++ (`rclcpp` nodes, memory management) and rapid algorithm development in Python (`rclpy`, NumPy).
Linux Ubuntu & Git / Docker
Ubuntu 22.04 LTS native development, bash scripting, Git branching workflows, and containerized ROS2 development with Docker.
Physical Hardware Bench Ecosystem
29 Hardware Modules IntegratedComplete laboratory inventory of compute modules, microcontrollers, 2D/3D perception sensors, motor drivers, flight controllers, and industrial buses actively integrated in physical robotics setups:
NVIDIA Jetson Orin Nano (8GB / 40 TOPS)
Ampere GPU architecture running ROS2 Humble, Isaac ROS perception, TensorRT neural acceleration, and real-time SLAM navigation.
Edge AI / Host ComputeRaspberry Pi 5 (8GB Quad-Core Cortex-A76)
Arm Cortex-A76 host running Ubuntu 22.04 LTS Server, executing core ROS2 Humble navigation graph, Nav2 costmaps, and tf2 transforms.
Host SBC PlatformRaspberry Pi 3B+ / Zero 2W
Dedicated auxiliary gateway running WebSockets companion servers, video telemetry streaming, and remote diagnostic dashboards.
Auxiliary Gateway SBCESP32-WROOM-32D / ESP32-S3 Dual-Core
240 MHz Tensilica LX6/LX7, Wi-Fi/BLE, FreeRTOS native tasks, micro-ROS client publishing wheel odometry and subscribing to cmd_vel velocity twists.
micro-ROS Embedded NodeSTM32F401 / STM32F411 (ARM Cortex-M4)
32-bit automotive-grade MCU with hardware FPU, executing deterministic high-frequency current sensing, encoder counting, and hardware PID control.
Real-Time Actuator MCUTeensy 4.1 (600MHz ARM Cortex-M7)
Ultra-high-speed microcontroller executing sub-microsecond hardware quadrature encoder decoding, dual CAN bus routing, and digital signal processing.
High-Speed Real-Time MCUArduino Mega 2560 & Uno (AVR)
8-bit AVR microcontrollers utilized for multi-channel analog sensor acquisition, digital IO expansion, and legacy rosserial hardware interfaces.
Sensor Hub / Legacy MCUPixhawk 2.4.8 / Pixhawk 4 Autopilot
32-bit STM32F427 Cortex-M4 flight controller with dual isolated IMUs, barometer, PX4 flight stack, and MAVLink bidirectional telemetry link.
Autonomous Flight ControllerHolybro M8N / M9N GPS & Compass
High-sensitivity multi-constellation GNSS receiver with integrated IST8310 digital magnetometer for autonomous waypoint navigation and fail-safe RTL.
GNSS Navigation & HeadingRPLiDAR A1 / A2 360° Laser Scanner
12-meter range, 5.5–10 Hz scan rate, streaming 360-degree 2D point cloud laser scans over high-speed UART for Google Cartographer and SLAM Toolbox.
2D LiDAR ScannerIntel RealSense D435i / D455 RGB-D
Active infrared stereo depth camera with integrated Bosch 6-DOF IMU, outputting aligned color frames and millimeter-precision 3D point clouds.
RGB-D Active Depth SensorLogitech C920 / Wide-Angle HD Vision
1080p 60fps high-contrast optical video stream feeding OpenCV color thresholding, ArUco/AprilTag docking, and YOLO object detection pipelines.
Optical Computer VisionHC-SR04 Ultrasonic Sonar Array
High-frequency acoustic echo rangefinders configured in circular collision safety rings for close-range blind-spot deadzone detection (<2cm to 400cm).
Acoustic Proximity RingInfrared (IR) Obstacle & Cliff Arrays
Multi-channel optical reflective sensors with analog/digital comparator thresholds for real-time edge/cliff detection and emergency floor drop-off prevention.
Floor Cliff & ProximityMPU-9250 / MPU-6050 9-DOF / 6-DOF IMU
MEMS triaxial gyroscope, accelerometer, and AK8963 magnetometer running onboard Digital Motion Processing (DMP) for angular rate state estimation.
Inertial Measurement UnitBNO055 Absolute Orientation Sensor
Intelligent 9-axis sensor with embedded ARM Cortex-M0 running sensor fusion, outputting drift-free quaternion spatial orientations over I2C.
Fused Absolute OrientationOptical & Magnetic Quadrature Encoders
Dual-channel (A/B index) differential pulse encoders measuring 1024+ pulses per revolution for sub-millimeter dead-reckoning wheel odometry.
Closed-Loop Odometry FeedbackTB6612FNG Dual H-Bridge Driver
High-efficiency MOSFET dual motor driver delivering 1.2A continuous (3.2A peak) bidirectional PWM speed regulation for differential mobile bases.
Dual Motor DriverBTS7960 43A High-Power H-Bridge Driver
Heavy-duty half-bridge motor drivers capable of handling high-torque DC planetary geared motors up to 43A continuous with thermal and overvoltage shutdown.
Heavy-Duty 43A Motor DriveL298N Dual Full-Bridge Driver
Classic dual bipolar H-bridge driver utilized for stepper motor stepping control and medium-voltage brushed DC linear actuators.
Stepper & DC Motor DriverPCA9685 16-Channel 12-Bit I2C PWM
Dedicated I2C pulse-width modulator generating precise, jitter-free PWM signals with hardware clock for multi-joint arms and 18-DOF hexapod gaits.
16-Ch I2C Servo ControllerMG996R & SG90 Metal-Gear Servos
Metal-gear digital/analog servo actuators delivering up to 11 kg-cm stall torque for robotic arm joints, adaptive 2-finger grippers, and camera gimbals.
High-Torque Articulated ServosPlanetary Geared DC Motors with Encoders
High-torque 12V DC geared motors delivering 300+ RPM and high stall torque with direct rear-shaft magnetic quadrature encoder disks.
AMR Drive Train ActuatorsBLDC Motors & Electronic Speed Controllers
High-RPM brushless outrunner motors driven by rapid DShot/PWM electronic speed controllers for aerial drone propulsion and heavy-payload bases.
Brushless Motor PropulsionMCP2515 CAN Bus Controller & TJA1050
SPI-to-CAN hardware controller and high-speed transceiver enabling automotive-grade differential serial networking between Jetson and embedded nodes.
CAN Bus 2.0B ControllerMAX485 / RS-485 Modbus Transceivers
Industrial balanced differential transceivers providing long-distance, noise-immune serial communication for auxiliary sensors and PLC shopfloors.
RS-485 Industrial SerialCP2102 / FT232RL High-Baud USB-to-UART
Industrial silicon USB-to-serial bridges supporting baud rates up to 921,600 baud for low-latency point-cloud streaming and micro-ROS agent links.
High-Baud Serial InterfaceMulti-Rail LM2596 / XL4015 DC-DC Buck
High-efficiency step-down switching regulators providing ripple-free isolated 5V logic rails, 12V motor buses, and LiPo battery voltage telemetry.
Stabilized DC Power Architecture3S/4S Lithium-Polymer Batteries & Smart BMS
11.1V / 14.8V high-discharge LiPo/LiFePO4 battery packs equipped with multi-cell balance management, low-voltage cutoff, and emergency physical E-Stop.
Smart Power & Battery Management