Experience

• Leadoptik Inc ( May 2024 - Present ) 

Robotics & Automation Engineer (Full Time)

• Developed fully automated laboratory processes for assembling medical optical devices exhibiting precision < 0.001mm, using industrial Stewart platforms (PI Hexapod), reducing the average assembly time to 90 seconds from 15 minutes, resulting in a 10x reduction in assembly time. 

• Optimized and trained AI-based object detection models to track and characterize healthy lung tissues in real-time imaging, bringing the inference time from 80ms to 8ms using TensorRT and CUDA kernels (10x reduction).

• Designed and developed an automated wafer characterization system using precision motorized stages, calculating efficiency and collecting beam profile data within 3 seconds, resulting in a 200x reduction in process time. 

• Skymul Rotoye ( May 2023 - August 2023 )

Robotics Controls Intern

• Designed control strategies for autonomous mobile manipulation over a Unitree B1 quadruped and a 6 DOF Unitree Z1 arm for marking areas in construction sites. Performed plane detection and segmentation through point cloud data from RGBD sensors to draw markers on arbitrary surfaces with accuracy up to 3 mm, saving labor costs and time. 

• Used motion and path planning algorithms like Bi-Directional RRT for manipulation, on MoveIt!, and optimizing A* for locomotion. 

• Used RGBD point cloud data, ROS Nav Stack, and OptiTrack motion capture system to calculate accurate marker and base transformations for localization and planning, resulting in robust navigation in a cluttered environment by generating obstacle projections of the point cloud to the local cost map. Fused the system within a behavior tree interface with exception handling to switch between missions with accompanying real-time Rviz and Gazebo visualizations, to plan the tasks appropriately. 

•  Laboratory for Intelligent Decision and Autonomous Robots, Georgia Institute of Technology ( August 2022 - May 2024 )

Graduate Student Researcher, Soft Manipulation Team (Supervisor- Dr. Ye Zhao)

• Established high-fidelity simulation methods of representing Continuum and Soft Manipulators in popular robotic simulation environments like PyBullet and MuJoCo. 

• Used Inverse kinematics learnt from supervised methods for a 6DOF Soft Arm in simulation to learn robust manipulation control through imitation learning, able to track trajectories with 2 cm accuracy in simulation. 

• Developed Reinforcement Learning for developing whole body control of a bipedal Cassie robot equipped with a Soft Robotic Arm using a novel two-step learning approach, resulting in pelvis compensations and end effector pose reachability with around 0.13 m accuracy. 

•  Fluid Mechanics Laboratory, Delhi Technological University ( January 2021-June 2021 )

Student Co-Lead, Machine Learning Team (Supervisor- Prof, Raj Kumar Singh)

•  DTU Altair, Delhi Technological University (September 2018-May 2022 )

Supervisor- Prof. Ranganath M. Singari

Senior Advisor - August 2021

Team Lead - June 2020- August 2021

Head of Mechanical Subsystem Design - July 2019- June 2020

Mechanical Engineer - September 2018- July 2019

Education 

• Georgia Institute of Technology, Atlanta, Georgia
  MS, Robotics
  2022-2024

•  Delhi Technological University, New Delhi, India
  B.Tech, Engineering Physics (minors in Robotics and Intelligent Systems)
  2018-2022

Awards and Honours

• Simulink Student Challenge 2021, 1st Global position, organized by Mathworks

• ASME Young Engineers Paper (YEP) 2021 Finalist for paper on "Generation and Reconstruction of Turbulent Flows through Neural Network based Generative Models"

• 2nd International and 1st National Rank in CANSAT 2021 Competition sponsored by NASA and organized by American Astronautical Society

• 6th International and 1st National Rank in CANSAT 2020 Competition.

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