DARPA-funded research at UIUC: scaling the printing of synthetic hagfish skeins from one at a time to about a thousand in a single run. I designed a 9-nozzle manifold that multiplied throughput 9×, and the group packed the skeins into a crystal-like lattice so the whole run fits in one gel block.
A simulated two-wheeled robot that plans a path through obstacles with A* and a Timed Elastic Band, then tracks it with a spline reference and PI control. I built the trajectory spline, the pose estimator and the rigid-body dynamics.
An optimal steering controller that keeps a simulated car centred in its lane at 90 km/h using only noisy sensors, with a Kalman filter recovering the velocity no sensor measures. A solo project, from the vehicle model to the full report.