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Keywords Publication
Probabilistic Vision Based Guidance & SLAM for Autonomous Surface Vehicles Anderson
Lebbad M.S., Nicholas DiLeo M.S., Chidananda Matada Shivananda M.S., Frank Ferrese Ph.D and C.
Nataraj Ph.D. Naval Engineers Journal. (Submitted)
Courses
Matrix Theory (ECE8007), Control Systems Engineering (EGR8301), Digital Control (EGR8302), System
Identification (EGR8305), Feedforward Control (ME9010), Advanced Dynamics (ME 7205),
Computational Intelligence (ME 9010), Neural Network & Fuzzy Systems (ECE 8400), UNIX and C
Programming (ECE 8473), Sustainable Business Models (EGEN 4500).
Additional
cmatadas@villanova.edu
(571)-217-4000
291 Avon Road Apt #G217
Devon, PA 19333, USA
GPA 3.53
(Fall 2012-present)
GPA 3.7
(2006-2010)
Assembly, C, MATLAB, Simulink, ETAS labcar, ETAS INCA, ETAS ASCET, Texas Instruments MSP430,
Infineon tri-core processor (TC1797), Pandaboard, Atmel 89C51, Raspberry pi, Beaglebone, Lego
Mindstorm, Arduino, Windows, Ubuntu, Embedded Linux, Speedgoat's Mobile real-time target machine,
Code generation using Matlab Real Time Workshop, HIL testing.
Projects
cmatadas@villanova.edu
(571)-217-4000
291 Avon Road Apt #G217
Devon, PA 19333, USA
Simultaneous Localization and Mapping for an autonomous boat.
May-Sep 2014
FastSLAM approach was used. In FastSLAM, N number of particles having a Gaussian spread around
the boat, track the boats position and the landmarks around it. It works to combine the landmark
information obtained by fusing of LIDAR and camera images, control inputs and previous position
values to form an estimate about the boats current position and then compare this with the actual
position to give weight to the particles. Each particle has its own data association belief, allowing the
entire algorithm to pursue multiple data associations simultaneously. This was developed using
MATLAB-Simulink for real time implementation on a Speedgoat MATLAB-Simulink based real time
target.
Data acquisition and analysis of high performance IMU.
Feb-Apr 2014
An OMAP4430 based SoC (Pandaboard rev B1) was used to interact with XSENS MTi-G-700 IMU to configure
and extract the information from the IMU. The SoC ran a variant of Ubuntu and the code was developed in C.