RoboTaxi Final.mp4Semi-Autonomous RoboTaxi
I worked with a team of 4 cross-functional engineering students to design the physical chassis, sensor mounts, sensing architecture, and controls. We created a self-driving RoboTaxi that is also capable of a remote manual override in scenarios deemed infeasible.
Contributions and Results:
Acted as Mechanical Design Lead designing and 3D printing the chassis and all hardware mounts for components using Onshape (3D CAD Modeling)
Created architecture for Object-Oriented Programming structure and scripted
Ultrasonic Sensor data processing and distance measurement
Obstacle avoidance maneuvers
Lidar data processing and plotting of mapped surroundings
Hardware:
2D Lidar (EAI YLIDAR X4 360 Degrees)
Ultrasonic Sensors (HC-SR04)
Stepper Motors
Motor Drivers
ESP32
Incremental Testing Progression
Version 1
Version 2
Version 3
Final Configuration
Industrial Exoskeleton to Protect Warehouse Worker Health
I worked with a team of 4 engineering students to improve an existing exoskeleton product by SuitX. SuitX is an exoskeleton manufacturer that designs cutting-edge products for the preventive care of musculoskeletal disorders (MSDs). https://www.suitx.com/
We designed a trunk-support exoskeleton for workers doing repetitive lifting tasks that often lead to long-term injury. This device mitigates the strain on the lower back by providing support torque from a motor and a parallel spring when the user bends over. Throughout this project I:
Designed a one-actuator system to replace the current two-actuator system to reduce weight and cost.
Designed a new structure to incorporate the new motor with proper accommodations for stress on the frame from reactionary forces on the motor. Used FEA tools to validate this ensuring max local stress experienced was below yield stress by FOS of 2.
Utilized SolidWorks to build a complex part assembly and applied GD&T in drawings for manufacturing.
Detailed information on this project has been omitted at SuitX's discretion due to the technology being under NDA
User Driven Requirements
Requirements were driven by user feedback from prior SuitX products.
User Focused Features
Features were generated to enhance the user's experience. Aimed to accommodate walking up and down stairs, sitting with the device on, and decreasing the weight overall.
Final Demo 720P (online-video-cutter.com).mp4Robotic Automated Bartender
Further detailed project website: https://tinyurl.com/flowbot-automation
I worked with a team of 4 cross-functional engineering students to design the sensing architecture and controls for an automated robotic bartender.
Hardware:
Sawyer 7 DOF Robotic Appendage
Gripper Module (Custom designed and printed)
Intel Realsense Camera
Strain-Gauge Weight Sensor
Arduino
Contributions:
Designed custom 3D printed grippers iterating (see below)
Scripted and incorporated scale module logic
Scripted path planning module to select the shortest optimal path that maintains orientation to ensure ingredients wouldn't spill
Results: (See Demo Video)
Created a robot that when given a defined product cup and multiple ingredient cups at random locations within its dextrous workspace; is capable of:
Identifying ingredient cups and product cup using computer vision.
Grasping the ingredient cups one at a time.
Pouring the contents of the ingredient cups into the product cup to a specified weight.
Returning the ingredient cup to its initial location.
Initial Gripper Design
Designed with intention of grasping cups from the side and minimal brittle slot width adjustment during mounting. Gripper prints broke numerous times.
Final Gripper Design
Improved orientation as a top-down grasp method was simpler in coded implementation. Improved mounting slot and added support to improve structural integrity leading to less fractures.