Employment

RightHand Robotics

Software Engineer II (Jun 2022 – present)
  • Working as a member of the Sustaining software team at a leading warehouse robotics automation company
  • Performed debugging and root cause analysis for software, hardware, and electrical issues on deployed robots
  • Worked with internal software teams to implement and validate fixes for diagnosed issues
  • Developed internal tooling and scripts to process large datasets and determine and predict robot performance and issue trends
  • Maintained close relationship with the Support team to ensure critical issues resolved in timely manner for the customer
  • Employed unit testing and Agile methodologies to effectively integrate and merge changes into a large (>300k LOC) Python codebase

Turtle Sense with Electric Boat

Undergraduate Research Position (Sep 2021 – May 2022)
  • Utilized stakeholder requirements to create a systems-level design for an ultra-high-precision underwater magnetic field probe
  • Created python-based hard and soft-iron magnetometer calibration and verification routines
  • Developed firmware for an STM32-based platform to read and fuse multiple sensors to achieve orientation-corrected magnetic field readings

Machina Labs

Robotics Engineering Intern (Jun 2021 – Aug 2021)
  • Diagnosed timing issues and loop overruns in a real-time robotic controls application
  • Integrated new production functionality into a mature codebase
  • Implemented kernel-level configuration to optimize Python-based control loop jitter
  • Used git in a large multi-programmer environment
  • Used multithreading to parallelize runtime objectives and increase code performance

NASA-funded Asteroid Discovery Research

Undergraduate Research Position (Sep 2019 – Aug 2020)
  • Worked under Dr. Carrie Nugent to build software pipeline to discover near-Earth asteroids in archival data
  • Addressed complex parameter optimization issues by creating Python scripts for image processing and modification

Projects

Sun-Tracking Solar Mount at Woodland Harvest Mountain Farm

I built a solar tracking system for a 1kW solar array, integrating full pan/tilt directionality control and active sun-tracking using a pyranometer. Two linear actuators control the axes of movement and two encoders are used to determine its angular position. The mount is designed to be a beautiful addition to the farm’s land, and maximize power generated by the solar array.

An image of the mechanics in the solar tracker I built!

Olin College of Engineering Capstone - Designing and Building an OAE device

For my engineering capstone project, I was part of a team trying to provide access to universal early childhood hearing screening in Latin America. We wanted to do this by building an affordable hearing screening device. Our particular hearing screening device, known as OAE devices, can go for as much as 3400 in the market, but we wanted ours to be less than 250. I worked on rebuilding the OAE probe itself from scratch, constructing analog filters for audio signal processing, and designing a PCB adapter for amplification and wire durability. I also built our first successful prototype in retreiving valid hearing screening results.

Odalys giving the OAE device a test. FFTs on a laptop screen!

Light Up Crocs!

As a fun hobby project, I'm working on making a pair of light-up Crocs that change colors based on accelerometer data. I'm currently working on mechanical prototypes that will waterproof the LEDs and microcontroller, enable the LEDs to be removed whenever the user wants, and provide the most comfort.

A light-up croc shoe :)

Pager for Communal Living

I designed two PCBs, both using STM32 and 433 MHz RF modules to better communal living communication. Each of the four illuminated buttons correspond to breakfast, lunch, dinner, and meeting. Priorities of the design were to be extremely low-power. After being pressed, the transmitter communicates to the battery-powered receiver with an LED light box.

The pager PCB designs I made!

Off-Grid Electrical System

At Woodland Harvest Mountain Farm, I integrated solar panels, micro-hydro, and generators to provide enough electricity to sustain a house of 15 college students, with 12 taking remote classes.

A schematic of the off-grid power system at the farm

Accessibility-Inclusive Design for Rural Cabin

I led a user-centered and universal cabin design project at Woodland Harvest Mountain Farm, and built it with the help of 15 students. My stakeholders for this cabin were senior relatives of the farm, students needing housing for the semester (me and others LOL), and general farm visitors. I loosely referenced ADA code as guidelines and applied them as needed for rustic living. Woodland Harvest Mountain Farm has made it possible for me to continue improving this cabin and actualizing my design of porches, ramps, and interior living design for Spring 2021.

CAD and built reality of an accessible cabin in the woods!

