Planting a Flag for QJoint

 This is vague intentionally. 

My advisor and I have used math also presented in this article: https://institutions.newscientist.com/article/2499647-mathematicians-have-found-a-hidden-reset-button-for-undoing-rotation/

We did so to produce a new kind of slipring. It does not rely on sliding contacts. It will change robotics and continuous rotation systems.

Flagstaff to Tucson and a few things in between

 

Last weekend was a great trip to Arizona. Coyote and I went to Flagstaff to see a friend of hers married and then we travelled to Tucson to see some of my family. Along the way, we got to hike in the Cactus Forest of the Saguaro National Park. Unfortunately the Cactus Forest Dr was closed due to broken gov. But we saw the cacti from the Broadway trailhead. Life is good in general. I am going to Atlanta next week... so much travel. I am looking forward to a few boring weekends ahead and some time to decompress a bit.

My perceptions on AZ are much different now, after seeing both Flagstaff and Tucson in this season. There is a great variety of life in the state and I hope to find a trip back to this corner of the country soon.

Finished the Pemigewasset Loop

 

Last weekend, I hiked the Pemigewasset Loop in New Hampshire's White Mountains. It's over 30 miles and I summited 9 mountains over 4000 ft in elevation. I could not have done it without my pals Ben and Noah. We camped on Friday night and slept in a shelter on Saturday night. The weather was perfect. Sunny and low winds. Temperatures were 60s in the day under the sun and 30s at night. The stars were magnificent.

Last year, Noah and I tried to finish the loop counter-clockwise but we were stopped by strong winds and I was thrown onto some rocks. We were welcomed by the great folks at the Galehead Hut of the AMC. This year, we got redemption and even summited West Bond.

I am well on my way to doing the 48 White Mountains of 4000+ feet in elevation. 

This trip tested me and I am happy to say that we overcame the challenge. It's a great thing for one's spirit to set a challenge and overcome it. I forgot about the whole world when I was sweating out my face and pushing over rock after rock. Some of the best treatment I have received.

I will be back next year for perhaps even more distance, nights, and camp food. I only hope that I'm not sleeping next to a snorer.

Wedding in the Family

 

Last week I was in Austin, TX, for an academic conference and the weekend before that I was at my mom's wedding. Only one more wedding to go this year in Arizona and then maybe a wedding break for a bit. Over the course of life, it seems that the rate of weddings, births, and passings is non-random in one's own attendance. People spend a lot of time with those who are in a similar age of life and this plays a part. I suppose that's why some people jokingly refer to the late twenties or early thirties as the era of weddings and babies relative to teenage years or one's fourties. But as far as I know, there is no perfect, externally set time time to have a kid, get engaged, or die. It's a rate of occurrence that is circumstantial and related to the pace of human life itself. Our actions and reactions to these events is tied to the age and time at which they occur. That is my takeaway from doing something, anything, at a certain time and age. 

As for my own academic journey and career, time is of the essence. There is always another project to consider and opportunity cost to evaluate. If you are not weighing one project against many others, maybe you need to seek out more ideas to compare against.

The castle that the wedding took place at.

Brett and I at the Solid Freeform Fabrication poster session last week

Wedding in the Immediate Friend Group

 

Kat and Conrad are working together now. It was a great weekend and so many little moments packed into such a short time. A lot of life got put into a finer perspective this weekend. We are all growing older into another chapter of life, through our twenties and growing ever more mature. I'm so glad my speech was well received and I was able to be a good Best Man for Conrad and Kat.

So many things were perfect and reminded me of their shared interests. The ceremony was sweet and personal in the best way and now those two are off to Europe for a honeymoon. 

Here is an important part of my speech about Conrad

"""

He is a fundamentally kind person and I have always sought to surround myself with more people like him. Because he builds up the people around him, and that is something I deeply respect and do not forget about him.

–

I met Conrad after we both arrived at MIT. He and I lived down the hall from each other and one of my earliest memories of us being friends happened around 3 AM one night, over a month after we arrived on campus. — That night, we found ourselves with some of our new pals at an IHOP on the North Shore of Mass eating as many pancakes as we could, after skinny dipping in the cold Atlantic ocean. If we could jump together into that near freezing water, joke around, and then fight to see who could eat 12 large pancakes, we could get along, be friends, and we could push through MIT together. He made me feel, for the first at MIT, like I was part of a group. And that is an amazing skill.

"""

It was icing on the cake that Coyote could be there too and she is doing so well in a new job.

The venue hall and ceremony courtyard

Another Swiss Trip plus Italy

 

I went to Switzerland again last month to pick up Coyote and come back to the US with her. She finished her thesis with flying colors and afterwards, we took the train into Italy. It was a wonderful trip with some great travelling partners. We stopped by Lucerne on the way and I got a great view of the city.

Italy was a blast. We got to travel with one of C's friends and her Italian boyfriend. Obviously, it is great to travel with someone who knows the country and language. The cathedrals, night time walks, food, and everything else was a dream. I will be returning at some point. I liked that we were able to stop by some of the lesser crowded points of the Tuscan countryside. Agriturismos are the way to visit that part of the country. I learned all 20 regions of Italia and now I need a reason to eventually see them all.

After the trip, Coyote sent me on a fun quiz to visit the statues of Geneva. Here is Gandhi's.

Progress Post Quals and Summer 2025 Excitement

It's June again, which means I turn another year older. June is one of my favorite months. Usually it means a shift from routine work to more experimental work. From educative and directly productive efforts, to more adventurous tasks.

A month ago, I heard that my qualifying exam at Northeastern was accepted without conditions. This was very great news to hear. I was very happy at the moment. I can switch now from that educative preparation to exploring the use cases of two core technologies from my lab at Northeastern, the Transformative Robotics Lab. In this effort, I attended the New England Manipulation Symposium at MIT CSAIL last week. Brett and I went over some of our work.

A lot of folks there used a sensor called a GelSight, to measure surface deformation. Here is an image of my Claddagh ring under that sensor. 

And here is an image of my 3D printed insoles after being worn down. Not all technology works without fatigue forever. I am improving the methods of producing 3D printed foam goods this summer for potential commercialization.

But, in the weekends I still find time to go on little adventures. Mountain Osceola has nothing on me and my hiking buddies. 

Switching from educative to adventurous a bit this June. I am looking forward to this summer, despite the greater concerns, I will be with my good folks along the way.