Here is a collection of most of the projects I have made over the years (that I can talk about). Find more about me at the About Me page.

Featured

These are recent projects that I found particularly rewarding. Usually requires learning a new skill.

Contact

A children's bike helmet attachment that detects crashes and notifies parents. Wrote firmware for IMU, localization, and event detection. Used Mahony filter and IMU data to characterize true/false positives. Manufactured custom PCB. Made with the 2.009 Product Design Purple Team.

Muon Wind Chime

Detects Muons and other high energy particles and uses their intensity as input into a custom synthesizer. Muon detector is based off the CosmicWatch. Synthesizer is written in PureData and runs on a spare Jetson Nano. Next iteration includes a light display and proper housing.

Warehouse Localization

Sourced, prototyped, and deployed a localization system in 10 days for a project involving carts moving in a 150,000sq. ft warehouse. Used 15 ESP32 + UWB time-of-flight beacons to localize 6 carts along known paths using least squares regression and moving average. Manufactured UWB PCBs by hand.

Past Projects

These projects range from a few days to a few months of work. Sorted SOMEWHAT chronologically.

Teaching at the American University of Bahrain

Developed open-source digital and physical fabrication cirriculum for Actuacted Xperiences at AUBH. Taught 30 juniors and seniors. Personally led robotics labs introducing basic motor control and sensors through light following and wall following on custom robot. Check it out here: https://mit-gtl-bahrain-2025.github.io/

Didgeridoo Stand

Stand for my homemade didgeridoo (also listed here). Made from an old lamp I found in an electronics waste bin.

WaveForm

Interactive modular synthesizer controlled by hand motion, where manipulating on-screen objects adjusts synth parameters in latent space. Presented at MIT's new music building opening gala.

Gilded Queen Necklace

Chess Queen gilded with 23K gold. Used vinyl cutter to make patterns. Gift for a graduating friend.

FPV Glider

Long range FPV glider on the ZOHD Drift airframe. Equipped with R9 slim+, Speedybee F405 Mini, GPS, VTX and camera. Capable of one hour flight and 1 mile range w/ video. Can fly missions and return to home using iNav.

TV Stand

Needed a TV stand. The inner rods are actually a shower curtain with a dowel inside. Pretty fond of the asymmetry.

Motion Planning with LiDAR Car

Implemented Monte Carlo Localization and A* path planning on robotic car in MIT Stata Basement. Developed and tested in ROS and RViz before deploying to real platform. Final challenge of mini city navigation and full speed line following. MIT 16.405 Robotic Science and Systems.

Didgeridoo Research

PVC pipe didgeridoo painted after research project investigating the effects of geometric changes (twists/diameter) on acoustics.

Efficient Blimp V2

Successor to the autonomous shark blimp. Incorporates the PCB also listed here for efficiency. Look at my GITHUB for docs!

Handmade Flag

Puerto Rican flag on one side, Dominican on the other. Made for my friend who is both.

Decanter Tray

Simple decanter tray milled from scrap piece of red oak and laser engraved. Present for a graduating friend who had a passion for nice whiskeys.

PCB for Efficient Autonomous Robots

Telemetry and motor control shield for flight computer raspberry pi. Self taught Altium and manufactured by JLCPCB. Made during my research work in the MIT LEAN lab. Shown is implementation on miniature robotic car equipped with motion capture reflectors.

Mock Wind Tunnel

Purely aesthetic wind tunnel featuring a model Cessna 172. Powered using a computer fan and 3D printed nozzle to direct airflow. Housing made of acrylic paneling slot joined maple plywood fitted with edge-banding. Much trouble was had getting the airflow to properly spin the propeller and flap the streamer. The final fan nozzle does an adequate job, but is not ideal.

PongBot

A robotic shooter for ping pong balls that could apply different amounts of spin and speed depending on input from app. Made for MakeMIT 2023.

Efficient Blimp V1

A low power autonomous blimp platform to test motion planning algorithms. Attempts 1-1 actuation and computational power use. Check my GITHUB for extensive documentation.

Autonomous Robot Design and Manufacturing

Three unique robots to complete tasks on MIT’s 2.S007’s autonomous robotic competition gameboard. Developed suite of autonomous sequences that could be remotely triggered. Sensing, positioning, and accurate driving performed with use of IMU, encoders, line-following sensors, and multiple PID controllers. Used 3D printing, sheet metal fabrication and prebuilt parts to assemble each robot.

maker|XAVIER

Made the website you are looking at right now. My first website. Built with HTML, CSS, Nuxt, Vue, and Tailwind. I try to update every semester, but never do.

MagBall

Final project for MIT 2.00b team Stegosaurus. Air hockey like game with magnetic walls, paddles, and puck. I lead hardware design, manufacturing by 3D printing and lasercutting, and final assembly

VIP Lounge

Redid an unused room. Painted, made two benches, two laser engraved tables, and a illuminated silhouette of the house

RACER

MIT class to build computer vision and motion planning/control software for given hardware. Used camera to detect and follow a line in final race

Unified Engineering Flight Competition

Designed and manufactured plane with wire-cut foam polyhedral wings to maximize an objective function of payload weight and turn rate. Considering design constraints, optimized objective function using various MATLAB scripts and plot analysis. Determined size of wings and twist, payload mass and placement, and stability margin. Placed 4th in competition..

Giant Die

Centerpiece for party hung from stairwell. Very light and easy to disassemble. Cool pic

Coffee Table

Made for my room from scrap wood I found in the basement. Used biscuit joiner

Spinning Ball

Gift made for my friend who was a graduating player on the MIT basketball team. Ball spins to show signatures

Aerospace Plasma Group

Built test stand for researching the effects of nanosecond pulsed plasma on combustion. Applicable to jet afterburners

Balcony Additions

My favorite place. Surprising difficult to drill into brick to mount hammock and lights. Worth it

Liquid Propulsion

Subteam of MIT Rocket Team. Worked on a test stand for LOX and ethanol engine. Machined custom fittings, ran leak and pressure tests

ULA Soil Rover

Parachute deployed rover-hub system to collect soil samples and return to the hub for rudimentary analysis

Music Production

Did various sorts of music production for 10 years. Used Logic Pro, Cakewalk, Fl Studio, and MAX to make original songs and covers

Soft Robotics

Researched the application of 3D printing to manufacture soft, “finger-like,” multi-material pneumatic actuators Optimized dual material printer for highly flexibile TPU

Lathe Pawn

Made a pawn to learn how to use a lathe

ULA Folding Drone

First multi-month long project and introduction to drones. Competed in ULA challenge to make a drone with long range, advanced telemetry, and long range.

Lithophane

One of the coolest applications of 3D printing. Made from photo of my grandparents wedding

Covid Face Shields

Mass printed face shields during the beginning of COVID. Optimized printing to 3x efficiency. Shields were sanitized and given to medical staff

Bottle Lamp

Gift made for a family friend. Bottles rest on gears to revolve around center and spin independently

Phone Stand

This is only here because its the first thing I ever 3D printed. Still on my desk