Smart Tool Wear and Breakage Detection via Servo Load Monitoring Built an MLP in PyTorch to predict CNC tool flank wear from force, torque, vibration, and acoustic signals at 10 kHz. Designed feature engineering pipeline (88 features, NumPy/SciPy) and evaluated with k-fold cross-validation. Self-Actuated Climbing Inspection Robot Designed and built a self-actuated surface inspection robot from scratch — system integration, CAD, embedded control (Arduino), suction-based adhesion, suspension design, and tactile sensing integration. Built test fixtures and iterated hardware to improve repeatability. Somansa: ZTNA Research and RAG System Development Built Python automation tools for web crawling, PDF-to-Markdown and HTML-to-Markdown conversion, and data cleaning for AI ingestion. Developed a RAG pipeline with systematic LLM and embedding model evaluation across multiple configurations. Spherical GelSight Tactile Sensor Developed a spherical vision-based tactile sensor for omnidirectional robotic surface scanning — sensor fabrication, PCB/electronics integration (ESP32S3), Python/OpenCV reconstruction pipeline. Patent filed; paper submitted to IROS 2026. ArachnoBot — Terrain-Adaptive Robot Designed and built a terrain-adaptive walking robot with 4-bar linkage mechanism for stable locomotion over uneven surfaces. Rapid prototyping, mechanism design, and public demonstration to 1,000+ visitors. 1st Place, Distinguished Robotics. Assistive Technology Devices Designed and 3D-printed assistive devices (vegetable slicer, bag closer, iPad holder) under one-handed usability, single-print fabrication, and safety constraints. CAD, rapid prototyping, and iterative user testing.
