Rapid Robotic Color Sorting
(Feb. 2019 – December 2019) ENGR 696/697: Engineering Senior Design Project
Brief Summary: This section will provide a brief summary of the project while the poster below will address the smaller details. In this project, I served as team lead as well as the software lead in a team of 3 to design, implement and build a micro-controller based robotic system that was able to rapidly sort a large number of balls by color in quick succession. We proposed multiple possible designs such as the utilization of a robotic arm, a conveyor belt type mechanism, a slanted rotating chamber, or multiple chambers with motors for each. After much debate and discussion: we decided to utilize a motorized feeding mechanism to ensure that we are sorting at a constant and rapid pace. Our design included a motorized feeding mechanism, a camera compartment with consistent lighting, a Raspberry Pi, and a compartmentalized acrylic-styrene lower assembly with motorized gates. The entire project was constructed by hand and did not include 3D printed parts as we decided against their use. Our design is able to sort gumballs every 1.2 seconds with a very high degree of accuracy(average error of <1%).
Poster:
Early Concept Sketch:
Video Demonstration(1 — Close up view):
Video Demonstration(2 — General view):
Semi-Autonomous Dual-Mode Motorized Car
(Spring 2018) ENGR 478: Design with Microprocessors
Brief Summary: In this section, I will provide you with a brief summary of the project and the concepts that were applied. A much more detailed explanation of our design methodologies and specific implementations can be viewed in the ‘Final Report’ below. In this project, I worked with a group member in order to implement a semi-autonomous dual-mode motorized car. The car was designed to have two operational modes. The first mode is an object detecting(semi-autonomous) mode in which it dodges obstacles based on calculated angles of approach and distance. The second mode is a manual control mode that allows the user to control the vehicle over a wireless Bluetooth connection via the use of two analog joysticks.
Images:
Video Demonstration:
Presentation Slides:
Final Report:
Low Noise Audio Amplifier
(Fall 2017) ENGR 301: Microelectronics Laboratory
Summary: In this project, I utilized and modified a given foundational schematic to design a PCB and build a functioning low-noise audio amplifier. The Low-noise audio amplifier design was based on the OP 275 operational amplifier. All components of the amplifier such as the power supply, and both audio channels were designed within the EAGLE software. The circuit was exported to LTspice and extensively tested to ensure that it offered the amplification functionality required. The board design capabilities of the EAGLE software were utilized to their full potential in designing the PCB. Component placement was done carefully to ensure that the amplifier was able to function smoothly and as expected. My design criteria was required to meet certain specifications such as the size of the PCB board (3 by 3 inches) and performance requirements to ensure that the design is efficient. As a result, I had to look at the datasheets of various components and pick ones that would exceed the specifications required. All components were carefully soldered onto the board. This phase was done in preparation for the end-product which was presented to the lab professor at the end of the semester. Embarking on this project allowed me to showcase my in-depth understanding of capacitors, diodes, bipolar junction transistors, operational amplifiers, voltage regulators, bypass capacitors, audio jacks, and so much more. Furthermore, it is important to mention that this project allowed me to demonstrate my understanding of various concepts such as voltage swing, non-inverting amplifier configurations, and AC/DC gain.
Robotics Sensor Kit
(Spring 2016) ENGR 121: Gateway to Computer Engineering
Summary: In this project, I utilized a Parallax ‘Boe Bot’ component kit to design, program, and debug a servo-motor robot. A variety of sensors (tactile navigation, infrared, and light) were used to program the robot to efficiently traverse a wide array of mazes and obstacle paths. This project served as a fundamental basis for my understanding of a breadth of topics such as pulse width modulation, sensor interfacing, and when certain sensors would be ideal based on required specifications.