DHRUV GABAwww.linkedin.com/in/

EXECUTIVE SUMMARY

My journey started 7 years ago, with prototyping basic hardware robotics’ projects using Arduino and Raspberry Pi. I have hands on experience with diverse types of professional robots like robotic arms, wheeled robots, under-water submarines and drones. My areas of expertise are in Sensor Fusion (i.e. state estimation of robots pose), SLAM (Simultaneous Localization & Mapping), Computer Vision, Mechatronics and Automation. I honed my technical skills during development and improvement phase of the run-time software stack (C++ 11) during my past experiences. EDUCATION

New York University (Sep 2017-May 2019)

M.S. in Mechatronics, Robotics, and Automation Engineering GPA-3.57 Guru Gobind Singh Indraprastha University, New Delhi, India (Aug 2012-Jun 2016) B. Tech in Electronics and Communication Engineering GPA-3.60 WORK EXPERIENCE

Jr. Computer Vision Engineer/Scientist, at zSpace Inc. (FT) San Jose, CA (Aug 2019 - Present)

• Tracking software stack optimization. Sensor fusion (EKF) of IMU & multi-camera system for tracking 3D laptops stylus & polaroid glasses

• Simultaneous camera calibration for tri - camera system for intrinsic & extrinsic (pairwise & absolute) calibration using OpenCV

• Uncertainty analysis of calibrations to get ultra-high accuracy of 0.097 RMS (root mean square) error. Perception Robotics Engineer at Swarm Robotix, (FT) Naperville, Illinois (May 2018 – August 2018)

• Design and development of autonomous lifting and moving of ship containers in port environments.

• Utilized Agile methodology to lead a team of 12 to on time delivery of a controls and navigation software package.

• Metric Graph SLAM & Sensor fusion (EKF-Localization) via Razor IMU, wheel encoders, Intel Real Sense stereo camera and 2D LDS-01 Lidar.

• Swarm Formation controller derivation via a 3rd order Force based controller to maintain forces applied via the lifting mechanism

• Dynamic Path planning algorithms for local and global path planning. Used C++ 11, and python for the recovery program node for the obstacle avoidance in ROS platform. Kinematics of Swerve Drive robot and lift mechanism of the robot R&D Robotics Engineer at Duro UAS (PT)- New York City (Sept 2017 – May 2018)

• Design and development of Autonomous Underwater Vehicle (AUV)

• Development of Untethered Dead Reckoning (localization) with sensors like IMU-Razor, U-Blox (GPS) via Extended Kalman filter in C++11

• Used ROS in Nvidia Jetson Tx2 and Raspberry Pi with serial communication in the AUV for thruster, sensors, and lights control

• Autonomous navigation (Path planning and localization) with sensors like IMU-Razor, pressure sensors, GPS (surface-correction of position), Stereo Camera, etc. as separate ROS nodes written in C++11, Machining of the Chassis and assembly of parts of the submarine PROJECTS AND RESEARCH EXPERIENCE

• Topological SLAM for Indoor navigation helping in guiding individuals to reach a new place in large indoor buildings o SURF Local Descriptors, VLAD (Vector of Locally Aggregated Descriptors), K-Means, Isomap & Spectral Embedding PCA

• Garbage segregator for segmenting different kinds of garbage via Google Cloud API o Conveyor Belt, recognition of simple objects like cans, cups, fruits, plastic, etc. into different classes for separation.

