Personal Projects

RomniBot: Omni-directional Robot

3D-Printed robot designed, programmed and wired in-house. Ultimate goal of achieving autonomous driving using an array of measurement and perception equipment. Revision 1.0 provides lots of chassis surface area for this reason.
Transmitter PCB design complete and currently being assembled.
Designed with Solidworks, programmed with Arduino, however soon to be transitioned to Raspberry Pi for autonomous driving preparation.

RomniBot1

RomniBot2

1 - First Untethered Drive Test

RomniBot1

1/7

The purpose of this program is to convert STL files' geometry into a voxel (cube) mesh representation. A voxel representation of a solid enables a designer or engineer to conduct FEA, and CFD on a component. Voxel meshes are the most primitive of mesh types when it comes to FEA, however they are also used in computer graphics and visualization. Therefore, it felt like a good middle ground for future development down either path.
The program is not yet complete, as it requires extensive robustness and speed improvements. These will be worked on post-graduation, when I convert the program to C++. However, as seen below, the program can handle various complicated geometries.
Through this project I was able to learn more about STL file formatting, Quad Tree and KD Tree data types, recursion and Ray Tracing.

Helical Gear

Master Jaw

LED

Helical Gear

1/3

Filament Guide: This design is overly complicated, and was just made for fun. The Rev 2.0 filament guide connects to the x axis gantry, is 1 solid component, and requires 1 additional socket head screw, lock washer and nut. PS, ignore the filament fractures (humidity).
Soft Jaw: To hold work pieces softer than the jaws that came with the vise. A TPU soft jaw would outperform this PLA version due to its compliance, however I do not currently have any TPU.

FilamentGuide

SoftJaw

FilamentGuide

1/2

Completed a Python implementation of the Graham Scan for generating 2D convex hulls of randomly positioned sets of Cartesian points. This implementation used only numpy arrays and lists. A module contains the function definition, and is to be used by a grander computational geometry package that I am currently building.
Since creating this program, I have learned about the relevance of Queues and Stacks to computational geometry, and will be making a revision to the code such that the Python linked list class "deque" from the collections package will be used to implement a stack.

Convex Hull 1

Convex Hull 2

Convex Hull 3

Convex Hull 1

1/3

Dijkstra's algorithm is used in Graph Theory and extensions from it, to find the shortest path between a datum point, and any other point in a graph/network.
This initial implementation instantiates a 2D symmetric graph of coordinates, whose cost is purely displacement, using the created "graph" class, and then uses the Dijkstra function to calculate the shortest distance between a selected node and all other nodes. Extensions of this routine would be to return a graphical representation of each path, as well as allow for asymmetric graphs.

Soldered both active and passive circuits elements such as resistors, capacitors, transistors, stomp switches and potentiometers to a printed circuit board, and assembled IC components, and external jacks for DC power supply.
Completed testing and troubleshooting.

Wrote Arduino code to track a powerful light source using a matrix of 4 photo-resistors and two perpendicular servo motors.
Brackets and housing for all components were designed in Solidworks.