MS, Computer Engineering

Virginia Tech, Blacksburg

Virginia, USA

            

• Composed code for fixed and dynamic scheduling algorithms including RM, DM, EDF, ICPP & OCPP in C language.
• Conducted extensive testing on Arduino Mega 2560 to ensure efficient and reliable execution of tasks across diverse task sets.

• Engineered and executed a kernel module that utilized Kprobe to track the statistics of scheduled kernel and userspace tasks, storing relevant data in hash map and Red-Black Tree data structures.
• Modified the program to dump profiling results using the proc file system for easier debugging and backtracing of the kernel.

• Improved program efficiency through local optimizations like algebraic identities, constant folding, strength reductions in LLVM.
• Developed code for partial redundancy elimination using LCM with passes like liveness, available expressions analysis etc.

• Interfaced encoders with ESP32 for an Intel NUC based autonomously navigating omni-directional robot with mobile manipulation capability for disaster mitigation.
• Executed kinematics, motion planning, object recognition & grasp pose detection for a 6DOF manipulator using Rviz & MoveIt motion planning framework & published the data using ROS nodes in Python for localization of the end-effector.

• Utilized a self-designed ESP32 microcontroller development board to interface motor driver, peripheral light sensors, MPU6050 and integrated Complementary Filter to achieve stable self-balancing & line following, employing FreeRTOS for task management.
• Consolidated PD controllers (Proportional and Derivative) for achieving error correction controlled using a HTTP web server.