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Work Background
TNOAutonomous Driving Software Engineer
Sep. 2022NetherlandsDeeply engaged in the development and evolution of our autonomous stack, I played a pivotal role in shaping architectural decisions, crafting development environments, and orchestrating workflow. My contributions spanned across various domains, demonstrating a diverse approach beyond conventional development tasks. ● Solved bottlenecks in motion planning modules (model predictive control) to enhance system efficiency and performance.
● Successfully integrated third-party map APIs to improve navigation capabilities.
● Constructed a dockerized simulation environment for efficient testing and development.
● Contributed to the establishment and optimization of CI-CD workflows to streamline the software development process.
● Provided software support for localization team: Collaborated with the localization team to provide software support, including development environment setup, pair programming with developers, and shaping the localization concept within the Robot Operating System (ROS) framework. This ensured seamless integration of localization capabilities within the broader autonomous stack, enhancing system functionality and performance.
● Supervised master's students on topics related to motion prediction and simulation, providing guidance and mentorship.
● Proposed and implemented prototype solutions in perception and sensor fusion (camera-lidar fusion) for road marking detection, leading to improved accuracy and reliability.
● Proactively promoted and proposed solutions for autonomous mission execution, contributing to team innovation and project success. This included advocating for the adoption of behavior trees as a methodology for orchestrating complex autonomous missions. ● Conducted refactoring and maintenance of the software stack, including refactoring, testing, documenting, and implementing CI-CD practices to ensure code quality and scalability.
Fancom BVControl Software Engineer (via Nobleo)
Jun. 2021 - Sep. 2022Netherlands● Support in building, maintaining, and debugging the interface between the controller (Simulink)
and the backend (C++)
● Python scripting for C++ code generation.
● Implementing unit tests (gtest)
Eindhoven Medical RoboticsRobotics Software Engineer (via Nobleo)
Apr. 2019 - Jun. 2021Eindhoven, North Brabant, Netherlands● Research and development of a motion planning framework for 5-axis point milling. The
implemented framework solved the bottlenecks of collision avoidance and tool milling angle
without compromising the smoothness of robot motion.
● Validation and Testing of the developed algorithms on the real robot.
● Troubleshooting the real-time Simulink model.
● Performing simulation and workspace analysis to accelerate and support the mechanical team in
taking the right design decisions.
● Writing technical documentation of the implemented algorithms to raise awareness of the
robustness of the code and guarantee a smooth knowledge transfer.
● Guarantee development and testing of new functionalities, maintain/refactor, and debug existing
functions, support team members in git version control.
● Collaborate with the clinical scientist to design and perform experiments and report results
Nobleo TechnologyRobotics Software Engineer
Dec. 2018 - Oct. 2022Eindhoven Area, NetherlandsProject: Autonomous Street Sweeper
Responsibilities
● Design and implement (in c++) a Costmap plugin to indicate the cleaned areas on the 2D map, this
plugging is being implemented using ROS2 navigation stack.
● Building unit tests (gtest) Project: Upgrade the software stack of Nobleo autonomous software to ROS2 ● Research the pros and cons of ROS2
● Implementing a proof-of-concept project in ROS2
● Migrating the lidar Packages from ROS1 to ROS2.
Bahcesehir UniversityGraduate Research Assistant
Sep. 2015 - Nov. 2018Istanbul, Turkey- Developing and implementing a software architecture to integrate a distributed system for a robotic-assisted minimally invasive surgical platform. This platform is developed within the scope of TÜBİTAK (The Scientific and Technological Research Council of Turkey) research grants. The system consists of four main components, namely: Kuka IIWA robotic manipulator, Omega.6 haptic device, ATI 6-axis force/torque sensor, and an in-house-designed robotic wrist. I was responsible for proposing and implementing the integration architecture. I proposed a hybrid approach of networking (using UDP) and multiprocessing (using C++ boost library based shared memory), to incorporate the different software interfaces of the two robots, namely: KUKA Fast Robot Interface (FRI), and Simulink based QUARC real-time software. I was also responsible for developing and implementing a kinematic solution to control the combined Wrist-Arm structure in position mode. - For my master’s thesis, I developed an analytic solution to control the arm angle of KUKA IIWA robotic arm. Based on the analytic solution, I developed an algorithm that optimizes the robot performance by avoiding joint limits utilizing its kinematic redundancy. I implemented the
algorithm using C++ based Chai3d Haptic Engine. I also tested the algorithm on simulation and the real robot. - My responsibilities as a research assistant also included administrative tasks such as: Assisting in project planning and decision making regarding the simulation environment, control mode, designing the validation experiments, purchasing the experiments kit. Providing technical support for undergraduate and graduate students. Managing the laboratory and maintaining its functionality. Promoting the ongoing research projects to lab visitors. Preparing presentations for conference workshops.
Alnahda National Schools.Educational Robot Trainer
Apr. 2013 - May. 2013United Arab EmiratesCoaching the wining Team in the World Robotic Olympics (WRO 2013 under 13), Abu Dhabi for Alnahda National Schools.
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