Academic Projects and Skills

My graduate coursework has focused on controls and robotics, with a particular focus on human-in-the-loop and medical applications.

Selected Coursework

ME328, Medical Robotics
CS327A, Advanced Robotic Manipulation
ME327, Design and Control of Haptic Systems
EE267, Virtual Reality
CS229, Machine Learning
CS231N, Convolutional Neural Networks for Visual Recognition
AA228, Decision Making Under Uncertainty
AA203, Optimal Control
AA273, State Estimation and Filtering
ENGR209A, Nonlinear Control
PSYCH252, Statistical Methods

Selected Projects

Opt. Haptic Training Pol. for the Learning of a Motor Task using Deep Q-Learning, 2019
AA228: Decision Making Under Uncertainty
Modeled the learning of a trajectory following task under different haptic training paradigms. Used deep rein- forcement learning to solve for an optimal haptic training policy and compared it to a hand-designed policy.

Robot End-Effector Pose Estimation From Endoscopic Video for Skill Estimation, 2019
CS231N: Convolutional Neural Networks for Visual Recognition
Implemented a convolutional neural net for visually estimating surgical robot end effector pose and compared its performance to that of a temporal convolutional net. Used the model to perform surgical skill classification.

Needle Alignment Robot for Assisted Cannulation in Home Dialysis, 2019
ME328: Medical Robotics
Conceptualized a device to provide haptic guidance during self-cannulation in home dialysis. Conducted prelim- inary experiments in support of a mock project proposal report.

Bayesian Filtering for Online Error Detection in Surgical Robotic Maneuvers, 2018
AA273: State Estimation and Filtering for Aerospace Systems
Implemented a multi-hypothesis Kalman filter to segment a surgical task into sub-tasks using robot state infor- mation. Compared the filter’s performance to that of a Hidden Markov Model.

Wearable Skin Stretch Haptic Device for Singing Pitch Correction, 2018
ME327: Design and Control of Haptic Systems
Designed a wrist-worn skin stretch haptic device to provide real-time pitch feedback during singing.