Mannat Rana

- Working on a robot control software stack that controls an exoscope mounted to the end of a UR5e robotic arm employed primarily for neuro, spinal, and reconstructive surgery applications - Revamping robot kinematics library for improved control, collision avoidance, and stability to ease surgeons’ workflow and increase software modularity - Implementing a visual servoing application by tracking surgical instruments in real-time that enables surgeons to conveniently position the exoscope - Optimizing joint space path planning to create compact paths for the robotic arm in order to reduce collision rates - Developing an algorithm that utilizes force/torque input which provides surgeons with fluid hand control of the exoscope - Integrating voice AI that empowers surgeons to seamlessly and remotely control the robot and image parameters

- Constructed LiDAR algorithms for detecting both humans and rebar bundles to safely allow a multi-robot system to manipulate rebar bundles enhancing efficiency on bridge construction sites - Created a ROS driver to allow for communication and customization of data output for an Ouster 32-plane LiDAR - Devised infrastructure to enable robot operators to easily send logs to the software team for acceleration debugging efforts

- Developed control algorithms to allow for omnidirectional motions of multiple unmanned ground vehicles - Utilized CAN communication (specifically CANOpen) to send and receive data required for controls - Created a variety of Python programs that automate different aspects of CAN communication setup

- Refining my skills in robotics by seeing other approaches and solutions to problems - Grading assignments based on quality and correctness - Communicating feedback effectively in order to generate future improvements in classwork

- Developed test and manufacturing equipment utilizing Solidworks and machine shop tools - Collaborated with customers to manufacture custom-fitted prototypes for vital information transmission - Supporting ongoing research remotely with computational modeling software

- Designed a robotic elephant trunk using hydrogel actuators to perform underwater actions - Manufactured a custom PCB to manage the electrical functions for the robotic elephant trunk - Designed firmware to control each actuator to research the potential of the robotic elephant trunk

- Strategized improvements plans for the existing IT infrastructure on various work sites - Managed the deployment of push-to-talk devices resulting in increased safety and communication for on-site workers - Received Leader Award for the quality of work involved with the deployment of the push-to-talk devices

- Taught students how to utilize Solidworks in order to CAD components needed for projects - Soldered electronic kits needed by students for their class projects - Helped design excel workbooks for students to understand trajectory planning of catapults

Coursework focused on: - Robot Controls and Modeling - Perception - Autonomous Navigation - Computer Vision - Machine Learning

Capstone: Designed and built a ground vehicle with a scissor lift and robot arm for remote sensor placement in foreign areas. Coursework focused on: - Robot Kinematics - Controls - Embedded Systems - Machine Design - Mechatronics

Thesis: Analyzing Student Stress during the COVID-19 Pandemic Coursework focused on: - Statistics - Probability - Humanities

Coursework focused on: - Calculus - Differential Equations - Mathematical Structures - Statistics