PAPERS

A small collection of different reports and papers written across my academic years, ranging from failure analysis and design to robotic systems and soft robotics. Click on the titles to access an electronic PDF version of the papers.

Simulation of Cicada Flight using Discrete Elastic Rods

A new approach to simulation of cicada flight using a network of discrete elastic rods connected to form wing geometries. Cicada wings are discretized into nodes upon which gravity, actuation, and Taylor Drag forces act. Applications of this research include Micro Air Vehicles and bio-inspired robotic flight. Written with Andrew Namgoong (B.S., M.S. UCLA, Ph.D Georgia Tech) as part of Dr. M. Khalid Jawed’s Soft Robotics course.

Design of a 5 DOF Force-Controlled Robotic Arm for Flipping Pancakes

Creation of a position and force controlled 5 DOF manipulator to systematically flip pancakes. Discussion of various design choices and requirements for mechanical and electronic hardware. Contains a theoretical analysis of the manipulator, including inverse kinematics and trajectory generation. Basic computer vision techniques based on Otsu’s Method. Written with Andrew Namgoong (B.S., M.S. UCLA, Ph.D Georgia Tech) and Spencer Burakowski (B.S., M.S. UCLA) as part of Dr. Veronica Santos’ Control of Robotic Systems course.

Design and Analysis of a High-Temperature Molten Salt Heat Exchanger for Usage in Heliostat Solar Farms

Design of a molten salt heat exchanger for use in solar heliostat power plants, with thermal, mechanical, and failure finite element analysis simulations performed in COMSOL. Parameters include material selection, heat exchanger geometry, and different failure modes. Written with Andrew Namgoong (B.S., M.S. UCLA, Ph.D Georgia Tech) and Ryan Lee (B.S. UCSB, Ph.D UCLA) as part of Dr. Giacomo Po’s High-Temperature Mechanical Design course.