Undergraduate Researcher
Current
Tuscaloosa, Alabama, United States
Design and Casting of Propulsion System Mounts• Designed mounts and utilized FEA analysis to iterate design and optimize mass of the mounts• Completed aluminum casting process in house, including the mold making, material preparation, and casting• Conducted material strength analysis to confirm integrity of part and fabrication process Fabrication of Ray-Inspired Underwater Robot• Developed novel fin design, combining tensegrity joints and soft elements to enable remote actuation, mimicking motion of a manta ray to ensure efficient swimming and compliance with its environment• Designed sealed electrical system to repeatedly withstand water testing for 90 minutes including a custom PCB which controlled servo motors and an IMU for recording and processing data with Python • Completely modeled external and internal robot design in SolidWorks and performed automatic calculations for Center of Mass and buoyancy to ensure a neutrally buoyant and balanced robot • Manufactured an experimental testing rig to evaluate and optimize thrust and efficiency with different control parameters and strategiesMicrospines and Soft Robot Topology• Completed study on the effect of microspines on the performance of locomotion on a soft robot• Investigated multiple topologies of soft robot to optimize the ability to rotate and translate• Created custom tracking software using OpenCV and Python to evaluate motion of robot across tests, allowing for 200 tests to be run quickly in different environmental conditionsROS Based Basic Mobile Robot• Setup a custom network to wirelessly connect 3 microcontrollers and implemented feedback control in ROS2 to autonomously drive a wheeled robot• Designed and built robot’s mechanical, electrical, and computer systems• Navigated abnormal environments remotely with a 2D LiDAR and Human in Loop control