Electromechanical Engineering Portfolio RJH

My engineering portfolio consists of my current projects and my main contributions.

1. Electromechanical
Engineering Portfolio
RYAN HOUSTON

2. BillyBOT: Autonomous Robot Tour Guide
Using ROS, I implemented Simultaneous Localization
and Mapping (SLAM) with a 2D LiDAR sensor to get real
time position tracking within the map it generates and
updates constantly.
I made a 3D model to visualize the robot's structure
and led in its assembly.

3. I rewired the entire system to improve organization and to implement
solar charging. I made a wiring diagram for the new system to allow
for an easy-to-follow assembly and to visualize the system before any
wiring is done.

4. Animatronic eyes were integrated into the robot to give a
sense of realism when speaking with it. These eyes are
actuated using servo motors with movement guided by a
face-tracking system powered by a camera. This setup
allows the eyes to follow a person's face in real time,
enhancing the robot's interactive capabilities.

6. The inverse kinematics of the robot arm are performed in a
simulation, and the resulting joint positions are sent to the physical
arm for a live 1 to 1 tracking. The target node that drives the inverse
kinematics is defined by the gloves position using stereo camera
vision to capture its position coordinates.
Haptic Feedback Glove & Robot Arm Control

7. I also developed a prototype of my
exoskeleton design that tracks wrist flexion
and extension, as well as elbow movement,
while still allowing for wrist rotation.
Exoskeleton Arm Prototype

8. Testing is being done to finalize the finger tracking
design, incorporate finger restriction, and
implementing accurate wrist rotation tracking using
IMU sensors and a Kalman filter.
Using the potentiometers on the exoskeleton wrist and
elbow joints, we can directly send those values to the
corresponding robot arm joints to control its
movement.