Balance Bot Control
— PID and full-state LQR control of an underactuated two-wheeled robot in MuJoCo,
with pitch estimated by a complementary filter. Adapted from Shawn Hymel’s course.
2026
Extensible Robotic Beamline Scientist
— hardware-agnostic ROS2 motion planning stack integrating Bluesky for
Universal Robots control at NSLS-II. Deployed at the CMS beamline.
2025
Robotic Pipette End Effector
— precision liquid-handling end effector with microcontroller RS485 control and
quick-swap tooling, unified with the beamline’s hardware drivers on a UR5e.
2025
Autonomous UAV Navigation & SLAM
— lightweight SLAM for a Crazyflie 2.1, fusing IMU with four-point LiDAR;
D* Lite cut re-planning time 20% against A*.
2025
Cobot Trajectory Planning
— forward and inverse kinematics for an AUBO i5 from URDF, with Jacobian
velocity control and Monte Carlo workspace analysis.
2025
Mechanical
SBU Rocket Team for NASA SLI
— 105″, 21 lb rocket to 4,700 ft with full payload recovery;
ranked 24th of 53 teams.
2025
PID Turntable Control System
— closed-loop turntable tracking user-defined waveforms, built with LabVIEW,
analog circuits, and DAQ instrumentation.
2024
Remote Controlled Ackermann Arduino Car
— Bluetooth-controlled car using a custom four-bar mechanism for true Ackermann
steering rather than differential speed.
2021
Custom Hard Drive Holder
— thermally efficient enclosure for housing multiple drives, designed in
SolidWorks and 3D printed.
2021
Software
ChefBuddy — AI Recipe Manager
— recipe manager with automated meal planning and receipt-based inventory
tracking, built on Vue.js and Express.
2025
Biomedical ML Bootcamp
— machine learning for biomedical data analytics, hosted by Stony Brook
Medicine and the College of Engineering.
2023