ABOUT
Hello! I’m a Mechanical Engineer focused on electro-mechanical design and robotics. I recently earned my Master’s of Engineering from UC Berkeley, following two years of industry experience. From medical delivery drones, to electric vehicle battery packs, to bio-inspired robots, to robotic software development, I have a track record of rapidly designing and building challenging, forward thinking products. My experience, knowledge, adaptability, and creativity make me a valuable team member and leader in fast paced engineering environments.
Medra
Robotic Software Engineering Inter
San Francisco, CA
January 2024 – Present
Bio Inspired Burrowing Robot
After delving into the robotic aspect of Mechanical Engineering at Berkeley, I seized an opportunity to explore the software domain. At Medra AI, we’re revolutionizing data collection within biotech labs by using a 6-axis robotic arm to automate scientific procedures. Joining as a Robotics Engineering Intern marked my first role centered predominantly on software development.
My primary area of ownership is to automate test and calibration procedures to increase the robustness of our product while reducing the need for manual intervention. This has necessitated writing calibration and test scripts, editing production code, and debugging a complex codebase. I have also taken the lead deploying, testing, and releasing updates to one of our customers. Furthermore, I have troubleshot electrical and mechanical elements due to the interdisciplinary nature of working on a robot on a small team. Now, I have a first hand understanding to build robotic systems that interface with software as a Mechanical Engineer.
UC Berkeley
M.Eng. Mechanical Engineering – Robotics
Berkeley, CA
August 2022 – May 2023
Legged Digging Robot
Capstone Project Manager
Bio Inspired Burrowing Robot
In my Berkeley Master’s program, I studied Mechanical Engineering with a concentration in Control of Robotic and Autonomous Systems. My capstone project was to redesign the first ever legged digging robot. Created to mimic the Pacific Mole Crab (pictured), the first prototype of the robot was made by Ph.D. student Laura Treers in Hanah Stuart’s lab. Our goal was to make it more powerful and compact so it could dig deeper and test new control schemes.
Compact Electro-Mechanical Design
In Solidworks, I designed a new chassis and drivetrain that was 25% smaller but had twice as many motors. This meant each leg could be individually controlled and the robot became 2.6 times as power dense. In addition, I built linkages and joints that were more robust and less susceptible to jamming in granular media.
Reliable Electric Drivetrain
With the mechanisms completed, my next major role was to address the electronics and controls. The robot uses encoders to count motor rotations and hall effect sensors to measure the absolute positions of the four legs. I packaged wiring within the robot and contributed to the state machine coding on the Arduino microcontroller.
Digging Demo
The product excels at digging in granular media, which is very difficult to accomplish. It will be used by the Embodied Dexterity Group as a test platform to further advance legged burrowing for applications including surveying and anchoring in remote environments such as the Earth’s ocean floor or on other planets.
Completed Robot
As the capstone leader, I learned to work alongside people with diverse backgrounds to bring out the best ideas as a team and maximize the benefit of having differing perspectives.
Robotic Ball Balancer
Electronics & Controls Lead
At Berkeley my robotics studies started with learning about kinematics, dynamics, and control of robotic manipulators. Alongside this, I completed many labs using Python code and Robotic Operating System (ROS). Then, I embarked on a final team project to create a ball balancing robot. A Python based computer vision system detected the location of the ball. Next, an Arduino microcontroller manipulated the pose of the platform to balance the ball.
Completed Platform
My primary role was to write the Arduino code. It received ball coordinates from the Python script using serial communication. Next, a series of geometric transformations and Proportional Integral Derivative (PID) control calculations were used to command the servos to the desired angles. I was also responsible for electrical hardware selection as well as designing and 3D printing the linkages.
Ball Balancing Demo
In just four weeks, we built a functional ball balancing platform. As shown here, it is able to constantly adjust to balance a lightweight ping pong ball even with many uncontrolled factors. These included an irregular mass distribution in the welded plastic ball and a high sensitivity to air drafts in the room.
After this project, my interest in coding grew and inspired me to build a Micromouse. I assembled the PCB based, two wheeled mouse with encoders and IR sensors. Then I used Python to program it with PID control to perform simple tasks such as following a wall in a maze.
Real Time 3D LED Hologram
Hardware Lead
My team built a product that allows a user to manipulate a virtual object on a Graphical User Interface (GUI) and view it projected onto a 3D matrix of LEDs. The user uploads a part file into a LabView based GUI on a laptop. The object is displaced real time on an 8 by 8 by 8 matrix of LEDs as the user changes its size and location on the GUI. The LEDs are controlled with a custom designed PCB and an ESP32 microcontroller running C++ code. Shift registers control all 512 LEDs because the ESP32 has limited Input/Output pins.
3x3x3 Test Cube
I pushed to include creating a prototype cube into our tight timeline. It turned out to be critical to our success because it allowed us to start testing the code early on and showed us that our MOSFET selection needed to be changed. Ultimately, my initiative prevented us from ordering a PCB that would not have worked.
PCB Assembly
My primary role on the team was hardware. I collaborated with my team of five to design the circuitry and PCB as well as the firmware to flash the LEDs. In addition, I ordered parts from DigiKey, built the LED cube, soldered the PCB, and troubleshooted the system.
8x8x8 Cube with GUI
To me, the most amazing part of this project was that we were able to develop all the different aspects of the cube in parallel and integrate them into a functional three dimensional visualization. The GUI, firmware, PCB design, and physical circuitry all had to work perfectly for overall success. This was achieved not just due to technical expertise, but also from effective communication and alignment towards a shared objective.
