Zipline International
Jun 2023 - Sep 2023
Project 1: Frequency Analysis Tool
Why: To understand and optimize Zipline's controller and simulation behaviors for stability and robustness.
How: Utilized recursive linearization to linearize systems for characterization in frequency domain near certain operating points.
Result: General purpose linearization tool.
Project 2: Sim Correlation
Why: To improve simulation's accuracy in predicting droid behavior, enhancing safety and robustness.
How: Aligned simulation predictions with real-world droid data, incorporating updates and bug fixes.
Result: Enhanced motor model accuracy through real-world testing.
Project 3: Performance Snapshot
Why: To measure and track droid performance, identify risks, and provide key engineering metrics.
How: Conducted Monte Carlo simulations and created various performance heatmaps and analyses.
Result: Produced data on landing accuracy, energy consumption, motor saturation, and error analysis under varying conditions.