2. Phillip H. Daniel Spring 2012, 2014, 2015
Inverted Pendulum
Overview
The goal is to build a self-balancing device using loop shaping design methods with contactless
position sensor feedback.The device is an inverted pendulum that uses the torque from a
reaction wheel for control effort.The system was linearized about its marginally stable
equilibrium point, and a lead controller was implemented. Efforts are now being made to
configure a reliable power supply/electrical system that is capable of absorbing the energy from
regenerative braking.
Responsibility
I modeled the system analytically, simulated the system and controller to observe the effect of
nonlinearities such as motor saturation, and designed and built the project’s hardware and
software architecture.
3. I modeled the nonlinearities of my plant
and controller in Simulink with Sim-
mechanics.
I designed and implemented a complementary filter for a low noise position
measurement.To do this, I used Labview to interface an I2C device with my MyRio.
I designed and implemented a low/high
speed digital tachometer for velocity
control.
*Up to 2 amps absorbed by the supply
I observed the effect of fly-back on a linear
power amplifier with a DC power supply.
Power supply current limiting plus the
boost converter behavior of regenerative
breaking led to reverse biased, electrolytic
filter capacitors that exploded.
-30*
LmotorRmotor
Bemf
Csupply
+30
4. Phillip H. Daniel Spring 2012
Branch
Overview
I worked in a small team to design and build a medium-duty desk with an easy to adjust
position and orientation.The primary goal was to rigidly support the weight of a laptop and
forces from user interaction, such as leaning and typing, while remaining continuously
repositionable in a plane.
Skills Learned
I learned how to design and document tests, operate an Instron force testing machine,
fabricate parts to within specified tolerances, model the stiffness of assemblies, trouble
shoot mechanical assemblies, and model the interactions between deformable bodies in
matlab/use numerical analysis to inform design desisions.
5. It was concluded that
the stiffness could be
significantly increased
by using CNC
machining for
fabrication of the joint
elements instead of
water-jetting.
I designed the
mechanism that
rigidly locked the
stand’s position and
was easily released
for re-positioning.I
fabricated this design
using a water-jet.
I tested the strength and
stiffness of the joint
design. Each joint can
hold a 56.5N*m load with
a stiffness of
7.8N*m/degree. The
assembled stand can
support a maximum load
of 111N during normal
operation.
6. Phillip H. Daniel Fall 2013
Overview
I designed and built a setup to could find the resonant frequency of an arbitrary spring-mass
system by measuring it’s frequency response.This system was powered from the wall through a
step down transformer, and it was controlled with a PSOC 4. Both the power electronics and
logic for the setup were custom.
Outcome
The system consisted of a buck converter, two full wave rectifiers and a digital H-bridge
controlled by a PSOC microcontroller.The final version was able to successfully locate the
resonant frequency of the test spring-mass system.
Skills Learned
I learned how to design, build and troubleshoot a buck converter, boost converter, buck-boost
converter, fly-back converter, full wave rectifier, digital H-bridge, and analog low-pass filter. I also
learned how to measure and process signals, and command actuators projects with a PSOC.
Finally, I learned how to drive induction,brushed and brushless motors using discrete
components and chip level logic.
Mechanical ResonanceTracking
7. The wall transformer stepped the wall voltage down to 23VAC (nominal) and
the full wave rectifier converted this to 20VDC.The buck converter stepped
the 20VDC down to 1.5VDC to drive the H-Bridge, there was high frequency
noise that was low-passed by the mechanical system.The linear regulator
stepped the 20Volts down to a smooth 5 volts to power the logic chips, such
as the mosfet gate drivers on the H-bridge.The signal rectifier filtered the
velocity sensor’s measurement so that a DC voltage could be processed by the
PSOC.
Block diagram of the system
Wall Transformer
H-Bridge Spring-Mass system
Velocity Sensor
PSOC
Buck Converter
Power Rectifier
Logic
Linear Regulator
Signal Rectifier
Laptop USB
Diagram of the modules used on
the PSOC.The ADC is reading
the rectified signal from the
velocity sensor, the upper PWM is
switching the buck converter and
the lower PWM is switching the
H-bridge.
Schematic of the full wave
rectifiers used.
8. Overview
I worked with Professor Sangbae Kim to design a modular foot with an integrated pressure
sensor, for the lab's biomimetic cheetah robot. The phase of the robot's running gate is
determined by torque feedback from the joint motors. However, this data has noise in it
because of the joint inertia. To allow for an accurate determination of running phase, the
sensor told the controller if a leg was in contact with the ground.
Outcome
A foot was successfully integrated into the robot and allowed for the gate phase to be more
accurately determined. The high viscosity of one of the compliant polymers in the foot lead
to a contact measurement that was true after the foot left the ground, for a fraction of a
second. The next step is to change the design of the sensor so that the foot keeps the desired
compliance without a detrimental time delay of the measurement, which leads to a limited
bandwidth of the controller.
