Past Projects
Here are some of the projects that I spent significant amount of time on. They primarily comes from course and side projects from free time.
- State Estimation
- Computer Architecture
- Constraint Satisfaction and Optimization
- Extracurricular Projects
State Estimation
Legged Robot State Estimation
| Robotics | SLAM | C++ | Python |
Placeholder text, More Information
Visual Inertial ORB-SLAM
| Robotics | SLAM | ROS | C++ |
Placeholder text, More Information
Robust Visual Inertial Odometry
| Robotics | SLAM | DSO | ROS | C++ |
Deployment of visual inertial odometry on light-weight aerial platform. Blimp dynamics and 70g of payload capacity caps the quality of perception data limits the performance of standard state-of-the-art techniques.
More Information on how my senior design project resolves the issue in noisy image stream and large rotation induced visual odometry failure.
Computer Architecture
Hierarchical Cache Simulator
| Comp Arch | Cache | C |
Memory operations are easily the most expensive ops in computer operations, both build cost and wait time for execution. Faster memory costs more and bigger cache space quickly reaches dminishing returns.
More Information on a hierarchical cache simulator that utlizes two layes of caches and victim cache to reduce cache access time.
Cache Coherence Protocol Simulator
| Parallel Execution | Cache Coherence | C++ |
To speed up the operation, architectures were multiple cooperating processing units are designed. Those CPUs have embedded caches to further speed up operation. However the share of resources requires protocols to update each other.
More Information here to see a cache coherence protocol simulator that uses MSI, all the way to MOESIF.
Tomasulo Scheduler Simulator
| Comp Arch | Out of Order Execution | C++ |
To fully utilize computer hardware, instruction scheduling algorithms looks at instruction data dependencies and attemps to complete whatever is completable first.
More Information here to see an implementation of tomasulo algorithm that runs verification on 2.5M instructions scheduling.
Multicore Process Scheduling Simulator
| CPU Scheduling | C++ |
CPU instruction scheduler.
Constraint Satisfaction and Optimization
Constraint Satisfaction Problem
| Optimization | Python |
Constraint satisfaction problem (CSP) deals with the situations where the solution must satisfy a number of constraints. They often face an explosion of number of state spaces and computation complexity going exponential.
More Information on the implementation of several CSP solvers designed for N-Queens problem and the evaluation of their performance.
Linear Programming (Python and Julia)
| Optimization | Python | Julia |
Linear Programming is a type of formulation of optimization problems where the objective function is a linear combination of variables and variables adhere to linear constraints.
More Information on my implementation of simplex algorithm for linear programming in both Python and Julia
Extracurricular Projects
Intelligent Ground Vehicle Challenge
| Embedded | Control | Power | C++ |
This is my involvements in Georgia Tech’s competitive robotics club RoboJackets. Intelligent Ground Vehicle Challenge is an auto navigation challenge that focus on vehicle operability in offroad environments.
More Information on my involvements in the electrical subteam, building and maintaining the power system of 300lb robot, sensors and custom built PCB platforms.
Natural Langauge Processing
| NLP | Python |
I had the opportunity to pursue an internship at AJMIDE, an radio program company that is in the process of moving their service into mobile apps. My internship orients around natural language processing, where I built a text classification algorithm based on textCNN, and a keyword extraction algorithm based on Rake.
Detailed Information of my work.