Since getting my Bachelor's Degree, I've been a mechanical engineer at Amazon Robotics, developing hardware components from concept to mass-production for Amazon's first fully autonomous and safety certified mobile robot. I've also spent time developing computational tools to support sensor module testing, characterization, and optimization.
A partner and I created a simulation of decentralized swarm of 2D robots that exhibited self-assembling properties. Agents had no knowledge of desired end-state and self-assembled into complex shapes based only on local interactions modeled after a reaction-diffusion system.
In this project, a partner and I set out to investigate various methods and strategies for increase the effectiveness of bicycle paths in a city using the least amount of monetary and infrastructure resources. We evaluated the effectiveness of each strategies on data from real street networks.
Optimum-J is a passion project I created in MATLAB to automatically generate suspension designs that best embody specified characteristics while conforming to imposed packaging constraints. It implements a forward kinematic simulation of a suspension system to calculate the motion profile and associated characteristics of a suspension design, and uses that to optimize the suspension to match specified characteristics. It was used to design the suspension system in the 2019-2020 Olin Electric Motorsports Vehicle (FSAE) and continues to be used.
A partner and I wrote a SLAM algorithm for a robotic vacuum cleaner with a 2-D LIDAR sensor. I implemented point clustering and feature extraction routines to perform on the LIDAR point clouds. I also implemented the Iterative Closest Points algorithm paired with a Bayesian correspondence detector to stitch scans from subsequent steps together.
I worked on a team with four others to create a 2 axis CNC string art machine. I designed the entire mechanical system from the ground up, ensuring the design was modular, quick to assemble, easy to fabricate, and would provide us with a reliable platform to test with. I also did some development work on the path planning algorithm.
A partner and I created and tuned a PI controller to effectively maneuver a segway-like inverted pendulum robot. We tuned the controller analytically by viewing the transfer function of the system in the s-domain.
I worked with two other team mates to design and fabricate the suspension and chassis for the 2018-2019 Olin Electric Motorsports Racecar (FSAE). We started from the ground up, first reading essential chapters from Race Car Vehicle Dynamics by Milliken. We built a series of MATLAB scripts and simulations to help to design aspects of the suspension to best meet requirements.
