Projects
Representative Projects
Five projects spanning numerical methods, real-vehicle autonomy, visual perception, field telemetry, and analysis tooling. Each summary links to the implementation details, measured results, and validation limits.
ballistic-solver C/C++ · Python · Unity/C#
Native intercept solver for moving targets under gravity, quadratic drag, and optional wind. The package combines RK4 simulation, coordinate-residual optimization, explicit diagnostics, language bindings, and edge-hardware deployment.
Mapless Autonomous Parking Hyundai Ioniq · ROS 2 · Autoware · FAST-LIO
Real-vehicle reverse-parking system without prebuilt pointcloud or vector maps. FAST-LIO odometry feeds live C++ occupancy mapping, goal-pose planning, delay-aware forward/reverse tracking, and an Autoware-compatible CAN command path.
Monoscale Visual Odometry ROS 2 · C++/CUDA · Cameras + IMU
Learning-free metric camera motion and dense occupancy from known camera height and ground-plane geometry. Photometric distance and anchor-map direction, attitude, and accumulated-error correction remain separate and measurable.
Racing Telemetry Stack Python · Raspberry Pi · ZED-F9R · RTK/NTRIP
Car-side runtime for receiver configuration, high-rate GPS/IMU collection, correction ingestion, buffered CSV/UBX logging, remote browser monitoring, and recovery from serial or correction-stream failures.
Racing Analyze GUI Python · PySide6 · Telemetry Analysis
Packaged multi-run workbench for gate-aligned timing, segment comparison, flexible plots, synchronized media, simulator registration, and report export for circuit-driving review.
Additional Work
HERO — Low-Vision Parking Coaching
Exploratory Qt HUD for parking-corridor, stop-line, gear-state, and degraded-state guidance using Monoscale perception.
Development notesEV Gear Reduction Sizing
MATLAB drivetrain sizing with torque-speed modeling and longitudinal simulation across candidate gear ratios.