Zipline
Mechanical Design Engineer
South San Francisco, CA
June 2021 – June 2022
Delivery Drone Tail
At Zipline, I designed the empennage on the next generation delivery drone. This autonomous electric aircraft can transport life saving medical supplies to a hospital or your doorstep in minutes. My main role was to design the tail including integrating the control surfaces, servos, and probes. I also prototyped the mechatronic joint used to switch the rear propeller between vertical hover and forward thrust modes during test flights.
Tail Design for Next Generation Platform
In order to design an effective tail, I prototyped many construction methods then iterated the leading options using finite element analysis (FEA), structural load cell testing, and control surface actuation cycling with a Raspberry Pi microcomputer. My modeling of this complex aerodynamic shape was done in Siemens NX. I worked closely with injection molding suppliers in Asia to mold the part. This led to a forecasted 97% cost reduction during high volume production.
Hands-On with Customers
I learned the importance of understanding your customers when I spent a week visiting the first medical distribution centers abroad in Rwanda. Engineering an effective product involved working closely with medical professionals as well as my aerodynamic and electrical hardware peers.
Tesla
Mechanical Design Engineer Intern
Palo Alto, CA
August 2020 – April 2021
Battery Structures
Engineering at Tesla showed me what’s possible with a team of extremely driven problem solvers. I was captivated by the futuristic goal of disrupting the auto industry with an environmentally friendly vehicle. The high levels of ownership and corresponding responsibility gave me a sense of the incredible impact my engineering can have.
Structural Pack Design
As a design engineer, I managed the lifecycle of parts from design in CATIA to production for stamped sheet metal electronics trays and a forged aluminum crash structure. I also coordinated with the production team and external suppliers to apply an extruded foam seal used to reduce noise, vibration, and water ingress between the battery back and vehicle chassis.
Side Pole Crash Test
I was the lead engineer on my team designing the structures that prevent coolant leaks during the side pole crash test. In addition, I was integral to our response to failed thermal cell runaway tests that delayed production. This taught me the importance of having backup plans ready for systems with narrow margins.
UNIVERSITY of Washington
B.S. Mechanical Engineering
Seattle, WA
September 2016 – June 2020
Human Powered SuBmarine Team
Drivetrain Lead
Our Submarine
My most significant contribution was leading the Drivetrain Team of eight other students. I emphasized using creativity to find simple solutions while helping build up a team of new engineers. We used an interlinked series of pedals, chain drives, driveshafts, and a gearbox to harness power from the two pilots and spin the propeller. My contribution helped us secure first place in the two pilot category in the International Submarine Races two years in a row.
Gearbox and Machining
The gearbox contained the most complicated mechanisms in one assembly. Power was captured from both pilots via chain drive and outputted to a universal joint connected to the propeller. Notably, engineering this mechanism taught me the importance of building field serviceable components when we needed to quickly replace damaged bearings between races.
Pool Testing
This experience showed me the importance of testing and to be eager to discover failures early. I learned how to design parts in Solidworks, make technical drawings, and machine parts on mills and lathes in the machine shop. I also practiced my welding skills and learned how to lay up carbon fiber composites.
Complete Drivetrain
Above is a test of the drivetrain before the protective covers were added. It functioned reliably during the competition and allowed the pilots to focus on important tasks such as navigating the underwater course.
Glosten
Marine Engineering Intern
I spent a summer interning at this marine engineering consulting firm. My first project was drafting technical drawings for a Triton wave energy converter for Oscilla Power. Next, I specified the fire safety requirements based on maritime law for a retrofit of the Alaska state ferry M/V Matanuska. Finally, I designed HVAC systems for the new all-electric Washington state ferry M/V Guemes (pictured). This included calculating requirements for crew spaces based on solar exposure and ambient air temperatures in order to size pumps, pipes, and fittings for cooling loops.
APL Seaglider
Capstone Project Manager
My four teammates and I created a design to replace the buoyancy engine in a Seaglider with a single piston engine. This involved updating the piston, motor, and encoder. However, these changes necessitated updating watertight seals and re-balancing the pitch engine. I led the team as we worked to overcome the challenge of never being able to touch physical parts due to COVID restrictions.
More
Early Projects
Steam Engine
My twin brother and I have been building projects together for as long as I can remember. Sophomore year of high school, we taught ourselves how to machine on a benchtop mill and lathe. That spring we built a steam engine out of Delrin thermoplastic and the next winter we made a second version out of aluminum. Rather than use existing plans, we studied the principles of how steam engines function then made all the designs ourselves with paper, pencil, and a calculator.
Radio Control Hovercraft
Although by far not the first vehicle I built, this was one of my favorites. My brother and I built the structure with foam, constructed control surfaces with corrugated plastic, sewed a skirt out of nylon fabric, and powered it with RC airplane parts. After a second, more weight conscious iteration, the completed craft hovered over land, water, and even snow.
Hobbies
UW Sailing Team
In college, sailboat racing was an incredible outlet for me to apply myself competitively and develop my leadership skills. We won several regional championships and I was awarded All-Northwest Skipper twice. I led our team of 25 sailors as Co-Captain and later as Treasurer. Furthermore, I worked hard to help ensure future success of the team and hire a coach. This experience underscored the importance of maintaining a healthy work-life balance and demonstrated that each aspect reinforces the other.
Rock Climbing
I find it extremely rewarding to put myself in situations where I can safely challenge myself both physically and mentally while rock climbing. It amazes me that it’s always possible to push yourself a little bit harder. My hobby has brought me to new places across the country. So far I’ve climbed routes up to 5.12b grade and up to 1600 ft tall. Climbing has given me a strengthened mindset that now influences many other aspects of my life.