Mentored by Dr. Joel Burdick and Dr. Aaron Ames - Revived fractal-based universal robotic gripper using multi-material 3D printing for applications on ROVs, robotic feet, and industrial robots - Investigating grasp kinematics and stability through analysis for a proposed dimensional synthesis method- Managing simulation and 6-axis arm testing

Mentored by Dr. Soon-Jo Chung, Dr. Charles Elachi, Dr. Issa Nesnas, Dr. Paul Dimotakis, Kalind Carpenter - Awarded highest prize of $180,000 to develop, build, and test concept to TRL 5 during 2022 based on proposal selection. Selected "Most Visionary Concept."- Led locomotion team of undergraduates to design novel cable-based locomotion modality in NASA’s 2022 BIG Idea Challenge - Successfully demonstrated extreme terrain access robotic infrastructure for lunar Artemis Missions in Lucerne Valley desert - Collaborated with professors and admin to create MCE/EE/CS Capstone Design Course at Caltech, as the Head TA (’23-’24)

Mentored by Dr. Soon-Jo Chung, Dr. Charles Elachi, Dr. Jason Kastner, Dr. Manan Arya, Dr. Michael Mello, and Richard Abbott- Led team of 24 undergraduate and graduate students in NASA’s 2021 BIG Idea Challenge; Successfully developed modular and scalable lunar dust mitigation tiles (HOMES) to NASA Technology Readiness Level 5 for lunar Artemis missions- Awarded highest prize of $180,000 to develop HOMES as one of seven finalists and oversaw nine internships- Achieved 99% of 0 − 50 μm lunar dust clearing capabilities in 60 secs using electrodynamic waves in any configuration

Mentored by Dr. Arash Kalantari and Matt Gildner- Designed and prototyped novel grippers for the Mars Sample Retrieval Helicopter - Optimizing mechanical design of four DoF robotic arm to be mounted on autonomous quadruped for distillation column climbing and inspection- Testing quadruped to verifying motion primitives and transitions between distillation column layers- Built 1 ton distillation column mock-up with features to aid in testing

Mentored by Matt Keennon and Roger Schuck- Developed PID control for one-axis miniature gimbal using optic flow sensors for DARPA uBrain Grant on STM32 board- Designed a 15g three-axis robotic arm for future Mars Helicopter to manipulate small stones or payloads; Optimized miniature worm-drive gearbox using 3D printed parts with PolyJet printer

Mentored by Dr. Joel Burdick- Contributed to DARPA Subterranean Challenge Team CoSTAR (Caltech, JPL, MIT, KAIST & LTU)- Developed local motion planning algorithm for rough 3-dimensional terrain using Rapidly Exploring Random Trees, a sample-based motion planning algorithm; Formulated kinematic model of Ackerman steering for path following- Designed and prototyped novel quadcopter that utilizes a cone clutch to translate rotation of propellers to wheels, allowing drone to transition between driving and flying - Optimized fuselage and chassis of second prototype quadcopter with powered wheels, reducing mass by 0.5 kg though completely 3D printed construction

Mentored by Dr. Soon-Jo Chung and Dr. Charles Elachi- Refitted and tested VTOL tail sitter drone with autopilot capabilities with Pixhawk autopilot hardware- Tested and debugged early-stage of NVIDIA Jetson TX2 based flight controller with AeroVironment for Caltech Flying Ambulance- Designed and 3D printed mechanisms for Flying Ambulance

Mentored by Dr. Soon-Jo Chung, Dr. Mory Gharib, and Dr. Charles Elachi- Designed fuselage for flying ambulance; Gathered data for small scale ambulance prototype in Lucas Wind tunnel- Invented new landing gear to give Mars Helicopter greater range and utility, through utilization of compliant mechanisms and micro-spines; Prototype tested on simulated mars regolith slopes