The Ground Robotic Autonomous Vehicle Lab (GRAVL) is a student-run research group at Olin where I’ve worked since I arrived at Olin. During my first year, we set our sights on research that would focus on automated dirt road leveling. We recognized that self-driving car technology has been rapidly advancing...
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POE-tal Turret
A fun functioning sentry turret from the game Portal
For those who’ve played the game Portal or Portal 2, you probably recognized the unmistakable sentry turret from the games based on the display image (if not, here’s a side-by-side comparison for reference!)
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Robot Tugboat
An autonomous mini-tugboat
This project involved modifying a prebuilt tugboat and adding sensors, sensor mounts, Arduinos, and other hardware to upgrade the platform from being remote-controlled to a fully autonomous tugboat with radio communications to an off-board computer. To prove sufficient autonomous behavior, we programmed our boat to be able to do several...
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Using Extended Kalman Filters for SLAM
A deep dive into the math and theory behind SLAM
Inspired by my first year experiences working on the ROS map navigation project, I worked on a project which involved a deep-dive into the math and theory behind using extended kalman filters for SLAM as my final project in Quantitative Engineering Analysis. Working on the ROS map navigation project was...
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Segway Robot
A segway robot that drives along a parametric curve
This class project was part of a segway robots module centered on learning about controls. The base deliverable was to get the robot to stand, drive forward, and spin, but we took this a step further and got the robot to also drive along a parametric curve.
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ROS Map Navigation
A simple ROS package to navigate a robot through a map
My friends and I wanted to learn more about SLAM, so we thought it’d be a good idea to use the final project in our Software Design class to get a headstart in learning about what goes into this complex problem. We first used the ROS package hector_slam to get...
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Eigentricks
Using eigenvectors to characterize and identify poi tricks
The topic of this project was “wearable sensing” and analyzing sensor data for a user’s benefit. My project partner and I were both involved with the fire arts club, so we asked ourselves - Could we collect data on someone’s poi spinning to determine what trick they were using, then...
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NEATOs
A robot programmed to drive along a parametric curve, climb a mountain, and navigate its surroundings
In QEA, we programmed NEATOs (robot vacuums) to complete a series of tasks while also learning the math behind the code. This project was split into a series of three smaller projects, including:
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Eigenfaces and Fisherfaces
Using eigenvectors for facial recognition
This class project involved using eigenvectors and the Fisherface algorithm to create a facial recognition program in MATLAB. One of the main objectives of this project was to become more familiar with core linear algebra concepts and provide scaffolding for learning how to apply these concepts to the inconsistency of...
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Boat Design
Applying multi-variable calculus to boat design
In this project, we applied concepts from multivariable calculus and physics to create a mathematical model of our boat. The objective was to create a boat that had an angle of vanishing stability (AVS) at 130 degrees and optimize the hull shape for speed.
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