• Wearable Heart Attack saver device providing necessary medicine and alerts to the family members of the patient in need o Mobile application to show real-time heartbeat and blood oxygen in Blynk Platform, and EKF filtering for accurate results

• Soft Robotic Hand Manipulator – Mobile robot for pet feeding and helping differently abled people via Mobile application in Tkinter Python o Pneumatic controlled multi-fingered robotic arm over a mobile robot for helping differently abled people to fetch objects

• Autonomous Self Security Quadcopter & Location tracking for providing emergency help to victim o Autonomous features via APM 2.8 mobile application for smooth landing, altitude hold, return to home, mission planning, etc. ACHIEVEMENTS

• Patent: Single and Double Switch IoT based Home Automation System without Rewiring. (Jun 2017)

• Autonomous Quadcopter was ‘Awarded’ as the best project of the ECE department at BVCOE, Delhi (Apr 2016)

• Team Lead of Autonomous Gas Detection in E-Yantra National Robotics Competition ranked 5th across nation. (Oct 2015 – Mar 2016) SOFTWARE EXPOSURE AND TECHNICAL SKILLS

Platform: Robot Operating System (ROS), Ubuntu, Windows, Linux, Unity Coding Language: C, C++11, Python, Quick C, OpenCV Machine Programming: Arduino, Raspberry Pi 3, Nvidia Jetson TX2, Propeller Simulation Tools: SolidWorks, AutoCAD, MATLAB, Simulink, PSpice, Fritzing Multimedia: Adobe Premiere Pro CC, Adobe After Effects CC, Adobe Illustrator CC, Resolve, Photoshop, MS Office Others: Teamwork, Innovation, Motivation, Self-Learning Sunnyvale, CA adcuco@r.postjobfree.com https://www.linkedin.com/in/dhruvnyu/ Ph. No.: +1-631-***-**** 5713 6th 3 FL Ave Brooklyn NY 11220 (H) 631-***-**** adcuco@r.postjobfree.com www.linkedin.com/in/dhruvnyu RESEARCH PUBLICATIONS

1) “Design and Development of Innovative Self-Driving Car for Cadman Plaza Park”-Authored Publication: Advances in Intelligent Systems and Computing of Springer, The 5th International Conference on Robot Intelligence Technology and Applications December 13 – 15, 2017, Daejeon, KOREA https://link.springer.com/chapter/10.1007/978-3-319-78452-6_9 2) “Intelligent Smart Glass for Visually Impaired using Deep Learning Machine Vision Techniques” – Authored Publication: Advances in Intelligent System and Computing (AISC) of Springer The 5th International Conference on Robot Intelligence Technology and Applications December 13 – 15, 2017, Daejeon, KOREA https://link.springer.com/chapter/10.1007/978-3-319-78452-6_10 3) “Intelligent Multi-Fingered Dexterous Hand Using Virtual Reality (VR) and Robot Operating System (ROS)” - Authored Publication: Advances in Intelligent System and Computing (AISC) of Springer The 5th International Conference on Robot Intelligence Technology and Applications December 13 – 15, 2017, Daejeon, KOREA https://link.springer.com/chapter/10.1007/978-*-***-*****- 6_37

4) “Isolated Bio-Regenerative System for Vertical Farming through Robots in Space Explorations”-Authored Publication: Advances in Intelligent Systems and Computing of Springer, The 5th International Conference on Robot Intelligence Technology and Applications December 13 – 15, 2017, Daejeon, KOREA https://link.springer.com/chapter/10.1007/978-3-319-78452-6_21 5)“Exploration- Probe to Jupiter Moon Europa” -Authored Publication: Mars Papers, The 20th Annual International Mars Society Convention held at University of California, Irvine, September 2017 http://www.marspapers.org/paper/Aswath_2017_1.pdf 6) “Design and Development of Innovative Pet Feeding Robot”-Authored Publication: Advances in Intelligent Systems and Computing of Springer, The 5th International Conference on Robot Intelligence Technology and Applications December 13 – 15, 2017, Daejeon, KOREA https://www.springerprofessional.de/en/design-and-development-of-innovative-pet-feeding-robot/15809748 7) “Innovative Human Mars Mission with Vertical Farming”-Authored Publication: Mars Papers, The 20th Annual International Mars Society Convention held at University of California, Irvine, September 2017 http://www.marspapers.org/paper/Aswath_2017_2.pdf