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solonso/README.md

Solomon Chibuzo Nwafor

Robotics and Control Engineer

Field robotics · SLAM · Mobile manipulation · Planning · Perception

portfolio email linkedin

Scout + xArm6 Robot Simulation - Gazebo

Advancing autonomy through robotics, perception, and control

What I build

  • Scout 2.0 + xArm6 fruit recycling robot: YOLO RGB-D detection for [N] classes (orange, carrot, apple, ball), workspace filtering, MoveIt pick and place, ArUco bin mapping (IDs 0–3), FSM with grasp retry up to [R] times and [S] scan steps

  • Pose-based EKF SLAM: encoder prediction with ICP relative pose updates, Mahalanobis gating with threshold [T], pose cloning and pruning up to [K] poses

  • Task-priority kinematic control: recursive null-space control with inequality tasks (joint limits, obstacle avoidance) and DLS damping [λ]

  • Next-best-view exploration: sampling-based NBV scoring with Dubins turning radius [ρ] and path resolution [Δs]

  • Longitudinal dermoscopy (iToBoS): segmentation + change assessment with ΔE color metrics (CIEDE2000) and temporal growth modeling (PINN, reaction–diffusion)

ros python opencv open3d pcl numpy matplotlib

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Sorting pipeline showing Silvanus successfully detecting, picking, and sorting carrot, apple, and orange into their respective bins:
Robot Recycling Demonstration

Different aspects of the recycling pipeline:

Output 1
Output 1 		Output 2
Output 2 		Output 3
Output 3

NBV sampling based exploration + Intervention:

Robotics Integration Demo

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