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algorithms

Stanford algorithms specialization through Coursera.

arb-bot

JS trading bot for DEX arbitrage on any EVM compatible blockchain.

bicycle-tracking

A particle filter implementation to track the position and heading of a nonlinear bicycle model as it moves in 2D space.

bipedal-control

This project involved the design and simulation of a robust balancing controller for the 20 degree-of-freedom bipedal robot, Cassie from Agility Robotics. Our controller had to reject several external perturbations including forces and torques applied in multiple directions at the pelvis.

cosmos-sdk

:chains: A Framework for Building High Value Public Blockchains :sparkles:

drone-mpc

This project simulates an autonomous quadcopter flying in 3-D space between Berkeley, San Francisco, and Palo Alto using Model Predictive Control (MPC).

duality

feedback-control-of-legged-robots

Various software assignments for ME292B (Feedback Control of Legged Robots) at UC Berkeley.

gaia

Cosmos Hub

geth-poa

geth-poa-final

Tool for spinning up a POA ethereum sidechain bridged to goerli via hyperlane token warp route.

go-ethereum

Official Go implementation of the Ethereum protocol

hovershoe-robot-path-following

A high-level Model Predictive Control (MPC) algorithm that guides the Cassie bipedal robot on hovershoes to follow reference trajectories in simulation.

hyperlane-monorepo

The home for Hyperlane core contracts, sdk packages, and other infrastructure

hyperlane-ui

ibc

Interchain Standards (ICS) for the Cosmos network & interchain ecosystem.

ibc-go

Interblockchain Communication Protocol (IBC) implementation in Golang.

ics-docs

Replicated Security Docs

ics-migration-tests

image-processing-for-robot-chess

Collaborated on a project enabling two separate robotic arms to autonomously play chess against one another. My image processing system is included within CorrectPosition.m, ProcessImageDisp.m, and ProcessImageRot.m. The remaining functions were written by other lab students.

interchain-security

for debugging deadlock

neutron

Smart Contract platform secured by Cosmos Hub

op-devnet

Docker/shell for spinning up a local L1 and op stack rollup L2.

opstack-deployer

This project won the 🚀 Optimism — 🥉 Best Superchain Dev Tools & Infra prize at the ETHGlobal Superhack 2023 hackathon

optimism

Optimism is Ethereum, scaled.

orbit-stabilization

A simulation and estimation/control architecture for a satellite orbiting earth. The nonlinear system dynamics and noisy measurements are simulated in Python, while control algorithms are computed in C on a PSOC microcontroller. The simulation environment interfaces with our microcontroller via UART serial communication.

proof-of-history

WIP - Proof of History implementation and exploration in Rust.

ride

A blockchain for ride sharing utilizing the Cosmos SDK.

sh0n-swap

An ERC20 token implementation, simple token exchange contract, and corresponding web UI. Really just a sandbox to experiment with Web3 development on Ethereum.

state-estimation

Various Python scripts solving problems involving Kalman filtering, nonlinear state estimation, LQR, and LQG.