• Designed 24V 60A brushed actuator controller; designed PCBA and wrote C controller firmware

  • Enabled parallel development of PCBA and firmware by using TDD to validate runtime code execution, significantly reducing bring-up time while instilling confidence in firmware

• Developed driver HAL abstraction for peripherals, enabling TDD and rapid MCU changes due to chip shortage

Led an amazing team of undergraduate students to build a drone capable of object retrieval and autonomous human intruder detection. 

We competed in Southport, MB, at the annual AEAC student competition - though we didn't take home any awards or records, we learned a lot about what we didn't know.

• Created sensorless brushless DC motor controller for use in drone and robotic applications

• Programmed trapezoidal commutation control scheme; opted to use off-board STM32 as a result of chip shortage

• Simplified zero-crossing detection in hardware as the firmware implementation of sensored BLDC only required a phase shift timer to be removed with no additional wiring changes to the logic controller

• Implemented hobby PWM RC interface using timer input capture to make controller compatible with RC systems

• Designed and brought up the safety controller (STM32F030)

• Architected system to use 2 separate chips: one to perform high-level path planning and management and another to interface with the actuators capable of switching between manual control and autopilot commands

• Opted to use bare-metal application to reduce code complexity and overhead on the safety chip

• Implemented custom watchdog timer to default to manual control in the event that autopilot SPI transactions are not received within the specified time period

• Designed a robotic control system to allow for teleoperated and autonomous control of a chassis

• The objective was to design a robust system that could be used for ROS2 experimentation, as well as mechanical validation of a new prototype drivetrain through teleoperated control

• Opted to use WiFi as the physical communication layer to allow non-tethered operation at ranges of up to 250m

• Created command and control API through UDP multicasting in Python; implemented automatic software emergency-stop through a lost-link watchdog

• Programmed differential drive using inverse kinematics to facilitate arcade-style teleoperation, allowing for precise control of the robot by human operators

• Implemented current and voltage monitoring telemetry at a rate of 1 kHz, allowing for accurate torque and power delivery estimation and prototyping

• Designed wireless soil moisture sensor to evaluate runway surface conditions on an active aerodrome

  • For context, it rains a lot at my gliding club... I didn't want to keep on driving out only to find out it was super wet

• Created custom 2-layer PCB in KiCAD featuring ESP32, USB, and UART; wrote firmware in C using ESP-IDF

• Developed data transfer system via UDP multicasting using LwIP and FreeRTOS, enabling wireless communication

• Developed a discord bot to handle identity verification, announcements, and other functions as required. The bot boasts 4k+ active users across 2 universities and 15+ servers

• Acted as the project manager and architect during initial development and V2 releases

• Implemented listener events with Discord REST API within a TypeScript command framework, allowing for additional event-driven functionality to be added to the bot

• Reviewed and authored 50+ PR’s in Python 3 and TypeScript, enforcing proper conventions and scalability

• Added CI/CD functionality to development pipeline, significantly reducing bug report rate by 200%

• Led a team of 12 high school students to build two 120 lb robots in 6 weeks

• Wrote control algorithms and drivers to manipulate actuators over PWM and CAN interfaces with Java

• Enabled autonomous completion of tasks through PID control, encoders, and vision-sensing peripherals

• Mentored software team members in introductory CS concepts and robotic control system design