| Graduate Coursework | |
|---|---|
| On the cognitive footprint of engaging a voice-assistant: In this project we explored the system level attributes of "voice" as the only intermediary for all device level interactions. We explored multiple query-contexts, constraints, and interaction modifiers to understand the limits of cognitive processing as it pertains to the use of a voice assistant. We learned that voice as a modality is preferred for secondary task-contexts, when visual perception is preoccupied with a primary task's demands. We used a combination of ad-libitum observations, experiential learning, surveys, and hierarchial task analyses toward this objective. Course: ISEN 631 Cognitive Systems Engineering, Spring 2020 [Presentation] |  |
| Can music influence cognitive state? Through this project we explored the effect of auditory stimuli, and cognitive stress on task performance. I built a side-scroller game using SFML on C++, to function as the primary task environment, along with a concurrent math task to act as a cognitive stressor. We provide desired, and undesired stimuli (subjective choice of music), and evaluated the user’s response in-terms of task success. Performance was measured as a function of their score which was penalized for incorrect math responses when under the cognitive stress condition. Course: ECEN 689 NeuroElectronics, Fall 2018 [Presentation] [Git] |  |
| Modeling deformation in hyper-redundant manipulators: In this project we compared two modeling strategies for hyper-redundant (snake-like) manipulators: 1) the serial rigid link approximation, and 2) the continuum mechanics-based Cosserat-rod model. It was an interesting exercise in understanding the behavior of highly redundant, non-linear systems, and also an opportunity to study the differences that arise due to changes in our initial conditions and assumptions. Course: MEEN 689 Advanced Robotics, Spring 2018 [Presentation] [Git] |  |
| Collaborative SLAM-Master-slave mobile robots: This project was an ambitious attempt on our part to develop a master-slave pair of co-operative mobile robots powered by an Arduino Atmega 2560 Rev 3, and an Arduino UNO respectively. The mapping was off-loaded to a remote computer, with wireless communication facilitated by an Xbee transmitter on-board the master, and receiver modules on the PC and slave. A pseudo-real-time 2D map was generated on a MATLAB UI, while navigation guidance (toward predetermined targets) was provided to the slave by the master. Course: MEEN 667 Mechatronics, Fall 2017 [Presentation] [Git] |  |
| Controller Design for a Redundant 7-DOF Manipulator: This was an exercise in applying course-takeaways by modelling, and comparing controller performance for a redundant seven-DOF manipulator — the Space Station Remote Manipulator System (SSRMS). Course: MEEN 612 Mechanics of Robot Manipulators, Fall 2015 [Presentation] |  |
| Internship | |
|---|---|
| Optically actuated steerable catheters: During my internship over the Summer of 2016, I led the feasibility study for an actively steered, photo-actuated, small caliber needle for precise image-assisted minimally invasive intervention. This project was geared toward a fast-track NIH SBIR/STTR proposal, and was done in collaboration with Intelligent Fiber Optic Systems, Santa Clara, CA (IFOS inc.) and the Biomimetics and Dextrous Manipulation Laboratory (BDML) at Stanford University. I built a test-rig, and software for the manipulation and control of an optically-actuated steerable catheter. Collaborators: IFOS inc., and BDML [Git] |  |
