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<!DOCTYPE html>
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<h1>Elder Care Companion</h1>
<h3>Creative Machines Lab @ Columbia University</h3>
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<div class="modal-works"><span>CAD Modeling</span><span>3D Printing</span><span>Human Centered Design</span><span>Mechatronics</span></div>
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<div class="col-lg-12">
<h2>The Problem</h1>
<p>With the increasing demand for healthcare workers in recent years, there is an increased interest in healthcare automation. How might AI and machines be used to provide care for facilities that are at capacity and understaffed?</p>
<p>We decided to explore how we can help at-risk elderly patients who may need emergency medical assistance through the night.</p>
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<h2>Our Solution</h1>
<p>We set out to design a robot that could <b>passively monitor the vital signs</b> of a patient and detect potential anomalies. It was important that this robot would be <b>non-intrusive</b> and fit into a <b>comfortable form factor.</b></p>
<p>It was important to us that our robot had some kind of movement so that it could provide physical feedback and comfort. After some initial sketches, we settled on three different form factors: a lion, a dolphin, and a Waddle Dee.</p>
<p>I was in charge of the <b>lion's design.</b></p>
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<p>We decided to embed a thermal camera, microphone, speaker, and servo motors placed to mimic some natural motion. The dolphin and Waddle Dee would mimic breathing, while the lion would mimic purring.</p>
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<img src="images/portfolio/cml-waddledee-cad.jpg" alt="WADDLE DEE">
<div class="caption">Waddle Dee CAD Assembly</div>
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<p>For the lion, I tried to make the components as lightweight as possible. I went with a "skeleton" design, where a flexible spine had "ribs" attached with servo motors for haptic feedback. The electronic components would be housed at the base of the spine while the remaining sensors would be embedded in the lion's head.</p>
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<div class="caption">Skeleton Design</div>
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<h2>Project Evolution</h2>
<p>While we were able to prototype the animals, our advisor pushed us to embed these systems into a pillow. This time, the goal was comfort.</p>
<p>We added force-sensitive resistors (FSRs) to detect human presence on the pillow, thermistors to detect temperature, and a contact microphone. These were all embedded into a memory foam pillow. </p>
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<img src="images/portfolio/cml-pillow.jpg" alt="PROTOTYPE">
<div class="caption">Pillow Embed</div>
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<p>Using a data aquisition board (DAQ) we recorded the analog voltage changes from the sensors. This project will be continued by future students in the lab to optimize an algorithm to interpret the data.</p>
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<h4 class="modal-title" id="Modal-label-1">Space Debris Capture</h4>
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<img src="images/portfolio/portfolio-1.jpg" alt="img01" class="img-responsive" />
<div class="modal-works"><span>CAD Modeling</span><span>Analysis</span><span>Machining</span><span id="in-progress">In Progress</span></div>
<p>In partnership with <a href="https://scienceandtechnology.jpl.nasa.gov/opportunities/academic-partnerships/juci" target="_blank">NASA JPL,</a> our senior design team tackled the issue of <b>orbital space debris.</b></p>
<img src="images/portfolio/sd-1.jpg" alt="img01" class="img-responsive" />
<p>Our goal was to design a mechanism that could safely and effectively capture a piece of space debris that is 10-30 cm in diameter.</p>
<img src="images/portfolio/sd-3.jpg" alt="" class="img-responsive" />
<p>Our design consists of an <b>inner and outer aperture.</b> The outer aperture is mailbox-like and is responsible for the initial grab of the space debris. The inner aperture functions like a garage door between the initial capture area and the storage container (not pictured).</p>
<p>Together, the inner and outer apertures create a grabbing mechanism that can grab and store many pieces of orbital space debris.</p>
<img src="images/portfolio/sd-5.jpg" alt="" class="img-responsive" />
<p>We went through several design iterations before choosing our final design based on manufacturability and material constraints.</p>
<img src="images/portfolio/sd-2.jpg" alt="" class="img-responsive" />
<p>We performed motion studies and impact analysis to guide our manufacturing decisions.</p>
<img src="images/portfolio/sd-4.jpg" alt="" class="img-responsive" />
<p>With mentorship from NASA engineers and Columbia faculty, we were able to begin machining a full-scale prototype!</p>
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<h4 class="modal-title" id="Modal-label-2">Bipedal Robot</h4>
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<img src="images/portfolio/portfolio-2.jpg" alt="img01" class="img-responsive" />
<div class="modal-works"><span>CAD Modeling</span><span>3D Printing</span><span>Robotics</span><span>Python</span></div>
<p>The goal of this project was to create an autonomous walking bipedal robot completely from scratch. We decided to make a design inspired by Baymax from Disney's Big Hero 6.</p>
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<img src="images/portfolio/slaymax-1.jpg" alt="" class="img-embed" />
<img src="images/portfolio/slaymax-2.gif" alt="" class="img-embed" />
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<p>We were responsible for every phase of design—initial sketching, 3D modeling, printing and prototyping, assembly, electronics, and programming.</p>
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<img src="images/portfolio/slaymax-3.jpg" alt="" class="img-embed" />
<img src="images/portfolio/slaymax-4.jpg" alt="" class="img-embed" />
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<p>Every design iteration was a cycle of modeling, simulation, printing, and testing.</p>
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<img src="images/portfolio/slaymax-5.jpg" alt="" class="img-embed" />
<img src="images/portfolio/slaymax-6.jpg" alt="" class="img-embed" />
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<p>Simulations were conducted in pybullet. A hill-climber algorithm were used to determine the best constants for motor actuation.</p>
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<img src="images/portfolio/slaymax-7.jpg" alt="" class="img-embed" />
<img src="images/portfolio/slaymax-9.jpg" alt="" class="img-embed" />
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<p>Our final robot was able to walk at nearly 1 cm/s. In the future, we want to improve this and add cosmetic changes, such as an outer shell.</p>
<img src="images/portfolio/slaymax-8.jpg" alt="" class="img-responsive" />
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<h4 class="modal-title" id="Modal-label-3">UNDER CONSTRUCTION</h4>
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<img src="images/portfolio/portfolio-3.jpg" alt="img01" class="img-responsive" />
<div class="modal-works"><span>CAD Modeling</span><span>3D Printing</span><span>Electronics</span><span id="in-progress">IN PROGRESS</span></div>
<p>Check back later for details on this project!</p>
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<h4 class="modal-title" id="Modal-label-4">Procedurally Generated Lampshade</h4>
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<img src="images/portfolio/lampshade-1.jpg" alt="img01" class="img-responsive" />
<div class="modal-works"><span>Python</span><span>Blender</span><span>3D Printing</span></div>
<p>With a few user-inputted parameters, this Python script generates a 3D model for a lattice-structured lampshade. The model is rendered within Blender.
