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Rebecca Shen

đź‘‹ Hi, it's nice to meet you!

I'm a 4th year Mechanical Engineering student interested in robotics, medical devices, and engineering education. I am actively seeking full-time opportunites after graduation.

Portfolio

Featured Projects

  •

    For my graduate level Advanced Robotics course this Fall semester, we are put into groups and given 1-3 weeks to build and program a robot from scratch. Here, I've featured the projects I've worked on thus far: an analog clock, an initial writing robotic arm, a balancing robot, and a robot that plays ball with users.

    Key concepts include:

    • UART Serial Communication
    • Analog & Digital Sensors
    • Forward & Inverse Kinematics
    • PID Control Systems
    • OpenCV Image Processing
    • Machine Learning
    • REST APIs
    • Digital Twins & IOT Environments

    Below are videos to all my projects! Please check out the GitHub for more details.

    • Description Robotics projects made for my Fall '21 Advanced Robotics class using Raspberry Pi and Arduino software, as well as hand fabricated hardware.
    • Date Fall 2021
    • Software
      • Arduino
      • Python/MicroPython
      • ROS
    • Hardware
      • Raspberry Pi 0,4 & Camera & Microphone
      • ESP8266
      • LiDAR, Ultrasonic, Force, & other sensors
      • 3D Printing, Laser/Water Jet Cutting
      • Rapid Prototyping
    • Code

    Human Interaction Robot: Play Ball with PacBot! Github Code

    Hobbes on the Go! A PID Controlled Balancing Robot Github Code

    Assistive Technology for T-Rexes: An Initial Writing Robotic Arm Github Code

    Retro Clock Github Code


  • For the summer of 2021, I worked as an undergraduate research intern at Tufts CEEO FETLAB under my robotics professor, Chris Rogers, and focused on exploring various machine learning methods and using them to train LEGO's SPIKE Prime Robots. PTC funded my research and gave me access to their industrial IoT platform, ThingWorx, which contains a powerful Analytics extension that can be utilized for machine learning and training.

    My main achievements include:

    • Designed LEGO robotic systems integrated with IoT, AI, and data analytics
    • Trained systems using JavaScript, Python, and advanced ML algorithms using PTC’s industrial IoT platform ThingWorx and TensorFlow
    • Expanded SPIKE Prime robot functionalities by developing WiFi communication interfaces with REST API and MQTT

    An exploration into the capabilities and applications of PTC's IoT platform ThingWorx, specifically its Analytics Builder and server. This project played an important role in my overall goal of this summer: explore machine learning methods integrable with Lego SPIKE Prime robotics to create an educational AI experience for students. A simple ball launcher was built and trained using linear regression to better understand how to integrate ThingWorx with SPIKE Prime. Then, more complex methods of training (eg. neural networks, gradient boosts, random forests, etc.) were explored using the SPIKE Prime puppy system, with a MQTT protocol acting as the main communication method between SPIKE and ThingWorx Analytics. Please click on the links to see the code and more!

    Below are some images and videos I created to represent my work. Please check out the Github repository for more!

    • Description An exploration into the capabilities of PTC's IoT platform ThingWorx, specifically its Analytics Builder and server, and possible applications using Lego SPIKE Prime Robotics.
    • Date Summer 2021
    • Software
      • Python/MicroPython
      • JavaScript
      • LabVIEW
      • ThingWorx Composer & Analytics
      • Teachable Machine/Tensor Flow
      • MQTT Communication Protocol
      • Google Colab
    • Hardware
      • LEGO SPIKE Prime Kit
      • ESP8266
    • Code

    Trained LocallyTrained Locally

    Trained with Teachable MachineTrained with Teachable Machine

    Trained with ThingWorx AnalyticsTrained with ThingWorx Analytics

    Training SPIKE Puppy with Teachable Machine Github Code

    Training SPIKE Puppy Locally Github Code

    Training SPIKE Puppy with ThingWorx Analytics Github Code

    Training SPIKE Catapult with ThingWorx Analytics Github Code


  • Play It! is an electromechanical game designed for my electronics class Fall 2020. The game requires players to repeat a sequence of randomly generated notes using the push buttons on the breadboard for a total of 7 times in a row to beat the game.

    The main electromechanical components include an Arduino MKR 1010 to power the whole system, a servo motor driving the score wheel, a piezo buzzer as a speaker, pushbuttons for user input, and LEDs to indicate which buttons are pushed.

