Abel Mendoza

Omega-1 — Autonomous Robotics Platform

A fully operational autonomous robot running on Raspberry Pi 4B — drives, navigates, streams live video, and tracks its own position in real time. Controlled from a custom web dashboard with Xbox controller support, live sensor feeds, and a mission control map.

Built as a distributed system across three machines: the Pi handles real-time motor control and sensor fusion, a web UI runs on any laptop with no robot software installed, and an NVIDIA Jetson Orin handles GPU-accelerated object detection — all communicating over a VPN-secured network.

• Drives autonomously with obstacle avoidance — ultrasonic sensor triggers deceleration, pivot, and heading recovery without stopping abruptly
• Estimates its own position using a Kalman filter that fuses dead-reckoning (motor commands) with visual landmark corrections (ArUco markers) — no GPS required
• Streams live camera video to the browser with under 100 ms latency via a custom MJPEG proxy
• Runs a full software simulation mode: the robot's physics and sensor geometry are modeled so the entire stack can be developed and tested without hardware
• Detects objects with YOLOv8 on the Jetson Orin and relays results back to the Pi in real time over a compressed image stream (~500 KB/s vs 9 MB/s raw)
• Solved a hardware bug where the motor driver corrupted servo signals at power-on — traced to a shared PWM clock; fixed with register verification and hard pulse clamping on every write
• Eliminated ~240 unnecessary HTTP requests/minute from the frontend by introducing circuit breakers, shared polling contexts, and WebSocket health checks
• Stack: Python · Go · TypeScript · React · Next.js · FastAPI · ROS2 · OpenCV · WebSockets · Docker · TailwindCSS
• Status: Fully operational — live teleoperation, sensor streaming, localization, and multi-machine communication all running.

PX4 Autonomous Missions — Gazebo Harmonic + MAVROS2

Autonomous UAV mission stack using PX4 v1.15+, Gazebo Harmonic, MAVROS2 (ROS 2 Humble), and MAVSDK-Python. Includes a custom obstacle world with 5 static obstacles for avoidance simulation, a lawnmower scan mission, and full QGroundControl integration.

• Custom Gazebo Harmonic world (obstacle_world.sdf) with 5 static obstacles; obstacle_avoidance.py routes 8 pre-planned waypoints around all obstacles at 20 m altitude with ≥5 m lateral clearance
• Lawnmower scan mission (3×3 grid, 9 waypoints, ~20 m step) and fly.py basic test script; post-flight telemetry logged to timestamped CSV and visualized with plot_flight.py
• Stack: PX4 v1.15+, Gazebo Harmonic (gz-sim 8.x), ROS 2 Humble, MAVROS2, MAVSDK-Python 2.0+, QGroundControl, Ubuntu 22.04

Jetson RealSense Perception

Embedded RGB-D perception toolkit for NVIDIA Jetson Orin Nano and Intel RealSense D455. Supports standalone pyrealsense2 workflows and ROS2 Humble integration, validated on Ubuntu 22.04 / JetPack L4T 36.4.7.

• Standalone scripts: capture, camera info probe, obstacle detection, point clouds, IMU, occupancy mapping
• ROS2 wrapper validation: realsense2_camera launch, topic sanity, camera_info intrinsics, topic publishers
• Documentation + onboarding: hardware setup, software setup, ROS2 setup, troubleshooting, validation checklist
• Full validation: rs-enumerate-devices and check_realsense.py; depth/color streaming capture; ROS2 topic and intrinsics checks

Titan Rover — Autonomous Navigation

Group project with the Titan Rover university club — a team of Cal State Fullerton engineering students. Built and contributed to an autonomous rover using ROS, OpenCV, and sensor fusion for real-world terrain navigation and obstacle avoidance.

• Autonomous terrain navigation with real-time obstacle detection using OpenCV
• Sensor fusion pipeline integrating camera, IMU, and encoder data
• ROS-based architecture with custom nodes for perception and motion planning

LoreBook — AI Life Engine

A full-stack AI-powered journaling platform that treats your life as a continuous narrative. Write journal entries — LoreBook automatically writes your biography, builds your timeline, tracks relationships, detects contradictions and identity drift, and predicts your trajectory. Built by Omega Technologies.

• Continuity Engine — automatically detects contradictions, identity drift, abandoned goals, emotional arcs, and behavior loops after every journal entry
• Custom engine orchestration layer with 30+ named engines, dependency-aware DAG scheduling, and parallel execution via constrained concurrency
• Hybrid RAG pipeline: OpenAI embeddings + pgvector + BM25 keyword search + entity boosting + temporal decay weighting + MMR reranking
• LoreKeeper Narrative Compiler (LNC) — compiler-inspired epistemic integrity system with Entry IR, dependency graph, entity symbol table with scope resolution, and incremental recompilation
• 9-layer timeline hierarchy (Mythos → Eras → Sagas → Arcs → Chapters → Scenes → Actions → MicroActions) auto-built from journal entries
• Multi-persona AI chat: Gossip Buddy, Therapist, Historian, Strategist, Memory Bank
• Performance: multi-level caching (TinyLFU + Supabase), 10-100x speed improvements, eliminated N+1 queries
• Stack: TypeScript · React · Node.js · Supabase/PostgreSQL · pgvector · OpenAI · Stripe · GitHub Actions

MacGuardian Watchdog

A comprehensive macOS security suite featuring system hardening, threat detection, AI/ML analysis, and automated remediation. Enterprise-grade security tools for personal and small business use.

• System hardening: SIP monitoring, Gatekeeper verification, FileVault encryption
• Real-time threat detection: Process monitoring, network analysis, malware scanning
• AI/ML-powered security analysis with behavioral pattern recognition
• File integrity monitoring with automated incident response
• Tech Stack: Shell, Python, Swift (macOS native app)