Assistive Cleaning Device for Senior Citizen

Multi-cleaning tool with adjustable handles and interchangebale heads for sweet senior citizen experiencing different physical disabilities. This was a user-centered design project focused on key principles involving our stakeholder.

Image showing iterations of a prototype in my engineering for humanity course

SCARA Robot

SCARA-based platform for the cutest drawing robot

Image showing a SCARA drawing robot I built for an engineering course

Swarm Robotics System - Antares Technologies

As project manager of a team of 30 students, I led efforts to build swarm robots that could communicate with each other, navigate different terrains, and use camera sensors for object identification. I used different software for team schedules, long-term visioning, and ideation sessions. I also worked on electrical-mechanical integration and part specification.

CAD of a holonomic swarm robot

NASA-Funded Asteroid Discovery Research

I worked with Dr. Carrie Nugent on building a software pipeline to discover asteroids in archival data. I mainly worked with Python to connect astronomical software (Aladin, Scamp, Source Extractor, SAO DS9) with data processing and image modules.

An image showing identified asteroids in a deep-space scan

Climate Change and Minas Gerais, Brazil

Minas Gerais is part of the Cerrado, a vast tropical savanna ecoregion. In recent years, industry has overtaken the region and devastated biodiverse regions, along with being affected by climate change. Using ArcGIS, I studied NEO satellite images and converted them into multispectral images. This allowed me to measure their normalized vegetation index across the years.

An image showing the effects of climate change in Minas Gerais, Brazil, as seen from satellite imagery

My pandemic-style year at Woodland Harvest Mountain Farm

Located on an off-grid farm in the Appalachian Mountains of North Carolina, Woodland Harvest Mountain Farm opened their doors to 12 students from Olin College of Engineering from Fall 2020 to May 2021. We built 3 cabins, lived in community, and practiced sustainable engineering through the most creative solutions. During the first semester, I worked on balancing full courseload with the farm experience, designing a cabin, finding donors for the farm, learning how to cook, and examining dynamic systems through a sociology perspective. The second semester, I continued all my projects and starting building an actuated solar tracker.

Odalys and two other people standing on the frame of a cabin!

Building Wall Frames

After modeling our cabins, allocating placements for windows and doors, and double checking dimensions, we created technical sheets for building our wall frames. Then, we got to hammering.

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The two women who own the farm, showing off the floor plan of a cabin we're building!

Lisa and Elizabeth

Our amazing farm hosts are two gay women with extensive experienced in building, creating community, and all things life. They guided us through building the cabins and other miscellaneous endeavours.

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An outdoor meeting on the farm, showing us in a circle in front of a lush forestscape!

Communal Meetings

We met every week to decide our work plan and engage in contemplative practices.

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A beautiful wooden octagon framing of a cabin!

Octagon Floor Frame

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Odalys and a friend, working on digging a hole!

Digging Post Holes!

I never thought I could dig a hole two meters down, but it's a must to keep your buildings safe and secure.

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Odalys and a friend, looking very intently at a laptop

3D Modeling

Modeling and checking dimensions was important for keeping error costs at a minimum. A wrong measurement can lead to dozens of dollars wasted on a bad lumber cut.

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Odalys stirring a bucket with a drill and paddle!

Light Straw Clay

Our ecofriendly insulation started with mixing clay to apply to straw. We aimed to get a thick consistency where we couldn't see our fingerprints if we dipped our fingers in.

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A pelton wheel micro-hydro turbine, providing electricity for us at night!

Micro Hydro

The farm's property expands over an immense difference in altitude. This allows for a great output of constant energy when we can't rely on solar panels.

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Everyone hard at work building a cabin!

Implementing Light Straw Clay

Adding the light straw clay to our buildings was a whole meticulous process involving some tamping and frequent batches of light straw clay made at different stations.

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Lisa and Elizabeth helping drill through some wood!

Rafters

Assembling durable rafters was tedious, but Lisa and Elizabeth's guidance made the process go smoothly.

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The accessible cabin, frame complete!

Crone'Cabin

Modeled with accessibility and inclusivity in mind.

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A few of us sitting on a half-complete octagonal cabin!

Octagon Cabin

Beautiful housing for several students and a loft!

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