    The computer screen on the right displays the Arduino IDE's serial monitor to make the game more cohesive, but it can also be easily played without the computer interface.

    The Arduino: The Arduino powers the whole game by providing 5V and ground to the +/- rails of the breadboard and the servo motor. All the pushbuttons, LEDs, and piezo buzzer are connected to digital pins on the Arduino, with the servo connected to a pulse width modulation (PWM) pin. The Arduino code sets the pushbuttons as inputs whereas the LEDs and buzzer are outputs.

    The Breadboard: The main part of the circuit consists of 5 buttons and LEDs- the buttons are pulled up to 5 Volts through a 10K resistor and the LEDs are connected to the Arduino pins via a 1k resistor in series. When a button is pushed, the corresponding LED will light up and the buzzer will output the corresponding note set by the code.

    The Servo Motor: The motor drives the score wheel and will increase by 45 degrees, which is the angle of each wedge on the wheel, for each +1 score. If the player incorrectly plays back a note sequence, the motor is programmed to spin back to the starting position, or zero score. Below is an image of how the servo motor was fit inside a box that served as the frame of the wheel.

    • Description An electromechanical game inspired by Simon Says.
    • Date Fall 2020
    • Software
      • Arduino
    • Hardware
      • Arduino MKR1010
      • Servo Motor
      • Piezo Buzzer
      • Pushbuttons
      • LEDs
    • Code

    Game Setup with Arduino, Breadboard Circuit, and Servo Motor Score Wheel
    Game Setup with Arduino, Breadboard Circuit, and Servo Motor Score Wheel

    Rear View of Score Wheel and Servo Motor
    Rear View of Score Wheel and Servo Motor


  • For my Intro to Robotics & Mechanics course Spring '21, we were challenged to build a new robotic system every week. Our main tools included a LEGO SPIKE Prime Robotics kit, a Raspberry Pi microcontroller, a Wio Terminal, and LabVIEW and Arduino coding IDEs.

    Key concepts include:

    • UART Serial Communication
    • Analog & Digital Sensors
    • Forward & Inverse Kinematics
    • PID Control Systems
    • OpenCV Image Processing
    • Machine Learning
    • REST APIs
    • Digital Twins & IOT Environments

    Below are videos to all my projects! Please check out the GitHub for more details.

    • Description Weekly robotics projects made for my Spring '21 Intro to Robotics class using Lego SPIKE Prime software, Raspberry Pi, LabVIEW, Arduino, and Wio Terminal interfaces.
    • Date Spring 2021
    • Software
      • Arduino
      • Python/MicroPython
      • HTML & CSS
      • LabVIEW
    • Hardware
      • LEGO SPIKE Prime Kit
      • WIO Terminal
      • Raspberry Pi 4 & Camera & Microphone
    • Code

    Robot Viennese Waltz (Final Project) Github Code Project Website

    Smart Teleprompter (Midterm) Github Code

    WebCam Car Github Code

    Digital Twin Github Code

    The Van Gogh Github Code

    Crazy Races Github Code

    Jumbo Space Invaders Github Code

    LEGO Dashboard Github Code


  • For my sophomore engineering design class, I worked with two other students to create a full teardown of an electric drill, which composed of the physical tear down itself (shown in video above), a full CAD model in SolidWorks (shown in these images), and an extensive writeup (shown in the attached PDF).

    My main responsibilities included dissembling the chuck of the drill, creating a CAD models of the planetary gearbox and the chuck, and creating a video explaining the physical process of breaking down the drill as well as the purpose of each component we found.

    Through reverse-engineering the design of this drill, I was able to better understand the mechanical composition of objects, gain valuable hands-on experience with tools in the mechanical engineering lab space, and further enhance my CAD and presentation skills.

    • Description Electric drill teardown with complete SolidWorks model and analysis of each component.
    • Date Spring 2020
    • Software
      • SolidWorks

    Exploded View of Drill Chuck
    Exploded View of Drill Chuck

    Exploded View of Planetary Gearbox
    Exploded View of Planetary Gearbox

  •

    For spring semester 2019, I worked on constructing a model rocket along with three other members of SEDS (Students for the Exploration and Development of Space) Club. We successfully built and launched the rocket, passing all L1 Certification requirements.

