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My love for engineering and design is best exemplified by my project and work experience.
Fabricating my projects has developed my design decisions and given me an intuition for how things work. More importantly, it has shown me what does not work.
12 Degree-of-Freedom Quadruped Robot - Master's Thesis
Project overview
This master’s thesis focused on the mechanical design and system integration of a 12-degree-of-freedom quadruped robot developed at the Cal Poly Legged Robotics Lab. The project advanced the lab’s existing 8-DOF platform (“SWITCH”) into a more dynamic, modular, and research-ready robotic system inspired by current commercial quadrupeds.
The new design introduced three actuated joints per leg—hip roll, hip pitch, and knee pitch—to achieve improved stability and gait versatility over uneven terrain. The mechanical system was fully modeled, analyzed, and validated through static and dynamic load analysis, finite element simulations, and bench testing. The robot features a lightweight, high-stiffness monocoque carbon fiber chassis, 3D-printed composite leg assemblies, and integrated mounting for an NVIDIA Jetson computing module and custom power distribution board.
Key Achievements
Enhanced Locomotion Capability: Added one degree of freedom per leg (3 DOF total), allowing more flexible gait generation and stable traversal of uneven terrain.
Structural Optimization: Reduced chassis weight by 55% through a monocoque design while maintaining equivalent strength and rigidity.
Improved Efficiency: Lowered limb weight ratio from 30% to 15%, increasing load efficiency and reducing motor torque requirements.
Kinematic & Control Framework: Developed full forward/inverse kinematic models, motor torque analysis, and third-order polynomial trajectory planning for smooth, accurate motion control.
ROS2 Integration: Built a ROS2 control framework interfacing with GIM8108 Mini Cheetah motors via CAN for real-time testing, feedback, and impedance tuning.
Research-Ready Platform: Delivered a fully functional 12-DOF prototype for Cal Poly’s Legged Robotics Lab to support ongoing research in locomotion, control, and autonomy.
Gray Water System Automation
Project overview
I designed and implemented an automated gray water reuse system at a residential site to capture and repurpose wastewater from a washing machine for landscape irrigation. The system collects wastewater in an initial dirty water tank, pumps it through a sand filtration system to remove lint and debris, and stores the filtered water in a clean water tank. A separate pump distributes the cleaned water through a drip irrigation network.
To eliminate the need for manual tank checks and pump control, I converted the system into a fully IoT-enabled monitoring and control platform. Ultrasonic level sensors continuously measure tank volumes and publish system state data to a local Raspberry Pi server. A web-based graphical interface provides real-time and historical visualization of tank levels and pump activity.
A dedicated ESP32 microcontroller subscribes to the same data streams and drives a local LCD display mounted above the washing machine, enabling quick system verification before starting laundry cycles. Pump operation is automated using a bang-bang control strategy based on configurable tank-level thresholds. A Shelly smart relay provides reliable pump actuation and state feedback.
The software architecture is designed to be portable and scalable, allowing deployment to other gray water systems by adjusting tank parameters and network configuration. Safety features include automatic overflow protection and fault-resilient pump control. All server-side services are deployed using Docker Compose, minimizing configuration effort and enabling consistent installation across environments.
Cal Poly Racing - Formula SAE
Project overview
The Cal Poly Racing team designs, builds, and tests a Formula style car with the goal of competing in a yearly collegiate competition. Our team produces both an internal combustion (IC) and electric vehicle (EV) using the same structural assembly designs with swapped power trains.
Cal Poly Racing Website
Key achievements
My Freshman and Sophomore year was a tough transition time for the team through COVID 19. I worked on the suspension subsystem, making links, mounts, jigs, and constructing assemblies. These formative years introduced me to the team's format, competition rules and regulations, and a grasp of the yearly design cycle.
Junior year I took on the role of Manufacturing lead. In this position, I advised subsystems to ensure the manufacturability of their parts given our facilities and time constraints. I further streamlined manufacturing by creating an inventory database, as well as schedules for critical machining operations. A large part of my role was the transfer of knowledge to newer team members as well as delegating and managing tasks so susbsystems had support accordingly.
Laminar LAA
R&D Intern
Laminar is a medical device company developing an implant to treat patients with atrial fibrillation by eliminating the left atrial appendage (LAA). As an intern, I was exposed to rapid prototyping, testing, and process development.
My primary project was assisting in the development of an automated sand blasting process to condition the inner surface area of catheters. This resulted in a 16 lb. drop in frictional forces between the implant and catheter when actuated.
LiftWalker, Ideomotion LLC.
Project overview
The LiftWalker (patent pending) is intended to aid users with degenerative diseases in transitioning from sitting to standing and provide walking therapy support.
This prototype is made with accessible materials and manufacturing methods, making it affordable and available even in countries with limited resources.
San Francisco Department of Public Works
Project overview
My primary role at SFPW was sizing components for pre-existing fluid-thermal systems. I would model system curves and size pumps and heat exchangers accordingly.
I had the opportunity to work on projects such as new pump stations to accommodate the new Chase Center and the Ocean Beach Wastewater Treatment Plant.
Balance Research - Human Biomechanics Lab
Abstract
Yoga is one of the few activities that directly strengthen muscles involved in balance and coordination. To analyze how postural stability differs between female yoga athletes and a control group for single-leg dynamic movements, balance parameters were exacerbated between participant groups using a fatigue protocol. Participant performed a modified Wingate test procedure on the stationary cycle followed by a transition pose to Warrior III. Of the dependent variables, dominant leg ankle angle, hip moment, GRF, and gastrocnemius activation showed significance. Yoga participants showed less deviation in ankle angle, lower GRF, and larger gastrocnemius activation, reflecting controlled stability. In addition, a larger hip moment was observed, suggesting the desired Warrior III form was achieved.
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