I build robots.
I’ve been building robots since I was in 4th grade. I also love startups and small businesses that change the world.
I’m currently a Sr. SWE in ML Infrastructure at TuSimple, an advanced autonomous truck company.
Previously, I was an early employee, autonomy and field engineer at Ghost Robotics.
I graduated from Penn with an MS in Robotics in 2021 and a BS in MechE in 2020.
My real dog, Simba, doesn’t like to play with robot dogs.
There are some other projects on Github, check them out!
And LinkedIn for other stuff.
Oh, and I have a YT channel, so check that out as well!
Backburner Projects
Jetson Racecar + Rotrics Dexarm + (Nextmind EEG + Oculus Quest 2)?
Regardless of the second half of the title, I’d like to stick my Rotrics Dexarm (something I backed on Kickstarter over a year ago) on my Jetson Racecar (JR). The JR has been a great dev tool with a Zed and a TX2 devkit, but it’s been showing it’s age. I have a Xavier NX, Realsense D435i + L515 and some SR300’s with it’s name on it. Full systematic upgrade.
The above should work, just need to get around to doing it, but I also recently received my pre-order of the NextMind developer kit. How about mind-controlled robot? I honestly have no idea if the NextMind SDK is advanced enough to support any kind of control commands, but there’s only one way to find out! Irrespective of NextMind, it would be awesome to do FPV JR with an Oculus Quest 2.
2m Wingspan tilt-rotor
Based on the V22 Osprey, I want to combine the swashplate assemblies from my 1m Devil 505 Hobby RC helicopter and the approximate dimensionaless ratios from the V22 to create a proper tilt-rotor aircraft. I’ve got a ton of high powered batteries now from the eATV project, so the plan is to base the design on one of those 12S 22AH LiPo’s.
Distributed Build Server
Some startup went bankrupt and I got a fantastic deal on 10 Intel NUCs and 5 Jetson TK1s all in a 1U server rack. Literally pennies on the dollar. I haven’t gotten around to it yet, but I’d like to build a nice enclosure for all the boards, something a little less oblong than a 1U rack, and rig them up as a distributed compute cluster. There is also a thought on designing some kind of offboard swarm that uses a small wireless board to communicate with it’s own actual compute node. This allows the robots to be much smaller than would be possible if the compute lived onboard. Decentralized software even though all the compute boards are physically centralized.
