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The GRITSBot is available open-source!

After almost two years of development and numerous iterations, the design of the GRITSBot is finally mature enough for a public release. The newest design of the GRITSBot features a WiFi-enabled ESP8266 microcontroller, Qi wireless charging, stepper motors, onboard current, voltage, and temperature sensors, as well as downward-facing IR sensors …

The Robotarium is featured on Gatech’s Front Page

My research project – the Robotarium – was recently featured on Georgia Tech’s College of Engineering website. On the front page that is. Georgia Tech calls it the Robot Zoo. Check out the main article here and get the inside scoop with a number of professional photos of the robots …

Student Best Paper Finalist

The 54th IEEE Conference on Decision and Control was held in Osaka, Japan this year. Beyond getting my paper accepted, I had another reason to attend the conference. My paper “A Game-theoretic Formulation of the Homogeneous Self-Reconfiguration Problem” (co-authors Magnus Egerstedt and Jeff Shamma) was nominated for the Student Best …

The GRITSBot

After almost a year of development and numerous hardware and software iterations, the GRITSBot is finally ready to be shown to the world. Simply put, the GRITSBot is a miniature robot used for research in swarm robotics as well as educational purposes. Therefore, we designed it to be low cost, …

My LED cube’s first public appearance

After weeks of soldering LEDs together, designing circuit boards, placing components and wires on those boards and connecting all the components, my LED cube is finally at a stage that justifies its first public appearance. Check out the current status of the project including photos and videos here.

Home Automation Kickoff

Today was the kickoff of the wireless switch, a device required for the full automation of my apartment. In the current implementation it enables a 110V appliance to be switched wirelessly from a laptop or server. I used Arduino and XBee-based prototype to switch a simple desk lamp wirelessly and …

Heterogeneous Self-Reconfiguration

Following the presentation of my paper on “Complete Heterogeneous Self-Reconfiguration: Deadlock Avoidance Using Hole-Free Assemblies” at NecSys 2013, summarized the approach in this post. Enjoy a video showing the potential of this self-reconfiguration approach and a concise summary of this paper here.

Interview with DesignNews

Back in February, I was contacted by Ann R. Thryft from DesignNews (a print and online magazine). DesignNews addresses issues in automation & control, material science & assembly as well as hardware and software design tools related to system and product design. Ann was writing an article about self-assembly and …

QuickBot – A Robot Built In An Afternoon

When Rowland O’Flaherty and I started working on the QuickBot, it was already 4pm. We wanted to see how long it takes us to build a fully functional differential drive robot. The plan was to design the base in Solidworks, lasercut it out of acrylic, add two motors, an Arduino, …

First Milled Circuit Board

Today I produced my first circuit board at Georgia Tech’s GVU prototyping lab, which features a LPKF ProtoMat S62 circuit mill. In a few simple steps one can go from a PCB design in Eagle to an actual circuit board cut of double-sided copper clad board.  The board shown on the left was …