Mechatronics, Hardware Design
Single Rotor Flyer with Prolonged Endurance
(ModLab @ UPenn) Mar. 2026 - Present
An underactuated micro aerial flyer under 4 cm in diameter, powered by a high-energy-density Al-air battery and driven by a single off-center motor for controllable Cartesian XYZ motion. The 1 cm × 1 cm onboard PCB integrates the world’s smallest nRF54L15 module, enabling wireless control and multi-drone communication with an estimated flight time of over 15 minutes.
TidyVerse: A holonomic manipulator mobile base
(Figueroa Robotics Lab @ UPenn) Sep. 2025 - Feb. 2026
A mobile manipulation platform that combines a 7-DoF robotic arm (supports Franka Panda, KUKA iiwa 7) with a holonomic base for autonomous grasping and object handling. Integrated with a whole-body controller, teleoperation, and OpenClaw for autonomous code generation.
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CFC 3D Printer Temperature Controller
(ARL-MLS Lab @ Utoronto) Sep. 2024 - Apr. 2025
A custom chamber temperature control unit for the Anisoprint A3 CFC 3D printer, designed for stable operation at 40°C and 65°C. It maintains temperature within ±0.5°C, limits oscillations to under 0.5°C, and achieves ±2°C uniformity across the full 793 × 640 × 420 mm chamber.
🥇First Place Winner🥇
2024–2025 MIE Senior Design, Mechanical Engineering, University of Toronto.
An 18-DoF hexapod robot with an onboard IMU for gait control and adaptive locomotion across different terrains.
Eclipse Motor Board Jul. 2024 - Aug. 2024
A 4-layer custom motor driver and power distribution board designed for Arduino Mega. It supports up to 15A high-current input, dual power sources, and simplifies prototyping, wiring, and power management.
Collagen Sheet Tensile Tester
(Guenther Lab @ Utoronto) May. 2023 - Sep. 2023
A custom-built unidirectional tensile testing system with control software and data acquisition, allowing users to define tensile force, cyclic loading profiles, and other test parameters.
Perception, Planning, Control
XLeRobot ++, SLAM-DS (MEAM6230 project @ UPenn)
Feb. 2026 - May. 2026
Built a Jetson-powered dual-arm mobile manipulation platform with two 7-DoF arms, RGB-D perception, and 360° arbitrary-direction grasping capability.
On this platform, we developed SLAM-DS, a reactive navigation framework that predicts local free-space deformation from RGB-D input and uses time-varying navigation manifolds, DS control, and CBF safety filtering for safe navigation in dynamic indoor environments. Validated on both simulator & hardware.
StackingSmart (MEAM5200 project @ UPenn) Oct. 2025 - Dec. 2025
An autonomous block-stacking framework. It integrates AprilTag perception, a finite-state-machine decision layer, and low-level impedance controllers for pick and place. Validated on both simulator & hardware.
learn moreTurtleBot (MIE443 project @ Utoronto) Feb. 2025 - Apr. 2025
Developed an autonomous TurtleBot2 navigation system using LiDAR mapping, AMCL localization, and Artificial Potential Field (APF). The robot explored a 5 m × 5 m obstacle environment with memory-grid-based coverage, collision recovery, corner evasion, and local-minima handling.
Mechanical & Mechanism Design
Double-pulled Door Latch Design
(MAGNA Canada Inc.) Sep. 2024 - Dec. 2024
Design of a compact dual-actuation latch mechanism designed for pickup truck, with complete FEA analysis.
Design, model, and validate automotive production-line and manufacture fixtures, including surface coating supports and plating-line layouts.
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Mini-CNC Milling Machine (MIE243 project @ Utoronto)
Sep. 2022 - Dec. 2022
A conceptual design of a compact, desktop CNC milling machine.
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