Built a full SLAM stack in ROS 2 from scratch: 2D geometry library, simulator, odometry, and Extended Kalman Filter SLAM with unknown data association, deployed on a real TurtleBot3.
Three Crazyflie drones carry a shared hanging payload via cables. An Optimal Control Problem (OCP) solved with CasADi generates collision-free, dynamically feasible trajectories for all drones simultaneously, then executes them on real hardware via ROS 2 and Crazyswarm2.
We wrote software to control a Franka arm, using computer vision, to pick and place objects on matched targets. Project done in a team of 4 students.
Three interconnected projects from a mobile robotics course: UKF-based localization fusing odometry and landmark measurements, A* path planning with motion control, and a data-driven motion model learned with Locally Weighted Linear Regression.
Know before the grim sweeper comes. BroomBuster is a web app and Python CLI that shows where your cars are parked on a live map and tells you when street sweeping applies to that block. Supports multiple cities across the Bay Area and Chicago.
Staff mechanical engineer on several novel aircraft designs in a small team within Joby's flight research division. Responsibilities spanned retractable landing gear, mechanical systems, structure testing, and logistics.
Tail and effectors Integrated Product Team (IPT) lead for Joby's production eVTOL. Led designs for FAA certification. Granted patent for the inboard nacelle tilt mechanism.
Tail and wing tip nacelle lead engineer on Joby's pre-production eVTOL. Responsible for the full development cycle: conceptual design, design, build, test, integration, and flight test.
Mechanical engineer on Joby's first full-scale eVTOL demonstrator. Supported airframe manufacturing and structural testing.
I developed and integrated systems to build a 3D printer to allow for piezoelectric composites printing. This resulted in a publication in the American Chemical Society, with Henry Sodano and Mohammad Malakooti as co-authors.
I ran mechanical testing and investigated self healing thermoset polymers. This resulted in a publication in the Polymer journal, with Henry Sodano and Lisha Zhang as co-authors.