Implemented 14-state Extended Kalman filter to leverage sensor readings to provide state estimation for MPC control of a Dallara Indy race car

Interfaced with OSSDC simulation environment

Collaborated with the AI Racing Tech team (a coalition between UC Berkeley Robot Open Autonomous Racing (ROAR) team, CMU, UCSD, and the University of Hawaii), competitors in the Indy Autonomous Challenge (IAC)

Collaborated with Blake Werner, Bryan Yang, and Kai Yun

Built a fully-autonomous mobile robot from scratch to navigate a game field and interact with game pieces as part of the ME218B Squrling tournament

Software: Developed hierarchical state machines and event-driven firmware in C on the PIC32 microcontroller for higher-level autonomy, including navigation and adaptive location of game pieces on the field

Electrical: Designed and assembled analog and digital circuits (for sensor signal conditioning, power distribution, motor driving, etc) using KiCAD. Integrated H-bridges, DC gearmotors, IR phototransistors, LEDs, encoders, opto-reflectance sensors, bandpass filters, etc to enable high-level autonomy

Mechanical: Designed, prototyped, and manufactured custom mobile robotic platform (differential-drive drivetrain, flywheel intake system, sensor/PCB mounting) using Fusion360, 3D printing, and lasercutting

WINNER of the Stanford ME 218B Winter 2024 Squrling Tournament

Link to Site (Check out these videos of the robot in action at the tournament!)

Collaborated with Annika Yong and Bryan Yang 

Implemented a low-overhead classical controller in simulation to traverse a track using only knowledge of track curvature and dynamics model

Derived dynamic bicycle model from vehicle parameters and measurements

Built on the UC Berkeley MPC Lab's BARC stack and hardware

Implemented robotic pipeline for 6DOF Rethink Sawyer robotic arm to launch a dart at a dartboard

Performed computer vision-based target acquisition using thresholding and the Hough transform, back-tracing the projectile motion of the launcher dart, and calculating coordinate transformations to extract desired robot pose

Planned and executed shortest-path robotic arm motion to desired pose using ROS and the MoveIt Path Planner with PID control 

Designed and fabricated a custom spring-powered dart launcher with Solidworks and 3D-printing to reliably launch at consistent velocity/orientation, upon actuation of Sawyer's gripper

Link to Site

Collaborated with Blake Werner, Bryan Yang, and Kai Yun

Developed an integrated mechatronic road trip companion to provide food, napkins, and (most importantly) entertainment on long stints on the road

Software: Implemented event-driven firmware in C to interface between user inputs, analog sensors, contactless sensors, motor drivers, solenoid actuators, and audio outputs

Electrical: Designed analog and digital circuits integrated with PIC32 microcontroller, using KiCAD 

Mechanical: Designed, prototyped, and manufactured custom solenoid-powered Starburst dispenser using Fusion360, 3D printing, and lasercutting

Link to Site (Check out a video demo of the device in action!)

Collaborated with Dylan Goff and Max Hunter

Developed a mobile robot that takes in a form of pseudo-GCode (with XY coordinates and various pen commands) and accurately draw a picture

Omnidirectional H-Drive drivetrain (NEMA23 stepper motors w/DM542T motor drivers) and servo-powered pen changer for multi-colored drawings 

Used Arduino (AccelStepper package) and Bluetooth to process offboard pseudo-GCode commands into actuator commands

Augmented by a Python image processing pipeline which takes in a camera image, vectorizes it using thresholding and the Canny Edge Detector, then converts vectorized image to pseudo-GCode with shortest traveled distance 

Final Presentation Link, Video Demo

Collaborated with Lekha Duvvoori,  Erik Francis, and Bryan Yang

Created an IoT-enabled plant waterer capable of both auto-watering and remotely-activated watering

 Used ESP32 running Micropython, MQTT, and IFTTT to incorporate sensors (DHT11 Humidity/Temperature sensor), a peristaltic pump, motor, and remote user input into a cohesive system

Implemented longterm water datalogging with a remote user interface

Link to Site 

Collaborated with Blake Werner

Designed a multimodal brace with Solidworks to serve as both support and resistance for physical therapy of muscle atrophy patients, using a torsion spring joint for resistance in both flexion and extension 

Conducted FEA simulation and market study to assess design feasibility 

Performed in-depth scale-up manufacturing/tolerancing analysis, complete with engineering drawings, to simulate pushing product to mass production

Link to Site, Final Presentation Link 

Collaborated with Travis Carroll and Haoxiang (Lucas) Huang