Research Experience

• Formulated the Job-Shop Scheduling Problem as a Quadratic Unconstrained Binary Optimization (QUBO) Problem through conversion to a linear program followed by specific binary encoding of continuous variables for quantum annealing solvers
• Determined various methods for constraint reduction such as removing redundancies, formulating and using the dual problem
• Solved the 2 machines-2 jobs, and 3 machines-3 jobs problem on the D-Wave Advantage 4.1 Quantum Computer, using the hybrid and quantum annealers
• Performed hyperparameter tuning for solution improvement and compared the results to simulated annealers.

• Devised methods to overapproximate the reachable sets of odeco Homogeneous Polynomial Dynamical Systems (odeco-HPDS) using their exact solutions obtained using tensor algebra
• Formulated a zonotope decomposition method for odeco HPDS with zero and constant control
• Formalized a method to transform certain general (non-odeco) HPDSs to use our methods
• Displayed an improvement in performance over the existing reachability analysis tool, CORA in terms of tightness of overapproximations

• Determined and proved conditions necessary to achieve hypotrochoid patterns around a stationary point for two unicycles pursuing each other with equal and unequal velocities using a range-only control strategy
• Devised a switching law to control the minimum and maximum radius of hypotrochoids generated by the pursuit
• Extended the analysis to achieve patterns for multiple (more than two) unicycles with equal velocities

• Designed experiments to evaluate the performance of an improved embedded magnetic shape-sensing system for the 3D bending of a single-segment, centimeter-scale, continuum robot
• Designed and manufactured a continuum robot segment and an experimental setup in Solidworks and performed data acquisition using Arduino-Uno to obtain magnetic and inertial data as a part of the evaluation experiments
• Reduced errors in bending angle by 12% through calibration and iterative design and development

• Modeled a fixed, rotating ground robot as a smooth manifold and implemented an observer design on Lie Groups to determine its orientation in the ground frame using Python
• Plotted and compared the behavior of the observer and determined the optimal observer design based on the convergence rate, overshoot, and steady-state errors for the set of parameters
• Observed faster convergence rate and lower overshoot compared to a standard Kalman Filter