I made an ultra-low-cost ($120) quadruped robot moving base for the MechWarfare competition that I couldn't get a chance to attend. I used a novel spring-and-cable parallel mechanism and a minimalistic open-loop trotting gait generator. The robot achieved 100 mm/s walking speed.

Read More...

This is my Major Qualifying Project (senior thesis) at WPI. Our ultimate goal was to create a retrofitting kit to convert cheap single engine planes into autonomous cargo drones. In about 6 months, We made the world's first fly-by-wire single engine aircraft.

I was the electric+electronic engineering wizard, machinist, and embedded programmer on the team. I made gorgeous avionics.

Video credit: Nick Cyganski

Read More...

SwagRocket555 was designed to ace model rocket target altitude competitions. The goal was to deploy a speed brake based on the rocket dynamics to make a rocket stop at a specific altitude. The control board is a Teensy 3.6 shield, with a 3 axis gyro, a 3 axis low-g accelerometer, a 1 axis high-g accelerometer, a barometer, and a differential pressure sensor (for pitot tube). It actuates a servo (for extending the speed brake) and ignites a electric match (for deploying a chute).

Read More...

We made a robot that autonomously solves a maze fast without prior knowledge about the walls. I made the robot hardware (PCB+chassis) and some motion control. My friends wrote the maze solver, state estimation, and a Gazebo simulator.

Photo credit: Brown IEEE

Read More...

Project for Smart Materials and Actuation class. We developed a novel robotic orthosis to correct foot drop gait cycles and help walking by pulling the foot towards the knee during initial swing gait phase to assist dorsiflexion. The robot senses the gait cycle with FlexForce sensors and actuates the ankle joint with a McKibben actuator.

Read More...

A dVRK-console-compatible motor driver based on PMD Prodigy/CME machine controller for improved force feedback. A cisst-saw fork to support this motor driver.

documentation+source

Read More...

Stop the struggle of adjusting horizontal sliders! The n00b allows single pixel mouse movement for adjusting sliders. This is basically a knock off of the nOb, but with satisfying detents and an ergonomic bean bag. Made with a Cypress PSoC dev board emulating a USB HID mouse.

Read More...

We made a drill bit sorting system with ABB IRB1600 robot. We made an attachment to a pneumatic gripper that measures the drill bit with a pair of caliper. I wrote a Chrome app to read the caliper reading through an arduino and tell the robot where to drop off the drill bit. It also has a very nice GUI.

Read More...

Class project for RBE3002 Navigation. We made a mapping robot that automatically explores the unknown area. We used a turtlebot with ROS nav stack.

Read More...

I learned CAN bus by implementing a CAN-based real time network on the Robocart, a 1995 Club Car golf cart retrofitted for self driving car research at Wireless Innovation Lab. I made a board that controls the steer and brake motors and reads position sensors. The board talks to the onboard server via CAN bus.

Photo credit: 2015-2016 Robocart MQP Team

Read More...

Class project for RBE3001 Manipulation. We made a weight sorting machine. The robot picks up the object and puts it down at different locations based on the weight. We were provided a 3D printed 2-link planar robot arm, and we coded the kinematics, controls, and force feedback in embedded AVR that talks to MATLAB.

Read More...

IOT thermal printer before it was cool.

Read More...

My first Alexa smart home skill. My light switch is far away from by bed but I'm too cheap to buy a wifi light bulb. Instead, I hacked together an IOT power switch with an ESP8266 and a surge protector with a digital on/off input. Alexa changes the light state on my backend server via an http api and the ESP8266 polls it.

Read More...

Class project for RBE501 Robot Dynamics. We designed a novel directional haptic feedback system to augment existing haptic feedback methods for the da Vinci surgical system. The new device generates haptic feedback by commanding two linear resonant actuators to oscillate asymmetrically; therefore a planar pseudo-force vector can be resolved for haptic feedback. The hardware transduces collisions of a simulated slave manipulator with an obstacle in Rviz into asymmetric oscillations perceived by the user as a directional resistance.

Read More...

A 1.2 mm nozzle for maximum thermal conductivity and thermal mass.

Read More...

Caliper Twister II is a 4 DOF + 1 gripper microplate handling robot. I found one in the trash. I sniffed its serial interface to avoid using its pesky Visual Basic API. I'm currently using it to learn computer vision.

Read More...

I converted a footpedal (from an ultrasonic machine) to a computer joystick so I can navigate webpages and pdf without touching keyboard and mouse while I eat. The footpedal connects to a Cypress PSoC 5LP dev board, which emulates a USB HID joystick. An AutoHotKey script monitors the joystick and triggers the mouse and keyboard event.

Read More...

We made a MIDI controlled tongue drum actuated with high pressure water stream. The chassis is a repurposed filing cabinet that contains a semi-closed loop water circuit. A custom, solenoid valve-articulated distributor sends highly pressurized water out of 13 nozzles. Each nozzle articulates either a tine on a steel tongue drum or a custom-made xylophone block. The unit is completely modular, which allows the composer to decide which elements he or she wishes to compose for. Software was developed so a non-technically inclined composer can upload any MIDI file, and it will be played. This instrument allows for entirely novel sounds as it combines percussive elements with a constant reverberation only possible for aerophones and string instruments.

Read More...

I made an acrylic box for a adjustable power supply module and a voltage/current meter in high school for testing out electronic junk in field at the junk market.

Read More...

I made these over-engineered custom engraved aluminum bread clips as gift for my host family in Texas when I came back to visit. The bread clips were slotted out of a sheet of 6061-T6 aluminum in a CNC mill, mass finished in with alumina, and engraved in a soft jaw. They worked fairly well as bread clips and can become cute necklaces.

Read More...

Mirrorphone is a musical instrument made from laser printer parts. It scratches the spinning polygon mirror with a dollar bill. I used an arduino to accept MIDI input over USB serial, and drive the polygon mirror at the calculated angular velocity.

Read More...

I made the acrylic box for a soldering iron controller in high school, which straps on a power tool battery pack.

Read More...

I taught my friend Altium by walking him through the design workflow of this set of boards for WPI's RBE3001 Manipulation lab hardware (a 3DOF robotic arm). It's designed to minimize required soldering skills. It is used in some graduate classes, and it enables students to build their own arm to play with after they finish the class.

Read More...

Class project of ECE3849 Real Time Embedded Systems. We coded a real time oscilloscope with FFT on a TI ARMv7 dev board based on TI-RTOS.

Read More...

A modular robot leg motion control board that connects a ARM core module to inductive encoders and maxon motor drivers.

Read More...

We made a beautiful wood tongue drum and automated it with arduino and printer parts.

Read More...

A ridiculous non-working micromouse robot that uses four MSP430 microcontrollers.

Read More...

Made this in high school for competition. It has an omnidirectional drive base and uses lidar + kinect to find human.

Read More...

This is a quick hack for helping my mechanical enginner friend collect data for his novel wind turbine. It logs wind speed every 10 seconds. Made with ESP8266+InfluxDB+Grafana.

Read More...