Blicycle - a bicycle for the blind
Blicycle is a bicycle for the blind. Through a number of mechanical, electrical, and software additions to an off-the-shelf bicycle, blicycle helps a blind i...
Projects by Category
assistive-technology
bicycles
Bicycle Building
I really like bicycles - both riding them as well as working on them. During my senior year, I built up a fun bicycle combining the class of a 31-year-old Sc...
Bicycle spoke lights
These bike lights use bright LED’s and are designed to attach to a bicycle wheel’s spokes, so that many can be added per wheel. I designed these for a semina...
Blicycle - a bicycle for the blind
Blicycle is a bicycle for the blind. Through a number of mechanical, electrical, and software additions to an off-the-shelf bicycle, blicycle helps a blind i...
Planning Algorithms for Bicycles
For my final project for 6.832 (Underactuated Robotics), I decided to apply various random sampling-based motion planning algorithms to some different planar...
classes
Pedestrian tracking for autonomous forklift
My semester project for Robotics Science and Systems II (6.142). Combines data from a computer-vision based person tracker with LIDAR data clusters to track ...
2.007 robot
My entry into the MIT 2.007 Robot competition. My design used a scissor mechanism actuated by a lead screw, and also used an active counterweight to stay bal...
Autonomous block collecting robot
Our final project for Robotics Science and Systems I (6.141). We build a deliberative, autonomous robot for picking up and stacking blocks that used a custom...
Machine learning - music genre classifier
My final project for machine learning (6.867) was a classifier that, by listening to an audio file, attempts to sort it into one of rock, hip-hop, electronic...
Planning with learned motions
Oftentimes, robotic motion planning algorithms generate very bizarre paths that don’t make sense to people. For my Cognitive Robotics (6.834J) final project,...
PicasoBot - a sketching robot
PicasoBot is a robot that draws pictures. It uses a 2-axis CNC mechanism to move a pen head, and a third actuator to push the pen down on the paper with vary...
Bicycle spoke lights
These bike lights use bright LED’s and are designed to attach to a bicycle wheel’s spokes, so that many can be added per wheel. I designed these for a semina...
Blicycle - a bicycle for the blind
Blicycle is a bicycle for the blind. Through a number of mechanical, electrical, and software additions to an off-the-shelf bicycle, blicycle helps a blind i...
Planning Algorithms for Bicycles
For my final project for 6.832 (Underactuated Robotics), I decided to apply various random sampling-based motion planning algorithms to some different planar...
QuantaFit - medical device to assess frailty
Frailty is a highly-prevalent medical condition amongst the elderly that doubles the risk of morbidity and mortality, and if untreated can lead to a cascade ...
design
2.007 robot
My entry into the MIT 2.007 Robot competition. My design used a scissor mechanism actuated by a lead screw, and also used an active counterweight to stay bal...
Autonomous block collecting robot
Our final project for Robotics Science and Systems I (6.141). We build a deliberative, autonomous robot for picking up and stacking blocks that used a custom...
Next House Website
As the website chair for my glorious undergrad dorm (Next House), I redesigned the website during the summer of 2010. It featured an interactive, easy-to-mod...
Publicity chair at Sidney Pacific
As a publicity chair for the Sidney Pacific (SP) graduate residence, I designed posters for a number of events.
lab
M.Eng - Monitoring Robotic Plan Execution
My M.Eng thesis centered around monitoring high-level temporal plans for robots. A key piece of my work was a set of algorithms that extract candidate ration...
Robotic Testbed Work
I help maintain a number of key robotic hardware systems in my lab, so that we can better demonstrate our autonomy algorithms.
Editing Lisp code effectively with Atom editor
I’m started the atom-slime project, which aims to transform the Atom text editor into a powerful IDE for Common Lisp.
Service to the planning community
Various contributions to the planning and AI community.
Ph.D Research
My research in the MERS group in CSAIL! My work focuses on execution algorithms for human-robot teamwork. Specifically, I’ve developed algorithms that simult...
machine-learning
Machine learning - music genre classifier
My final project for machine learning (6.867) was a classifier that, by listening to an audio file, attempts to sort it into one of rock, hip-hop, electronic...
