Project Highlights
CAVEMAN Rover
Cave Autonomous Vehicle for Exploration, Mapping, and Navigation
C.A.V.E.M.A.N.
LiteMonitr
Live Drawing Display with Programmable LEDs & ESP32
LiteMonitr
SeizureSensor
Nocturnal Seizure Detection & Monitoring Device
SeizureSensor
EDAC Research Project
Error Detection and Correction Performance Comparisons & Analysis
2-person Research Project implementing and benchmarking various EDAC schemes through various error mechanisms
Project Summary:
Implemented Hamming Codes, CRC, Checksums, Residue and Biresidue codes for 8bit and 32bit data inputs
- Implemented efficient CRC, checksums, and arithmetic residue codes in C
- Designed hamming code implementations with SEC and SEC/DED capabilities
- Implemented SEC biresidue arithmetic code with efficient correction lookup tables
- Benchmarked and compared performance between different input sizes, correction schemes, etc.
- Wrote research paper tying EDAC efforts into HPC Parallel File Systems
Skills:
- C
- Hamming Codes
- CRC
- Checksums
- Residue Codes
- Bash
CAVEMAN VR Teleoperation
CAVEMAN VR Teleoperation
Headtracking and Driving from VR to Rover
Project Summary:
Created end-to-end VR Teleoperation framework with low-latency networking and Unity
- Implemented WebRTC Peer Connection for Video Streaming from Unity Client to Raspberry Pi Host
- Developed multiple peer connection interfaces for network debugging
- Created multiple websocket channels for low-latency, accurate control of rover movement
- Used Meta Quest 2 to enable VR Teleoperation with head-tracking from the headset to the camera servos
- Streamed camera output from Raspberry Pi 4 to VR Headset and sent back control states
Project Achievements:
- Created seamless, low-latency VR teleoperation with Unity, WebRTC, Websockets
- Presented VR Teleoperation at Pittsburgh Robotics Network's Robotics & AI Discovery Day
- Live testing VR demo with 30+ volunteers
Skills:
- WebRTC
- Unity
- Websockets
- Python
- HTML/CSS/JS
CAVEMAN Mapping Pipeline
CAVEMAN Mapping Pipeline
Image to 3D Map (Photogrammetry) Pipeline
Project Summary:
Created an end-to-end image-to-3D map pipeline to convert images taken by the CAVEMAN rover into accurate 3D maps of the environment.
- Developed consecutive image analysis, binning, and sampling algorithm
- Created automated script with command-line interface to run a folder of images through pipeline
- Automated file conversion from OBJ & MTL to GLTF using Blender CLI
- Utilized Meshroom CLI to automatically run photogrammetry pipeline
- Detect and filter out blurry images using Laplacian Variance in OpenCV
- Displayed 3D Maps in a portable WebViewer format and an interactive VR format
- Tested similarity hashing algorithms for similar image recognition
- Used RTABMAP and Meshlab as 3D Reconstruction variants
Project Achievements:
- Created 10 colored maps of explored & documented environments with high accuracy viewable on the web or in virtual reality
- Design sampling algorithm to reduce redundant image data, improve 3D mesh quality, and reduce pipeline runtime by 80x
- Created custom viewers for interactive 3D map traversal online and in VR
Skills:
- Computer Vision/OpenCV
- Python
- Photogrammetry
- Meshroom
- Blender
- Three.js
- VR Systems
- SimLab VR
- Javascript
CAVeTalk
CAVeTalk
Intersystem UART- & Protobuf-Based Messaging Protocol
Project Summary:
CAVeTalk is our custom communication protocol for messaging between the high-level computer and the low-level microcontroller. It uses UART as the physical layer and Protocol Buffers as the data serialization format. It encompasses movement commands, sensor readings, configs, status updates.
- 15 Protocol Buffer Messages
- Unit-tested All Messages and Layers using GoogleTest
- Created C & C++ Message Implementations
Skills:
- C/C++
- Protocol Buffers
- GoogleTest Unit Testing
- GitHub
- Jira
CAVEMAN Portfolio Website
caverobotics.com
Interactive Portfolio Website for CAVEMAN
Project Summary:
Created a portfolio website to document and showcase the CAVEMAN project, its members, and its achievements.
