One of the most challenging and interesting classes I've taken at SDSU is Dr. Hyunjong Choi's Theory Of Real-Time Systems course. As part of this class, I modified the Linux kernel to support explicit real-time task reservations, periodic execution, and end-to-end latency monitoring. While Linux supports several real-time scheduling mechanisms, implementing textbook real-time scheduling models required working directly with core kernel structures like the task_struct, scheduler, and kernel timers. Using custom kernel system calls, I implemented Rate Monotonic scheduling and partitioned Earliest Deadline First scheduling across multiple CPU cores.

For my senior capstone project, I am currently in a team designing an autonomous F1Tenth racecar capable of navigating complex tracks in real-time using odometry, LiDAR, and camera data. Our focus was on developing ROS 2 nodes for localization, obstacle avoidance, and path tracking. I am currently working on improving the vehicle's control system by tuning the existing Stanley controller and researching more advanced approaches such as model predictive control and hybrid control architectures in order to achieve smoother and more reliable performance at high speeds.

Myrmex is a 3D ant-themed colony-sim with horror-like elements. Play as a soldier ant protecting the hive from external threats using your pinchers and acide spray; Or, play as a worker ant, following pheromone trails and collecting food to feed the colony. You're just like any other ant, not inherently special in any way. Your life is shortlived but you can still contribute to queen! The more food your colony collects the more workers you can sustain and the more eggs you can respawn from.

Highly intelligent primates have escaped a secret research facility and they don't seem too friendly. Lucky for us we have a time machine! Build a team consisting of 10 historical figures, each with unique strengths, and survive for as long as you can. APEocalypse is a 2D arcade autobattler loosely based on the discussion of who would win between 100 men vs 1 gorilla. I built this project in Unity for my game design class and created all of the assets and functionality independently.