Abdelhakim Boubaker

Integrated embedded digital twin in simulation environment: Got familiar with a large-scale proprietary codebase Discussed solutions and gave feedback about future steps with the team Integrated embedded C++ code inside a Functional Mockup Unit (ongoing)

Developed an innovative robot-agnostic control law for Remote Center of Motion constrained motion for Minimally-invasive surgeries under ROS1 Implemented computer vision based visual servoing on surgical robot using personal Python library Set up visualization and validation tests with real-time metrics and data logging under Rviz

Worked with Franka Emika Panda and Research 3 robots: Installed Linux Real-Time Kernel Set up connection to robots Troubleshot hardware errors Developed ROS1 C++ controllers for both robots. Developed Python algorithms for Remote Center of Motion (RCM) control Simulated the robot's behavior under Gazebo Tested and validated results on physical robots with rviz and real-time metrics visualization.

Worked in a team to develop a workplace safety solution: Developed a Time-To-Collision algorithm using Python Developed ROS2 backend for integrating the team's work Developed a Graphical User Interface for manual user input under RCLPY

Created a Deep Learning based pick-and-place solution for UR3e robot with automated camera and hand-eye calibration routines using ROS2, YOLO11 and REALSENSE camera Started and completed personal projects: Developed and published a high performance Python library for fast and isolated robot simulations and control algorithm prototyping Published simple and beginner friendly controllers for Franka robots under ROS1

Designed and sized a machine for recycling 3D printing filament using Solidworks Programmed and simulated autonomous mobile robot with Deep Learning visual servoing under ROS2 and Gazebo using YOLOv8 Personal projects: Developed a cloud-connected desktop computer switch for complete remote power on/off and remote access using ESP32, Arduino Cloud, and Teamviewer Built a custom electonic circuit to use cheaper ESP01 instead of ESP32 Designed and printed custom enclosure using Solidworks and Cura