    Through this project, I learned more about the mechanical structure of rockets, aerodynamics of flight, and was able to go through the entire engineering design process including both ideation and design.

    • Description Constructed and launched a rocket to achieve L1 Certification
    • Date Spring 2019
    • Other Links

    Completed rocket!
    Assembled Rocket

    My team
    My Team!

  •

    This semester I had the opportunity to attend Harvard’s annual makeathon (MakeHarvard) where you can build anything you want for 24 hours straight. I collaborated with two other engineers to build an analog drawing machine that is controlled by rotating two interlocking gears. We got the idea from a Kickstarter campaign inspired by Da Vinci’s own drawing machines. The components were first created on Fusion 360 and then laser cut and put together using dowels, screws, and washers.

    There are two interlocking gears that drive the rotational motion of the machine. There are two cams that push the arm of the machine. Each cam interacts with one part of the arm that either drives the hand back and forth or side to side. The curves on the cam can be mathematically derived to correspond to a specific drawing to pattern. Our machine currently draws the same arbitrary pattern over and over again and possible future improvement would be to design cams that correspond to a specific pattern.

    • Description Laser cut analog driven drawing machine fabricated for 2020 MAKE Harvard event.
    • Date Spring 2020
    • Hardware
      • Laser cutting
    • Software
      • Fusion 360

    Fusion 360 Render
    Fusion 360 Render

    My team
    My Team!

  •

    This past summer I had the opportunity to work with my Mechanics I and II professors to redesign the curriculum and refine resources for those courses.

    One of my main tasks was to create supplementary video tutorials and complimentary MATLAB scripts that guided students through key example problems from each chapter. I created about 20 videos for 14 modules across the two courses. I utilized software like Procreate and iMovie to create my videos, and an example is shown below.

    I found digital media to be an invaluable resource as I could add an overall fluidity to the problem solving process. Through hand-drawn animations, I could show the rotation of Mohr's Circle, a topic that I personally found very difficult to visualize just based off still images, and I could highlight the relative motion that was required to be solved for.

    Below are examples of animations I created, as well as a still from a video focusing on solving for the moment about a specified axis and its corresponding MATLAB script.

    • Description Supplementary videos and MATLAB scripts to help redesign a sophomore Mechanics I class.
    • Date Summer 2020
    • Software
      • Procreate
      • iMovie
      • MATLAB

    Example MATLAB Script
    Example MATLAB Script

    Example Video Still
    Example Video Still

    Relative Motion Animation
    Relative Motion Animation

    Mohr's Circle Animation
    Mohr's Circle Animation

    Another Relative Motion Animation
    Another Relative Motion Animation

  •

    The Eye is the final project completed for my Fall 2020 electronics class. I worked with a partner to create a public art installation that utilized server-client infrastructure by connecting two Raspberry Pis (one acting as the sensor, another as the actuator) over the internet. What made this project especially interesting and challenging was that my partner, and therefore half of the project, was located 120 miles away from me.

    My partner's Raspberry Pi served as the actuator (a stepper motor attached to the eye), whereas my Raspberry Pi was connected to our light sensor. The premise of our design is that when a certain light lux threshold is detected by the sensor, the stepper motor will rotate accordingly and thus open or close the blades of the mechanical iris. Our project was able to run without any connection from our computers; we just needed power sources for the eye and the sensor.

    The Sensor: The light sensor is powered by the Raspberry Pi and the data received was able to be accessed on a web server using port forwarding on my wifi router. We tested the sensor at different points of the day and found a reasonable lux range, which was then used to calculate rotational degrees for the stepper motor.

    The Actuator: My partner's Raspberry Pi was able to access my Pi's IP address and receive the light lux data. Our code then took those lux values, translated them to stepper motor degrees, which then would close or open the eye's blades.

    Unfortunately, we ran into some issues with our fabrication, resulting in the motor not providing enough torque to open and close the blades. Our eye is able to open and close manually, and the stepper motor is able to correctly rotate based on lux values based on outputting values using code. However, more work is needed to make the system fully operational. We learned a lot from our mistakes, and this project overall, especially in terms of client-server infrastructure and combining hardware with software.

