Projects

Digital SCARA Robot

C++ robotics demo with OpenCV + cvui: AR visualization, pose tracking, IK/FK, and smooth trajectories.

This project is a C++ robotics demo built with OpenCV for visualization and vision, and cvui for an interactive control panel. A virtual camera renders a 3D workspace (robot links, axes, and target cubes) into the live camera view while sliders/buttons let you adjust camera and robot settings in real time. ChArUco markers provide reliable pose/orientation tracking so targets can be defined in the real scene and treated as “digital cubes” in the simulator. Forward kinematics maps joint angles to the end-effector pose, inverse kinematics solves the joint angles needed to reach a desired (x, y, z, theta), and trajectory generation creates smooth motion between targets so the end effector can move cleanly and repeatably from cube to cube.

SmartPost – Smart Package Receiver (Product Development Lead)

Secure IoT delivery system with automated verification, multi-camera monitoring, and remote control.

The Smart Package Receiver is a secure, IoT-enabled delivery system designed to reduce package theft and improve homeowner peace of mind. Built around a Raspberry Pi 4, it integrates a precision weight sensor (HX711 with load cell), three cameras for multi-angle monitoring, and a motorized door with locking mechanisms. On delivery, the system verifies package placement via weight and video capture, then automatically closes and locks the compartment.

Data is transmitted over a custom client-server network, allowing users to view live video, receive notifications, and control locking/opening through a mobile app. The prototype is fully functional with video streaming, weight sensing, and servo/solenoid controls implemented, and is now ready for pilot testing and pre-seed commercialization.

Automated Recycling Sorter

C++, computer vision, motor control, and 3D printed mechanisms.

Built an automated object-sorting system using real-time camera input, motor control, and custom 3D-printed components for the conveyor and sorting mechanism.

FreeRTOS Lock Box + Web UI OTP Generator

Pico 2 W (RP2350), PN532 RFID, 4x4 keypad, solenoid lock, status LEDs, Web UI.

Built a secure access-control lock box for a Real-Time Embedded Systems (FreeRTOS) project on the Raspberry Pi Pico 2 W (RP2350). Authentication is handled through a 4x4 keypad and a PN532 RFID reader, with a solenoid lock for actuation and status LEDs + button inputs for clear feedback and local control.

In addition to the hardware interface, I created an HTML-based Web UI that allows a user to generate a one-time-use access code (OTP) and update their normal PIN. The firmware is structured using FreeRTOS principles with separate tasks for input handling and actuator/state control to keep behavior responsive and predictable.

Remote Video-Controlled Vehicle (Client-Server)

Raspberry Pi 4, client-server control, multi-camera video streaming, custom PCB HAT.

Designed and built a remote-controlled vehicle operated through a client-server architecture between a Raspberry Pi and my laptop. The system streams live video and supports multiple camera views to help drive and aim the vehicle remotely. A custom PCB HAT was designed and fabricated to integrate and power the vehicle’s hardware reliably.

• Software (C++ / OOP): modular client-server control and command handling for vehicle functions
• Video system: real-time streaming with multiple camera views to support remote driving and targeting
• Hardware integration: Raspberry Pi 4-based control with a custom PCB HAT for power + I/O integration
• Mechanical: custom 3D-designed components to mount and protect the system