Portfolio
A curated collection of my research and engineering work in quadrupedal robotics, optimal control theory, energy systems, and industrial automation.
Industrial IoT & Digital Twins Architecture
Architecting scalable cloud microservices, edge computing pipelines, and data-driven Digital Twin solutions for smart automotive manufacturing facilities at Magna International.
MPC for Legged Locomotion
A real-time Nonlinear Model Predictive Control framework with environment adaptation for dynamic quadrupedal locomotion. Designed to maximize mobility on rough, unstructured terrain.
MPC for Legged Robots (PhD Thesis)
A comprehensive thesis on optimal planning and real-time NMPC for legged locomotion. Covers dynamic modeling, trajectory optimization, and experimental validation on the HyQ robot.
Optimization-Based Reference Generator
A novel optimization-based reference generator for Nonlinear MPC using Linear Inverted Pendulum (LIP) models. Eliminates manual heuristic tuning and improves push recovery for legged robots.
Real-Time MPC with Mobility Enhancement
Real-time NMPC scheme with a mobility-enhanced feature. Allows quadruped robots to adaptively traverse steep steps and terrain irregularities by maximizing leg workspace margin.
Solar Cooling Plant Control
Modelling and predictive control of a medium-temperature solar cooling plant. Optimizes collector configuration to minimize auxiliary energy consumption while preserving thermal comfort.
Solar Cooling Plant (Master Thesis)
Master's thesis focusing on extensive mathematical modeling, dynamic simulation, and predictive control strategies for solar thermal energy systems.