- View 3D Models of Rover and PCB
- Interactive Walkthroughs of 3D Maps
- Explanation of Project
- Process Blog
- Meet the Team Section
Skills:
- HTML/CSS
- React Bootstrap
- React Three Fiber
- Three.js
- Javascript
CAVEMAN
CAVEMAN Movement Testing Frameworks
XML Interfaces for Custom Camera and Wheel Movement Profiles integrated with ROS and CAVeTalk
Project Summary:
Created two frameworks that allow users to make custom movement profiles for camera servo positions and wheel speed and turn-rate by cycling through timed states.
- Parse XML Files to create arrays of profiles and positions
- Timed Cycling between positions with a specific profile
- Controller-interfacing to switch profiles
- Parse and send CAVeTalk messages based on states
Project Achievements:
- Created 6 Camera Movement Profiles - Figure 8, Vertical, Horizontal, Cross, etc.
- PID Tuning via Wheel Speed and Turn-rate Profiles
- Live Testing using Camera Movement Profiles, resulting in a usable map
Skills:
- C++
- XML
- ROS2
CAVEMAN
CAVEMAN
Cave Autonomous Vehicle for Exploration, Mapping, and Navigation
Project Summary:
Led a team of 5 engineers to design and create an autonomous mapping robot for caves/mines to mitigate dangers, built completely from scratch in 4 months.
Caves are inherently dangerous, posing risk to civilians, first responders, explorers, etc. and current cave maps are extremely outdated. We strived to create a solution to all of these problems with CAVEMAN. This rover autonomously navigates caves, maneuvering through the unpredictable terrain, taking pictures of the environment so that it can be turned into a map using our mapping pipeline.
- Researched the problem with caves/mines
- Met with multiple robotics and mining professionals
- Created 2 prototypes of the working rover fully from scratch.
- Interfaced with 13 sensors & actuators
- Created low level movement software
- Created high level navigation software
- Designed custom PCB motherboard
- Designed Image-to-Map Pipeline
- Presented work at Design Expo
Project Achievements:
- Called the "Best Project I've ever seen" by Department Head & Won 3rd Place at Design Expo
- Created 10 colored maps of explored & documented environments with high accuracy viewable on the web or in virtual reality
- Designed image dataset pruning algorithm to reduce computation time & increase accuracy of Photogrammetry pipeline
- Created custom Communication Protocol for Rover
- Created extensible Camera Movement Framework using 2 servos, ROS2, and XML
- Created custom website for map-viewing and documentation
- Managed all aspects of project from hardware considerations, software contributions & development, sensor interfacing, testing, and presentation
Skills:
- C/C++
- Project Management
- Computer Vision/OpenCV
- ROS2
- Photogrammetry
- Protocol Buffers
- Embedded Systems & Arduino
- UART
- Meshroom
- Blender
- Three.js
- Javascript
- SDL3
Political Persuasion Detection LLM
Political Persuation Detection LLM
Detecting & Analyzing Political Rhetoric using AI & Prompt Engineering
Project Summary:
Self-Hosted a Vision-Text LLM to parse, analyze, and predict the political alignments & persuasiveness of tweets.
- Used LLMs & Prompt-Engineering to analyze tweets with both text and images to determine stance & persuasiveness
- Looked at tweets' hashtags & content to augment political rhetoric & sarcasm for more accurate matching
- Used the vision model to determine image context and alignment
- Matched image and text alignments to determine overall persuasiveness of a tweet
Project Achievements:
- Analyzed 80+ tweets with 91% correct political stance classification rate
- Analyzed 50+ tweets with 87% correct political persuasiveness classification rate
- Self-Hosted LLaVa LLM Model for Vision and Text Processing
Skills:
- Prompt Engineering
- Python
- APIs
- Data-Parsing & Processing
- GPU-Acceleration
- Dataset Testing
SeizureSensor
SeizureSensor
Seizure Detection & Monitoring System While Sleeping
Project Summary:
Inspired by my friend's brother, we used SteelHacks XI to develop an epilepsy monitoring solution that uses both wearable technology and computer vision to monitor, track, and alert when a seizure occurs.
- Wearable Technology with EMG Sensor, Accelerometer, & Heart Rate Monitor
- Motion-Detecting Computer Vision Model using OpenCV
- Centralized MQTT server for data tracking & integration
- ESP32-powered visual and auditory alarm
Project Achievements:
- Won 2nd Best Overall Project at SteelHacks XI
- Won 1st as the Best Healthcare Project at SteelHacks XI
- Successfully created a proof-of-concept system that meets & exceeds current FDA standards for seizure monitoring devices
- Developed a functional system in less than 20 hours, tested on accurate simulated data
Skills:
- OpenCV
- Embedded Systems
- Biometric Sensors
- Python & C++
- MQTT Hosting
- Raspberry Pi
- ESP32 Microcontroller
- Serial Communication Protocols (I2C & SPI)
- Swift & XCode
LiteMonitr
LiteMonitr
Live Drawing Hardware Canvas
Project Summary:
Light Panels that you can draw on and interact with on any nearby device using Web-Bluetooth in real time!