<p>We first hand-sketched the shape of our lampshade and determined the best parameters and equations to define it.</p>
<img src="images/portfolio/lampshade-2.jpg" alt="" class="img-responsive" />
<p>Then, we wrote code to generate rings of a specified thickness and radius—arranged layer by layer—into our lampshade shape. The resultant model is then rendered and exported as an STL.</p>
<img src="images/portfolio/lampshade-3.jpg" alt="" class="img-responsive" />
<p>The model is then scaled, sliced, and printed!</p>
<div class="modal-row">
<img src="images/portfolio/lampshade-4.gif" alt="" class="img-embed">
<img src="images/portfolio/lampshade-5.gif" alt="" class="img-embed">
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<img src="images/portfolio/lampshade-6.jpg" alt="" class="img-responsive">
<p>The full code is available on our <a href="https://github.com/reyluno/digital-manufacturing" target="_blank">GitHub repository.</a></p>
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<h4 class="modal-title" id="Modal-label-5">Topology Optimization</h4>
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<div class="modal-works"><span>Analysis</span><span>3D Printing</span><span id="in-progress">IN PROGRESS</span></div>
<p>We were challenged to design a desk and chair that was topologically optimized to support the greatest load with minimal mass.</p>
<p>I began by creating two basic initial models in SOLIDWORKS.</p>
<img src="images/portfolio/topology-1.jpg" alt="initial-model" class="img-responsive" />
<p>Then, I imported the models into Altair Inspire and designated the design spaces for optimization.</p>
<img src="images/portfolio/topology-2.jpg" alt="altair-screenshot" class="img-responsive" />
<p>The desk is intended to hold a load of 200 kg on its surface. The chair is designed to hold at least 150 kg, with an additional fifth of that load being placed on the back of the chair.</p>
<p>After optimizing for 30% of their respective initial design space volumes:</p>
<img src="images/portfolio/topology-3.jpg" alt="optimized-models" class="img-responsive" />
<p>After applying a PolyNURBS fit:</p>
<img src="images/portfolio/topology-4.jpg" alt="smoothed-model" class="img-responsive" />
<p>Finally, a usable model! I exported the optimized fits as STEP files for rendering and STL files for printing.</p>
<img src="images/portfolio/topology-5.jpg" alt="renders" class="img-responsive" />
<img src="images/portfolio/topology-6.jpg" alt="prints" class="img-responsive" />
<p>Using Altair Inspire, I can optimize the geometries of any future parts to save material.</p>
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<h4 class="modal-title" id="Modal-label-6">FOUR-BAR LINKAGE</h4>
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<img src="images/portfolio/linkage-1.gif" alt="linkage-gif" class="img-responsive" />
<div class="modal-works"><span>CAD Modeling</span><span>Robotics</span><span>Analysis</span><span>Electronics</span><span>Machining</span></div>
<p>We were challenged to design an <b>actuated four-bar linkage</b> that could press buttons on game board as fast—and as accurately—as possible.</p>
<img src="images/portfolio/linkage-2.jpg" alt="initial-design" class="img-responsive" />
<p>We began by first calculating the optimal length of each link based on a prototype coupler design. The coupler holds a solenoid that is used to press the buttons.</p>
<img src="images/portfolio/linkage-3.jpg" alt="CAD" class="img-responsive" />
<p>Once the parts were manufactured, it was time to put together the electronics hub. We used a 12V motor, encoder, H-bridge, limit switches, and Arduino to control our linkage.</p>
<img src="images/portfolio/linkage-4.jpg" alt="parts-and-electronics" class="img-responsive" />
<p>Additional constraints, such as total build volume and manufacturing quality, were factored into our performance evaluation.</p>
<img src="images/portfolio/linkage-5.jpg" alt="team-picture" class="img-responsive" />
<p>We achieved a final score of 192 button presses per minute! You can view the full video here.</p>
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