https://www.katherinechoy.com/projects daily 0.75 2026-01-25 https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545374301425-IMKCWQ3M48VIHJ93GI09/plant+robot.jpg Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545376615233-LGSJMV66V19I987DEQNV/cad.png Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545380815344-BXL9AE2JBHTXHJG2ZE6V/testing.png Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545384229251-RK396NE8BFXNZ8AGHXXQ/p11.jpg Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545385998851-EWTZQTAUUO4RWCP31IQS/title.JPG Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545386676995-7P90HRS2T0W6J3UDWBQI/iso.jpg Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545387387063-OJZKMKP59RZPIE0JOGJ7/team.png Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1547946821598-6QGQVPU5JFQOTJ13RX9B/IMG_4066.JPG Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1547946821598-6QGQVPU5JFQOTJ13RX9B/IMG_4066.JPG Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1581557767558-WHT680BOM6FYSE8VBMLN/IMG_1054.JPG Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1584561486686-HHDHQFXNV6JUS0BBXXE2/IMG_1714.JPG Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1589096477906-GURN20JIGLMIQQ39FXXY/IMG_0451.jpg Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1589096787114-BZJ2DSDFA4ZGNPZ5RPC5/IMG_0128.jpg Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1589199955390-7P9X6ZBDP8EDOQCINSVC/iso.JPG Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545370871733-L2O0ZY8OIQK0ABL3NRLR/final+prototype.jpeg Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545370953830-U8EBWMVV2V46JWV4QMJ1/image-asset.jpeg Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545373928001-IAS3U7PK0GU9K3U4T9VB/ezgif.com-resize.gif Projects Testing of moisture system. Light turns from red to green as the plant is watered, indicating optimal moisture levels. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545372462082-O34ITKU58UAFE98YYZLZ/shaft.jpg Projects Manufactured shaft collar to attach omniwheels to DC motor shaft. Collar is press fit into the wheel and attaches to shaft via a set screw. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545372574870-6CKNOBZ3XPMAZ16AK3XT/edited.jpg Projects Machined aluminum brackets to secure DC motors. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545374588412-C6R1FN1BLR4ZQ7N31KS1/ezgif.com-crop.gif Projects Testing of first prototype. We found that in a bright room, the photo resistors we used responded better to shadows. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545375699434-E4DA7FNIHY9BN9EF8W6B/prototype2.jpg Projects Bottom of second prototype. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545376662365-FF8MA851UGSQMF3R57GE/image-asset.jpeg Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545376645141-JX6LQCZBBN1SLL8YYVKD/image-asset.png Projects CAD assembly of robot. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545383214562-6H7TMIGA6T0NS2SHMXE7/course.PNG Projects Approximate CAD model of the testing course. The robot is intended to follow in the path of a larger vehicle that clears a path through rolling terrain. The terrain to either side of the path is rocky. Speed and robustness was tested with multiple trials on the course. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545378413263-FP76FVHONLNQYSJOGWMV/testing.png Projects Gripper is mounted to the robotic arm for dynamic testing. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545378538415-6KB1V4TF74F51H22LHTH/gripper_assembly.jpg Projects Final assembly of gripper. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545378863239-GCKBALM0INU1WGPUZ3X2/image-asset.png Projects Initial design concept (before object geometry was known) https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545378896211-ALRH4YK2Q6D2DELBY5IL/oldassembly1.jpg Projects First prototype after testing (driving gear not pictured) https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545378835790-P1XSEB70G060OGXCHSYN/ass.jpg Projects Assembly of second prototype. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545378752621-DLWZICH9Z1LYPJJ0KQMO/heavyassembly2.jpg Projects Second prototype (transfer gear not pictured). Several tweaks were made in between this prototype and the initial assembly pictured to the left. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545382111908-TLQ7U7SRHUURTV3RIHK7/image-asset.jpeg Projects Final prototype on testing stand. Had a mass of 1.1 grams and successfully held the 25 lb weight without deflection. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545381905576-1SFSVS8FYFA6ZACVW0QV/FINAL_isometric.jpg Projects Isometric screenshot of the final design. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545382083060-KNGNRMJOIW1RAOOHP29K/stress13.jpg Projects Results of SolidWorks stress analysis on the final design. Stress was maximized at the side of the supporting loops with a factor of safety of 1.6. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545382166282-ZZWTRVAY68K1YQ7LLIHP/testing+stand.png Projects Model of the testing stand. The part cannot overlap with the “forbidden zone,” shown in red. The bracket can overlap with the green areas, but it cannot be used for support. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545382191371-8A6GFWXZWWSHFGJSZJQJ/image-asset.jpeg Projects Progression of prototypes (from top to bottom) for the initial design review. The bracket used for the first testing day had a mass of 2.5 grams. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545382203147-61R3K2JUWFIUCLL3J8ZN/image-asset.jpeg Projects Progression of prototypes after the initial design review. Design was refined to minimize stress concentrations and reduce mass. Notable changes include shortening the bracket in order to decrease internal stresses and minimize weight. