Autonomous Soccer PK Robot
- Designed and manufactured a Soccer Penalty Kick Robot for classroom competition.
- Soccer penalty kick robot operates autonomously to sense postion of soccer ball with computer vision.
- Chassis and kicking mechanism developed within CU Boulder's manufacturing facilities.
- Total budget remained under $320. Chassis under $120.
Robotic Arm with Pneumatic Gripper
- DFM project adapted from CU Rover Team's robotic arm.
- Design for Assembly (DFA) analysis completed towards action for reduction in DFA complexity from 80.28 to 75.31 points.
- Reduction in error proffing and secondary operations required from redesigns as single part linkages and a soft robotic gripper.
FE Simulation of the Actuator Bending (right) and Control Variables in Geometry for the optimization of Fitness Functions (left)
Different individuals (worst, average and best in order from left) in a random generation
- Using NSGA-II, optimized the geometry of a soft pneumatic actuator with 3 fingers (bellows) by maximizing bending angle for gripping and minimzing input pressure for inflation (two fitness functions)
- Interfaced MATLAB with ABAQUS GUI via python scripting that consists of extrude boss sketch, extrude cut sketch, material modelling/interaction/loading steps/job and lastly post processing step which creates a 'abaqus.rpt' file (report file) that has deflection values of the inflated finger for optimization
- The whole algorithm is run on a fully automated system using the 'jawarobot' class in MATLAB that controls the mouse and keyboard to open and close the GUI using cmd terminal after each individual's simulation is complete, also taking a screenshot of each simulated individual
First five natural fequencies for simply supported (SFSF) conditions
- Modal (frequency) analysis of dual core sandwich plate was performed in ABAQUS 2017 using FEM. Parametric study showed that without changing the geometry and density of structure, the vibrational behavior of composites could be changed by altering the material layup and boundary conditions
- Clamped (CFFF) and simply supported (SFSF) conditons showed greater natural frequencies compared to free (FFFF) conditions
SEM results after Hydrothermal treatment at 250 C for 10 hours (left), XRD Analysis (mid); first peak - Ti and second peak - Anatase, and Potentiodynamic Polarization Curve (right)
- Determined suitability of Titanium-Niobium alloy (25% wt) for bio implants placed in different parts of human body
- Performed heat treatment to enhance corrosion resistivity of Ti-25Nb by synthesizing titianium oxide nanostructures on surface
Ski Patrol Safety Sign
- Interviewed many Ski Patrollers to identify the need statement - "Ski patrollers need a better method to alert resort users of an accident on hill"
- Designed a prototype for them by taking care of ergonomics, weight, sign mechanism, wording/color and attachment method
Coffee Grinder
- Reverse Engineered a coffee grinder and developed GD&T drawings for all the components
- Completed Design for Assembly analysis to reduce DFA Complexity metrics
One of the Concept Designs of a Wheelchair
- Designed a wheelchair concept with a provision of moving the backrest in backward direction enabling the user move the seat onto the bed and transfer from wheelchair to bed with ease
- Concept Screening and Socring was done using FD (Forced Decision) matrix and PUGH methods
5-Link Belt Jansen Mechanism
- Cad Modelled Motion Study of a horse leg to perform dynamic analysis of Theo Jansen Mechanism to study the trajectory of its legs
- Linkage is powered and controlled by a single crank - observed symmteric trajectories of the toes