- Uses Web-Native BLE to communication from your device to the ESP32
- Utilizes a 128x64 extendable array of programmable LEDs to recreate pictures and videos with ease
- Contains brightness options for lower amperage draw
- Initial Prototype developed in 3 days
Project Achievements:
- Iteratively upgraded Bluetooth Packets to result in 8x speed-up for live drawing
- Developed generalized mapping algorithm for 1:1 drawing from device to the hardware
- Created Web-Bluetooth App & Interface from Scratch
Skills:
- C++
- Bluetooth
- I2C
- Javascript
- Power Supplies & Power Electronics
To-Do List Auto-Updater
To-Do List Auto-Updater
Assignment Scraping & Consolidation Tool
Project Summary:
Python Application to Scrape, Parse, and Organize School Assignments into my to-do list
- Uses Python, cURL, Canvas & GradeScope APIs, etc. to access information
- Parses HTML Requests using customized HTML parser
- Creating extensible platform so that any data source can link to any list source
- Created a setup UI for other users using QT
- Autoschedules the data scraping using Task Scheduler
Skills:
- Python
- REST APIs
- Data Scraping & Web Automation
- cURL
- QT
- Task Scheduler
Autonomous Racing Robot
Autonomous Racing Robot
Autonomous Bluetooth- & Wi-Fi-Enabled Maze Navigating Robot
Project Summary:
Autonomous Racing Challenge using Distance Sensors & PID control for maneuvering, Wi-Fi for Data monitoring, & Bluetooth for Advanced Control
- Created autonomous racing robot at the bare-metal level in C
- Programmed Distance Sensors, Bump Sensors in register level hardware
- Programmed Interrupt-Driven Motor Drivers
- Developed PID Control for Wall-Following with Left vs Right Biasing
- Integrated Wi-Fi Drivers in C with Azure-Hosted NodeRed Data Monitoring Dashboard
- Used Web-Bluetooth Interface to control autonomous vehicle biasing, starting, stopping, etc. without impeding autonomoy
Project Achievements:
- Placed 2nd in the overall race, and had the most complete & integrated car in the class
- Worked in a team of 3 to create this robot over 3 days
- Integrated all possible features on this racing robot without use of an RTOS
Skills:
- C & C++
- Wi-Fi
- Bluetooth
- PID Control
- Distance Sensors
- Javascript
- Register Level Hardware & Assembly
Laser Tag Bop-It
Laser Tag Bop-It
Custom Mechatronic Laser Tag Game
Project Summary:
Full System Design Project of a 3-person group creating a working Laser Tag-inspired Bop-It Game with completely custom chassis, PCBs, and embedded software stack with an RTOS
- Custom PCBs housing ESP32 TinyPICO, MP3 Player, Speakers, Programmable Lights, Laser Pointer, IR Detectors, Joystick & Game Screen
- 3D-printed Chassis with spring-loaded trigger and slide-primer, press-fit conductive blaster clips, responsive accent lights, etc.
- Fully Functional Software Stack with Bluetooth & IR Target-Blaster Communication, ADC Readings for Unique Clip Identification, Custom Startup & Game Screen, and RTOS for Game Management
Project Achievements:
- Considered one of the best Bop-It Projects of all time by department head
- Presented at Departmental Discovery Day for a year after project completion
- Shown in Departmental Display Case
- Chassis & PCBs working on 1st Iteration
Skills:
- PCB Design
- Mechanical Design Consulting
- Embedded Systems
- C/C++ & Python
- Project Management
Light Chaser Mini-Matrix PCB
Light Chaser Mini-Matrix PCB
Hardware-Only Tuneable LED Matrix
Project Summary:
Custom PCB Light Chaser utilizing a 555 Timer, Level Shifters, and Potentiometers & Switch to Tune Movement Parameters (No Onboard MCU or Computer)
- Light Chaser Matrix assembled using varied height LEDs in a snaking pattern to approximate a light prism
- Custom PCB with onboard 555 Timer, level shifters to determine light-up sequence
- Potentiometer to Determine light-up frequency
- Switch to change light-up length
Skills:
- PCB Design
- Circuit Design
- Hardware Design
- Hardware Verification
Digital Paint Mixer
Digital Paint Mixer
Learn RGB Colors Easy!