Compliant Force Sensor
Phillip H. Daniel MIT, Spring 2011
Image by: The MIT Biomimetic Robotics Lab
9. To enable a rapid response, I executed the sensor logic with analog components.
I designed a comparator circuit to convert the pressure measurement to a
binary signal, which indicated contact. Then I tested the circuit, potted it in hot
glue, and cast it into the multi-material foot.
I redesigned the foot from an existing model, in order to be able to cast the
pressure sensor in place. My changes also allowed the foot to be easily replaced.
For manufacturing, I also redesigned the Solid Deposition Manufacturing process
10. Overview
As a Moore Foundation MURF Fellow, I worked with Dr. Aaron Parness at NASA JPL to
design and fabricate an end effector that enables the omnidirectional gripping of smooth,
curved surfaces in space. To design the gripper, I used a unidirectional, biomimetic, dry
adhesive that imitates the characteristics of gecko skin. This material was developed by Dr.
Parness as part of his PhD thesis.
Outcome
The mechanism that I designed was the first to grip curved, smooth surfaces. The next step
is to further improve the design to increase the maximum force that the gripper can
support. As a result of my work, I am a co-author of the paper that Dr. Parness published
through IEEE. I also wrote a paper summarizing my work, which was published in the winter
edition of the California Institute of Technology’s undergraduate research journal (CURJ).
Finally, my research presentation was accepted at the Southern California Conference for
Undergraduate Research (SCCUR), where I presented it in November of 2012.
Bio-Inspired Omnidirectional Gripper
Phillip H. Daniel NASA JPL, Summer 2012
Image by: NASA JPL
11. This allowed me to achieve omnidirectional gripping on smooth
surfaces. Also, by incorporating a compliant layer of material
(developed by Dr. Parness) between the adhesive and its rigid backing,
I was able to achieve adhesion on curved surfaces.
I redesigned existing vertical
climbing ankles and arranged
them concentrically. This mimics
the orientation that geckos
arrange their feet in when
attempting to grip non-vertical
surfaces.
12. Phillip H. Daniel MIT, Fall 2012
Overview
In the Junior Level design course 2.008, student teams were tasked to design a three part yo-
yo toy for mass production. They were also told to produce 100 of the toys. To fully complete
this assignment, my team had to repeatedly produce un-warped parts within a tolerance tight
enough to facility a press fit of the thermoformed components.
Outcome
The mold that I produced was used to successfully thermoform 100 press fit inserts, and the
process parameters were optimized to yield a quick and efficient production run. My team
went on to assemble 100 replicas of our design.
Skills Learned
Through this project I learned the importance of proper tolerances, how to design for
manufacturing, how thermoforming process parameters affect part quality qualitatively and
quantitatively, and how to coordinate small engineering teams in the completion and
presentation of assembled products.
Yo-Yo Manufacturing
Photo By: Stephen Bathurst
13. I was also responsible for coordinating the completion
of one of the teams progress reports, where each
member reported on the status of their component.
My responsibility was to design
the mold for the thermoformed
insert of the toy, and to ensure
that the thermoforming process
parameters were tweaked to
maximize the production rate
while keeping the part quality
acceptable.
14. Phillip H. Daniel MIT, Spring 2012
Overview
I investigated the speed of a taekwondo kick in comparison with the speed of a block.The goal
was to quantitatively answer whether or not a kick can hit an opponent faster than an
opponent can recognize and block the attack.
Outcome
After analyzing the data, I was able to conclude that a Taekwondo kick by a practitioner is
faster than a block by both the general population and anotherTaekwondo practitioner.
Skills Learned
I learned how to design an experiment, use a data acquisition system (NI MyDaq) to measure
and analyze results, use MathCad for analysis, and design a presentation poster to share my
results.
Measurement and Instrumentation
Photo By: Barbara Hughey
15. 15 16 17 18 19
10
0
10
20
30
BlockingArm Acceleration
WhereAcceleration Changes Sign
End of Block
Time(Sec)
BlockAcceleration
After the completion of numerous trials, I
was responsible for analyzing the results
and reaching a conclusion.
In order to answer the question that I posed,
I designed an experiment, rented
accelerometers, and ran multiple trials on
members of MIT’s SportTaekwondo team
and the general population.
16. Phillip H. Daniel Fall 2013
Overview
I designed and built a coil winding machine to expedite the process of wrapping simple
geometries of coils for my research lab.This project was also an introduction to Labview, as
this was the software used to create the user interface and control the machine.
Skills Learned
I learned to write Labview code to interface a CopactRIO with a stepper motor driver and to
implement position control on a brushed DC motor with encoder feedback. I also gained
experience designing rigid structures, identifying critical modules, and rapid prototyping. I used
rapid prototyping to discover unforeseen complications early in my design process.
