Developed a multi-robot waiter system for restaurant automation in 2D, restaurant layout was based on a real restaurant. A system of autonomous waiters performed order delivery and clean-up tasks in the restaurant. These tasks were allocated to the waiter robots while optimizing cost of allocation (e.g., total distance to be travelled). The navigation was accomplished with a global and local planner that utilized A* search while avoiding collisions with other waiters, patrons and obstacles in the environment.
Developed centralized and distributed Model Predictive Control (MPC) algorithms for a 2D adversarial control problem with planar quadrotors. The control problem is a team-based 2D simulation where a team of robots are attempting to intercept a target, and an individual robot acting as the target whose goal is to evade the team of robots for as long as possible.
Developed a position controller and trajectory generator for a quadrotor, the CrazyFlie 2.0. Tested the position controller and trajectory generator in simulation on a variety of scenarios before testing on hardware.
Implemented a 2D potential guided rapidly-exploring random trees (P-RRT) planning algorithm on NAO Robots from SoftBank Robotics in simulation.
Implemented Canny Edge Detection, Image Gradient Blending, Image Morphing Using Delaunay Triangulation, Seam Carving, Image Stitching, and Optical Flow & Visual Tracking. The set of images on the left contains a few of the results.
The E-Z Paint Roller is a paint roller with a built-in paint reservoir that eliminates the need of a paint tray and has an adjustable roller head.
The Uplift™ is an adaptive exercise machine developed for wheelchair bound individuals, such as quadriplegics. The machine can be used to improve their upper-body strength and mobility. An individual can perform a narrow or wide chest press, rowing, or shoulder press.
Modified an existing decoupled hand-cycle to yield improved tracking of desired crank cycle cadence (crank velocity). Performed two protocols using a combination of FES and volition on three able-bodied participants.
Developed full-state feedback controllers for two Furuta Pendulum systems. One system was mounted on a stationary setup and another system was mounted on a remote-controlled mobile robot to simulate a waiter carrying a tray with drinks.
Designed and prototyped a remote-controlled mobile robot for an in-class competition. The competition required collecting racquetballs and foam footballs from one half of the arena to deposit into goals and onto the opponent's half of the arena.
Team 2383 Robot for 2012 FRC Competition
Team 2383 Robot for 2013 FRC Competition
Team 2383 Robot for 2014 FRC Competition
Designed and prototyped a foldable bicycle wheel as the capstone project for Engineering Design and Development (EDD).