● Coordinated the development of the MIRA robotic platform: a mobile robot demonstrating SLAM capability and basic manipulation, which is used internally for our AI/ML platform development and is an open-source design for STEM education

● Created custom ROS packages in C++ and Python to integrate our sensor suite (IMU, Depth Camera,

Encoders, Ultrasonic Sensors) and AI/ML platform, improving autonomous control of the robot

● Designed our robot's simulation environment for Gazebo on Linux, using custom URDF, world UDF,

configuration, and launch files to facilitate and improve our platform's machine-learning capability

● Developed our robot's entire compute and electrical system, integrating an ultra-small form factor computer with a full-size GPU, microcontroller, multiple sensors, and servo actuators

● Built a custom PCB design that allows for easy replacement, connection, and disconnection of critical

components, improving the modularity and robustness of our robotics platform

● Documented design, assembly, wiring and Bill of Materials for our robotic system, allowing high school level students to build the system on their own

➤ Able to learn new skills and technologies rapidly.

➤ Familiar with languages Python, C++, Java, Javascript, HTML, CSS

➤ Proficient with IoT and Embedded Systems

➤ Experienced with electrical assembly (soldering, wire crimping, cable assemblies)

➤ Skilled with troubleshooting tools such as multimeters, function generators, oscilloscopes

• Implemented software and hardware functionality that allowed for the robotic system to switch between wheeled and bipedal locomotion.

• Created parts in Solidworks for use in adapting otherwise incompatible hardware to the base robotic system and utilized 3D printing to fabricate them.

• Designed an improved battery housing unit to increase duration of robot function by 20%, accounting for the additional weight and shift in center of balance.

• Manufactured adapters to increase the number of servos on robotic platform from 18 to 20, to add wheeled locomotion function.

• Devised front-driven, back-steered configuration for wheeled locomotion on the transforming robotic platform.

• Refined robotic system transformation sequence by investigating similar transition motions between a human in prone position to standing position.

• Wrote and managed technical documentation of the robotic system, including schematic and technical drawings throughout each stage of prototyping.

• Analyzed robot bipedal gait, referencing human gait from scientific literature, to resolve balancing issues under additional stress and load.

• Planned out a testing apparatus for AX12 servo motors, measuring signal latency between system controller and twenty daisy-chained servos using an oscilloscope.

• Utilized Excel to store, analyze and graph data on servo latency, to determine correlation between number of servos and system performance.

• Coordinated with a team of three in developing an IoT (Internet of Things) device known as Smart Capsule to track patient compliance.

• Conceived a weight-based medical pill counting function, programming a load sensor and liquid crystal display to track pill count using C++ in Arduino IDE.

• Performed project demonstrations to open-house audiences, including students and tech professionals.

• Articulated verbal explanations and visual aid to explain the design and functions of the transforming robot and other projects created by the lab.