Texas A&M University · Mechatronics Engineering ('26)
Engineering intelligent systems from physical modeling to embedded control.
Mechatronics & Embedded Systems Engineer·Texas A&M University
I am drawn to engineering intelligent physical systems: machines that move intelligently, think through real-time feedback, and aid effectively in the physical world. My focus spans the entire problem, from deriving physical dynamics and designing precise control loops to writing the embedded firmware that brings hardware to life. Grounded in mechatronics, I care about building systems where mechanical mechanisms, sensors, and software operate with high reliability.
Production-grade robotics platforms, real-time control benches, embedded software architectures,
and hardware systems engineered from first principles.
Robotics & Perception
MARCO Multi-Camera BEV Perception
Real-Time BEV Elevation Mapping Streamed to MPC for Dynamic Trajectory Planning
Accelerated surround-view spatial perception from 2 Hz to 30 Hz on NVIDIA Jetson AGX Orin, streaming
50 mm resolution terrain costmaps to Model Predictive Control solvers. Engineered disk-cached FP16
TensorRT execution engines on GPU, rebalanced xHCI USB controller topologies across 4 ZED2i stereo feeds
to eliminate dropped frames, and fine-tuned segmentation models to suppress harsh shadow elevation artifacts.
Modeled dynamic brake torque and lead screw kinematics to regulate closed-loop resistance for upper-limb physical therapy.
Architected STM32F401RE firmware utilizing a multi-rate cooperative task scheduler
(1 kHz sensing, 100 Hz control) to execute feedforward plus anti-windup PID torque tracking.
Streams 28-byte packed binary telemetry with CRC-16 packet verification over USB VCP to a 60 FPS PySide6 diagnostic application.
Derived continuous-time 2nd-order equations of motion for an Electric Ducted Fan (EDF) rocket gimbal, mechanically isolating
pitch from gyroscopic cross-axis precession. Programmed an event-driven FreeRTOS task cascade (200 Hz Timer2 ISR sensing,
4× decimation to 50 Hz control), integrating a quadrature rotary encoder with dual hardware RC and software Tustin derivative
filtering to achieve stable recovery from 10° offsets in ~0.35 s.
Engineered an autonomous beverage delivery robot on the SCUTTLE mobile chassis with BreezySLAM RMHC mapping
on 180° SICK TiM561 LiDAR scans (15 Hz, 10 mm resolution). Implemented a dynamic temporal staleness grid to
ensure systematic room coverage, global A* path planning blended with orthogonal tangential vortex fields to
escape concave dead-ends, and a multi-threaded OpenCV visual tracking pipeline with 5 s spatial memory.
BreezySLAM RMHCSICK TiM561 LiDARTemporal StalenessA* Path PlanningOpenCV VisionRaspberry Pi
Engineered standardized schema-driven query rules and prebuilt MongoDB aggregation pipelines for healthcare
administrators across 30+ school districts, eliminating manual query writing and slashing reporting turnaround
by up to 90%. Optimized compound B-tree index coverage to eliminate full-collection scans and maintained
automated HIPAA-compliant Docker CI/CD deployment workflows.
Designed a 100% microcontroller-free bidirectional DC motor drive circuit using discrete operational amplifiers,
dual comparators, and a 4-transistor H-bridge. Tuned an op-amp relaxation oscillator to generate a symmetrical
triangle carrier wave above the audible threshold, and staggered comparator thresholds to enforce an intrinsic
analog dead-band around potentiometer center, guaranteeing zero destructive shoot-through spikes.
Op-Amp OscillatorDual ComparatorsAnalog Dead-BandDiscrete H-BridgeFlyback DiodesPure Analog
Embedded & Real-Time
Bare-Metal ARM Assembly Controller
Direct Register-Level Peripheral Gating, 12-Bit SAR ADC & Cycle-Calibrated Timing
Engineered an autonomous liquid-level supervisory system written 100% in hand-crafted ARMv7-M / Thumb-2 assembly
language with zero C libraries, compiled to a binary image under 250 bytes. Handled direct memory-mapped register
manipulation for RCC clock gating, continuous 12-bit SAR ADC conversions, cycle-calibrated software button debouncing,
and a dual-mode control state machine with fail-safe safety interlocks.
