Recent Projects

Autonomous Winch

The Autonomous Winch is a project I completed for my senior thesis that provides an automated method for collecting underwater data at various depths. This project is implemented on a UNO32 microcontroller and can receive serial commands to deploy its payload at various depths. The system also incorporates a control loop to keep tension within an acceptable range to prevent snags and tangles in the line.

This project was presented at ICMSC 2021 and was awarded “Best Presentation Award”

Project Repository

Paper PDF

Hybrid Systems UAV

I am currently working with Professor Sanfelice and fellow Master’s student Harsh Bahkta to develop autonomous drone firmware using hybrid system control algorithms. Hybrid systems combine discrete and continuous-time systems to expand functionality and fault tolerance. There is a lot of room for new research in the field of hybrid systems and has huge potential in the field of autonomous systems. My main focus on the project is the flight control system algorithm in the firmware.

PCB Core Unloader

I built a PCB core unloader as part of a robotics internship with TTM technologies. My partner and I started from scratch and started this project by designing our solution in CAD software. We then presented the idea to vendors to obtain industrial quality parts and assembled the entire system in-house. I was also responsible for writing all of the automation software for this project, including safety protocols and fault tolerance. The system can successfully unload cores from an assembly line and add slip sheet separators between them. The system is also able to tell when cores are stuck and automatically clear stuck cores. This project cost around $12,500 to build and has an ROI of 11 months(~$11,000 annual savings).