ROCKETRY
SEDS UCSD Galileo Rocketry
ROBOTICS
Triton Robotics Galileo Robotics
OTHER
Leadership Projects
ABOUT
Biography Resume Awards
Robotics
Triton Robotics
Sentry
Galileo Robotics
2021
2020
2019
Offseason

ROBOTICS

"Inspiring and innovating to surpass human physiology."

Robotics and related technologies increasingly permeates our lives, from transportation to manufacturing to entertainment. I believe that embracing and cultivating responsible robotics technology in all aspects of our society will allow for a safer future and better quality of life.

My focus on robotics lies in hardware aspects: structural optimization, manufacturing, and design. I am skilled in Computer-Aided Design (Autodesk Inventor and SolidWorks), Computer-Aided Manufacturing (CAM), Finite Element Analysis (FEA), and design for manufacturing.

My journey in robotics began in high school when I joined Galileo Robotics, a FIRST® (For Inspiration and Recognition of Science and Technology) Robotics Competition (FRC) team. FRC is a high-school national robotics competition, and you read more about it here. I was Lead Designer and Captain; you can see the details of my work below.

Most recently, I have worked with Triton Robotics at UC San Diego. They are a team in the RoboMaster University League (RMUL) Competition, hosted by DJI (Da-Jiang Innovations). I worked on "Sentry", an autonomous rail-mounted robot that fires small projectiles. You can read more about it below.

Triton Robotics

Triton Robotics is student-led team at UC San Diego competing in the DJI (Da-Jiang Innovations) RoboMaster University League (RMUL) competition. Founded in 2018 by ambitious undergraduates at UCSD, Triton Robotics now has over 60 members developing 7 robots concurrently. Triton Robotics strives to help students develop pratical engineering skills and push the possibilities of competitive robotics.



Triton Robotics Website

SENTRY

Sentry is one of Triton Robotic's robots for competition in the DJI Robomaster University League (RMUL) 2022 competition. It is an autonomous turret that shoots projectiles while traveling along a rail.

Sentry 2022

Full Sentry Render

I redesigned the chassis of Sentry, the top half that mounts on to rail and carries the turret.

The main design goals over the previous version of Sentry were to reduce weight and increase simplicity. This was achieved by replacing much square tubing with plates and brackets. Additionally, significant pocketing and optimization via Finite Element Analysis (FEA) was utilized.

Galileo Robotics (FRC 4669)

Founded in 2013, Galileo Robotics is a team of high school students from the Galileo Academy of Science and Technoloy in San Francisco that competes in the FIRST Robotics Competition (FRC). We seek to inspire and encourage future generations of engineers, scientists, and tech workers from all backgrounds. We have several subteams--from programming to mechanical to 3D modeling--that allows everyone to build their skillset and work effectively as team.

I joined the team in 2018 with little technical skill or experience. With the help of my amazing mentors and subteam leaders, I was able to quickly progress and improve my skills in parametric 3D modeling (CAD) using Autodesk Inventor and robot design. I am honored to have served as Galileo Robotics' Captain and Lead Designer.

We were a 2021 Innovation Challenge Semifinalist and 2019 Silicon Valley Regional Quarterfinalist.

Galileo Robotics Website

FRC 2021 Season - Game Changers

Game Changers is the 2021 season of the FIRST Robotics Competition in partnership with Lucasfilm and "Star Wars: Force for Change". Due to the COVID-19 pandemic, it was largely a continuation of the 2020 FRC season, Infinite Recharge.
Game Design
Innovation
Infinite Recharge at Home

Game Design Challenge

The Game Design Challenge is one of three parts to the 2021 FRC Game Changers competition. The objective of this challenge was to create a FIRST Robotics Competition style game for future years using various elements.

The full 2021 Game Design Challenge rules can be found here.

Data Chain

Our submission, Data Chain, incorporates features of previous FRC competitions as well as adding new features, such as a cylindrical game piece, button boards, and a chain climbing element. I CAD-ed the field and various game elements as well as contributed to the game mechanics of this year's virtual Game Design Challenge.

The full details about our design can be found in the technical submission.




Submission Video
Field Render

Innovation Challenge

The Innovation Challenge is another part to the 2021 FRC Game Changers competition. The objective of this challenge was to identify a real-world issue or opportunity related to health and design a solution to address it.

The full 2021 Innovation Challenge rules can be found below.



