I am a recent graduate having done a robotics M.S. at Oregon State University. I worked in the Personal Robotics Group with Dr. Bill Smart. My research interests involved the effects robots play in the workspace like hospitals and the dynamics of human-robot interactions over long periods of time. In my spare time, I like to watch movies, cook, and hunt the web for deals.
Developed and built an enclosed conveyor belt system that can help disinfect supplies with UV-C light. This conveyor system will work in conjunction with a robot that will allow the robot to enter and exit autonomously with the help of an automatic door. Inside, the robot will be exposed to UV-C light that will inactivate any harmful viruses like COVID-19 on the supplies. Path planning algorithms, electronics, and hardware for the conveyor belt system are currently in the developmental process.
Video Link: UV-C Light Sanitation v1A Husky UGV was utilized to offload construction workers from high risk tasks. The task selected for this research was road caulking. To perform road caulking, custom attachments were made on the Husky to mount a 18V caulking gun. Simulation in Gazebo and real-life trails were done with the Husky to ensure the road caulking was performed accurately.
Video Link: Road Caulking DemoThis project deals with the detection of artificial red bombs using a TurtleBot2, Kinect, and USB webcam. After detecting a potential bomb, its location will be added into the robots global cost map. This allows the robot to plan navigation around the bombs and indicate to the user where the bombs are on the map. Preliminary test was conducted in simulations to help model the functionality of the minesweeping robot. The code was then debugged and transferred to run on the real TurtleBot2. The robot was successful to autonomously navigate through the environment with a prior known map and detect the red artificial bombs with a USB webcam separately. The TurtleBot2 was however unsuccessful to do both tasks simultaneously.
Video Link: Minesweeper Robot SimulationRobots often have difficulties navigating through human social interactions, in part due to the need to recognizably emulate human gestures and expressive motions. We approach the problem of determining superior poses and path planning algorithms for a human like handshake. To do so, this project includes a study on several key aspects of the handshake approach: the starting pose, the ending pose, and the path planning for intermediate poses and motion. To minimize false assumptions, a wide set of poses are arranged for initial screening and a final survey was sent out. We also present an RRT* variation with the objective of creating a maximally smooth trajectory. To deploy and test the produced handshake motion in situ, a UR5e executes the motion with input on the appropriately scaled poses from a facial recognition and locating system. We present the results of a survey of the human reception to several poses and existing path planning algorithms.
Video Link: Human-Robot Handshake with the UR5eBuilt and tested a high-performance DC copter fan to be controlled at various angles using the microcontroller Arduino utilizing a PID control system. Analyzed and derived the effects of different gains on the system with mixed inputs and outputs
Modeled and 3D printed a wearable device to house custom made electromagnet, electronics, and regular neodymium magnets using the computer aided design software SolidWorks. Designed an experimental apparatus to test and validate the functionality of the device. Used a slow-motion camera to record and compute the reduction in amplitude of using the device, the natural frequency of the electromagnet, and the amplitude of the test instrument with various weights.
Devised an automated bartender to serve three unique types of cocktails which were ordered via a pushbutton and LCD screen. Won overall best group project and used project to win the Mahanty Award Scholarship for Fall 2014.
Under the department of energy, worked to help detect bird impacts on Wind Turbines. Used prior made impact detection devices to see if recorded data can be distinguishable with the use of machine learning and digital signal processing.
Grade assignments and hold office hours to help assist students in understanding the fundamentals of dynamics. Work closely with dynamics professor to asses and cater different learning experiences from feedback during office hours.
Developed the android application Hmonglish with Android Studios which teaches basic Hmong language through voice recordings and have an impact of over 1000+ installs, 245 active installs, and 4.5/5 rating. Work along with Hmong teaching professionals to build and record categories for basic vocabulary, artistes to design compatible digital images, and group members to design and launch new updates to the app.
HmonglishTaught all grades of students from K-12, carried out lessons plans left by instructors, helped summaries the days progress, and ensured the safety for all students.
Designed and evaluated over 600 solar photovoltaic systems for residential homes (9000kW+ houses producing clean energy) using a combination of AutoCAD and custom software tools. Consistently ranked top for design quality having 100% error free jobs for six months running. Communicated verbally and in writing with multiple levels in the organization to ensure accurate designs and warn crew members about any precautionary safety hazards prior to each installation. Determined the feasibility of each design by doing structural analysis, electrical load calculations, shade readings, and thoroughly checking through the home’s interior and exterior photos for safety concerns.
GPA: 3.91/4.0
Major GPA: 3.91/4.0