Hi, I'm Shiloh
I'm a MEng student at MIT. In May 2020, I completed my bachelor's degree in course 6-2 (Computer Science and Electrical Engineering).
My robotics experience is extensive; I've used ROS since the 2012 Fuerte release, and worked with a variety of different robotics platforms, on projects like autonomous mapping and fiducial-based localization. Although my primary focus is software, I enjoy working on robots on every layer, from hardware to low-level controls to high-level planning.
Experience
MEng Research in MIT's Learning and Intelligent Systems Group
Designing a bio-inspired hierarchical map representation for robotics, and building a planner that makes use of it
Robotics Engineer Intern at Robust.AI
Modified MediaPipe to use RealSense D435i for hand skeleton tracking
Collected dataset of hand poses; designed and developed ML pipeline to classify hand skeletons into pose categories
Robotics Engineer Intern at Artificial
Designed 2-finger gripper interface for robot software framework, and implemented drivers for Robotiq 2F-85 and OnRobot RG2 grippers
Designed and developed demo of object detection and reactive grasping using Precise Automation PF400 arm, using OpenCV to detect objects with colored markers
Undergraduate Research in MIT's Distributed Robotics Lab
Implemented object detection on RGB-D camera data, used to evaluate the grasping performance of an experimental soft robotic hand
- Refactored monolithic PCL-based planar segmentation into efficient, clear, unit-tested C++ library with backward-compatible ROS wrapper
- Implemented ROS node using pretrained semantic segmentation model to deal with scenes where planar segmentation fails
Robotics Engineer Intern at Iron Ox
Implemented fiducial-based localization on the 1,000 lb Module Mover robot
- Created static fiducial maps using Ceres Solver
- Used robot_localization to fuse fiducial-based pose estimates with other sensor data
Engineering Practicum Intern at Google
Developed C++ backend for internal data storage debug tool
- Helped design RPC API (protocol buffer) to interface with frontend
- Integrated with proprietary access control system to protect sensitive user data
Robotics Engineer Intern at Fetch Robotics
Developed ROS node for autonomous area exploration and mapping
- Incorporated recent autonomous mapping research on the Next-Best-View problem of navigational goal selection
- Used Voronoi diagrams for room segmentation in 2D grid map
- Mapped large, unstructured office environment using Fetch's Freight robot
Summer Intern at OLogic, Inc.
Augmented Android app for early-access dev release of Google's Project Tango to publish point-cloud and odometry data via ROS
Summer Intern at OLogic, Inc.
- Brought up and calibrated Willow Garage Turtlebot, replacing XBox Kinect with Hokuyo LIDAR
- Developed ROS node and customer demo for a prototype LIDAR
My Projects
map2gazebo
map2gazebo is a tool that converts 2D maps to STL/DAE files for use in Gazebo environments by extruding all the occupied cells in the map upward. In addition to map conversion, it can also be used to easily create Gazebo worlds by drawing a map in a 2D image editor.
Sting Operation
Sting Operation is a homebrew telepresence robot, which I use to attend the Homebrew Robotics Club of Silicon Valley while away at MIT.
H-NAV
The H-NAV is a LIDAR-based haptic navigational aid for visually impaired people. (See project page for video.)
Typewriter Keyboard
I built a mechanical keyboard that uses as its keycaps real keys from old typewriters.
Contact
I'll be graduating from MIT with my MEng degree in 2021, and am searching for full-time post-graduation employment. If you're interested in working with me, please get in touch through shilohc@mit.edu.