Rose-Hulman Institute of Technology · 2016-2020
Rose-Hulman projects.
Undergraduate mechanical engineering: a year-long assistive-robotics capstone that represented the USA in South Korea, plus controls, machine-learning, and CAD coursework.
Year-long capstone · 4-person team
Automated eating apparatus for a quadriplegic patient
A low-cost robotic feeding device for our quadriplegic client, Gary Wallace, built
over three prototypes across the year. Roughly $150 against $5,000 to $10,000
commercial arms, and it took us to the E²Festa in South Korea representing
Rose-Hulman and the USA.
Controls · MATLAB
Inverse kinematics with a distal teacher
A 3-DOF arm reaching a 2D point has infinitely many valid joint solutions, so you
cannot train a network on joint angles directly. The distal teacher supervises only
the end-effector position and backpropagates through a learned forward model.
Built from scratch in MATLAB with no neural-network libraries.
Controls · MATLAB & Simulink
Fuzzy-logic controllers for autonomous parking
Mamdani fuzzy controllers that back a car into a space and parallel park it, written
as the rules a driver follows rather than derived from a model. 27 rules for
backing in, 43 for parallel parking, where tracking the front axle keeps it from
clipping the car ahead.
Intro CAD · Freshman year
Taj Mahal: CAD model and OpenGL visualization
A detailed CAD model built for a freshman intro-CAD competition, then given a second
life: its points extracted and sorted with nearest neighbours so C++ and OpenGL
could redraw it as a continuous line drawing.