Audio & Haptics @ Qualcomm

Building and mentoring the System Intelligence group at Ather - System Intelligence @ Ather develops and maintains Controls and Signal Processing solutions for the Ather EV. We develop custom algorithms at the system level and sub-systems such as the BMS, VCU and Charging. Applied Math to solve real world problems!

• Haptic controller architecture/algorithm - Crown with Haptic Feedback - Apple Watch 4•
 Haptic controller design - iPhone 7 & 8• 
Developed advanced controls and signal processing algorithms and implemented them in embedded firmware to enable high-performance and life-cycle invariant haptic experiences
• Designed trajectory planning algorithms incorporating system dynamics to maximize performance across manufacturing distributions

My current research involves the design, construction and control of a “Cluster Wheel” robot. The objective is to navigate structured urban terrain, such as curbs, stairs and small obstacles on a triangle-like cluster of wheels while dynamically balancing. The mechanical design and fabrication of the robot is inspired from analytical results on controllability and linearizability of mechanical system dynamics. Further these results are used to explore design possibilities and arrive appropriate placement for actuators and sensors to maximize control bandwidth.As an engineering project, construction of the robot involved mechanical design in Solidworks followed by fabrication using Laser Cutting, CNCMilling and 3D printing. The electrical design consisted of integrating a micro controller, a real time QNX system, a PC and a number of sensors and encoders into one system. The code written to stitch this system together was distributed across these platforms and implemented in C (embedded and linux) and Matlab.

SensAble technologies is a Computer Graphics and Robotics firm specializing in the design of devices that impart a sense of touch to human-computer interaction (“Haptic” devices). My responsibilities included software development & maintenance, troubleshooting electronic boards and identifying manufacturing inconsistencies.• Lead developer for QuickHaptics Micro API. The micro API simplifies haptics programming by introducing class libraries for commonly used applications and functions. • Developer for OpenHaptics 3.0 which is a popular toolkit for programming Haptic Applications with SensAble haptic devices.

Designed a new hybrid control system for haptic devices. This system allows rendering of very stiff haptic virtual walls using a combination of asynchronous and synchronous logic circuits.