Publications

Click to see all of my papers and theses
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Experience

Assistant Professor, Dept. of Mechanical and Industrial Engg, University of Illinois at Chicago, IL, USA                                            Aug. 2019 - present
Assistant Professor, Dept. of Mechanical Engineering, University of Texas San Antonio, TX, USA                                                    Aug. 2014 - July 2019
Postdoctoral Researcher, Disney Research Pittsburgh, Pittsburgh, PA, USA                                                                                       Jan. 2012 - July 2014
Visiting Researcher, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA                                                                  Jan. 2012 - Dec. 2013

Education

Ph.D. (Mechanical), Cornell University, Ithaca, New York, USA,                                                                                                        Aug. 2006 - May 2012 
M.Tech. (Applied Mechanics), Indian Institute of Technology Madras, Chennai, India                                                                     Aug. 2004 - May 2006
B.E. (Mechanical), Goa Engineering College, Goa, India                                                                                                                     July 2000 - May 2004

Personal / Miscellaneous

1. My review on Goa College of Engineering, Farmagudi, Goa, India (my ugrad inst., written in 2005). web-link | cache

2. In the summer of 2009, I digitized Human Power Lab's (Andy Ruina's Cornell Lab) 18 year old (1991 - 2008) tape collection which amounted to 100 hours of video web-link

3. My race results on athlinks
        Personal Records:
             Runs
                  6.2mi (10kms) 46min 33sec at Pittsburgh, PA in 2012
                  13.1miles (21.1 kms), half marathon: 1h 37m 42s at Nashville, TN in 2021
                   26.2miles (42.2 kms), marathon: 3h 34m 28 s at Corning, NY in 2010
              Triathlon
                   1.2mi(1.9 km) swim - 56 mi(90 km) bike - 13.1mi(21.1km) run: 6 hr 54m 13sec at Syracuse, NY in 2013
              My experiments with training

4. In 2019, I switched my tenure track job.A write up on my experience and a perspective. If you want my job application material (CV, research and teaching statement, cover letter, diversity statement), just shoot me an email.

5. 20 Thoughts on Earning the PhD (~30 min YouTube video)

Teaching 

Teaching at UIC
I12. ME594 Control of Robotics Arms and Legs, to be taught in Spring 2025 for the first time.
I11. ME328: Numerical Methods
       - Taught in Fall 2023, Fall 2024. Course notes/videos/code are here: tiny.cc/numerics24
I10. ME511:Mechatronics
        - Taught in Spring 2023. Course notes/videos are here: tiny.cc/mechatronix
I9. ME510: Robotic Manipulators
        - Taught in Fall 2022.
        - Course notes/videos/python files are here: tiny.cc/roboticspy
        - MuJoCo in python tiny.cc/mujocopy
I8. ME370 Mechanical Engineering Design
       - Taught in Fall 2021, Spring 2022, Spring 2024, Spring 2025 Course notes/videos are here: tiny.cc/design2024
I7. ME594 Legged Locomotion
       - Taught in Spring 2021 for the first time. Course notes/videos/code are here: tiny.cc/legged
I6. ME410 Automation and Robotic Applications: First course in robotics
       - Taught in Fall 2020. Course notes/videos/MATLAB files are here: tiny.cc/robotics
       - Taught in Fall 2023. Course notes/videos/Python files are here: tiny.cc/robotics23
       - Taught in Fall 2024 Course notes/videos/Python files are here: tiny.cc/robotics24
I5. ME250 Introduction to Engineering Design and Graphics: Introductory course on drafting, design, prototyping including automation using Arduino, sensors, and motors
       - Taught in Fall 2019, Spring 2020

Teaching at UTSA
I4. EGR2513 Dynamics: About kinematics and dynamics of particles and rigid bodies
       - Taught in Spring 2017, Fall 2017, Spring 2018, Fall 2018
I3. ME3543 Dynamic Systems and Control: About single input, single output linear controls.
       - Taught Spring 2016.
       - Final project, designing a PID controller for Flappy Bird
I2. ME4543 Mechatronics: About Sensors, Microcontrollers, and Actuators
       - Taught in Spring 2015, Fall 2015, Fall 2018
       - Iron Man comes to class (Spring '15), click for video
       - Mechatronics Final Project Sumobot (Spring '15). Battling Rowdy Bots, click for video
       - Mechatronics Final Project Robo Professor
I1. ME4773/5493 Fundamentals of Robotics: About modeling, dynamics, and control of manipulators and mobile robots
       - Taught in Fall 2014, Fall 2015, Fall 2016, Fall 2017, Spring 2019
       - Webpage featuring projects in the class webpage
        - Introduction to ROS and URDF webpage
       - Christian Trevino's pendulum prototype for the DoSeum (Fall '14). (click for video) News (link) (cached)
       - LEGO Labs to accompany lectures (Fall '15) (click for video)
       - Animated Face, HW (Fall '16) YouTube link
       - Manipulator Curves, HW (Fall '16) YouTube link
       - Project: Single player pong on GitHub with instructions and code.
       - Project: LARPA Robotics Challenge (LARPA = LEGO, Automated, Reliable, Powered, Agents)