Mar 2026 to present, robotics and edge AI
Iron Bark, autonomous VLA robot dog
A multithreaded perception pipeline combining YOLOv11 object detection, multi-shot ArcFace biometric enrollment, and a vision-language model across a distributed Pi 5 and GPU compute architecture.
- Eliminated VLM hallucinations with YOLO-grounded prompting: real-time detection counts get injected into the VLM context.
- Swapped LLaVA-7B for Moondream and cut latency 4.7x.
- Behavior state machine, IDLE to FOLLOW to SEARCH to EXPLORE, with hysteresis-based transitions over a dual-camera edge system on ZeroMQ.
Jul 2025 to present, generative models
Rembeetle
A real-time multimodal inference pipeline with sub-second latency, orchestrating Whisper ASR, GPT-4o, TTS, and Silero VAD for bidirectional voice AI in asynchronous Python.
- Retrieval-augmented generation with Google OAuth (ES256/JWKS), asyncpg Postgres with per-user data isolation, and pgvector cosine similarity over 1536-dim embeddings.
- Agentic pipeline on the Model Context Protocol with streaming JSON parsing, so tools are discovered and called at runtime.
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Sep 2025 to Nov 2025, computer vision
Voice-controlled robotic arm
A 4-DOF autonomous robotic arm driven by a custom-trained YOLOv11 model, executing spoken commands through computer vision.
- Deterministic control state machine with 7-point linear interpolation mapping camera depth to servo angles at 0.5-degree actuation accuracy.
- Vision at 8 FPS on a host PC, coordinates streamed over low-latency UDP to a Raspberry Pi embedded controller.
Oct 2024, AI and hardware
The Carbeetle Project
Vehicle classification with automated garage access. A YOLOv11 model on a Raspberry Pi watches a live camera feed, recognizes the family E46, and fires a relay to open the garage door on sight.
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Oct 2024, machine learning
Thermal performance predictor
Time-sequential neural networks (LSTM, GRU, RNN, RBF-RNN) standing in for slow thermal energy storage simulations. Research is ongoing. Discharge patterns are still to be trained.
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Sep 2024, AI in education
Automated Python quiz generator
GPT writes programming quiz questions for UC Irvine's intro course, a synthesized voice reads them, and a video pipeline cuts them into short-form review clips. If students are scrolling anyway, learning can live in the feed too.
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May 2024, artificial intelligence
Minesweeper AI
An agent that clears Minesweeper boards using deterministic logical inference first, then probability estimates when certainty runs out. It outperformed 80 percent of participants in its course tournament.
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