CHARM Lab
I worked in the CHARM Lab which stands for Collaborative Haptics And Robotics in Medicine. It’s a sweet acronym, and they know it.
I helped design and build a two-dimensional version of the Hapkit in the form of a pantograph. My job was to program the inverse dynamics and the haptic virtual environments such as a rough surface and a virtual box within the workspace.
Class Projects
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Tumbling Satellite
My final project for my State Estimation and Filtering for Aerospace Systems class was an EKF SLAM simulation in MATLAB of a tumbling satellite in space using only stars as “landmarks.” There’s no “up” in space, so you have to navigate your attitude somehow.
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Pursuit-Evasion Game
Our final project for my Introduction to Optimal Control and Dynamic Optimization class was a comparison between two sampling-based motion planning algorithms for a pursuit-evasion game. Think cat and mouse or missile and target, but with robots.
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Gyroscope Model
For my Advanced Dynamics & Computation class, our final project was to use the MIPSI technique to analyze a dynamical system. MIPSI stands for Model, Identifiers, Physics, Simplify & solve, and Interpret. Naturally we chose a gyroscope because those things are trippy.
