4WD platform with passive articulated chassis

I am building a stair-climbing platform with a 4-wheel-drive articulated chassis and soft airless wheels.

Cooperative payload transport with a drone swarm

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.

EKF SLAM on a TurtleBot3

Built a full Simultaneous Localization And Mapping (SLAM) stack in ROS 2 from scratch: 2D geometry library, simulator, odometry, and Extended Kalman Filter (EKF) SLAM with unknown data association, deployed on a real TurtleBot3.

Object manipulation with Franka arm

Pick-and-place on a Franka arm using computer vision. The arm classifies shapes on a table and matches each to its target outline. Team of 4 students.

Mobile robot algorithms: localization, planning & learning

Three projects from an AI and ML for robotics course: Unscented Kalman Filter localization, A* path planning with motion control, and a learned motion model via Locally Weighted Linear Regression.

Street sweeping tracker

BroomBuster is a Web App and Python command-line tool that shows where your cars are parked on a live map and tells you when street sweeping applies. Supports several Bay Area cities and Chicago.

Joby special projects

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.

Joby S4-2.1 (production aircraft)

Tail and effectors Integrated Product Team (IPT) lead for Joby's production eVTOL aircraft. Led designs for FAA certification. Granted patent for the inboard nacelle tilt mechanism.

Joby S4-2.0 (pre-production aircraft)

Tail and wing-tip nacelle lead engineer on Joby's pre-production eVTOL aircraft. Owned the full development cycle: conceptual design, design, build, test, integration, and flight test.

Joby S4-1.0 (first full-scale eVTOL)

Mechanical engineer on Joby's first full-scale electric Vertical Take-Off and Landing (eVTOL) demonstrator. Supported airframe manufacturing and structural testing.

Printed nanocomposite energy harvesters

Built and integrated the systems for a custom 3D printer that produces piezoelectric nanocomposites with controlled filler alignment. Published in ACS Applied Materials & Interfaces (2018) with Mohammad Malakooti and Henry Sodano.

Self-healing thermoset composites

Mechanical testing and characterization of a new class of intrinsically self-mendable thermoset polymers. Published in Polymer (2017) with Lisha Zhang and Henry Sodano.