Behaviour cloning for robotic manipulation using Diffusion policies

- Developing ML and software solutions for an AI-powered robotic grocery picking system- ML: Trained and tested a SKU-Similarity model using contrastive learning for identifying if a picked item is of the expected type- MLOps: Developed distributed dataset creation and model training pipelines in Google Vertex AI- Backend: Data ingestion from robots into cloud endpoints and storage- Interview candidates for intern positions

- Develop parallelized high performance computing software in C++ for reactive computational fluid dynamics using MPI for multi-processing- Develop and validate an Integral-Length-Scale-Approximation turbulence model for use with dynamically refined and distributed grids- Develop a turbulence-statistics probing tool for measuring turbulence characteristics- Optimized a 3D spatial reconstruction algorithm for finite volume method, and increased overall solver speed by 30%

-Lead and supervise a team responsible for the design of a Compressed Truncated Idea Contour (CTIC) Nozzle.-Developed a new framework for optimizing nozzle performance based on single parameter optimization, and developed in-house code in MATLAB.-Developed a GUI in MATLAB to streamline the nozzle design process-Lead the development of the manufacturing and testing process for the ablative Fiber-Glass/Phenolic composite nozzle structure using an innovative Double-Vacuum-Bagging Resin Infusion process-Modify the rocket launch rail design to allow for mounting the record breaking rocket - Defiance.

- Design and optimize performance of a rocket engine nozzle using ANSYS Fluent CFD

Advanced Aerospace Structures

Space Systems Design, fourth year capstone. Taught students the fundamentals of systems design and guided them during a semester-long project where they designed a Lunar Cargo Transport Vehicle.

Space Systems Design, fourth year capstone. Taught students the fundamentals of systems design and guided them during a semester-long project where they designed a Lunar Multiple Ascent/Descent Vehicle.

Work with Prof. Clinton Groth at the CFD and Propulsion Group on the modelling and Large Eddy Simulation of turbulent premixed flames in bluff-body stabilized combustion.• Create a detailed PCM-FPI chemical tabulation for propane using Cantera, and perform the reacting flow LES using CFFC, the UTIAS in-house solver, written in C++• Develop a high-fidelity differential equation Wall-Model in C++ to model the momentum layer at the walls in order to reduce the computational cost of the simulations. Implemented the wall model as a boundary condition at the walls of interest.• Design initial conditions that allow for faster convergence of the numerical solution• Design and write the code to generate the mesh, and optimize its multi-block structure to interface with the an-isotropic Adaptive Mesh Refinement (AMR) code written at UTIAS• Study the effects of filter size and mesh resolution on the numerical accuracy of the developed schemes• Perform simulations on Niagara, Canada's most powerful supercomputer• Participate in the APAN Model Validation for Propulsion Workshop for a Volvo gas turbine engine, focusing on areas such as grid convergence, explicit/implicit filtering, high order methods and boundary condition sensitivity.

- Lead a team of highly motivated students to design and perform a magneto-fluid dynamic and heat transfer experiment as part of the anuual Canadian Reduced Gravity Experiment (CANRGX) challenge. - The experiment aims to study the fluid dynamic and thermal behavior of magnetized para-fluids under the influence of externally induced magnetic fields in a zero gravity environment onboard a Research Falcon 20 aircraft . Schlieren photography and Particle Tracking Velocimetry will be used to observe the fluid's behavior.- Supervise and participate in the design of all subsystems, including Electrical, Magnetic, thermal, optical and structural.- Organize outreach events to high schools, various UofT faculties, and other universities.- Coordinate team funding and sponsorships.

• Design and build UAVs• Use CFD and FEA to study and optimize aircraft performance• Utilize 3D CAD modelling in Solidworks to design aircraft structures and optimize weight through iterative design studies• Employ 3D printing for rapid prototyping and proof-of-concept builds • Wrote a python algorithm that computes wing deflection based on aerodynamic loads

- Working with Dr. Behrang Keshavarz and Dr. Azadeh Yadollahi on a study called "Developing a system to reliably detect driver drowsiness". I will be researching factors that affect certain performance indicators while driving at night, and how sleepiness/drowsiness change the brain's activity and affect an individual's ability to react to certain events, and the metrics that can be used to track the brain's activity and evaluate driving performance. I will be developing various simulation scenarios to test the reliability of those metrics in different driving conditions, and hope to eventually shed light on techniques/models that can be used to predict and infer performance based on the condition of the road and driver.-Continuation of last summer's work with Dr. Bruce Haycock on developing interactive 3D terrains for immersive driving simulation in Oktal SCANeR.

• Worked with Dr. Bruce Haycock in DriverLab, a state of the art driving simulator, at the Challenging Environments Assessment Labs• Designed terrain maps and visuals to allow for the simulation of a real-life Toronto driving experience• Developed solutions for various software issues and worked with OKTAL engineers to rectify them in future releases of the software