Projects

Built Scout, a TurtleBot3-based robot guide dog with real-time crosswalk and traffic-light vision, LiDAR person-tracking, and a fail-safe velocity-gate stack — led perception and safety-control on a 4-person Human-Robot Interaction team.

Fail-safe velocity gate stopped Nav2 output within one 20 Hz control tick of a latched red light, verified against a mock red/green signal rig with zero false passes.

Designed a 24 V field-oriented BLDC driver board and control loop holding ±0.3° position error under a 0.4 Nm step load.

±0.3° steady-state position error under a 0.4 Nm step disturbance.

Built a pocket 1 MS/s scope and logic analyzer with a custom analog front end and machined aluminum enclosure, validated against a bench Rigol to within 1.8%.

Amplitude accuracy within 1.8% of a bench Rigol DS1054Z from 10 Hz to 400 kHz.

Built a 0–20 mA Howland current pump with 0.05% FS error for sensor excitation and calibration benches.

0.05% full-scale error after a one-point trim at 10 mA.

Designed and measured a π-network matching a LoRa PA into a PCB antenna, cutting VSWR from 3.8 to 1.3.

VSWR improved from 3.8 to 1.3 at 915 MHz.

USB-C multi-rail logger that watches 3.3 / 5 / 12 V benches for droop and glitch events down to 20 µs.

Caught a 40 µs, 380 mV droop on the shared 5 V rail that aligned with a neighboring motor driver spin-up.

PID-tuned line follower that completed the course using seven photoresistors, a custom PCB, a 3D-printed chassis, and a light shield — finished the entire track with one manual nudge due to surface bumps.

Completed the full track; required a single nudge mid‑course due to surface bumps.