Engineering Portfolio

Robot Hand

Objective: Design a robotic hand with human-inspired kinematics featuring 1 DOF per finger and 3 DOFs for the thumb.

Challenges

Reducing friction during finger movement, working within limited available resources, assembling and manufacturing the full 3D-printed system, converting motion of the thumb into three separate axes.

Process

Refined the mechanical design to reduce torque demands, added extension springs, and developed a Python/MediaPipe vision pipeline to track hand motion.

Result

Developed a functional robotic hand capable of replicating human hand movements and gripping objects in multiple orientations.

Undergraduate Research Assistant

- Waterloo Interactive Robotics Lab -

Objective: Develop ROS2 control software for a 7-DOF PAL Tiago-Pro robotic arm to perform simulated pick-and-place operations in a Foxglove environment.

Challenges

A custom camera mount had to be created for the arm, integrating multiple ROS2 systems, and developing reliable motion planning for coordinated arm movement, working with Docker and dual booting into Linux.

Process

Developed and tested robot motion control, trajectory planning, and simulated sensor integration while refining arm movement through iterative testing and debugging.

Result

Created a functional simulated pick-and-place workflow with coordinated robotic arm motion in simulation.

Robot Navivation

- Waterloo Watonomous -

Objective: This assignment involved programming a simulated robot with a differential drive, camera, and laser scanner to navigate between points while avoiding static objects. The robot was simulated in Foxglove, and programmed using ROS2. This project also served as an introduction to Docker and navigation architecture.

Challenges

A lot of debugging was required to implement a buffering system and align the timestamps required to integrate data from the camera and laser scanner. Filtering techniques had to be applied and the sensor parameters fine-tuned to enhance detection accuracy through sensor noise and environmental variability.

Process

I researched navigation algorithms, designed a system using standard tools, and integrated sensor data. Through iterative testing, I refined the algorithms for effective obstacle avoidance.

Result

The project resulted in a functional navigation system for the robot. I learned how navigation algorithms work and how to implement simultaneous localization and mapping.

Tower Raising Lead

- Waterloo Rocketry -

Objective: Lead a team of 15 to setup the ground equipment site, manage the railing of the rocket, and lead the tower raising prior to launch

Challenges

Creating custom ground anchors for the tower truss, creating a new ground equipment setup procedure, training a team to raise the tower and delicately handle rocket once assembled

Process

Creating custom ground anchors for the tower truss, creating a new ground equipment setup procedure, training a team to raise the tower and delicately handle rocket once assembled

Results

Ground equipment was quickly and efficiently set up in a record breaking 3h for the team, contributing to the rocket launching on the first possible day of competition

Rocket Tower Stand

- Waterloo Rocketry -

Objective: Design and machine the rocket mount that support the rocket before launch

Challenges

Tight schedule to design, simulate, and acquire supplies and machine, rescillience through multiple redesigns due to limited reference CAD of the tower available

Process

Created design sketches using field measurements, designed in Solidworks, conducted FEA analysis to validate and optimize for mass vs. performance ratio, tested during engine and valve tests prior to competition

Results

Rocket mount successfully used during the launch and testing of the liquid bipropellant rocket in both the year it was designed and the following year

Pyrocutters

- Waterloo Rocketry -

Objective: Design and machine custom pyrocutters used to sever parachute lines for rapid deployment during rocket descent

Challenges

Designing the part for easy machining, optimizing machining processes for speed and efficiency, quickly learning adapting to a difficult, heat prone material

Process

R&D on material and shape design, drawing creation, ANSYS simulation, cutting scrap titanium rods to length, using a lathe to drill and ream them, and hand-tap them

Results

Successfully deployed during the descent of Canada’s first amateur liquid bipropellant rocket

N2O Quick Disconnect

- Waterloo Rocketry -

Objective: Redesign the quick disconnect used to fill N2O Oxidiser into the rocket and detach at launch using pneumatic pressure and an actuator

Challenges

Learning new skills very quickly due to restrictive deadlines,changing project requirements, parts damage during valve tests required tests to be replanned and the initial project assumptions to be reanalyzed

Process

Had meetings with various system leads to define constraints and requirements. Used concepts learned in dynamics and statics classes, as well as material properties to choose the material and design the pyrocutters. Learned how to bring a project from ideation to completion. Attended workshops to aquire the necessary machining techniques including tig welding, miling, and programming a CNC machine

Results

The part safely disconnected after launch (as seen in second slide)

FIRST Robotics

- Team 1325 -

Objective: Work with a team of over 20 students and 3 mentors to design, manufacture, and compete with a large robot

Finished 3rd in Canada and 23rd in the world at the 2023 World Championships in Houston, Texas

Bonus: we drove from Ontario to Texas without stopping. That's 35h!

Technical Work

My performance on the team was focused on the mechanical components and development, the skills for which were gained by disassembling robots from previous seasons to better understand the various robot systems. Throughout the season, I also gained an introduction to JavaScript and AutoCAD during the design season. I further developed hands-on mechanical skills by building a large-scale robot practice field, which involved the use of power tools and industry standard-blueprints. Through simulated gameplay, the team got a chance to debug and improve various components of the robot, which helped us achieve great success over the active season.

Volunteer Work

During competitions I volunteered as a FIRST Robotics Ambassador, giving tours and helping sponsors learn more about the robotics program offered by FIRST. During the offseason I was also a part of the outreach team, spreading awareness about oppertunities for women in STEM and FIRST.