Hi, I'm David.

MY PERSONAL SITE

This website is simply a medium to explore my graphic design & web development skills, while also showcasing a bit about myself!

About

Iā€™m a final-year student at McMaster University studying Electrical & Biomedical Engineering. I'm fascinated by robotics & autonomous systems, and the math & software behind it all. My current interests, presented very broadly, are:

  1. Exploring ways to ensure that learning-based methods used in robot perception and control, either separately or end-to-end, are provably safe.
  2. Developing perception and control systems for mobile robots that are robust in dynamic and noisy environments.

In my free time, I love playing sports, running, hiking, and playing the guitar!

About

Projects

Here are some of my projects over the years. See more on GitHub.

Autonomous Laparoscope (in progress)

Capstone project in collaboration with PCIGITI. A hands-free laparoscope autonomously driven by a robotic arm. This system removes jitter common in human-driven laparoscopes, while freeing up a surgical assistant for higher-value tasks during a laparoscopic procedure. This project presents the tool tracking problem, which has relevance in both robotic surgery and robot-assisted surgery, and presents an interesting control problem due to the RCM constraint.

Personal Website

This website, currently in its 1st version, is my first ever web development project. I created it with the goal of improving my graphic design skills and learning web development. My logo & avatar were designed on Adobe Illustrator and the website was designed on Figma and built responsive & mobile-first with pure HTML, CSS, & Vanilla Javascript. I decided to build this website from scratch to truly gain a strong understanding of web development.

Adobe Illustrator Figma HTML/CSS Vanilla Javascript
GITHUB

isaacimi

Aug 2025

An open-source framework that enables users to efficiently create and run custom multi-robot simulations in Isaac Sim. Developed in collaboration with the Institute for Information Management in Engineering (IMI) at the Karlsruhe Institute of Technology (KIT).

Isaac Sim Python ROS2
VIEW PROJECT GITHUB

NMPC Navigation Pipeline in Simulation

Jul 2024

This project presents a navigation pipeline inspired by the paper "Optimization-Based Autonomous Racing of 1:43 Scale RC Cars" (Alexander Liniger, Alexander Domahidi, Manfred Morari). Through this project, I learned more about formulating an MPC and a quadratic programming problem.

ROS2 C++ Eigen OSQP
GITHUB

2D LiDAR Multi Object Tracking

May 2024

My first robotics project and the one that got me hooked. It includes a conceptual design for a 2D multi-object tracking and classification pipeline using a camera and laser scanner. The linked repo implements 2D multi-object tracking using a laser scanner without classification.

ROS1 C++ Eigen Point Cloud Library Docker
GITHUB

BackTrack

Nov 2022

BackTrack is a web app that tracks the user's posture in real-time using live video feed from their webcam, and notifes them when they are slouching. This project was inspired by my last co-op, where my work related to human pose estimation. I also have an interest in back pain as you can tell from my previous projects. Overall, this project was a great way to improve my React skills!

React HTML/CSS Human Pose Estimation
DEMO GITHUB

TravelPal

May 2021

Given my travel interests, it only makes sense that I work on a project related to it! TravelPal is a website where users can recieve practical travel information based on the country they're travelling to. I developed this website from scratch using HTML, CSS, Vanilla JavaScript, and the travelbriefing.org API. I learned a ton from this project, as it was my first time working with CSS grid, local storage, and APIs!

Figma HTML/CSS Vanilla Javascript Adobe Illustrator
VIEW PROJECT GITHUB

Back Inspector

Jan 2021

After reading a book about back pain, I decided to create Back Inspector - an online tool where users can recieve a self-assessment of their back pain by answering 14 questions. I created this project to improve my web development skills and reinforce some of the concepts I learned from the book.

Figma HTML/CSS Vanilla Javascript
VIEW PROJECT GITHUB