Projects

Engineering

I recently graduated from UIUC and am now continuing to pursue robotics research as an MS/PhD student in Mechanical Engineering at Columbia University. My passion is controlling robot movement, with current interests in both classical control systems and data-driven approaches.

Undergraduate Research: Robotic Soft Actuators

In my undergraduate research lab, I worked on a robotic octopus arm, constructed by conjoining three silicone rubber tubes each with fibers wound at a particular angle. I can control the arm's movements by adjusting the pressure within these tubes, allowing it to be positioned in any desired pose.

The group's objective is to create a mathematical model of the robotic octopus arm, which can then be used to predict the arm's pose based on a new set of input pressures. To record the arm's movements, we use 4-5 action cameras strategically positioned around it, capturing its motion with the help of tracking markers attached along its length. We utilize computer vision to extract the 2D pixel coordinates of the tracking markers, then apply the Direct Linear Transformation (DLT) to convert these coordinates into real-world 3D positions.

As part of the DLT process, we conduct calibration by moving a precise grid of known dimensions within the experiment zone, allowing the cameras to capture a perfect 3D grid of coordinates. I laser-cut a clear acrylic board and applied green acrylic paint to create the grid. Subsequently, I wrote a program utilizing OpenCV and scikit-image within python to isolate and retrieve the centroids (in pixel coordinates) of the green dots.

I extended the arm control script to incorporate joystick input and mapped these inputs to the desired pressure adjustments for the silicone rubber tubes in the arm. This integration provides a more intuitive and flexible means of controlling the robotic arm but also demonstrates possibilities for teleoperation and interactive applications in various research scenarios.

Maze-Solving Segbot

For my Computer-Controlled Mechanical Systems course, my team of four developed a maze-solving robot using the Texas Instruments F28379D LaunchPad board as a capstone project.

The robot balances on two wheels and procedurally navigates mazes constructed from foam walls, guided only by 3 IR sensors. It uses an MPU-9250 IMU for acceleration and gyroscope data and rotary encoder feedback from the DC drive motors to maintain balance throughout its pathing.

The robot operates in three distinct movement modes: maze traversal mode, turning mode, and linear move mode. In maze traversal mode, it slowly moves forward while using PI control on the left and right IR sensor inputs to center itself between the walls. In turning mode, forward motion is suppressed and only rotation is allowed. In linear move mode, turning is suppressed to allow straight line motions.

A higher level pathing planner uses a depth-first recursive algorithm to solve the mazes. It uses the linear move and stationary turns to center iself at detected junctions and systematically explores down each available path, starting with the leftmost branch. If the left branch reaches a dead-end or has been fully searched, the robot returns to the junction, reorients forward, and proceeds down the next unexplored path. This continues until sensing no walls on all 3 IR sensors, indicating the goal is reached.

Eco Illini Supermileage: G5e Battery Pack

I created a brand new battery pack for the G5e prototype vehicle of Eco Illini Supermileage, a Registered Student Organization at UIUC. Each year the club competes in the Shell Eco Marathon to achieve the most efficient prototype car.

The updated pack (right) is visibly smaller than the previous generation (left), yet exhibits 25% less weight despite its 33.3% greater volumetric energy density.

The pack consists of 13 Samsung 40T 21700 lithium-ion cells in series achieving 187.2 Watt-hours of energy. The cells are packed hexagonally into a 3D-printed casing which was modeled using Fusion360 and printed in PLA.

Art

Chinese Calligraphy

I began taking private Chinese Calligraphy lessons in the sixth grade under a family friend. I started off with the print script (正楷) font to master the fundamentals, and then later learned to express myself in cursive (行書) and artistic/imaginative (草書) character styles. Here is some of my artwork below.

下江陵 Xia Jiangling - 李白 Li Bai

This iconic poem by Li Bai portrays his observations of nature on his way down the Yangtze River to Baidi City. Li Bai experiences the hot and noisy jungle environment, which is reflected in the faster brushstrokes of my cursive style piece.

On the left is my rendition of the poem in print script. Written when I was in junior high, the piece demonstrates my technical skill with the brush and my fundamental knowledge of the different types of calligraphy strokes.

On the right is the same poem revisited with a cursive style. Written in high school, I wanted to add character and life to a piece I had written in monotone before.

立春偶書 Li Chun Ou Shu - 張拭 Zhang Shi

This poem by Zhang Shi describes the rebirth of life that results from the seasonal transition from winter to spring. I used a cursive style with more animated brush strokes to symbolize the sweet youth of spring, as if the brush was dancing energetically.

Watercolor

Elephant

The Thinker

Quiet Nook

Music

I dabbled with the piano by ear during elementary school, but began more serious music training later in junior high. The year before high school I picked up violin and joined the Homestead High School Orchestra the following year. I also played piano for the Homestead Symphony Orchestra in my Junior and Senior years of high school.

Piano

Gershwin Prelude No. 3

Although the shortest piece in my Certificate of Merit Panel Audition repertoire, Gershwin's third Prelude was a challenging piece because of its faster tempo and contemporary style.

Schubert Impromptu Op.90 No.4

Schubert Impromptu Op.90 No.4 is one of the composer's most beloved impromptus for its exercise on tone quality and dynamic range. Playing this piece demands even tone quality and precise fingers.

Bach Fugue No.2 in C Minor

Bach's pieces are regarded as one of the most healthy ways to train hand dexterity and independence. As my teacher tells me, Bach is about making it look easy even when it makes you feel like a beginner again. It's like eating kale—palatable in controlled quantities, but too much and it feels like a kind of punishment.

Mozart Piano Sonata No. 5 in G Major

Mozart Sonatas are like vanilla ice cream: basic, sweet, and nothing like real vanilla. One must channel their inner snobbish, rich nobility to embody Mozart's music.

Posters

UIUC 4th International Research Symposium

9/18/23 - Mehta Research Group/GazzolaLab

ME470 Senior Design Trade Show

11/14/23 - Minimally Invasive Surgical Tunneling Device

Elements

i = 0;
                    while (!deck.isInOrder()) {
                        print 'Iteration ' + i;
                        deck.shuffle();
                        i++;
                    }

                    print 'It took ' + i + ' iterations to sort the deck.';