Robotics Graduate Student

Robotics Graduate Student

Controls, Learning, Optimization

Autonomous Rovers

1. Senior Capstone Project

Rover 2 Rover wiring Rover 2 course Rover wiring Rover wiring

For my undergraduate capstone, I was the mechanical lead and co-lead programmer for a fully autonomous rover built over two quarters in a team of 5.

The challenge: Navigate a black-line course with curves, climbs, and obstacles with IR/ultrasonic sensors, pick up/stack numbered discs (“burger patties”) based on dice rolls, and doing this while in outdoor condtions, surviving a 6 inch drop test and completing the course under 5 minutes.

System Overview:

  • Drive System: 4-wheel mecanum drive for full omnidirectional motion
  • Manipulator: Stepper-driven vertical carriage and dual-servo laser-cut claw for stacking
  • Perception:
    • IR Sensor Array for line-following and intersection detection
    • Ultrasonic Sensor for obstacle avoidance
    • Camera + Raspberry Pi Zero 2 W for dice number detection** via OpenCV
  • Controls:
    • Dual-Arduino architecture to split control and perception logic
    • Custom finite state machine for real-time sequencing of navigation, pick-up, and delivery tasks

Highlights:

  • Only team to implement camera-based die recognition**
  • Successfully completed full challenge with functional delivery and stacking
  • Designed within a $500 budget, using V-slot aluminum extrusion and modular acrylic mounts
👉 [Code Available upon Request]📄 Final Presentation PDF

2. Pink Lemonade (Intro Robotics Project)

Pink Lemonade Rover

This was my first hands-on robotics experience. Our team built an autonomous rover designed to navigate a basic obstacle course and retrieve a cylindrical object.

Highlights:

  • Rubberized claw for cylindrical object retrieval
  • Autonomous navigation via optimized Arduino logic
  • Rapid prototyping with Prusa Slicer and UCLA makerspace tools

I led the mechanical design using SolidWorks, creating a chassis that integrated all major components — sensors, motors, battery pack, and claw. Most parts were custom-fabricated using 3D printing and laser cutting at UCLA’s fabrication lab, which also ended up being an introduction to additive manufacturing as well.

Overall, we finished 2nd in the competition out of 8 other UCLA teams.