Executive chassis research framework for ultra-luxury automotive platforms (Rolls-Royce Ghost / Phantom Planar Suspension · BMW 7-Series Active Comfort Drive).
Integrates a 100 Hz condensed linear MPC planner with DARE infinite-horizon terminal cost, a relative-degree r=2 High-Order Control Barrier Function (HOCBF) closed-form safety shield, physical actuator strut saturation/thermal dynamics, and an AUTOSAR E2E Profile 1 CAN telemetry gateway (chassis_dynamics.dbc).

Over passive baseline on ISO 8608 Class A roads

Median · <3% CPU load at 100 Hz

Suspension deflection mathematically guaranteed

Complete automated test suite

Model Predictive Control (MPC) · HOCBF r=2 · AUTOSAR E2E Profile 1 · Vector DBC / socketCAN · ISO 8608 Road Roughness · OSQP Solver · Python / C++ · GitHub Actions CI/CD

World's first unified MCP gateway + Control Barrier Function (CBF-QP) real-time safety engine for agentic robotics. Intercepts LLM commands in sub-millisecond real-time (<0.1 ms, >12,000 Hz) and enforces strict forward invariance h(x) ≥ 0 ∀t ≥ 0 with minimal L₂ perturbation.

Control Theory · CBF-QP · ROS 2 · MCP Protocol · 14 Robotic Tools · 68/68 Tests

18-DOF bio-inspired autonomous walking hexapod robot — Final Year Project. Engineered forward/inverse kinematics (DH parameters) supporting Tripod, Wave, and Ripple gaits on uneven terrain. Multi-channel synchronized PWM servo timing with STM32/RP2040, IMU stabilization, and fully CNC-machined chassis.

Kinematics (DH) · STM32 / RP2040 · Bio-Inspired Gaits · CNC Airframe · Real Hardware Built

Supervisor: Dr. Dilruba Siddique
Modeled DH parameters & Jacobians in MATLAB. Implemented closed-loop PID control per joint on STM32 with back-EMF compensation. CNC-machined aluminum linkages achieving ±1 mm end-effector positioning accuracy.

MATLAB/Simulink · STM32 · RoboAnalyzer · CNC Machining · DH Parameters

Supervisor: Dr. Muhammad Usman
Custom quadcopter with ESP32 & MPU-6050 IMU. Fused sensor data via Kalman filtering & FIR filters, cutting control latency by ~40% and holding attitude error under 2° with a 4.2:1 thrust-to-weight ratio.

ESP32 · MPU-6050 IMU · Kalman Filtering · FIR/IIR DSP · CNC Airframe

World's first Model Context Protocol server for ROS 2. Connects Claude, Cursor, and AI agents directly to live ROS 2 topics, services, and node graphs with a hardware protection sandbox — enabling LLM-driven robotic control with safety guarantees.

Python · ROS 2 Humble · MCP Protocol · Multi-Threading · Hardware Sandbox

Vision-guided autonomous navigation drone utilizing OpenCV line-detection pipelines on custom KiCad-designed PCB, holding centerline deviation under 15 mm with 20% lower latency than breadboard reference builds.

OpenCV · Custom KiCad PCB · Arduino · Computer Vision · Embedded C++

Industrial aerodynamic fluid amplifier & bladeless centrifugal system. Modeled 11-blade high-pressure impeller, volute diffuser plenum, and Coandă airfoil in SolidWorks — cutting power draw by 35% with complete validated Bill of Materials (BOM) and rapid prototype assembly.

Aerodynamics · Centrifugal Impeller · SolidWorks · CFD · Rapid Prototyping

Lightweight serial bridge for STM32 microcontrollers using a custom CRC8 binary framing protocol for zero-loss, reliable serial communication between embedded firmware and ROS 2 nodes. Plug-and-play drop-in for any hardware robotics stack.

ROS 2 · STM32 · CRC8 Protocol · UART DMA · Real-Time Comms

Designed closed-loop DC motor controller for heavy-duty drive applications using back-EMF compensation PID — boosting torque stability by 15% and lowering energy consumption relative to open-loop baseline.

Power Electronics · Closed-Loop PID · Back-EMF Compensation · Motor Drive

Simulated and engineered automated pneumatic actuation system with staged 3-valve logic and full pressure-drop analysis adhering to industrial safety protocols for guarded machinery access points.

Electro-Pneumatics · Valve Sequencing · Pressure Analysis · Industrial Safety

Built full-wave rectified, LC-filtered regulated power supply from transformer through bridge down to output stage — achieving output voltage ripple strictly below 50 mV for sensitive precision electronics.

Transformer · Full-Wave Rectification · LC Filter · Ripple <50 mV

Embedded climate-control system holding relative humidity within ±2% of setpoint using real-time sensor feedback loops — applied to textile and fiber production atmospheric control applications.

Closed-Loop Control · DHT Sensors · Actuators · Industrial Telemetry

Sensor integration and DAQ platform for real-time telemetry of ambient temperature, humidity, and environmental parameters over digital serial protocols with multi-channel data logging.

DAQ Systems · Sensor Fusion · I²C / SPI Protocols · Serial Telemetry

Built and hardware-validated active low-pass and high-pass signal conditioning circuits using op-amps to attenuate sensor noise in high-precision measurement chains on industrial motor drive lines.

Op-Amps · Active Filters · Signal Conditioning · Noise Attenuation

Modeled transfer functions, root locus, Bode/Nyquist stability for 2nd & 3rd order control systems; implemented digital FIR/IIR filters & FFT spectrum analysis across 6 semesters of control labs.

MATLAB · Simulink · Bode / Nyquist · FIR/IIR Filters · FFT Analysis

Architected a digital research publication exploring capital stewardship, operational leverage, and decision architecture for sovereign operators and founders. Full-stack build on Next.js, Sanity CMS, and Vercel Cloud.

Next.js · Full-Stack · Sanity CMS · Vercel Cloud · Editorial Architecture

Integrated LLM/GenAI APIs for automated workflow execution and engineered OpenCV vision pipelines for real-time object detection, color segmentation, and autonomous guidance system prototyping.

Python · OpenCV · GenAI / LLM APIs · Automation Pipelines

Terminal-based flight scheduling, passenger manifests, and ticketing system built in Modern C++ with custom dynamic memory management, persistent file I/O, and full OOP architecture.

Modern C++ · Dynamic Memory · File I/O · OOP Architecture

High-speed conversion engine utilizing custom hash maps for O(1) constant-time lookups across 40+ dynamic exchange rate pairs — demonstrating advanced data structures and algorithmic efficiency.

C++ · Hash Maps · O(1) Algorithms · Data Structures

Modeled 10+ SolidWorks assemblies to ±0.05 mm GD&T tolerance (CSWP Certified) & routed multi-layer KiCad PCBs with full DRC validation, silkscreen, and thermal via management.

SolidWorks (CSWP) · GD&T (±0.05 mm) · KiCad PCB · CNC / CAM

Audited high-speed production line pneumatic manifolds and air delivery loops. Optimized 3-stage valve sequencing — reducing pneumatic line pressure drops across machinery guard interlocks and cutting transient cycle delay across active production runs.

Calibrated environmental instrumentation and HVAC humidity feedback control loops, holding critical yarn/fiber processing atmospheric conditions strictly within ±2% relative humidity setpoints across active production halls.

Assisted senior instrumentation engineers analyzing sensor signal noise on heavy motor drive lines. Tested op-amp active low-pass filtering and sensor conditioning to mitigate false-alarm line trip faults and enhance plant OEE.