Projects

In addition to being a cool project, this robot has also been the focus of my research while working as an undergrad in the UC San Diego Bioinspired Robotics and Design Lab headed by Dr. Mike Tolley. It has been an invaluable experience to be a part of that lab, and getting to work on this robot has been incredible. I have felt elation, frustration, confusion, and excitement while working on this robot, and I have learned so much along the way. As it turns out, I'm not the only one who thinks this project is awesome. Recently the work from our group, with Dylan at the helm, was published on the cover of the February issue of the journal Science Robotics.

Seeing my photo on the cover was a really awesome moment.

Too read more about this check out my research page.

This project was a really exciting way to combine my passions of aerospace engineering and photography. As a tangential offshoot from another crackpot idea, Andrew, Todd and I thought it would be fun to launch a weather balloon. Our goal for this mission was to determine how high we could lift a small payload, record avionics and atmospheric data for the duration of the flight. Putting my GoPro on the line, I pitched that the payload should be a camera. We took the idea and ran with it.

We soldered together an Arduino based circuit with GPS and atmospheric sensor modules to create our electronics package. This, and the camera, were connected to a portable phone charger which acted as the systems battery. To better facilitate recovery, we added a SPOT trace to the package. We used open source software to simulate the ascent and descent of the balloon based on the initial launch location, expected wind behavior, balloon volume, and payload mass. After some at-home testing of the electronics and parachute, we filled the balloon and sent it on its merry way.

As anyone who has listened to the weather report in San Diego knows, meteorological predictions are not always accurate. Our package was initially expected to touch down somewhere near Julian. We were hoping to get some pie as a part of our recovery mission. However, as we watched the real time location inch closer to the Mexican border, we realized that we might be in for a change of plans. Fortunately, I did not have to brush up on my Spanish. The wind shifted north and set our balloon down safely in the middle of bum%#*$ nowhere. That is an exactly appropriate description.

[32.697979, -116.171143] also known as nowhere.

Trying to get the package, and my GoPro, back proved to be a rather difficult affair involving two seperate attempts. The payload had parachuted down to a point miles off the nearest road or even hiking trail. On the second recovery attempt we were joined by Thomas who greatly helped us with our wilderness exploration. After hours of traipsing though the underbrush with a handheled GPS, we finally found or prize. However, it was not without cost. This expedition was complete with cactus prickles, scaling scalding rocks, and the effects of dehydration and exposure. At one point both border patrol and the sherrifs department were looking for us. They were not however looking very hard as we were made to wait for the sherrif for hours after having made it back to safety. The sherrif being a no-show, we left written statements and bailed to go get some sleep.

Those that know me well will accuse me of having thusfar left out the best part of this entire ordeal. We chose to wait for the sherrif at De Anza Hot Springs Resort which was next to the trailhead. Unbeknownst to us, De Anza Hot Springs Resort is a nudist colony. We quickly learned this when, while we were in the process of recovering in the main room, a couple walked in without any form of pants, sat down next to us, and began working on a puzzle. Our first assesment of the situation was that we had indeed contracted heat stroke and were deliriously hallucinating. That wore off quickly as we soon discovered the karaoke hall filled with happily drunk naked people about as in-tune as they were dressed. Although our stay at the hot springs resort was short and unexpected, the ameneties were nice, and the staff was exceptionally kind and helpful. If you happen to be looking for a place to take off all of your clothes in the company of others, I cannot recommend this establishment more highly.

It should also be stated on record that Thomas is a saint and I owe him a life debt. A special thank you also goes out to Todd and Andrew who made this happen.