    • Description A moving art installation utilizing server & client infrastructure, inspired by a mechanical iris and spanning 120 miles.
    • Date Fall 2020
    • Software
      • Arduino
      • Python
    • Hardware
      • Arduino MKR1010
      • Raspberry Pi
      • Servo Motor
      • I2C Light Sensor
      • Servo Motor
      • Laser Cutting
    • Code

    Brainstorm page
    Design Ideas

    Mechanical Eye Frame
    Mechanical Eye Frame

    Circuit Board with Raspberry Pi and Servo Motor
    Circuit Board with Raspberry Pi and Servo Motor

    I2C Light Sensor, Raspberry Pi and Webpage Displaying Lumen Values
    Light Sensor, RPi & Webpage w/ Lumen Values

  •

    This breadboard power supply was my first project for my electronics class Fall 2020. The goal was to design a PCB that could fit into a breadboard, take 12V from a DC jack, and then output 12V, 5V, and 3.3V using voltage regulators.

    The first phase of the project was to prototype our designs on a breadboard. This allowed me to gain experience troubleshooting and building circuits. Then, we created a circuit schematic on KiCad and laid out our PCB design before sending it off to be manufactured.

    Once I received my prototype, I tested and then soldered the components on, leaving me with a useful power supply that I have used in later projects, such as an H-bridge motor controller!
    • Description PCB designs for a breadboard power supply and a H-bridge motor controller.
    • Date Fall 2020
    • Software
      • KiCad
    • Hardware
      • Breadboard Prototyping
      • Soldering

    12V PCB Used to Power H-Bridge Prototype
    12V PCB Used to Power H-Bridge Prototype

    Breadboard Prototype for 12V Supply
    Breadboard Prototype for 12V Supply

    KiCad Circuit Diagram for 12V Supply
    KiCad Circuit Diagram for 12V Supply

    KiCad Mesh and Trace Layout for 12V Supply
    KiCad Mesh and Trace Layout for 12V Supply

  •

    This Wio Terminal plant monitor was my first project for my Intro Robotics class this semester (Spring '21). The assignment simply stated to "make something cool" with the Wio (essentially an Arduino microcontroller but with a screen and buttons!), and I decided to make something to help me become a better plant mom.

    I utilized several digital and analog sensors: one for light, one for temperature and humidity, and one for plant soil moisture. I was able to take real-time readings using the Wio and Arduino IDE on my computer, and through that, be able to gauge well-suited the current environment was for my plant.

    I used the Wio screen in order to create 3 interfaces: a home screen, one to give you real-time data color-coded with the plant's level of well-being, one to show real-time graphical data, and one with plant thoughts corresponding to the plant's well-being.

    I also powered a servo-motor through the Wio that would turn a bottle-cap cam mechanism in order to turn on or off the light/mist diffusing functions on my aromatherapy diffuser in response to low light or humidity levels.

    • Description Takes plant condition inputs from multiple analog/digital sensors and displays them on an Arduino Wio Terminal interface.
    • Date Spring 2021
    • Software
      • Arduino
    • Hardware
      • WIO Terminal
      • Analog & Digital Sensors
      • Servo Motor
    • Code

    Monitor Home Screen
    Monitor Home Screen

    Plant Statistics Screen
    Plant Statistics Screen

    Plant Graphs Screen
    Plant Graphs Screen

    Plant Thoughts Screen
    Plant Thoughts Screen

  •

    The kinetic sculpture project was an opportunity for me to apply the concepts I learned in my sophomore Mechanics II class through fabricating and analyzing a kinematic mechanism.

    Phase I of the project involved creating a physical model of my sculpture. I drew inspiration from animated movements found on 507movements.com, and came up with two possible ideas. However, due to COVID-19, I had to move back home before I could finalize and laser-cut my design, leading to the use of household items.

    Phase II required us to develop a mathematical model relating two components of the structure together. I then validated that model using video tracking software through Logger Pro.

    For my engineering education internship, I had the chance to refine this assignment, specifically adapting it to be more suitable for a virtual classroom environment.

    I again went on 507movements.com and chose a relatively straightforward mechanism that could be modeled on SolidWorks. This would allow students to still create a model while also developing their CAD skills. Then, I created a CAD model and ran a simulation analysis on it, discovering that there were many parameters that could be graphed and compared with.

    I also explored another video analysis tracking software, Physlets, and ended with a final summary of my findings.

