[{"content":" About Me # Hello! I\u0026rsquo;m Abel, a PhD student at the University of New Mexico. I am working with Dr. Wenbin Wan at the Optimization and Estimation Lab (ONELab) as a National Science Foundation Graduate Research Fellow and a RAISE fellow. I received my BS in Mechanical Engineering from UNM in the spring of 2025.\nMy research interests include interval estimation, moving horizon estimation, machine learning, safe control.\n","date":"15 May 2025","externalUrl":null,"permalink":"/","section":"","summary":"","title":"","type":"page"},{"content":"As part of my Undergraduate Honors Thesis, I created an autonomous system simulation software framework connecting Python and Unity Engine. Using sockets, I was able to get a spherical physics object in Unity to communicate with Python to send information back and forth so that the sphere could be driven to some desired target coordinate. The figure below shows the autonomous system circuit design, with the blue block signifying execution in Unity and the red blocks signifying execution in Python.\nControl System Diagram ","date":"15 May 2025","externalUrl":null,"permalink":"/projects/undergrad_traj_track/","section":"Projects","summary":"Undergraduate autonomous system project with trajectory generator, controller, and estimator.","title":"Autonomous System Trajectory Tracking in Unity Engine","type":"projects"},{"content":"","date":"15 May 2025","externalUrl":null,"permalink":"/projects/","section":"Projects","summary":"","title":"Projects","type":"projects"},{"content":" Education # University of New Mexico # PhD in Mechanical Engineering | Began Fall 2025 Bachelor of Science in Mechanical Engineering | May 2025 (GPA: 4.10) Minor in Mathematics Research Experience # Graduate Student Researcher | NSF GRFP Scholar and RAISE Fellow (2025 – Present) # Project Overview: Exploring positive systems theory and interval estimation. Trajectory Tracking in Unity Engine | Honors Thesis, McNair Scholar (2024–2025) # Project Overview: Simulate a moving object in the Unity Game engine and track it using PID, LQR, and MPC controllers. Work Done: Designed simulation framework: Unity as physics model, Python as data processor. Data processing pipeline: trajectory generator, Gaussian noise measurement function. State estimation: linear Kalman filter for position/velocity. Control systems: PID controller, LQR controller, MPC using convex optimization. SCARA Optimization for Agile Manufacturing | El Puente Scholar (2022–2023) # Project Overview: Proposed a simulation framework for a Selective Compliance Assembly Robot Arm (SCARA) to carry objects of different weights in the most time-optimal manner. Work Done: Wrote literature review and project proposal. Presented poster at UNM Undergraduate Research Conference. Laid foundations for basic SCARA design using Simulink/Simscape Multibody. Relevant Coursework # Estimation and Learning for Autonomous Systems: Focus on Kalman filter robustness/verification, \\(H_{\\infty}\\) filters, Bayesian estimation, regression, neural networks, Gaussian processes, convex optimization. Built a nonlinear MPC for a kinematic bicycle plant. Learning Based Control for Robotics: Reinforcement learning fundamentals (Q-learning, DQN, PPO, DDPG), Markov chains. Developed a DDPG algorithm to control a virtual humanoid robot. Machine Learning: Statistical learning theory, bias-variance tradeoff, Hilbert spaces, practical Python applications (classification, Gaussian processes). Research Interests # Moving Horizon Estimation Control and Estimation Safety/Robustness Guarantees Interval Estimation Machine Learning for Control/Estimation Awards, Recognitions, and Scholarships # NSF GRFP Fellow (2025–Present) RAISE Fellow (2025–Present) McNair Scholar (2023–2025) NSF S-STEM Scholar (2023–2025) El Puente Scholar (2022–2023) UNM Grand Challenges Achievement in Student Communication (2023) UNM Achievers Scholarship (2021–2025) Dr. Dan Trigg Scholarship (2023–2024) Armijo Scholarship (2024) Morrison Scholarship (2024) Professional Experience # Albuquerque Bernalillo County Water Utility Authority | Engineering Intern (2025) # Pipe Upkeep \u0026amp; Documentation: Created work orders using Maximo and asset maps with ArcGIS PRO for planning/documentation. Sensor Installation: Installed H₂S sensors under sewer manholes to analyze concentrations. Sensor Data Analysis: Analyzed H₂S data to generate reports guiding future management/prevention actions. Hydrosonics Energy | R\u0026amp;D Engineering Intern (2025) # Electrochemical Sensing: Created geometry and calibrated an electrochemical sensor for detecting methanol in thermochemical liquid products. Procedure Documentation: Wrote experimental procedure documentation using LaTeX to aid team compliance. Resin 3D Printing: Operated and maintained Formlabs Form 3L Resin printer for electrolysis system