WORK EXPERIENCE

Experienced in Controls, Physical Human-Robot Interaction, Machine Learning, Optimization, Embedded Systems, Data Science, and Computer Vision

RESEARCER AND TEACHING ASSISTANT

Nov 2021 - Current

Neuromuscular Control and Human Robotics Laboratory, Arizona State University

  • Engaged in Research and Development at ASU Neuromuscular Control and Human Robotics Laboratory in safety critical control system design for Physical Human-Robot Interaction and Rehabilitation Robots.
  • Established Adaptive, Model Predictive, and Non-linear Control algorithms in C/C++, Python, and Simulink, and established TCP/IP networking over ethernet for real-time control.
  • Spearheaded development of an Ankle Rehabilitation Robot Controller that enhanced user performance by 9.85%. The performance improvement was validated through human experiments.
  • Developed Admittance Control for KUKA LBR iiwa 14 robot arm for AR based rehabilitation.
  • Instructed students in Analog and Digital Circuit Design, Image and Speech processing in MATLAB, and Embedded Firmware Development in C, ARM Assembly as lab TA for Real-time DSP on STM32F407G, utilizing communication protocols I2C, I2S, USART, etc.

DATA SCIENTIST

Oct 2018 - Dec 2020

Centre for infrastructure, Sustainable Transportation and Urban Planning (CiSTUP),

Indian Institute of Science, Bangalore

  • Communicated with clients in the automotive industry and aided team in infrastructure planning and product development.
  • Collaborated with cross-functional team from BOSCH to create a traffic modeling framework for Bengaluru and built Predictive Models to aid infrastructure projects which minimized vehicle delay in network by 29.6%.
  • Utilized CAN bus, encoders, and Arduino to build drive-by-wire system at 75% reduced cost for driving simulator.
  • Programmed Machine Learning Algorithm, R2 of 0.88, for travel time prediction from GPS data using Tensorflow and optimized 12 parameter PTV VISSIM traffic flow model with Genetic Algorithm in Python and MATLAB.
  • Partnered with Bengaluru Transport Corporation in data acquisition, database management, production of transit prediction algorithms, and Software Development to improve bus system, employing ML, AWS, Google API, and QGIS.

Featured Work

Admittance Control of KUKA LBR iiwa 14 Robot arm for Augmented Reality based rehabilitation.

ROS + KUKA + ATI EtherCAT F/T Sensor in Admittance Controller for AR based rehabilitation.

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Bayesian Optimization for Robot-Aided Rehabilitation: Adaptive Variable Impedance Control of a Wearable Ankle Robot

Robust VIC Parameter Optimization using Bayesian Optimization and Student-t Process Regression.

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PUBLICATION

Network-Level Heterogeneous Traffic Flow Modelling in VISSIM

Transportation in Developing Economies (2021)

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ML model for Travel-time prediction

Used Tensorflow, OSMnx, and OSRM to predict travel-time in network.

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