Project Summary:
User-friendly RGB color learning experience that takes two inputs from a color sensor, and animates their combination into a new color!
- Uses a color sensor to capture real-life color using an intuitive camera capture sound
- Senses a shaking motion through an accelerometer, triggering color combination
- Animated color combination by circling through captured colors with water-swirling sounds
- RGB Addition or Averaging based on input setting to display new colors
Project Achievements:
- Created this polished prototype in 2 days
- Well-Received by fellow teaching staff & Shared with 30+ students for project inspiration
Skills:
- Embedded Systems
- Wearable Technology
- Sensors & Actuators
- Public Speaking & Video Making
STABLE
STABLE
Expanding Desk Space Compactly & Portably
Project Summary:
10 Week Capstone Project Designing a way to study more efficiently by increasing size and access of study spaces with a customized portable desk with a data-driven design from continuous outreach and feedback by 300+ people
- Created 3+ Prototype Iterations culminating in a Balsa-Acrylic Laminate that folds out, doubling its usable work area
- Acrylic Surface allows it to be used as a whiteboard
- Thin Profile lets it fit into a backpack with ease & allows clip-on lights and accessories to be attached
- Extendable leg allows stable & extended use while sitting and on-the-go
- Clamps onto desks, increasing the workable area by 2.5x
Skills:
- Mechanical Design
- Graphic Design
- Video Production
- Outreach
- Leadership & Project Management
Pomodoro Study Cap
Pomodoro Study Cap
Wearable Electronics Project for Efficient Studying
Project Summary:
Wearable technology that enhances the studying experience matching its alerts to the Pomodoro method
- Sensors are sewn into the wearable for a comforatble, integrated experience
- Contains lights, buzzers, and a heart-rate sensors to ensure proper breaks are taken
- Simultaneously made during a 10 week capstone project
Skills:
- Embedded Systems
- Sensors & Actuation
- Arduino
Star Wars Robot Duel
Star Wars Robot Duel
Musical & Choreographed Robotic Performance
Project Summary:
Darth Vader vs. Luke Skywalker but small robots singing Duel of the Fates with movements timed to the song!
- Autonomous sensing & movement of the other robot without intercommunication
- Musical Transcription & Translation into C code that is paired with interactive movement between the bots
Skills:
- Robotics & Embedded Systems
- C Programming
- Sensors & Actuators
- 3D Printing
Interactive Culture Map
Interactive Culture Map
Museum-Esque Culture Teaching Tool
Project Summary:
Using tactile interfacing electronics, we created an interactive map that shares cultural information about global locations, but only responds to a single user. This makes it perfect for creating personalized experiences in shared spaces, as the map only responds to a single person at once by design.
Skills:
- Tactile Electronics
- User Centered Design
- Teamwork & Leadership
Electronic Bathroom Timer
Electronic Bathroom Timer
Waterproof Water-Saving Device
Project Summary:
Electronic Bathroom Timer with multiple built-in settable timers to help reduce water usage and waste enabled by LittleBits
- Used Programmable LED matrix to display settings & timers
- Designed hardware interface using buttons & switches
Skills:
- Modular Electronics
- Team Work & Leadership
Shoe Comfort Design Project
Shoe Comfort Design Project
Human-Centered Shoe Support Prototyping
Project Summary:
4 Week Design Project to find more comfortable shoe support options exploring various materials & surveying people and users
- Worked on a team of 4 to work on this Human-Centered Design Project
- Surveyed 20+ people in person & 120+ online for user-supported data
- Created 5+ prototypes for A/B Testing & User Testing
Skills:
- Human-Centered Design
- User Outreach & Surverying
- Group Work & Collaboration
- Fast Prototyping Skills
Choose-Your-Own-Adventure Game
Choose-Your-Own-Adventure Game
MATLAB Interactive Experience
Project Summary:
Choose-Your-Own-Adventure Game integrated in a group project with 3 other projects utilizing pure MATLAB features
- Point & Click Style Terminal & Graph Game
- Use Graphs displaying pictures as choice & item options
- Use the Terminal for choice options
Skills:
- MATLAB
- Functional Programming