M.Eng - Monitoring Robotic Plan Execution

September 2012

My M.Eng thesis centered around monitoring high-level temporal plans for robots. A key piece of my work was a set of algorithms that extract candidate rationales for actions in the plan, which are then monitored while a robot carries out the plan to ensure success.

Planning Algorithms for Bicycles

May 2012

For my final project for 6.832 (Underactuated Robotics), I decided to apply various random sampling-based motion planning algorithms to some different planar models of bicycle dynamics. I used RRT, RG-RRT (Reachability-guided RRT), and LQR-RRT* to plan paths for the Dubin's vehicle (3-dimensional state space), non-slipping bicycle (4-dimensional), and a slipping bicycle (7-dimensional) with a "skidding" model.

Blicycle - a bicycle for the blind

September 2011 - December 2011

Blicycle is a bicycle for the blind. Through a number of mechanical, electrical, and software additions to an off-the-shelf bicycle, blicycle helps a blind individual ride around an outdoor track by communicating turning directions with a custom vibrating handlebar interface. Computer vision is used to localize the bicycle with respect to the track.

Bike spoke lights

August 2011 - September 2011

These bike lights use bright LED's and are designed to attach to a bicycle wheel's spokes, so that many can be added per wheel. I designed these for a seminar for freshmen and others interested in learning about engineering, and over 50 of them were built!

Bicycle Building

June 2010 - Present!

I really like bicycles - both riding them as well as working on them. During my senior year, I built up a fun bicycle combining the class of a 31-year-old Schwinn frame (one of the last made in Chicago!) with the performance of modern parts. I learned a lot about bicycle mechanics in the process, and the result is a great bike that's a blast to ride.

PicasoBot - a sketching robot

March 2011 - May 2011

PicasoBot is a robot that draws pictures. It uses a 2-axis CNC mechanism to move a pen head, and a third actuator to push the pen down on the paper with varying degrees of force. It can reproduce sketches made by a person drawing on a tablet, and can also draw other things like fractals.

LightDJ - software for music-synced lights

September 2010 - Present

LightDJ is a software application for controlling lighting systems synchronized to music. It runs real time music analysis to create visual effects that are synced to the beat, while offering a "LightDJ" high-level control in order to select lighting effects that match the music's mood. This juxtaposition of computer algorithms and human touch creates an immersive visual experience that's truly one of a kind.

Planning with learned motions

April 2011 - May 2011

Oftentimes, robotic motion planning algorithms generate very bizarre paths that don't make sense to people. This algorithm seeks to generate motions that would be intuitive/predictable , by piecing together motions that have been demonstrated by a human. It uses motions learned by demonstration as the primitives in RRT* instead of straight line segments.

Automatic music genre identifier

October 2010 - December 2011

This projects sorts songs into one of rock, hip-hop, electronic, jazz, or classical. It runs music analysis algorithms to compute frequency domain features (such as bass, highs, rhythmic strength, etc.), which are then fed into various machine learning algorithms to classify the song's genre.

Pedestrian tracking for autonomous forklift

September 2009 - December 2009

My semester project for Robotics Science and Systems II (6.142). Combines data from a computer-vision based person tracker with LIDAR data clusters to track people as they move around an autonomous forklift.

Autonomous block-collecting robot

April 2010 - May 2010

Our final project for Robotics Science and Systems I (6.141). We build a deliberative, autonomous robot for picking up and stacking blocks that used a custom mechanical design.

2.007 Robot

February 2010 - May 2010

My entry into the MIT 2.007 Robot competition. My design used a scissor mechanism actuated by a lead screw, and also used an active counterweight to stay balanced.

Next House Website

Summer 2010

As the website chair for my glorious dorm (Next House), I redesigned the website during the summer of 2010. It now features an interactive, easy-to-modify image collage using web 2.0 techniques such as AJAX and jQuery.

Shiny - a website for making polished images

January 2010

Shiny is a website programmed in django that makes images look shinier. Users can upload an image, and apply a number effects such as adding shadows, reflections, rounded edges, and more.

Photography

September 2007 - Present

Photography is one of my hobbies. I particularly like taking pictures of cityscapes at night in order to capture especially vibrant colors.