Robotics Software Developer

• Feb 2023 - Present

Robotics Software Engineer

• Dec 2021 - Feb 2023

* Implementing sensor fusion approaches to improve the perception & localization * Handling DevOps setting up containerization environment, maintaining it & auto builds/tests * Designing system architecture, selecting hardware, and bringing it to the current software stack & testing * Improving the performance of path planning with perception and increasing scene awareness * Bringing ROS2 to ROS1 stack, handling safe and efficient transition for CI & CD * Designing and implementing smooth and reliable obstacle avoidance behavior * Data handling between CANbus and ROS * Collaborating with the electrical and mechanical teams to ensure autonomy and success * Exploring NVIDIA Isaac with ROS2 for better scene understanding and risk-free path planning Show less

Graduate Researcher

• Aug 2019 - Sep 2021

* Collaborated with a multi-disciplinary and international team* Conducted research on robot-assisted search and rescue and human-robot interaction projects* Developed algorithms for robots MiRo, Husky & QT robots using ROS with Python and C++* Set up the robots and servers in the lab and created tutorial documentsSupervisors: Prof. Kerstin Dautenhahn Prof. Mark CrowleyProf. Moojan Ghafurian

Graduate Research Assistant

• Jan 2020 - Apr 2020

Responsibilities:* Creating a bridge between Robot Operating System (ROS) and Yet Another Robot Platform (YARP). * Assisting researchers in the lab with technical issues related to robots * Assisting with the setup and maintenance of the lab servers

Graduate Teaching Assistant

• May 2021 - Aug 2021

SYDE 252 Signals and Systems

Graduate Teaching Assistant

• Jan 2021 - Apr 2021

SYDE 352 Introduction to Control Systems

Graduate Teaching Assistant

• Sep 2020 - Dec 2020

SYDE/BME 411 Optimization and Numerical Methods

Graduate Teaching Assistant

• May 2020 - Aug 2020

ECE 493 Reinforcement Learning.

Undergraduate Researcher

• Oct 2018 - Jun 2019

* Designed and built a robotic platform from scratch (including a LIDAR sensor) for 2Dsimultaneous localization and mapping (SLAM).* Developed ROS drivers for ARM-based hardware and integrated custom drivers into ROS navigation stack* Compared built-in SLAM approaches in ROS* Won “Advanced Hardware Design Award” among 52 graduation projects within METUEEE department.* Awarded as “second best research project” in the competition organized by The Scientificand Technological Research Council of Turkey (Tubitak).* Supervisor of the project was Prof. Mustafa Mert Ankarali. Show less

Teaching Assistant

• Oct 2018 - Jan 2019

EE313 Analog Electronics Laboratory

Undergraduate Researcher

• Jan 2018 - Jun 2019

* Detection of internal movements of kidneys at a precise level to help laparoscopic kidney stone removal operations by respiratory motion tracking * A novel Exact Kalman Filter that outperforms Extended Kalman Filter and Unscented Kalman Filter was developed to track respiratory motion. * The supervisor of the project was Prof. Aydan Erkmen * Detection of internal movements of kidneys at a precise level to help laparoscopic kidney stone removal operations by respiratory motion tracking * A novel Exact Kalman Filter that outperforms Extended Kalman Filter and Unscented Kalman Filter was developed to track respiratory motion. * The supervisor of the project was Prof. Aydan Erkmen

Student Mentor at Robotics and Automation Society

• Sep 2015 - Jun 2019

* Mentored university students on robotics projects * Robotics projects were in a wide range starting from beginner projects like line follower to advanced ones like human action recognition for robot manipulation * Mentored university students on robotics projects * Robotics projects were in a wide range starting from beginner projects like line follower to advanced ones like human action recognition for robot manipulation

Research Intern

• Jul 2018 - Oct 2018

* Dataset of motion of real robots for 3D motion segmentation created. * Kinematic structure correspondence code written in MATLAB and R transferred to C++ to use for real-time imitation learning on iCub. * The supervisor of the project was Prof. Yiannis Demiris. * Dataset of motion of real robots for 3D motion segmentation created. * Kinematic structure correspondence code written in MATLAB and R transferred to C++ to use for real-time imitation learning on iCub. * The supervisor of the project was Prof. Yiannis Demiris.

Undergraduate Researcher

• Oct 2015 - Jan 2018

* Conventional image processing techniques and convolutional neural networks (CNN) were employed to segment vessels in retina images. * Classification of Retinopathy of Prematurity (ROP) was done with 96% accuracy using CNN. * The supervisor of the project was Prof. Ilkay Ulusoy * Conventional image processing techniques and convolutional neural networks (CNN) were employed to segment vessels in retina images. * Classification of Retinopathy of Prematurity (ROP) was done with 96% accuracy using CNN. * The supervisor of the project was Prof. Ilkay Ulusoy

Project Engineer at Robotics and Automation Society

• Oct 2016 - Oct 2017

* Human action recognition with RGB-D video input was achieved using openNI2 and NITE libraries under the ROS framework. * Recognized actions were used to control 4 DOF robotic arm with an end effector. * Human action recognition with RGB-D video input was achieved using openNI2 and NITE libraries under the ROS framework. * Recognized actions were used to control 4 DOF robotic arm with an end effector.

Research Intern

• Jun 2017 - Sep 2017

* Created simulation environment for human-robot collaboration for smart factory environment using MORSE simulator. * Applied ROS meta-package TOASTER for spatial-temporal reasoning. * Implemented a Partially Observable Markov Decision Process (POMDP) for robots in the simulation * Created simulation environment for human-robot collaboration for smart factory environment using MORSE simulator. * Applied ROS meta-package TOASTER for spatial-temporal reasoning. * Implemented a Partially Observable Markov Decision Process (POMDP) for robots in the simulation