DonkieTown is a mobile robotics platform designed to be affordable and scalable.
The idea was to have a testbed with multiple intelligent cars driving at the same time
while communicating their driving intentions and state variables as Intelligent Connected
Vehicles alike. It was developed over
ROS using python and C++.
Before building the robots and bringing up the testbed, the driving software had to be designed first.
I used Gazebo Sim to do such a task. Using Gazebo was also handy to perform some Software and
Hardware in the Loop testing and to get some performance statistics. In addition, I used Simulink for
Kinematic Modelling, Controls, and Kalman Filters tunning.
πstache is a Single-Issue In-Order pipelined core based on the RV32I
(RISC-V 32-bits Integer Instructions) ISA subset.
I started developing it for my first computer architecture class and it is composed
of 5 different pipelined stages, a forwarding unit, and a hazard unit.
πstache was intended to be loaded into a Cyclone IV E EP4CE115F29C7 FPGA.
The analysis and synthesis ensure the use of 1,076 total logic elements and
a maximum clock frequency of 71.89 MHz is warranted by the timing analysis
with a slow 1200mV 85C Model.
In 2023, for the very first time, a group of graduate students of Centro de Investigación en Matemáticas
joined the Mexican Robotics Tournament and asked for my help. At that time, I was starting an on-site
job at Intel in Guadalajara, i.e., I was in another city. To collaborate, we use an open Gazebo
project of the Parrot Bebop quadcopter and borrow 3 bebops for the competition. Thanks to gazebo,
I could develop the base library for our autonomous driving software, and special-purpose software for
some challenges. We finished 1st 🦾 in the competition in 2023!
Politécnicos Pro Alzheimer (PPA)
Top tools and programming languages
1C++
2Microcontrollers
3IoT
Politécnicos Pro Alzheimer was a smart mat originally made to track my grandmother.
She has Alzheimer and at that time she used to get lost. In High School, my classmates
and I created PPA, we won the Samsung Solve For Tomorrow contest and won an invitation
to the Consumer Electronics Show 2018 and a grant to develop our prototype. I started college
networking with private health care institutions and Startup accelerators.
I was 18-20 years old when I received most of the responsibilities, and
since I was also new in Mexico City, PPA could not succeed.