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545384315169-S6MI7Y8PR3EGJP8HLZED/crane.jpg Projects Crane mounted onto playing field. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545385384992-XX3H9X8LIXJ1V0Y5UT92/image-asset.jpeg Projects Side view of the final design. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545384597839-4UHMTO7OW8D16FKXGNV3/image-asset.jpeg Projects Front view of the base. The front and back of the base were supported by X-shaped trusses. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545385557161-AV2TTTYT87KW6K59D27G/image-asset.jpeg Projects Side view of the base. The overhang extends approximately 6 inches, supported by a V shaped truss. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545384612760-Y6RHKL8CT0XAMWSW4C84/image-asset.jpeg Projects The servo motor was held in place with several strips of aluminum screwed into the bottom of the crane arm. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545385535353-XAYXKJBKGRT0H6ZBRK48/lever.JPG Projects Delrin strip with an aluminum hook used to lift the weight. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545384629242-BVH0UMI2EO556FYKD5KC/image-asset.png Projects 3D View of the testing rig. The base of the crane clamped onto the bracket in the lower right hand corner. It then passed through one of the two holes of the obstacle and lifted the weight on the rod in the upper left corner. The crane was not allowed to touch any part of the playing field except for the clamp and the weight. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545386298162-0ABZ71G31VFTRL140AFQ/iso.jpg Projects Isometric view of final design. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545386309123-B81OSYI0QMAF1HJUSBQ0/image-asset.jpeg Projects Side view. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545386338681-E761X419JUCOG703P4EB/image-asset.png Projects Schematic of “rumble strip” https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545386357866-54FEBKGEC6LD2LA3YY1L/image-asset.png Projects Several car bodies used in previous prototypes. Our initial design had three wheels. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545386974360-M04HGS4RV6DNKYLMNZHV/image-asset.jpeg Projects New member competition for Fall 2016 semester. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545387112101-FJAHDGVIGWF0AC9MADBK/image-asset.jpeg Projects Foam cross sections used to create the mold for the hull. Once the glue dried, we sanded the foam to create a smooth body that could be used for the plaster mold. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545387032049-YABF5JI2TGNP6GNRA9F4/image-asset.jpeg Projects Completed new member projects. Our team’s design is on the right. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1545387049431-V5V8TS20VCQL4V6B33UL/image-asset.png Projects Preparing for the new member competition. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1547944783318-ZUVTRJ98M7MWL0PE649Z/IMG_4066.JPG Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1547944732162-01GOAU52CYCN5R3W3U5M/46519617_1868501156610481_1000994479689170944_n.png Projects Model of initial concept. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1547944346338-YJH3LJOITXLHNBVQ6INW/49522518_2463407800341403_4153434435536027648_n.png Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1547944376596-UD8CKPGGECTL02TPHZZP/49560112_2294072617490083_5981552982649470976_n.png Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1547945435462-VHHIDU8XWDFFHDIIPMQA/image-asset.jpeg Projects Pads to place on top of the tiles. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1547945452695-7JU7SL48SY5F27ZB6WTS/IMG_4067.JPG Projects Back of assembled pads. Each operator has a unique resistance value. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1547942049283-BNI5E7B5DA1HDP2R0JMK/IMG_4058.jpg Projects All of the tile exteriors laser cut and assembled. We made 28 tiles in total. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1547947582763-45PMVP244IOA2QWY9S2W/IMG_4059.jpg Projects Attaching magnets to the corners of each tile with epoxy. The magnets are centered vertically to provide a force in line with the pogo pins. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1547947613127-UBRFLPT3XMLMT9NDE4NE/IMG_4056.JPG Projects Close up of magnets. Polarity allows correctly oriented tiles to snap together in all 4 orientations. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1547942176434-ST2SU7MJDLSL9X79UB7J/IMG_4060.JPG Projects Threading copper tape through the slots on the top and right panels of each block. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1547942678751-74SIDTSZ6TXR1DGHBCJN/IMG_4061.JPG Projects Close up of the receiving end. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1547942759250-20LO72M1DWJPZ3ONL54M/IMG_4062.jpg Projects Spring loaded pins are soldered to the board and then threaded through each hole. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1547942639670-ROJH4NOWIGFN540MAKX9/IMG_4065.jpg Projects Copper strips and top panel connections soldered to the board. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1576479843987-ABOSRMV4CLZVWEX82AC7/78304219_1890386761260328_6284876067152855040_n.jpg Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1576481474313-731A5242LVYNT2QRIKDL/78253010_429445887962166_2255784551198490624_n.jpg Projects Final prototype, constructed with T-slotted aluminum framing https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1576103035013-ICKLWZKCTWK6A7A4RBXK/Capture1.JPG Projects CAD rendering of final mass manufactured design, shown when in use on flat ground (left) and with the treads engaged for use on stairs (right). https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1576666384560-ZQR5RM9ZNA7T08VOWYFQ/ratchet+cad.JPG Projects CAD model of ratchet system https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1576665017200-ICNIFNWQQT5FQFMG8X8P/73006829_526306381533382_5330924871062913024_n%2B%25281%2529.jpg Projects Ratchet gears, machined from stock aluminum. