Portfolio

Real-Time Video Streaming for Robot Teleoperation

I streamed real-time video from an Intel RealSense camera over Wi-Fi to enable robot teleoperation with a brain-computer interface.

SLAM with a Depth Camera for Robot Perception

I provided 3D point cloud data to the RTAB-Map ROS package to perform real-time simultaneous localization and mapping (SLAM) for robot perception.

Elevation Mapping on a GPU for Robot Navigation

I provided image, point cloud, and odometry data to the Elevation Mapping CuPy ROS package to generate a real-time elevation map for robot navigation.

Autonomous Swarm Drones

I enabled autonomous swarm research by designing a drone to carry a novel autonomy stack.

I fabricated the chassis from carbon fiber, aluminum, and composite 3D printing filament.
I optimized flight time by measuring thrust from different motor and propeller configurations.
I commissioned the stack using the NVIDIA Jetson, Pixhawk 4, and ROS.

Commissioning a Spacecraft Simulator

Developed an interface to control a reaction wheel over CAN with an ODrive motor controller and ROS2 topics to enable spacecraft robotics research.
Discovered a firmware issue by inspecting pin voltages on a custom board using an oscilloscope.
Generated Sphinx documentation for setup and usage of the spacecraft for future development.

Measuring Radiant Power

I led an industrial hardware and software project end-to-end to measure the power produced by a concentrated solar power plant in real-time using OpenCV.

Improving Imaging Uncertainty

I experimentally calculated the combined uncertainty of a machine vision camera according to ISO Guide 98-3:2008 by considering individual uncertainties from the path of light from the surface to the image sensor.

Infrared Monitoring

I consulted with several stakeholders to design a $50K infrared monitoring system for a concentrated solar power plant.

Ackermann Steering Geometry with Double Wishbone Suspension

I studied steering and suspension designs to create a custom Ackermann steering geometry and a double wishbone suspension for an RC car using SolidWorks, 3D printing, and a lot of ball joints.

Autonomous Submarine Hull

I designed an autonomous submarine hull to mount the electronics, thrusters, and batteries and seal them in a watertight environment using O-rings. Then, I created the drawings using GD&T and sent them out to machine the hull out of a single piece of aluminum.