Planning with learned motions
Oftentimes, robotic motion planning algorithms generate very bizarre paths that don’t make sense to people. For my Cognitive Robotics (6.834J) final project,...
mechanical-engineering
2.007 robot
My entry into the MIT 2.007 Robot competition. My design used a scissor mechanism actuated by a lead screw, and also used an active counterweight to stay bal...
medical-technology
QuantaFit - medical device to assess frailty
Frailty is a highly-prevalent medical condition amongst the elderly that doubles the risk of morbidity and mortality, and if untreated can lead to a cascade ...
music
Machine learning - music genre classifier
My final project for machine learning (6.867) was a classifier that, by listening to an audio file, attempts to sort it into one of rock, hip-hop, electronic...
next-house
Next House Website
As the website chair for my glorious undergrad dorm (Next House), I redesigned the website during the summer of 2010. It featured an interactive, easy-to-mod...
LightDJ - software for music-synced lights
LightDJ is a software application for controlling lighting systems synchronized to music. It runs real time music analysis to create visual effects that are ...
Bicycle spoke lights
These bike lights use bright LED’s and are designed to attach to a bicycle wheel’s spokes, so that many can be added per wheel. I designed these for a semina...
next-make
LightDJ - software for music-synced lights
LightDJ is a software application for controlling lighting systems synchronized to music. It runs real time music analysis to create visual effects that are ...
Bicycle spoke lights
These bike lights use bright LED’s and are designed to attach to a bicycle wheel’s spokes, so that many can be added per wheel. I designed these for a semina...
open-source
Editing Lisp code effectively with Atom editor
I’m started the atom-slime project, which aims to transform the Atom text editor into a powerful IDE for Common Lisp.
photography
Photography
Photography is one of my hobbies. I particularly like taking pictures of cityscapes at night in order to capture especially vibrant colors.
robotics
Pedestrian tracking for autonomous forklift
My semester project for Robotics Science and Systems II (6.142). Combines data from a computer-vision based person tracker with LIDAR data clusters to track ...
2.007 robot
My entry into the MIT 2.007 Robot competition. My design used a scissor mechanism actuated by a lead screw, and also used an active counterweight to stay bal...
Autonomous block collecting robot
Our final project for Robotics Science and Systems I (6.141). We build a deliberative, autonomous robot for picking up and stacking blocks that used a custom...
Planning with learned motions
Oftentimes, robotic motion planning algorithms generate very bizarre paths that don’t make sense to people. For my Cognitive Robotics (6.834J) final project,...
PicasoBot - a sketching robot
PicasoBot is a robot that draws pictures. It uses a 2-axis CNC mechanism to move a pen head, and a third actuator to push the pen down on the paper with vary...
Blicycle - a bicycle for the blind
Blicycle is a bicycle for the blind. Through a number of mechanical, electrical, and software additions to an off-the-shelf bicycle, blicycle helps a blind i...
Planning Algorithms for Bicycles
For my final project for 6.832 (Underactuated Robotics), I decided to apply various random sampling-based motion planning algorithms to some different planar...
M.Eng - Monitoring Robotic Plan Execution
My M.Eng thesis centered around monitoring high-level temporal plans for robots. A key piece of my work was a set of algorithms that extract candidate ration...
Virtual reality interface for robot task assignment
We developed a virtual reality interface allowing a human to issue high-level goals to a robot, which is then able to autonously achieve those goals.
Robotic Testbed Work
I help maintain a number of key robotic hardware systems in my lab, so that we can better demonstrate our autonomy algorithms.
Ph.D Research
My research in the MERS group in CSAIL! My work focuses on execution algorithms for human-robot teamwork. Specifically, I’ve developed algorithms that simult...
running
Should I Run there?
A fun side project – using open-source data to compile a map of where in the Boston area it may be faster to jog than take the T.
sidney-pacific
Publicity chair at Sidney Pacific
As a publicity chair for the Sidney Pacific (SP) graduate residence, I designed posters for a number of events.
teaching
Bicycle spoke lights
These bike lights use bright LED’s and are designed to attach to a bicycle wheel’s spokes, so that many can be added per wheel. I designed these for a semina...
Teaching - Cognitive Robotics (16.412 / 6.834J)
I was the TA for Cognitive Robotics in the Spring of 2016. During this time, I made significant contributions to curriculum redesign.
Teaching - Principles of Autonomy and Decision Making (16.410 / 16.413J)
I was a TA for Principles of Autonomy and Decision Making in the Fall of 2017. I had fun implementing new projects for grad students integrating path plannin...