I am an Electrical and Computer Engineering Undergraduate student at Oregon State University. My interests lie in Robotics: control, state estimation, and collective intelligence. I am currently involved with the Human-Machine Teaming Lab advised by Dr. Julie A. Adams. My honors thesis focuses on implementing distributed swarm localization on one hundred centimeter-scale unmanned ground vehicles programmed in C++. The task of localizing the robots involves measuring the time difference of arrival of Ultra-Wideband packets between radios on stationary anchors and the robot. The system that we are using to localize is called the Loco Positioning System from Bitcraze AB, which is used to localize the 50 Crazyflie drones in our swarm. I am implementing an Extended Kalman Filter for state estimation and to fuse sensor measurements from the global positioning Loco Positioning System and an IMU. I hope to continue my education in a graduate program with a focus on robot modeling and control with regards to distributed autonomous systems, which include swarming, multi-robot collaboration, and autonomous cars. In my coursework, I have greatly enjoyed designing RTL in SystemVerilog targeting Altera DE10-lite and Cyclone V FPGAs. I have also been fascinated by the theory in signals and systems: modeling a system that can manipulate a time-domain signal by looking at it in the frequency and s-domain. I am particularly interested in the applications to digital signal processing that this class has opened my eyes to, such as distortion pedals for electric guitars, or equalizers for mixing and mastering music. I am currently working with a team to develop a selective compliance articulated robot arm (SCARA) that will be able to reproduce a picture that is given by drawing on an 8.5″x11″ paper. I worked on solving the inverse kinematics on the FPGA control board and physical arm design.
Oregon State University houses the Human Machine Teaming Lab and its Collective Robotics Testbed, which serves as a source of academic research and innovation. In order to support the infrastructure of this lab and to provide u...
A SCARA (Selective Compliance Articulated Robot Arm) which attempts to draw images using GCode generated from OpenCV contour generation. This arm was 3D-printed and uses a custom PCB for the motor drivers. Additionally, the inv...
A two-axis, fully 3D printed robot arm that is controlled by an FPGA. We implemented a system that takes an image provided by a user, extracts the primary lines using cascaded computer vision algorithms, and draws the image wit...