ARMv7-M AssemblyMemory-Mapped I/O12-Bit SAR ADCCycle-Count DebounceFSM Safety Interlock<250 B Binary
// TRAJECTORY & EXPERIENCE
Engineering Experience & Leadership
Hands-on technical leadership across autonomous robotics research labs, senior engineering capstones,
control benches, and enterprise clinical software infrastructure.
Undergraduate Researcher (MARCO Platform)
Mechatronics & Controls Research Lab, Texas A&M University · College Station, TX
Jan 2026 - Present
Optimized multi-camera Birds-Eye-View (BEV) elevation mapping pipeline from 2 Hz to 30 Hz on NVIDIA Jetson AGX Orin, streaming 50 mm real-time terrain costmaps to MPC for dynamic trajectory planning.
Deployed disk-cached TensorRT FP16 execution engines on GPU; actively fine-tuning perception models on targeted field edge cases to eliminate false-positive elevation artifacts for MPC trajectory planning.
Rebalanced xHCI USB controller bus topology across 4 ZED2i stereo cameras, eliminating dropped frames and stabilizing visual odometry pipelines for autonomous field trials.
Lead Software & Control Engineer (FlexSense Capstone)
Squish Therapy, Texas A&M University · College Station, TX
Jan 2026 - Present
Co-designing upper-limb rehab test bench to stream biomechanical telemetry for physical therapists, paired with a 60 FPS PySide6 clinical GUI.
Architecting STM32F4 firmware utilizing a multi-rate cooperative task scheduler (1 kHz sensing, 100 Hz control) and 28-byte packed binary telemetry over USB VCP.
Formulating feedforward + anti-windup PID model to regulate a disc brake with a NEMA17 Stepper (targeting ±1.5% torque tracking in simulation).
Lead Engineer (Active Thrust Vector Control Test Rig)
ESET 462 (Control Systems), Texas A&M University · College Station, TX
Jan 2026 - May 2026
Designed active 1-DOF inverted pendulum TVC test rig with an Electric Ducted Fan (EDF) and MG90S servo gimbal; derived 2nd-order plant equations isolated from gyroscopic cross-axis precession.
Architected event-driven FreeRTOS firmware with 200 Hz Timer2 sensing, 4× decimation to 50 Hz control cascade, and atomic critical sections, achieving stable recovery with ~0.35 s rise time.
Integrated quadrature rotary encoder with dual hardware RC low-pass and software Tustin derivative filtering (tau_f = 0.05 s), eliminating high-RPM EDF noise and servo chatter.
Lead Software & GNC Engineer (BevBot Autonomous Delivery Robot)
MXET 300 (Mechatronics I), Texas A&M University · College Station, TX
Aug 2025 - Dec 2025
Built autonomous beverage delivery robot on SCUTTLE mobile chassis utilizing BreezySLAM (RMHC-SLAM, 10 mm resolution) on 180° SICK TiM561 LiDAR scans (541 points, 15 Hz).
Developed temporal staleness grid tracking elapsed revisit times with 60°/2m camera FOV clearing, paired with A* global planning and vortex potential fields to escape concave traps.
Engineered threaded OpenCV visual servoing pipeline tracking customer flags (d_est = 50/width) with 5 s spatial memory and an autonomous navigation executive FSM.
Software Development Intern (Clinical Data Infrastructure)
August Schools · New York, NY (Remote)
Sep 2022 - Dec 2024
Authored prebuilt queries and standardized schema query rules in MongoDB, enabling clinical staff across 30+ schools to retrieve student health records without writing complex queries.
Optimized multi-field aggregation pipelines and compound B-tree indexing, decreasing report generation latency by up to 90%.
Authored and maintained automated HIPAA-compliant YAML CI/CD deployment pipelines using Git and Docker.
