4-DOF Wireless Underwater Combustion-Driven Soft Robot 

Senior Capstone, Aug 2024 – Apr 2025​

• Designed and manufactured a tetherless, neutrally buoyant, 5kg underwater robot hull, engineering custom O-ring seals and achieving 100% watertight integrity during 3 hours of continuous submersion

• Engineered three modular Buoyancy Control Devices (BCDs) powered by onboard electrolyzers to dynamically regulate roll, pitch, and depth, achieving reliable, wirelessly controlled 4-DOF underwater maneuverability

• Developed a custom H2/O2 piston-cylinder combustion chamber and high-voltage ignition circuit for forward propulsion, uniquely using the same hydrogen-oxygen gas generated by the depth-control BCDs to produce 21.5 N of thrust and 3 m/s² of linear acceleration

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Coupled 4-Bar Linkage Robotic Leg

Rice Robotics Club, Aug 2024 – Apr 2025

• Led the mechanical subteam in the CAD design and hardware development of a coupled 4-bar linkage mechanism, engineering a quadruped robotic leg capable of achieving a 16-inch vertical jump

• Developed a custom MATLAB kinematics and dynamics simulation to calculate precise joint torque requirements and define the operational workspace, using the data to validate the structural feasibility of the physical CAD models

 

Autonomous Extraterrestrial Rover Arm 

Robotics Laboratory, Apr 2024

• Engineered the complete mechanical drivetrain and structural architecture for a 4-DOF planetary rover arm, designing custom multi-stage gearboxes and sizing brushless DC motors to withstand up to 2,970 lbf-in of torque during dynamic drilling operations

• Conducted rigorous classical stress and fatigue analyses across multiple dynamic load cases, calculating Goodman and Gerber safety factors to validate a 66,000+ cycle lifespan, analyzing Grade 8 bolted joint configurations to guarantee a 1.85 joint separation safety factor

• Developed a custom Python-based computational dynamics tool from scratch using NumPy to mathematically model the arm's complex kinematics, applying the resulting joint torque and reaction force data to drive physical material selection and validate FEA models

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Magnetic Levitation and Power Transmission System

Independent, Jun 2022​

• Designed a closed-loop analog PID control system to dynamically balance a physical payload of 0.5lbs 

• Simultaneously engineered an inductive wireless power transfer circuit to transmit continuous power across the physical air gap

• 6-DOF Industrial Robot: Reverse Engineering and Spatial Simulation | Robotics Laboratory             Mar 2024

• Reverse-engineered the complete mechanical architecture of a 6-DOF industrial robot, extracting critical joint geometries and physical constraints using only 2D OEM engineering schematics and technical datasheets

• Developed a computational kinematic Python model to validate collision-free industrial path planning

 

Crank-Rocker 4-Bar Linkage Synthesis: Mechanism Design and Optimization

Advanced Machine Design, Dec 2024

• Engineered a $650 kinematically optimized crank-rocker 4-bar linkage, specifying exact material grades 

• Developed dynamic simulation models to evaluate mechanical advantage and define powertrain requirements, sizing a 14Nm motor