Selected Work
What I've built.
Autonomous Nerf Targeting Turret
A Nerf Rival Hera stripped to its bones and rebuilt into an autonomous pan-tilt tracking turret. Goal: shoot a moving object out of the air using computer vision and closed-loop PID control. 3D-printed base, 100mm lazy Susan bearing, GT2 belt drive, JGB37-520 geared motors. Mechanical phases complete. Firing chassis in progress. OpenCV + Kalman + PID intercept planned.
TARS
A local AI agent running on my personal machine (RTX 5060 Ti, 32GB RAM). Voice input is transcribed via Whisper large-v3 on CUDA. Model routing sends latency-sensitive tasks to qwen3:14b via Ollama and quality-critical tasks to Claude through the Anthropic API. Memory is stored in an Obsidian vault. Deterministic orchestration is handled by n8n. OpenClaw serves as the agent framework. Named after the Interstellar robot.
Autonomous Robot Navigation
TurtleBot 3 running ROS on Ubuntu Linux, navigating a physical maze using LiDAR sensor readings. Detects colored ball objectives via onboard camera and OpenCV. Inter-process messaging between nodes handled with RabbitMQ. Written in C++.
