About Me
What good are wings in a cage? If a child washes his hands, he can eat with Kings. I am a critical (cosmic) thinker that has been inspired from the First principle thinking, I believe If you have right direction and obsessed to do things, you can achieve Big.
"Let's get acquainted! My name is Chinmay Kate . I am Roboticist and graduate student at Worcester Polytechnic Institute (WPI). From a young age I’ve been passionate about Fighter Aircrafts and Space Rovers. I’ve been known to engage in lengthy discussions about Artificial Intelligence and it's Future.
Web Series and movies like Interstellar, The 100, Dark, Terminator has a huge impact on me and my thinking. People call me “outgoing,” “optimistic” and “enthusiastic,” all of which fit.
I’m a hard worker, a team player and excited to see what projects could benefit from my unique skill set. I’d love to chat with you about how we might work together in the future.
Professional Experience
January 2023 - Present
Robotics Software Engineer, Void Robotics, Marathon, FL
• Integrated and Deployment of Nav2 stack on custom Voidwalking Robot which uses ZED2/GNSS Odom fusion for
SLAM.
• Worked building Docker containerization for Whole project for the clients and Validation for most of the related
packages and work of other Interns.
Aug 2022 - Mar 2023
Semantic Segmentation on 3D LiDAR Point cloud for Autonomy, Research Assistant CV LABS WPI
• Designed RangeNet-PS architecture to achieve Semantic segmentation of LiDAR point cloud scan at faster rate
than of Velodyne HDL-64E sensor around 10Hz.
• Projected 3D point cloud to spherical representation (range images) followed by GPU-based KNN post processing to
recover original 3D Points and boundary IoU refinement.
• Implemented pixel shuffle in the Decoder and dilated convolution at early stage which improved receptive fields and thus
global and local contextual information, this helped to improve runtime around 43ms and class IoU by 13%.
Dec 2021 - Aug 2022
Robot Autonomy For Tele-operation assistance
• Implemented and utilized Navigation stack with A*, RRT, DWA, TEB as planners to improve planning and optimization at corridors in Hospital environment also received shared autonomy control using Haptic feedback.
• Designed Multi-robot Multi camera co-ordination using Gopher in ROS-Unity Simulation to develop autonomous co-ordination for single/multiple targets.
June 2019 - July 2019
Study of flight control systems of SU30MKI fighter Aircraft, Hindustan Aeronautics Limited (HAL).
• Analyzed Fly by wire system, From the Control sticks to the control surfaces of SU30MKI Aircraft using closed loop controls integrated with elector-pneumatic and hydraulics systems.
• Evaluated performance of jet engine and propulsion system on KORTAK Simulation.
Projects
Academic Experience
My Studies
February 2022 - June 2022
Private flocking of Swarms in Presence of an adversary, WPI
• Created an CNN Architecture on pytorch as Discriminator for Adversary to identify leader based on Swarms
trajectory.
• Implemented Genetic Algorithm to optimize the control parameters of Swarms flocking.
• Retrieved data from Unreal Engine 4 Simulation using AirSim plugin and trained model with online update.
• Utilized adaptive learning rate, automatic mixed precision to achieve accuracy better than state of art PGAN
Architecture
February 2022 - June 2022
Time optimal Trajectory planning in unknown environment, WPI
• Created a Local planner algorithm using Polyhedron(Safe zone) to plan in unknown and known spaces.
• Implemented Jump Point Search (JPS) as Global Planner and retrieved map data as occupancy grid.
• Achieved time optimal trajectories through Gurobi optimizer and Convex Decomposition for Turtlebot-3 on
Gazebo simulation.
October 2021 - December 2021
Grasping YCB objects using point cloud processing.(FRANKA), WPI
• Created a grasping technique using MoveIt! for Franka Emica Panda manipulator.
• Implemented RANSAC algorithm PCL library for object segmentation, detect major plane and remove it from the
scene.
• Executed the grasp using filtering the distance to segment Top-surface and MoveIt! to plan the path and grasp.
Skills
Tricks of the Winning
Languages and Tools
C, C++, Python, MATLAB
Git, MoveIt, Solidworks, Ansys, Creo
Frameworks
ROS, PCL, OpenCV, TensorFlow, PyTorch, OMPL, CUDA, Docker, HPC
Simulation Environment
Gazebo, Unity, Unreal Engine 4
Contact
Thank you for reviewing my General Portfolio. Please get in touch to find out more.
+15087235793