Projects & Creations

Description

• Developed a ROS2 Fanuc driver using Ethernet IP protocol, implemented in C++ using the EIP Scanner module, enabling full programmatic control of the Fanuc CrX10ia cobot.
• Built a custom PyQt5 UI for the Fanuc CrX10ia – Lincoln R450 PowerWave system, and developed a TCP/IP driver for the Lincoln R450 following the ArcLink message structure in Python.
• Programmed background TP and Karel firmware programs to interface with ROS2 running programs.
• Currently integrating an AI agent into the live robotic welding loop — beginning with LLMs and VLMs for high-level reasoning, with plans for task-specific SLMs.

Technologies

Description

• Built an in-pipe welding robotic arm focusing on control software, embedded system design, and electrical wiring as part of the SFU Motion and Power Electronics Control Lab.
• Developed and tested control software using TMS320F240 DSP (dSPACE) during prototyping; transitioned to Raspberry Pi Compute Module 4 and NXP ARM S32K144 MCU for final implementation.
• Created a seam tracking algorithm integrating Python scripts with line laser sensors for real-time accuracy, applying KNN algorithms for point-cloud filtering and piecewise-linear fitting for edge detection.
• Designed PI and computed torque controllers for DC and PMSM motors, and a trajectory-based control system for smooth, jerk-free motion. Built a FreeMaster HMI (HTML/CSS/JS/JSON-RPC) for real-time robot control.

Technologies

Description

• Performed FEA thermal structural analysis of a historic train boiler system (Spirit of Kamloops, Locomotive 2141) to determine Maximum Allowable Working Pressure (MAWP) and suggest re-designs.
• Conducted welding experiments using the cobot system at BCIT, and performed laser scan and point-cloud processing of parts before and after welds to detect geometric distortion.
• Developed frontend software tools for welding engineers (JavaScript) and managed website and database for Fleet Management (Ruby on Rails).

Technologies

Description

• Designed and implemented a fully automated conveyor-based sorting system using Studio 5000 and a CompactLogix L36ERMS Safety PLC.
• Developed modular ladder logic architecture using multiple subroutines with structured JSR execution and a state-machine–based control strategy.
• Integrated photo-eye sensors, pushbuttons, indicator lamps, and pneumatic actuators with deterministic timing using TON timers and CTU counters.
• Programmed PowerFlex 525 VFD control via digital I/O for safe start/stop sequencing. Designed fault detection logic using timers and counters to detect missing bins, initialization timeouts, and E-stop conditions.

Technologies

Description

• Built a fully automated mobile robot using Hector SLAM for navigation, with a YOLOv3 model for detecting stop signs.
• Implemented an OpenCV line-tracing algorithm and a CNN network for detecting cat and dog images via ArUco markers, enabling the robot to determine where to drop red and blue balls to accomplish its mission.

Technologies

Description

• Proposed and prototyped a device capable of generating artificial 3D touch sensation from a 2D picture, aiming to solve the navigation problem for visually impaired or blind users.
• The solution extracts 3D dense information from a 2D image using deep learning and translates it into 3D tactile sensation applied to the user's skin via electromechanical devices.
• Combined mobile device, embedded system, and deep learning into an end-to-end wearable navigation assistant.

Technologies