Niveta Iyer Email & Phone Number

Sunnyvale, Ca, Us

Shipped real time motion control and planning algorithms involving trajectory generators, PID controllers with gain scheduling, active backdrive controllers, kalman filters (ekfs), infinite impulse response/low pass/weighted average filters for pose estimation. These libraries have resulted in better performant control systems, enabling motors to respond faster and smoother. They have been deployed successfully across multiple products in Lab126’s consumer robotics division.Shipped safety critical software for Astro’s sensor suite in collaboration with compliance teams to a) increase Astro’s battery life without compromising critical features and b) adhere to laser eye-safety compliance requirements. Designed state machine frameworks for robot joints which involve detecting and handling user backdrive, motor stalls, over-temperature/current triggers. Designed E2E fault propagation pipelines from sensors to user space. Experience with kinematic diagrams and deriving forward/inverse kinematics for 3-5 DOF manipulators. Designed behavior trees for pick and place actions in C++. Created an intelligent scanning system that uses CV to identify and locate objects using in-house ML frameworks and off-the-shelf object detection models.

Sunnyvale, Ca, Us

Lead the design and development of several test suites to quantify the performance of motion control loops on Astro. Collaborated with QA to scope out important motor related sanity tests that are used to sign off Golden Master (GM) builds shipped to customers.Lead the architecture design for publishing motor relevant features via ROS to the behavior planning stack on Astro.

Stanford, Ca, Us

Developed hierarchical state machines using ROS’s SMACH architecture for “Third Arm” - a manipulator device that was developed for applications such as holding objects for disabled people and providing intelligent mobile support to artists by learning their movements.Developed an ML model to classify object materials based on imu and force data obtained from “haptic interrogation” techniques (tapping, scratching the object surface). The model was successfully demonstrated at multiple conferences and university tech fairs.

Sunnyvale, California, Us

Developed a probabilistic algorithm for traffic light-lane association using YOLO (You OnlyLook Once) Neural Network architecture, and road marker detection for intersection annotationon an unknown map. Used Machine Learning techniques (Autoencoders) for profiling differenttypes of driver behavior.

Stanford, Ca, Us

Performed UKF Simultaneous Localization and Mapping (SLAM) with active controltechniques to estimate the state of a robot and features of a simulated Mars environment in realtime. Also included a task of ’feature visitation’, in which the robot must travel to the locationof some points of interest.

Stanford, Ca, Us

Involved in creating an autonomous stack, starting from simple trajectory and pose controllersin ROS to complicated information interpretation algorithms like mapping a room from LIDARdata, writing publisher-subscriber nodes in ROS and simulating in Gazebo.

Stanford, Ca, Us

Project involved simulating an ambulance crossing an intersection and avoiding traffic, while trying to reach its destination. Different reinforcement learning techniques were used, mainly Q-learning with Monte-Carlo Tree Search Algorithm.

Chennai, Tamil Ndu, In

SRM UAV, short for SRM Unmanned Aerial Vehicle, is an unprecedented effort to design and engineer an aircraft capable of flying autonomously. Its areas of application include rescue missions, disaster management and surveillance.

In

Intern at Aero Engine Research and Design Centre, Engine division. Together with the guidance of Mr. Reddy and Mr. Rao, I was able to design an impeller blade for a centrifugal compressor, attend various engine testing facilities and research on the assembly and dis-assembly of engines like the GTSU, Shakti Engine, Orpheus and Adour Engines.

The Student Copter Research Organisation is a student body interested in acquiring and spreading knowledge on various types of Radio-Controlled Aircraft Systems. I have worked on an extensive analysis of fluid flow around a quad copter and fixed wing aircraft using Ansys-Fluent.

Master Of Science (Ms), Aeronautics And Astronautics - Autonomous Systems

Engineer'S Degree, Aerospace, Aeronautical And Astronautical Engineering

Engineer'S Degree, Aerospace, Aeronautical And Astronautical Engineering

High School, Science And Technology