Thesis Research

My research is sponsored by the US Space Force under an SSTI Grant focused on In-Space Servicing and Assembly. My work is related to building an agnostic manufacturing platform to allow for the disassembly, inspection, and reassembly of electronic components for PCB repair applications.

The past year has mostly been reading up on electronic packaging design, failure modes of systems in space, and existing solutions for repair.

Thus far, I have built a physical platform with a UR5e robot mounted at the center, with a Gazebo and ROS2 simulation to match. RViz and MoveIt allow me to control the robot in simulation and pass it to the physical robot. Vice versa, movements I force on the robot in the real world are detected in the simulation. I made some scripts that allow me to demo a basic pick and place, both in sim and physically.

Due to the controlled nature of the work, I must refrain from additional details and photos at this time.

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