We devise Optim-FKD, a new paradigm for accurate, high speed control of a robot using a learned forward kinodynamic model and non-linear least squares optimization.

In this work we learn a visual inverse kinodynamic model conditioned on image patches of the terrain ahead to better enable high-speed navigation on multiple different terrains.

Optimal sampling-based motion planning algorithms when applied to kinodynamic planning make a trade off between computational efficiency and solution quality. With S3F we demonstrate that both are attainable by proposing a new way to learn the steering function required by these sampling-based planners.

Built a functional OS from scratch with preemptive scheduling, virtual memory, file IO, and system calls.

Implemented the 2PC protocol for execution of a distributed atomic transaction. Uses memory safety and concurrency features of the Rust language.

Simulated 2D and 3D fluid dynamics using the Navier-Stokes equations. Computation was accelerated with GPU code written in CUDA.

DyslexiAR helps dyslexic individuals read and write by recognizing words via OCR and displaying augmented reality models representing the words.

Wrote an interpreter and compiler for a programming language with data types, dynamic memory allocation, functions, control structures, and file IO. Compiler is self-hosting (the compiler is written in the language it compiles).

Implemented an efficient neural network training library from scratch. Library implements many deep learning primitives such as various activation functions, L1 and L2 regularization, and dropout.

Developed software that crawls web pages and efficiently indexes them using a compressed trie. Built a search engine using relevance feedback and the PageRank algorithm.

Implemented a five stage processor in Verilog based off a custom ISA. Can handle data, resource, and control hazards. Implemented a branch predictor with a direct-mapped cache.

Fitted Raspberry Pi with ultrasound sensor to take ultrasound scans of the body part in question. The Pi is programmed to process scan image with a CNN and determine the likelihood of the presence of five different deleterious growth types.

Analyzes biases of the publisher, recency of the articles, and performs fact checking with other news sources to evaluate credibility of news article.