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1576665094639-CQXQ6HOKGUXHTNNG9E5K/pawl.jpg Projects Pawls after CNC operation. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1576667893680-QIYYI8FC7BU09Y2QPADR/pulley.jpg Projects Tread pulley with set screw and friction tape https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1576667840099-9KAALREDY5Q87T5SIRLJ/pulley2.jpeg Projects Tread installed on the device. The back wheel contain the ratchet and pawl system to prevent backwards motion. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1576480948526-KGJOR7IV5DYQG5L6A0L8/ezgif.com-crop+%282%29.gif Projects Testing of first prototype https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1576667775222-0WYMNW5G0BG09E70FLUO/push2.jpg Projects Initial push-cart based design https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1576738664204-9BF6QAUJJ2ZSD9A29O6Z/pt2.jpg Projects Design after switching to pulling https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1576738524008-TY3W3A7Y94Q0J4U7RGJM/ezgif.com-video-to-gif.gif Projects Testing for prototype 2. On this prototype, the box lays on the tread frame and the handle hinges upwards. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1576736146464-N1EX4KSDXJH4Q13ZKF6D/ezgif.com-crop+%283%29.gif Projects Testing of final prototype. The handle is lower on the frame to counteract the moment from loading and is adjustable to allow for users to stand upright. Additionally, the hinge was moved from the handle to the tread frame. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1581553770823-LRZIFW8T07BZSWO1M90R/IMG_1047.jpg Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1581555632205-7BWG67GX52VGJTVH4IMM/IMG_1011.JPG Projects Initial prototyping done with cardboard. This was done to determine the approximate geometry needed to fit the coffee cup and trying different designs https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1581557316705-BPEF6PPVXJMCMVOQZM3T/IMG_1021.jpg Projects First prototype of heat formed mug handle design. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1581555756374-6J926EISZ7ZBA97WBPDS/IMG_1018.JPG Projects Variation of the design without the base. I liked the minimalist design, but the cup was much less stable. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1581557261344-R9L9T0RE53SS5OXJE5HX/IMG_1014.jpg Projects Second prototype. Handle was curved more, but is easy to knock over. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1581556027836-129J0H59L7VIYAOC70QO/image-asset.jpeg Projects Final prototype. Handle geometry was elongated and slightly tapered for a more ergonomic hold and more secure fit. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1584561877075-P3B92KNDBOOZ6SMOIQFV/ezgif.com-crop.gif Projects Using a single joy-con horizontally. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1584561828177-O9QGLI8MGMKA9KOSFRQR/image-asset.jpeg Projects Sketches of initial design concepts. Modeled after Xbox, GameCube, and PS4 controllers. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1584562417188-L8SGKOBB43FKWRZNL05P/IMG_1102.jpg Projects Initial wood support structure. I originally intended to 3D print a railing for the joy-con to slide into https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1584562357544-SUNXHSGIXRQ9196EOU33/IMG_1111.jpg Projects Application of clay onto support structure. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1584576610399-DSJTIZQGGUU7MT8QWUI8/IMG_1711.jpg Projects Finished model. After experimenting with joy-con placement, I decided to 3D print a new support structure so the controller could sit flush with the surface. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1584577175961-65N4H304NYG4NMRHSZSB/IMG_1134.jpg Projects Wooden support for second iteration. Since the first 3D printed prototype did not fit correctly over the joy-con, I attempted to mold over the wood while reprinting. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1584577057343-Z2TZPH09UVZX9IPFJXLO/IMG_1447.jpg Projects Without the support of the 3D printed piece, the wooden support snapped. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1584580084533-X8IOXVSGTC9GPA4HBAV6/IMG_1138.jpg Projects Support structure. 3D printed ABS forms a snap fit around the joy-con, with laser-cut acrylic. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1584580323928-J9HOVAB303PDOYNK3Y6V/IMG_1144.jpg Projects Model after smoothing with tools. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1584581429644-EMD9CWFDQ43M2VIAQWBG/IMG_1714.JPG Projects Finished prototype. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1584580221399-FYB7Q6R3URJFP5U0L4S6/IMG_1140.jpg Projects Model after initial layer of clay. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1584581947925-138CRSED0N2GJHT4M8W3/IMG_1145.jpg Projects Model after smoothing with damp sponge. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1584582142658-3KGKG5K9L591V5HYBD1Q/IMG_1469.jpg Projects Finished prototype in use. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1584581538657-2W400IOXQJFNEHSRSEHQ/ezgif.com-video-to-gif.gif Projects Side by side comparison of original joy-con and ergonomic grip. https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1589097681461-2G93BKMZ1BXKD5NUU65F/IMG_0444.jpg Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1589177320043-TWQDP14QP4OIQS03SRQS/IMG_0423.jpg Projects https://images.squarespace-cdn.com/content/v1/5bb26bd0809d8e2784f48ea5/1589177402115-4EQVW400JRL2L2LUNBVO/IMG_0427.jpg Projects 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