All Projects
A complete index of robotics, electronics, mechanical design, research, and fabrication projects.
All Projects
Custom 1 kW BLDC Actuator
- Designed a four-layer STM32 inverter for three-phase BLDC motor control.
- Integrated encoder feedback, current sensing, CAN, and regenerative overvoltage protection.
- Built a modular 19:1 cycloidal gearbox and iterated through multiple PCB revisions.
Three-Stage Buck Converter
- Designed a three-stage board providing 12 V, 5 V, and 3.3 V power rails.
- Validated the 10 W supply under load and measured output ripple with an oscilloscope.
- Used the prototype to de-risk power delivery for a larger custom motor controller.
Automated Dog Treat Launcher
- Built an automated treat dispenser with a lead-screw elevator and differential turret.
- Integrated servos, sensors, custom PCB wiring, and jam detection.
- Programmed an autonomous daily dispensing cycle with fault handling.
Honda Cobot Assembly Demo
- Helped create a UR10e cobot demo that assembled a 3D-printed Honda CR-V model.
- Designed a magnetic rack-and-pinion end effector with Arduino-controlled tooling.
- Achieved a 100% assembly success rate throughout the public demo day.
Autonomous Pet Feeder
- Built an Arduino-controlled feeder with a stepper-driven auger and servo-driven bowl carriage.
- Integrated ultrasonic, infrared, camera, and limit-switch sensing with a responsive state machine and web UI.
- Calibrated repeatable three-second servings and offloaded camera-based pet identification to a Flask server.
Robot Handwriting and Trajectory-Control System
- Improved a Kinova robot system for repeatable handwriting and rehabilitation trials.
- Diagnosed motion jitter and replaced the inverse-kinematics approach.
- Processed writing trajectories and redesigned the marker end effector.
VEX Robotics Hardware Leadership
- Directed mechanical development for two complex VEX U Worlds robots.
- Delivered custom climbing, scoring, drivetrain, sensor, and CNC-machined subsystems.
- Won 12 awards, the Worlds Build Award, and the AI Skills World Championship.
VEX Robotics Qualification Robots
- Directed mechanical design for four VEX U competition robots.
- Used adjustable, test-driven mechanisms to improve scoring consistency.
- Reached third globally, earned eight awards, and set an unofficial autonomous-skills record.
VR Hand Tracking Characterization
- Built repeatable VR hand-tracking experiments around a 7-DOF KUKA cobot.
- Combined motion capture with a 3D-printed hand to establish sub-millimeter ground truth.
- Compared Meta Quest headsets in research published at IEEE VR 2025.
Robot-Served Snow Cone Cell
- Helped build a robot cell that prepared and served snow cones automatically.
- Designed the cell layout and a physical ordering interface for red or blue cones.
- Connected user input to a ROS 2 sequence that served roughly 50 conference guests.
VEX U Intake and Launching Mechanisms
- Developed intake and launching mechanisms for two VEX U competition robots.
- Improved the six-wheel intake to greater than 95% success through friction and tension tuning.
- Collaborated with a design team of more than 10 students and qualified for the World Championship.
4-DOF 3D-Printed Robot Arm
- Built a four-degree-of-freedom, 3D-printed robot arm with a half-meter workspace.
- Integrated the mechanics, stepper electronics, limit switches, and custom wiring.
- Implemented homing and basic kinematics for a 2 kg payload prototype.
Baja SAE Wheel Hub Optimization
- Redesigned Baja SAE wheel hubs using SolidWorks and finite element analysis.
- Reduced mass by 7% while adapting the design to material with 3.75 times lower yield strength.
- Prepared five iterations for practical manufacturing on a 5-axis CNC mill.