parts. Literature Review: Developed literature review for ARPA-E research proposal submission. Program Management Experience # Big Lobo Rocket | Project Manager (2024–2025) # Project Overview: Build and launch a 300-foot, single-stage, solid-fuel rocket to 1,500 feet with safe ground recovery. Sub-teams: structures, launch rail, propulsion, systems, logistics. Work Done: Conducted simulations using OpenRocket. Developed rocket parts in SolidWorks. Implemented and refined organizational practices. Designed housing for flight computer and CO₂ ejection system. Community Service # Mobile Kitchen Project at Polk Middle School | NSF S-STEM Scholar (2025) # Overview: Repurposed a truck trailer into a kitchen for community gatherings in South Valley Albuquerque. Work Done: Demolished trailer to metal frame, installed flooring/side walls, planned appliance layout/counts while complying with food safety regulations. Rooftop Garden Development at La Siembra Leadership High School | NSF S-STEM Scholar (2023–2024) # Overview: Developed economic, logistical, and technical aspects for a student rooftop garden focusing on education, agriculture, and water management. Work Done: Calculated costs for necessary instruments/equipment to support project development. Presentations # Trajectory Tracking in Unity Engine # April 2025: UNM Undergraduate Research Opportunity Conference (Oral) September 2024: MKN McNair Heartland Research Conference (Oral) September 2024: UNM McNair Research Conference (Oral) July 2024: McNair Research Symposium (Oral) SCARA Robot Speed Optimization # April 2023: UNM Undergraduate Research Opportunity Conference (Poster) Skills # Programming Languages \u0026amp; Software # Python, Julia, MATLAB/GNU Octave, Simulink, C# (Unity), \\( \\LaTeX \\), MS Office CAD \u0026amp; Design Software # SolidWorks, Fusion 360, Onshape, OpenRocket Manufacturing \u0026amp; Hardware # 3D Printing: Filament and Resin-based (Formlabs) Machining and Soldering Teaching \u0026amp; Tutoring # Peer Tutor: Assisted classmates in Thermodynamics, Materials, and Controls courses. Languages # Spanish (Native), English (Fluent) Professional Attributes # Goal Oriented: Consistently expands knowledge outside classroom (programming, linear algebra, state estimation). ","externalUrl":null,"permalink":"/resume/","section":"","summary":"","title":"Abel Molinar - CV","type":"page"},{"content":"","externalUrl":null,"permalink":"/authors/","section":"Authors","summary":"","title":"Authors","type":"authors"},{"content":"","externalUrl":null,"permalink":"/categories/","section":"Categories","summary":"","title":"Categories","type":"categories"},{"content":"Learning the basics of state estimation required going above and beyond my university education. Here are some very helpful resources.\nKalman and Bayesian Filtering Jupyter Notebook\nRoger Labbe created a jupyter notebook that has concise examples along with good motivation for a topic that can be very esoteric. The Jupyter notebook does not have in depth mathematical derivations or theory, it is focused on practical explanations and implementations of concepts learned in Python. This work helped me get a grip on why anyone would care about state estimation and what the implementation looks like via examples. Optimal State Estimation by Dan Simon\nDr. Dan Simon\u0026rsquo;s book on state estimation is a crucial and in-depth resource for the theoretical aspects of state estimation, especially Kalman filtering. The book includes the necessary mathematical prerequisites and derivations to gain a complete picture of the theoretical parts of state estimation. The book is especially helpful while taking a relevant course or participating in a reading group. ECE5530: Multivariable Control Systems II\nTaught by Dr. Gregory Plett from the University of Colorado at Colorado Springs, this has proven to be a great theoretical resource for learning estimation and control. Dr. Plett\u0026rsquo;s notes on the linear quadratic estimator (Kalman Filter), linear quadratic regulator, and linear quadratic Gaussian are excellent resources for people who already have a good starting point in the relevant statistical/math topics. Optimal Control Quadratic Methods by Anderson and Moore\nThis is a great book to learn about linear optimal control and especially the linear quadratic regulator. The authors introduce the Principle of Optimality and the Hamilton Jacobi Equations, which are very important in control optimization, and applying them to the LQR, one of the most simple and elegant optimal controllers. Frequency Domain for Beginners\nDr. Justin Ruths from the University of Texas at Dallas has very accessible intro to frequency domain lectures on his YouTube channel under the MECH 4310 playlist. Especially useful to understand Nyquist criterion theory. 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