Projects
Things I’ve built across AI, robotics, industrial automation and engineering. Open a project to see how it was made.
EVA Free-Flying Space Robot: Quintic Trajectories and Quaternion Attitude Control
Robotics · 2023A dual-arm free-flying robot modelled in Simscape Multibody. A quaternion feedback regulator and a contact-wrench feedforward path hold the base attitude while the grippers close on a target.
MATLAB Simscape MultibodyFloating-base model (6-DOF base joint, fixed-step solver)SolidWorks (assembly Assem3)Quintic joint trajectoriesQuaternion feedback regulatorContact-force feedforwardView project →
Voice-Command Control of a ROS Wheelchair
RoboticsIsolated spoken commands are recognized on a laptop microphone and converted into velocity references for the simulated wheelchair in Gazebo.
ROS (Gazebo simulation, Ubuntu)C / C++ nodesAudio capture (linuxrec.c)Recognizer nodevoice_cmd subscriber nodeTopics /voiceWords and /cmd_velView project →
UR10 Motion Control with ROS 2 and MATLAB
RoboticsNumerical inverse kinematics and quintic joint trajectories for a simulated UR10, commanded from MATLAB over ROS 2 through the topic and the action interface. MCRM Lab project.
ROS 2 Jazzyur_simulation_gazeboros2_control (scaled_joint_trajectory_controller, joint_state_broadcaster)Gazebo and RVizMATLAB R2025bRobotics System Toolbox (RigidBodyTree, InverseKinematics, ros2node, ros2subscriber, ros2publisher, ros2actionclient)View project →
Smart Health Band Enclosure (v16)
HardwareA fully parametric, 3D-printable enclosure for a wrist-worn health-monitoring device, generated entirely from a Python script and exported straight to STEP and STL.
PythonCadQueryParametric CAD3D PrintingView project →
Bayesian Optimization of a Bioprocess across Reactor Scales
AIMulti-fidelity Bayesian Optimization that selects both the next recipe and the reactor scale to maximize pilot-scale product concentration.
Multi-fidelity Bayesian Optimization over recipe × scale (6-D input)Gaussian Process surrogateMatern 5/2 kernel with per-dimension length-scalesHyperparameters by marginal likelihoodCost-weighted Expected Improvement (10,000 random candidates per step)SciPy Sobol sequence as baselineView project →
Auction-Based Multi-Robot Task Allocation in ROS 2
RoboticsRobots share a stream of tasks by sequential single-item auctions. Every robot bids the cost of adding the task to its own route and the lowest bid wins. Implemented and tested in ROS 2 Lyrical Luth.
ROS 2 Lyrical Luthrclpyrosidl custom messageslaunch_rosRViz2 MarkerArrayPython 3View project →6-DOF Robotic Arm Controller
Industrial Automation · 2024Custom inverse-kinematics solver and real-time joint controller for a 6 degree-of-freedom arm, running on an STM32 with a Python-based motion planning frontend.
Embedded CPythonKinematicsSTM32View project →Vision-Guided Pick & Place System
AI · 2024Object detection with a fine-tuned YOLO model feeding real-time coordinates to a robotic arm for sorting parts by color and shape on a moving conveyor.
PyTorchOpenCVROSComputer VisionView project →Swarm Drone Coordination
Robotics · 2023Decentralized path-planning algorithm allowing a small fleet of drones to cover a search area without collisions, tested in simulation and on 3 physical drones.
Multi-agent SystemsPath PlanningPythonView project →Custom BLDC Motor Driver Board
Industrial Automation · 2022A 4-layer PCB and FOC firmware for driving brushless motors used across my robotics projects, designed to be cheaper and more compact than off-the-shelf drivers.
PCB DesignFirmwareFOCView project →
ROS-Based Autonomous Wheelchair with a Web HMI
RoboticsA simulated self-driving wheelchair that navigates a home map on its own and can be controlled from any browser. Capstone project at AIUB.
ROSGazeboSLAM (GMapping)AMCLA* / DijkstraDWAView project →