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ALWINTR/README.md

Alwin T R

Embedded Systems & Robotics Engineer
Kochi, India • Portfolio • LinkedIn • GitHub • Email

Profile Overview

Embedded Systems and Robotics Engineer specializing in real-time firmware architecture (FreeRTOS / Bare-Metal C++), ROS 2 autonomous navigation, and industrial sensor systems. Proven track record across STM32 (ARM Cortex-M), ESP32 (Xtensa Dual-Core), and PIC microcontrollers, implementing multi-axis closed-form kinematics, 24GHz FMCW radar signal processing, and deterministic hardware communication protocols (CAN, UART, SPI, I2C).

Core Competencies

  • Microcontrollers & Hardware Platforms: STM32 (ARM Cortex-M), ESP32 Dual-Core, PIC16F877A, ATmega328P, Raspberry Pi 4, PCA9685 PWM drivers, L298N / A4988 motor drivers
  • Firmware & Real-Time OS: FreeRTOS (Dual-Core Tasks, Queues, Semaphores, Mutexes), Bare-Metal C, Modern C++ (C++17), PIC Assembly / XC8, Python, Interrupt Service Routines (ISR), Hardware Timers, Watchdog Timers
  • Robotics, Kinematics & SLAM: ROS 2 (Humble), Nav2, 2D SLAM (Cartographer / AMCL), Gazebo dynamic simulation, RViz2, 2D/3D Inverse Kinematics, quintic zero-jerk trajectory generation, LiDAR and wheel odometry sensor fusion
  • Industrial Protocols & Wireless: CAN Bus, UART, I2C (Fast Mode 400kHz), SPI, ESP-NOW peer-to-peer (<10ms latency), MQTT, Wi-Fi 802.11, BLE
  • Tools & Toolchains: STM32CubeIDE, ESP-IDF, PlatformIO, MPLAB X, Arduino IDE, Proteus, Git, GitHub CLI, Ubuntu Linux

Featured Engineering Projects

1. ESP32 6-DOF Bipedal Walking Robot with FreeRTOS Kinematics

  • Stack: ESP32 Dual-Core • FreeRTOS • C++17 • PCA9685 • 400kHz I2C • AsyncWebServer
  • Engineering Highlights:
    • Engineered a 6-DOF humanoid bipedal walking robot using dual-core ESP32 with strict FreeRTOS task isolation.
    • Implemented a dedicated 50Hz locomotion loop on Core 1 calculating closed-form 2D Inverse Kinematics and quintic polynomial zero-jerk swing trajectories for 6 high-torque metal-gear servos.
    • Offloaded real-time telemetry and wireless command handling to Core 0 via an asynchronous web server, eliminating servo jitter and timing contention.

2. 24GHz mmWave Human Presence & Micro-Motion Radar Monitor

  • Stack: ESP32 • HLK-LD2410C 24GHz FMCW Radar • UART • C++
  • Engineering Highlights:
    • Designed a sub-millimeter presence, micro-motion, and respiration tracking monitor using 24GHz FMCW radar.
    • Developed a deterministic, non-blocking UART frame protocol parser (115200 baud) extracting motion energy states across 8 discrete spatial range gates up to 6 meters.
    • Achieved 99.2% detection reliability under varying environmental noise floor conditions.

3. Autonomous Reconnaissance Rover with Gas & Metal Detection

  • Stack: ESP32-CAM • Arduino • MQ-2 Sensor • Inductive Metal Detector • 4WD Chassis
  • Engineering Highlights:
    • Engineered an all-terrain tele-operated surveillance rover featuring low-latency wireless video transmission over local Wi-Fi UDP streams.
    • Integrated multi-sensor hazard detection fusing MQ-2 combustible gas monitoring with inductive metallic anomaly detection via edge-triggered alert interrupts.
    • Implemented fail-safe motor drive control across dual H-bridge drivers with automatic emergency braking on signal drop.

4. RFID Secure Access Control & Authentication System (PIC16F877A)

  • Stack: Microchip PIC16F877A • RC522 RFID • SPI Protocol • PIC Assembly / XC8 • 16x2 LCD
  • Engineering Highlights:
    • Implemented bare-metal access control firmware interfacing a 13.56MHz MFRC522 RFID reader over SPI on a resource-constrained 8-bit PIC MCU.
    • Engineered interrupt-driven timing routines for authentication state machines and credential validation against internal EEPROM storage.

Connect

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  1. Smart-Bidirectional-People-Counter-and-Room-Occupancy-Monitor Smart-Bidirectional-People-Counter-and-Room-Occupancy-Monitor Public

    Smart bidirectional people counter and room occupancy monitoring system using dual sensors and ESP32

    C++