Caltech Research Projects
During the Summer of 2023, I worked as a research assistant at Caltech’s Aerospace Robotics and Controls Lab (ARCL). Over the course of 10 weeks, I contributed to various research projects by designing and manufacturing parts, writing software, and testing hardware.
Volcanic Gas Sampler
I helped build a volcanic gas sampler that can accurately predict volcanic eruptions. The sampler is designed to be suspended under a UAV to collect gas and water samples. However, the motor winch that held it in place would unwind due to the sampler's weight. To fix this, I designed a lightweight solenoid locking mechanism, controlled by the onboard computer. This involved brainstorming, modeling parts, prototyping, testing, and learning C++ to program the mechanism. The sampler will be tested on active volcanoes in New Zealand next year.
The latching solenoid mechanism used to lock the spool wheel in place.
Solenoid mounting
Manual testing buttons
Spool/solenoid bracket (the brass bushing is to reduce lateral friction on the solenoid rod).
The payload after collecting water samples during a test
The sampling tube hangs below the main body of the payload.
Volcanic Gas Sampler Test
Autonomous RC Car
By modifying an RC car, I created an autonomous testbed for motion planning algorithms. We replaced the car's receiver with a computer attached to a front camera. The car processes the camera input and the computer calculates and sends motor and steering commands. I built custom mountings, wiring looms, and electronics, including a power distribution system that allows the new components to be powered by the existing batteries.
Custom built computer bay containing the main computer, signal processor, and power distribution system
Power distribution boards
External power port for testing
To model this complex shape, I imported a photo of the car into my CAD software as a template
Attached with zip ties and double-sided tape
Crazyflie Drone Wings
Designed ultra-light wings and mountings for Crazyflie drones to test adaptive motion controller algorithm. Used compliant clamps for wing mountings, providing better grip. Skeletonized wing covered in Teflon tape to reduce weight.
Miscellaneous Parts
These are various parts that I designed for different projects, including a mounting system for a radar array, a lightweight antenna mounting, and structural brackets for a flying ambulance prototype.
