Projects Showcase
Mars Rover Human-in-the-Loop Pick-and-Place
DAM Robotics Club rover arm that lets an operator point to pick and place targets via an ArUco pointer.
About Me
From mental math to building systems
Growing up, I loved numbers and making things. I’d rattle off mental arithmetic to impress my parents’ friends and, as a teen, built a hydraulic arm that became my first real “engineering constraints” lesson. I posted game tutorials for fun, which nudged me into programming and, eventually, engineering.
I care about robotics, automation, AI, and AR, and I’m motivated by building systems that are useful, accurate, and delightful to use.
Outside class and work I balance badminton, ballroom dance, and hosting themed events with heavy workloads. Teaching is a through-line: designing explanations, tools, and interfaces that help people learn faster.
Speed Math — 60s
Outside School/Work
OSU Capstone Design Proposal
Four Wheel Steering Integration and Sensor Platform for Woodpecker LSEV is my Oregon State University mechanical engineering capstone design proposal (ENGR 415/416, Team D605). The project focuses on integrating a four-wheel-steering kit and a modular sensor-ready mechanical platform for autonomous LSEV research.
Projects
- ●Scanned the workspace with a gripper-mounted Intel RealSense D405 to build a point cloud for scene understanding.
- ●Segmented the ground plane and clustered objects with PCL, then detected ArUco pointer pose in OpenCV and computed ray-to-plane intersection for operator intent.
- ●Selected the nearest object cluster to the intersection point and planned/executed approach, grasp, and place trajectories with MoveIt2 on the 6DOF arm.
ROS 2 · MoveIt2 · PCL · OpenCV · Intel RealSense D405
Open on YouTube ↗- ●Built camera-based color detection for red, green, and blue blocks and randomly selected one visible block as the attacker.
- ●When two or more blocks were visible, the arm picked the attacker, performed an attacking animation, and dropped it onto another randomly selected target block.
- ●When only one block was visible, the arm still performed pickup + attack animation, then yeeted the block to a random off-board location.
Hiwonder ArmPi · Computer Vision · Color Detection · Robot Manipulation
Open on YouTube ↗- ●Built hand_tracking_node (ROS 2 + MediaPipe) → publishes fingertip TF frames + MarkerArray for AR/telemetry.
- ●Wrote calibration_node (Python/NumPy) → 5×5 homography, persists M.npy for repeatable cam↔projector alignment.
- ●Added voice_command_node + ui_display_node (OpenAI API + Pygame) → hands-free launches with logging/monitoring.
ROS 2 · Python · MediaPipe · OpenAI API · Pygame
Open on YouTube ↗- ●Modeled + 3D-printed assemblies; firmware & keypad UI for recipe selection + pump sequencing.
- ●Ran DFX/FMEA to shrink footprint, speed assembly, and improve reliability.
- ●Prototype results: <5% dosing error, ≤6 min dispense, ≤5 min clean; up to 3 ingredients & 4-drink batches.
SolidWorks · Arduino (C/C++) · DFX · FMEA
Open on YouTube ↗- ●Demoed detector workflow: create detector, read frame, get bboxes + scores, overlay results.
- ●Explained pros: turnkey, accurate on upright full-body, integrates with MATLAB tooling.
- ●Caveats: partial occlusion/poses degrade accuracy; slower than modern DL detectors—good starter baseline.
MATLAB · Computer Vision Toolbox
Open on YouTube ↗Contact Me
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