Projects

This project explores using RTAB-Map (Real-Time Appearance-Based Mapping) to create 3D indoor maps for applications like calculating paint/wallpaper requirements. The system employs a ZED Mini RGB-D camera and ROS 2 to perform SLAM (Simultaneous Localization and Mapping). Testing in Northeastern University’s tunnels revealed that mounting the camera on a rolling chair improved stability and accuracy compared to handheld use, though challenges like motion blur on carpets and algorithmic sensitivity persisted. Results showed precise alignment with ground truth maps in structured environments but misalignment in complex layouts. The project highlights RTAB-Map’s potential for cost-effective, real-time indoor mapping despite limitations in data reprocessing and environmental adaptability.

Picture a car weaving through Boston’s concrete jungle, where skyscrapers scramble GPS signals and the IMU’s compass spins like a lost hiker. This project tamed the chaos by fusing the IMU’s split-second reflexes (100 Hz accelerometer/gyroscope) with GPS’s steady voice (1 Hz fixes). Using MATLAB and ROS, I transformed raw sensor data into a precision navigation engine:
Why it matters? It’s autonomy’s backbone—proving sensors can thrive in cities where GPS falters. Skills showcased: sensor fusion wizardry, real-time filtering, and turning data storms into navigation gold

The Adaptive Three-Axis Gantry Robot Laser Cutter is a precision machining system designed for leather manufacturing. Featuring a modular aluminum gantry frame, dynamic standoff distance control, and a 20W NEJE diode laser, it delivers clean, carbonization-free cuts with high-speed accuracy. Its GRBL-based control system, Raspberry Pi interface, and advanced filtration ensure safe, efficient, and user-friendly operations. Ideal for small-scale industries, it supports intricate cutting, engraving, and prototyping with minimal material wastage and low energy consumption.

The Drone Surveillance System is an advanced solution for smart campuses, designed to provide autonomous, real-time monitoring and enhanced security. Equipped with high-resolution cameras, multi-spectral sensors, and SWARM capabilities, the drone system performs precise surveillance, anomaly detection, and emergency response. Its innovative design includes GPS-aided navigation, AI-powered obstacle avoidance, and a modular chassis for adaptability. By adhering to industry standards and integrating state-of-the-art technology, the system ensures reliable, scalable, and efficient campus operations.

Zerkix is a cutting-edge Remotely Operated Vehicle (ROV) designed for underwater inspections and operations, inspired by the hydrodynamic efficiency of ray fish. Featuring a biomimetic chassis, Blue Robotics T200 thrusters, and advanced sensors like the Bar30 pressure sensor, Zerkix offers precise navigation and high-resolution imaging. With a weight of 10 kg and a power requirement of 182W, it achieves exceptional performance in pipeline inspections, marine research, and rescue missions. Its robust waterproofing and efficient energy management ensure reliable and scalable underwater operations.