danielljeon.github.io

Info & Docs

About me: danielljeon.

Personal notes: docs.

Full Projects

Nerve: 6-DOF Flight Controls

🚀 Nerve is a general-purpose controller designed for six degrees of freedom (6-DOF) operation. Originally developed for jet vane rocket controls, it now serves as a testbed for robotics and controls development.

Note: This project was prematurely stopped due to shifting priorities. No full rocket-flight or realistic controls testing was attempted.

• Printed Circuit Board (PCB) design:
  • 4-layer, 6-layer, design for manufacturing and assembly.
• Low-level embedded firmware (STM32F446RE):
  • Timers, DMA, NVIC, SDIO, CAN (classic), I2C, SPI, UART, etc.
• Sensors and Wireless Modules:
  • Barometer, GNSS, Inertial Measurement Unit (IMU) and XBee.

Nerve Stack	Nerve Stack with Enclosure

Firmware:

• nerve: Firmware for CAN-based control systems dev platform.

Hardware:

• nerve_pcb: PCB for CAN-based control systems dev platform.

• nerve_gps_pcb: GPS module to nerve_pcb.

• nerve_radio_pcb: Radio and power supply module to nerve_pcb.

• nerve_ada_board: Nerve dev board using off-the-shelf modules.

Additional Software/Hardware:

• gopher: Ground station for Nerve controller system.
  • Previously a Python desktop application for telemetry via XBee radios.

Interesting Academic and Small Projects

Soft Robotic Gripper: Software driven CAD

🎈 Pneumatic gripper project focusing on silicone mold design automated with software for rapid design flexibility.

• Compliant manipulators.
• CAD and FEA analysis.
• Python STL file manipulation.

soft_solution: soft robotic gripper design project for university CAD course, completed in Fall 2023.

Robotic Hand: 5 DOF Humanoid Hand Prototype

🤌 Robotic hand project for actuators/power electronics and sensors/instrumentation university courses.

• Printed Circuit Board (PCB) design.
• Low-level embedded firmware (STM32F446RE).
• PSpice (buck circuit) simulation:
  • Basic transient modeling.
  • Fast Fourier Transform (FFT).

1. robotic_hand: firmware.
2. robotic_hand_pcb: PCB hardware.
3. robotic_hand_wireless: XBee wireless telemetry display desktop application.

Maze Bot: Terrain and Maze Solving Robot

🐁 Terrain and maze solving robot for mechatronics design university course.

• Closed cloop control systems:
  • Bilinear transform z-domain PIDs.
  • Yaw rate control, heading control and linear position control.
• Low-level embedded firmware (STM32L432KC).
• Robotic orientation frames (quaternion).

1. maze_bot: firmware.
2. maze_bot_pcb: electronic schematics (PCB not permitted by project rules).

Drop Detect: FreeRTOS Soldering Iron Drop-Triggered Shield

🛡️ Soldering iron drop-triggered shield for real time embedded systems university course.

• Low-level embedded firmware (STM32L432KC):
  • FreeRTOS.
• Bare metal design analysis:
  • Scheduler design, task execution timing and static code analysis.

1. drop_detect: firmware.
2. drop_detect_pcb: PCB hardware.

Setup

This GitHub Pages repository uses submodules to pull in documentation and references.

Quick command to pull changes from remote submodules:

git submodule update --remote --merge