Coil Winder
17. Each stage of the hardware and software was critiqued by
the members of my research group, and their feedback was
used to inform improvements.
Multiple hardware and software iterations where prototyped.
The software improved as
my understanding of
Labview grew.
18. Phillip H. Daniel Spring 2012, 2014, 2015
Momentum TA
Overview
I was a recurring TA for the MIT course, Momentum. This course offers students an
interdisciplinary perspective on solving challenges. Each year, students worked in small teams and
had the opportunity to apply deterministic design principles to build devices that accomplished
various tasks. The tasks varied from designing a cable management system for Ford (2012), to
modifying Flying Robots to have Increased Range, Endurance and Sensors (2014), to robot control
based on EMG sensor feedback and Inverse Kinematics (2015).
Skills Learned
I gained practiced managing teams and improved my communication skills, through lecturing and
hosting office hours.
Photo By: MIT Office Of Minority Education
19. I helped design, build and host the
course’s first and second final
competitions.
I mentored MIT undergraduates and
lectured on inverse kinematics.
I taught mechanical design, CAD
modeling, advanced fabrication
techniques, team management skills
and presentation skills.
I taught microcontroller
electronics, inverse kinematics, and
how to interface with various
sensors.
20. Overview
I worked with Dr. Alexander Mitsos to design a low-cost heliostat kit for schools to use to
expose their students to engineering. Each heliostat costs $120 in parts, if purchased online, and
there is a one-time cost of $80 to purchase tools. The parts cost decreases if the components
are purchased in bulk. Projects such as these, which introduce young students to engineering,
are key to increasing the diversity of students in engineering programs
Outcome
An assembly document was written to explain the motivation for the project, the steps to
assemble the kit, and where to buy all of the components.*
Phillip H. Daniel Spring 2011
Heliostat Kit Design
*(Available upon request)
21. The structure was designed to take advantage of the component's strength
in tension and compression. Also, the rotating shaft is powered through a
timing belt to forgive misalignments. These, and other considerations, make
this kit a suitable introduction to engineering
To ensure that the heliostat was both affordable and robust, it was
designed with foam core as its structural material. Also, a majority of the
joints were secured using Super Glue. These materials are also easy to
acquire, safe and easy to work with.
22. Phillip H. Daniel Spring 2013
Overview
I designed a low cost Heliostat as part of an earlier project, but I later found myself on a team of
students planning to cycle across the country and teach engineering along the way. I used this trip
as motivation to finish the software for the heliostat, write an assembly manual, develop and test a
curriculum, and raise funds through a Kickstarter campaign to teach four classes across the
country.
Outcome
I recruited a team member, Netia McCray, to help me build the Kickstarter campaign and edit the
assembly manual*. Together we raised $3000 via Kickstarter to fund the classes. The publicity and
success of the campaign resulted in a later donation of $1000 from the Maine School of Science
and Math and $500 from Draper Laboratories. These additional funds made it possible for me to
teach a pilot class to middle school students at MIT, where I polished my curriculum. During the
bike tour, I taught four classes in Colorado, Kansas, and Kentucky to ~20 students. I also wrote a
project log that I posted to Instructables.com. This project log was later featured on the website’s
homepage and was runner up in a site-wide contest.
Heliostat Dissemination
*(Available upon request)
23. I also gained experience in user testing (for the device
and lesson plan), curriculum design, and customer
service/product fulfillment (as I had to ship heliostats
to various locations world-wide and provide technical
support for the users).
I learned how to run a
fundraising campaign, specifically
how to build a successful
Kickstarter campaign.Through
this campaign I learned graphic
design and improved my
proficiency with Arduino’s
programming language.
Finally, I was blessed to interact with and teach a diverse
set of students from the most advantaged to the most
disadvantaged.This enlarged my perspective and taught me
to respect the struggles that individuals have to go through
to succeed, whatever succeed means for them.
24. Phillip H. Daniel Summer 2013
Cross Country Bike Tour
Overview
Me and 7 of my peers rode bicycles from San Francisco, California to Washington, DC. The trip
was personally enriching, as I met interesting individuals along the way. I also taught classes to
students at various schools and homes across the country. (The Helios project mentioned earlier)
Outcome
The team completed the trip across the country in 79 days. During the trip, I taught 5 classes and
met a multitude of different people both through our work teaching and through our day to day
interactions.The amount of kindness we encountered is inspiring.
25. Skills Learned
I practiced working in a team, I learned how to fundraise for an independent
project, I lived a fit and healthy lifestyle and I learned how to constructively
work through team conflicts. Of all the tangible and intangible lessons I learned
from the endeavor, I believe the greatest one is how to ask for help. I also
learned that there are people willing to help with almost anything, if you know
how to ask.