Angel of Fitness - An Exercising Game

*** I did not contribute to this submission beyond a supervisory level. ***

"Angel of Fitness is a mobile, story and combat-based role-playing game that incorporates physical exercise. Players engage in fast-paced combat with quirky enemies, from slimes to angels, through exercises tracked with phone sensors. With an expansive cosmetics system, compelling lore, progress tracker, and an experience-based leaderboard, Angel of Fitness will make exercise fun and help sedentary players form healthy exercise habits."
-- Official Public Project Submission

Game Demo

FRC 2020 Season - Infinite Recharge

Infinite Recharge is the 2020 season of the FIRST Robotics Competition in partnership with Lucasfilm and "Star Wars: Force for Change".
The Game
The Design
The Robot

The Game

This season features a Star Wars theme in which two alliances of three teams each compete to activate a shield to protect FIRST City (the playing field) from asteroids which strike at the end of the match.

The Shield Generator can be activated after performing several tasks, such as scoring Power Cells (7" foam balls), manipulating the Control Panel, and navigating to the Rendezvous Point.


Objectives
Power Cells / Port
Trench
Shield Generator / Switch

Field Overview

The Design

The robot would be split into 4 major subsystems: Drivetrian, Intake/Feeder, Shooter, and Elevator/Hook-Spinner.

Each would help create a cohesive and capable final robot while meeting all of the design requirements we set out. The Intake/Feeder would be able to reliably intake multiple Power Cells at once as well as storing Power Cells; the Shooter could score the Power Cells in the highest Ports quickly and accurately; the Elevator and Hook-Spinner acts as a dual purpose mechanism to both climb the Generator Switch, balance the Generator Switch, and spin the Control Panel.

Drivetrain
Intake / Feeder
Shooter
Elevator / Hook-Spinner

Drivetrain

Early on, we decided that our Drivetrain would a six-wheel tank drive configuration with a dual-speed gearbox. The field did not require excessive maneuverability and focused more on linear paths spanning the field. Additionally, the field layout also provided ample opportunity for defense and blocking by the other alliance, so torque and the pushing power of the Drivetrain was something else we also prioritized.

The six 6" traction wheels provided excellent traction and speed as well as the ability to get over the 1" tall bump on the field that borders the Shield Generator structure. The dual-speed shifting gearbox also allowed us to quickly change from high-speed to high-torque if the situation requires it.

FRC 2019 Season - Destination: Deep Space

Detination: Deep Space is the 2019 season of the FIRST Robotics Competition in partnership with Boeing.
The Game
The Robot

The Game

This season features a space theme in which two alliances of three teams each compete to load and launch a rocket between sandstorms.

During the first 15 seconds, driver vision is obscured by a sandstorm; the robots operate autonomously. Teams can score cargo (13" rubber balls) and hatch panels (⌀ 19" disc) onto a rocket and cargo ship. At the end of the match, teams return to and climb the habitat (raised platforms) as the next sandstorm approaches.


Objectives
Rocket
Cargo Ship
Habitat

Field Overview

Game Objects

Cargo The Cargo is an orange 13" diameter rubber ball that is one of the game pieces in Destination: Deep Space. They can be picked up by robots, one at a time, and scored in either the rocket or cargo ship. They mainly located in the depots by the habitats and can be fed by human players to the robots through the loading station.

Hatch Panel The Hatch Panel is a 19" diameter, 3/16" thick polycarbonate disc that is one of the game pieces in this game. They can also be picked up by the robots, one at a time, from the loading stations along the alliance wall. They are attached to the rocket and cargo ships by the robots and must be attached before inserting cargo, so that the cargo does not fall out the ports.

FRC Offseasons

Offseason Projects.

Sentinel

Because the robots created following the 2020 rules will be allowed to play during 2021, I decided to redesign our 2020 robot during the offseason (COVID hiatus). Below is my redesign of our 2020 robot, dubbed 'Sentinel'. It incorporates new techniques, solves previous design issues, and uses new manufacturing techniques (such as square tubing and riveting)

Differential

This is a design for a dual speed swerve module intended for use in the FIRST Robotics Competition. It is driven by two Falcon 500 motors and is capable of switching between two gear ratios; this provides excellent speed as well as torque. A NEO 550 coupled with a high gear reduction swivels the wheel. Most of the components must be custom machined.

Ratio

This is a design for a dual speed gearbox intended for use in the FIRST Robotics Competition in drivetrain styles like tank and west-coast. It is a dual speed gearbox, capable of shifting between two gear ratios depending on whether you need more speed or more torque. The gearbox is powered by two Falcon 500s. It is designed to be more compact than similar commerical off the shelf gearboxes while still having three stages and a wide array of gear ratio combinations.

High-Spread Gearbox

This is a design for a 38.44x spread shifting gearbox intended for use in an elevator in FRC. The high gear (8.57:1) is meant to extend the elevator quickly, and the low gear (329.59:1) is used to get enough torque to climb. All of the components (except the plates which need to be CNC'ed) can be bought from commercial suppliers (mainly VexRobotics and West Coast Products).

This is more of a concept design; although it can be built, it is quite impractical due to its size and weight. It also has a large amount of stages which will reduce efficiency.