UAV Indoor Guidance System
4th Year Undergraduate Capstone Project
I co-designed and implemented a control system for a quadrotor UAV to follow walls and traverse corners.
We augmented an off-the-shelf drone with SONAR sensors and an Arduino microcontroller:
We designed a pose control system using a PI controller:
We implemented the control system using ROS and Python:
- Video Demonstration
- We placed 3rd at the 2017 IEEE Eastern Ontario Student Paper Competition (Ottawa, ON).
Electrical Design Lead and Project Manager - Queen’s Mostly Autonomous Sailboat Team
I was part of the Queen’s Most Autonomous Sailboat Team (QMAST) for three years:
- In the summer of 2014 I did a co-op term as the Electrical Design Lead.
- In my third year (2014/2015) I was the Electrical Team co-manager as a volunteer extra-curricular.
- We placed 2nd at the 2015 International Robotic Sailing Regatta (St. John’s NL).
The mechanical team built a 2-metre long fixed keel, single sail boat.
I designed and built the embedded electrical systems, including power, computing, and motor control systems.
The battery management, power distribution, and motor control module.
The computing module.
I designed a number of custom PCBs throughout this project.