26. Phillip H. Daniel Spring 2012
Pelican Pulse Oximeter
Overview
Pneumonia is one of the leading causes of infant mortality world-wide, but it is easy to detect
with current Pulse Oximetry technology. Unfortunately, the technology is designed for developed
countries and not appropriate in a third world context, in places such as Vietnam. To help reduce
the prevalence of preventable deaths in babies world-wide, I worked with a team of MBA
students and designers, in partnership with Design that Matters, to design a Pulse Oximeter for
the third world.
Skills Learned
Through working with the team, I have learned and implemented an effective product
development process that is generalizable to any product/product opportunity. I also learned how
to work in an interdisciplinary team, which includes skills such as efficient time management and
meeting planning and how to productively deliver criticism. Finally, I learned how to use TX/RX
serial communication with an Arduino to communicate with Nonin’s OEM Pulse Oximeter circuit
board.
27. I designed and built the electronics for my team’s functional prototype and completed a
competitive analysis of other pulse Oximeters on the market. Additionally, I was
responsible for enforcing my team’s adherence to a well-defined product development
cycle. Our prototype was used to raise $22,767 in an online fundraising campaign hosted
by Indiegogo.com, and it was soon after user tested inVietnam by Design That Matters.
28. Phillip H. Daniel Spring 2015
Overview
This extracurricular project began as a birthday gift for a friend. I asked her to tell me about some
of the places she has been to in the world and decided that I would surprise her with a map of
her undergraduate institution, the Institute of Advanced Media Arts and Sciences in Ogaki, Japan.
To date, I have created maps of IAMAS in Japan, Norfolk State University, Virginia Tech University,
NC State University, MIT, Harvard and Cambridge.
Outcome
I recruited two team members and we have built an online store. We have refined a medium
volume manufacturing process and are piloting the sale of art online to gauge the commercial
feasibility. The maps are high quality, easily personalized, and comfortably manufactured in volumes
of ten 12”x12” frames per week.
Engineered Art
29. The maps are made in a multi-step process whereby I obtain geographic vector files of a
location, modify said files into a laser-cutter friendly format, precision cut and stain
multiple layers of thin wood, and adhere the pieces together.
I’ve rented retail space to get customer feedback and sell artwork, presented my work at
an art show, and my team members and I have setup an online store and began accepting
custom map orders.
30. Phillip H. Daniel Summer 2014
Overview
Living in Cambridge near the iconic Charles River, I wanted interact with the natural structure on
my own terms without being limited by rental equipment. I wanted to build a boat, but I didn't
know the best way to get started. Soon thereafter, I received an email from somebody who
wanted to get rid of a derelict, wooden kayak frame that they no longer had time to repair. After
inspecting the frame, I decided to repair it.
Outcome
After removing the cracked skin, repairing the broken and rotted lengths of the frame, and
stitching and sealing a canvas skin on the boat I was left with a beautiful sea worthy vessel that
glided over the salty waters of the Charles River with ease. I also wrote a project log that I
posted to Instructables.com.This project log was later featured on the website’s homepage
Skin on Frame Kayak
31. This project brought me many hours
of peaceful introspection. More
tangibly, I learned how to apply carbon
fiber twine to wood to reinforce it,
how to strip poly-urethane off of
wood and re-coat it, how to stitch a
canvas skin onto a frame and stretch it
tight, and how to make canvass
waterproof with poly-urethane.
32. Overview
I designed and built a hammock frame to gain experience in wood working and get acquainted
with one of the machine shops on campus. The design had to be affordable, compact enough
to fit in my room and made with components that I could carry to and from the machine shop.
Outcome
The structure was built for $30, and can support the swinging bodyweight of two adults.
Hammock Stand
Phillip H. Daniel MIT, Spring 2011
33. Phillip H. Daniel MIT, Spring 2012
Overview
I set out to create a piece that captures the beauty of the human form with near to life
accuracy.
Responsibility
I cast a negative mold of my hand using dental alginate, because of its small grain size and
flexibility. I then filled this mold with plaster and delicately removed the solidified alginate to
reveal the casting..
Skills Learned
I learned how to create a mold of a complex geometry and replicate details as fine as
fingerprints.
Sculpture
34. Phillip H. Daniel Spring 2012
The Urban Hunt
Overview
I created an experimental film to illustrate, in an exaggerated way, the parallels between how
people and wild animals acquire food, from the realization of hunger, to the hunt, to the feast.This
work is meant to point out the humorous ways that the carnal act of hunting has been reduced
to foraging, where aggressive vigor is no longer acceptable.
Skills Learned
I learned and made extensive use of Final Cut Pro. I also learned how to create a storyboard to
clarify a film concept and share it with others.
