Marine & Underwater Robotics
2025–2026
Paddy — 6-DOF Underwater Vehicle
An open-architecture underwater Remotely Operated Vehicle designed for subsea exploration and research. Features a custom power distribution board, real-time telemetry overlays, vectorized thruster mixing, and custom-designed thruster mounts.
Architecture: ESP32-S3 main controller, Node-RED telemetry dashboard, Bare-metal control routines.
Fabrication: Custom 3D-printed thruster shrouds, CNC-machined frame elements, sealed electronics enclosure.
ESP32-S3
C++ / Python
KiCad
Fusion 360
Node-RED
Mobile Robotics
2026
Sigma-XIV Tracked Chassis Platform
A two-tier tracked mobile platform built for rugged terrain navigation and autonomous sensing tasks. Features industrial-grade status signaling, custom battery management systems, and a dedicated embedded Linux host for high-level computing.
Architecture: RP2040 motor control via PIO state machines, onboard SBC running Linux, custom power distribution.
Fabrication: Laser-cut aluminum chassis, high-torque geared motors, custom status LED matrix.
RP2040
C / Bare-Metal
Embedded Linux
Laser Processing
Embedded Microelectronics
2025–2026
Custom RISC-V & ARM Controller Modules
A series of ultra-compact breakout boards and controller modules based on CH32V003, RP2350, and iCE40 FPGAs designed for rapid prototyping in laboratory environments and student research projects.
CH32V003
RP2350
iCE40 FPGA
KiCad PCB
Industrial Automation & Retrofit
2026
Denford CNC Mill — LinuxCNC Retrofit & Control Modernization
A full mechanical overhaul and control system retrofit of a legacy Denford CNC milling machine. Modernized the legacy proprietary architecture with an open-source, real-time LinuxCNC control system, upgrading motion control hardware, spindle drives, and safety interlocks for precise academic prototyping.
Architecture: LinuxCNC real-time kernel, Mesa I/O control cards, custom breakout interface, and modernized stepper/servo driver integration.
Execution: Complete electrical cabinet rewiring, emergency stop loop implementation, spindle encoder feedback integration, and custom HAL (Hardware Abstraction Layer) configuration.
LinuxCNC
Mesa Electronics
HAL & INI Config
Industrial Wiring
Machining