Past Projects

TVQuad_001_STVQuad UAV

The TVQuad is a mid-size unmanned aerial vehicle (UAV) being developed for search and rescue operations. Designed with a high level of maneuverability and substantial onboard computing power, it will offer increased capability over currently available alternatives.

Cricket_G1_001Cricket UGV

The Cricket is a small Unmanned Ground Vehicle (UGV) developed for search and rescue in urban disaster scenarios. Using a combination walking-rolling movement, it can overcome large obstacles while maintaining high efficiency for long-duration operations. Finally, an advanced
control system simplifies operations leaving the operator free to focus on the rescue.

kSim1_BannerkSim 1.0

The first generation of my custom simulation software, kSim 1.0 created for testing vehicle control systems in complex 3D environments. New methods for continuous collision detection and surface contact simulation provided high levels of physical accuracy, while OpenGL graphics achieved intuitive and powerful user interaction.

UASA Robotic Hand

The Under-Actuated Self-Adaptive (UASA) robotic hand project created an end effector for industrial manipulators capable of catching and grasping a wide variety of objects. By designing the hand to favor passive adaptation to the object shape, we were operate the complete hand motion using just a single motor.

TESS_001_S.JPGTESS Prototype

Putting theory to the test, the Thermal Energy Storage System (TESS) prototype demonstrated technologies theorized by previous ABB Corporate Researchers. The project investigated suitable storage materials, simulated thermal performance, and verified these tests using a fully functional scaled prototype.

Forceps_001_SHaptic Forceps

A new intuitive input device for the NeuroArm neurosurgery robot, the haptic forceps (medical tweezers) provided surgeons with tactile force-feedback during surgeries. The forceps simplified doctor-robot interaction by replicating both the shape and feel of the medical instruments doctors are accustomed to, and simultaneously providing them with the touch sense they rely on when using non-robotic tools.