    • Description Simulation analysis of a kinetic sculpture mechanism.
    • Date Spring 2020
    • Software
      • SolidWorks
      • Physlets Tracker
      • Logger Pro
    • Hardware
      • Laser Cutter

    Kinetic Sculpture V1Kinetic Sculpture V1

    Kinetic Sculpture V2Kinetic Sculpture V2

    Movement 92Movement 92 Animation

    Physlets Video TrackerPhyslets Video Tracker

    SolidWorks Motion StudySolidWorks Motion Study

  •

    The final lab for my Fall 2020 Thermal Fluid Systems II class was to explore fluid flow and heat transfer of a chosen system through designing, completing, and analyzing a Comsol study. My partner and I chose to model and explore airflow/heat transfer in a traditional wood-fired pizza oven, more technically known as a masonry oven. We used SolidWorks to create an STL file of the model, and then ran a Comsol conjugate turbulent flow and heat transfer study. The purpose of this study was to explore airflow, subsequent ventilation effects, and heat transfer of the main baking dome.

    Below are images of the simplified baking dome geometry (including the semicylinder representing firewood/heat source) used in the Comsol study. There are also two graphs representing the airflow and heat transfer analyses and results from our study.

    This lab was a great exercise in not only analyzing simulation data of a real-life system but also in choosing the appropriate geometry, boundary conditions, etc. best suited for the system. Our results varied from realistic to somewhat unrealistic (which was expected due to oversimplifications), and we were able to gain a lot of technical CFD analysis skills as well as practice in comparing experimental and simulated data. Below is also a copy of our report!

    • Description A CFD analysis on the fluid mechanics and heat transfer of a CAD pizza oven model.
    • Date Fall 2020
    • Software
      • SolidWorks
      • COMSOL

    COMSOL Geometry
    COMSOL Geometry

    COMSOL Mesh
    COMSOL Mesh

    Chimney Airflow Contour Plot with Velocity Flow
    Chimney Airflow Contour Plot with Velocity Flow

    Contour Plot of Temperature Distribution
    Contour Plot of Temperature Distribution

    Airflow Velocity Cross-Section Slice
    Airflow Velocity Cross-Section Slice

  •

    Design for Deflection is a group project completed for my Fall 2020 Engineering Design II class. We were tasked with designing an aluminum structure given a set of constraints (size, material, etc.) that needed to achieve a certain deflection (0.5 inches), a target spring constant, and minimize weight all while subjected to a 200 lbf load applied by an Instron machine.

    We utilized SolidWorks in order to CAD our structure, which was then manufactured using a waterjet cutter. In order to validate our design, we completed an FEA study on SolidWorks and compared those results to results found using Castigliano's Theorem. This allowed us to practice forming a reasonable prediction of a real system’s deflection using two forms of analysis. Additionally, through comparing and evaluating the results from both models, we not only gained a better grasp of deflection but are now able to justify our analytical calculations through simulation.

    The project culminated in all of the class designs being tested using an Instron tensile machine. My group's design was able to achieve the required deflection with moderate yielding and was also the lightest structure.

    The image above is a SolidWorks Sketch of our Design. We began our project by analyzing a C-structure with similar dimensions but found that in order to minimize mass while still maintaining a reasonable amount of yield an S-shaped structure was ideal. After numerous iterations and calculations, some of our final design results are summarized below:

    • Description Used numerical and analytical methods in order to design a structure to undergo a specific amount of deflection.
    • Date Fall 2020
    • Software
      • SolidWorks
    • Hardware
      • Waterjet Cutter
      • Instron Tensile Machine

    SolidWorks Sketch
    SolidWorks Sketch

    SolidWorks FEA Deflection Results
    SolidWorks FEA Deflection Results

    FBDs for Castigliano's Analysis
    FBDs for Castigliano's Analysis

    Experimental Results from Instron Test
    Experimental Results from Instron Test

  •

    The last assignment for my Fall 2020 Thermal Fluid Systems II class was an optional extra credit video that asked us to explain a topic related to fluid mechanics and/or heat transfer. I created a 6-minute video on the fundamentals of conductive heat transfer utilizing digital animation (Procreate) and a real-life experiment. Below are some stills from the video.

    • Description A hand drawn animated video explaining the basics of conductive heat transfer.
    • Date Fall 2020
    • Software
      • Procreate
      • iMovie

    Real Life Examples of ConductionReal Life Examples of Conduction

    How Material Affects ConductionHow Material Affects Conduction

    Experiment with Balloons and CandlesExperiment with Balloons and Candles

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