Massachusetts Institute of Technology

B.Sc. in Mechanical Engineering, Robotics track, 2013

Design Portfolio Paul Lazarescu

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I. SUMMARY ................................................................................................................................ 3

II. HIGH INERTIAL LOADS MOUNT ............................................................................................. 4

III. ANGRY BIRDS TEAM ROBOTIC ARM .................................................................................... 5

IV. POST -STROKE HAND REHABILITATION EXERCISER ............................................................. 6

V. TRANSITIONS FOUNDATION WHEELCHAIR .......................................................................... 7

VI. TRANSITIONS U-RIDE ............................................................................................................... 8

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I. Summary I’m a junior at Massachusetts Institute of Technology studying Mechanical Engineering

with a focus in Robotics. I love designing, building, tinkering, and programming. I have

had experience in mechanical engineering, design, FEA analysis and testing, robotics,

programming in Java/Python, and database design. Please refer to my website,

www.paulolazarescu.com, to find out more about my background.

Figure 1: Construction of wheelchair in Antigua, Guatemala

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II. High Inertial Loads Mount Along with fellow MIT student Brandon Le, I designed a High Inertial Loads Mount (HILM)

at NASA’s Goddard Space Flight Center for mounting a passive microwave sensor out

the back of a C-23 Sherpa aircraft. The mount had to be able to support the weight of a

1000lb sensor under a loading of 9 G's up/down, 3 G's fore/aft, and 4 G's laterally.

The inside of the C-23 plane was measured and modeled for accurate size and

constraints. Multiple designs were tested using SolidWorks’ FEA analysis simulation.

Figure 2: SolidWorks displacement analysis of HILM

Figure 3a: Sensor attached to mount. Figure 3b: Sensor and mount attached to the back of the C-23 aircraft. The plane would take off and fly with the cargo door open.

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III. Angry Birds Team Robotic Arm The robotic arm designed by the "Angry Birds" team for 2.12, Introduction to Robotics. The

challenge was to autonomously enter a model of the damaged Fukushima nuclear

reactor. Inside, the robot - now human-controlled with the aid of two cameras - had to

accomplish certain tasks (cool pipes, move debris, and rotate valves).

I assisted in the initial design of the arm, and it was my suggestion to use a SCARA-type

formulation. I personally coded the autonomous entry of the robot - the image-

processing software and recognition, the gantry search path, and the initial drop down.

Figure 4a: Robotic arm design Figure 4b: Completed robotic arm, in open position

Figure 4c: Robotic arm entering building after autonomously finding green entrance hole

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IV. Post-Stroke Hand Rehabilitation Exerciser

Along with graduate student Donny Zondervan, I invented and developed a hand

exerciser for post-stroke rehabilitation at University of California, Irvine. The exerciser uses

a flywheel-based energy storage system. The patient would open and close his or her

hand while it was in the handgrips. The flywheel would make the exercise easier by

minimizing the energy required. Also, the flywheel-based system would incorporate a

timing aspect, which could potentially also help with recovery. This originally was my

idea, and Donny assisted in the implementation.

There were multiple iterations for the design. I also built a proof-of-concept exerciser

incorporating a large flywheel and gearing, pictured below.

Figure 5a: Linear exerciser iteration Figure 5b: Another linear iteration

Figure 6a: Measurements for prototype (non-linear opening motion). Pictured circle is the gear underneath the flywheel

Figure 6b: Proof-of-concept prototype. This is actually inverted from the design in Figure 6a.

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V. Transitions Foundation Wheelchair Along with my teammates in SP.784, Wheelchair Design for Developing Countries, I

prototyped a wheelchair for use in Antigua, Guatemala. During the summer, Rachel Dias

Carlson – a teammate – and I went to Antigua where we worked with the non-profit

Transitions Foundation to design and build a more advanced prototype.

This wheelchair is light-weight, durable, and highly adjustable meant for both active and

everyday use. It is made with local materials and manufacturing processes. It is currently

being tested in Guatemala.

Figure 7a: This specific design was not chosen as the frame does not allow for a moveable axle, which would change the location of the wheels with respect to the chair - an important feature for wheelchair users.

Figure 7b: A modified version of this design was chosen for the actual wheelchair.

Figure 7c: Our final wheelchair, built in Antigua. It is currently being used and tested at the non-profit Transitions Foundation by Vinicio, one of Transitions' staff.

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VI. Transitions U-Rider The Transitions U-Rider is an off-road riding accessory designed by Rachel Carlson, myself,

and the Transitions team. It is inspired by a U.S. design. The U-Rider clips on to the footrest

of any wheelchair and raises the front two wheels off the ground. The large third wheel

makes it easier to travel over rough surfaces or at higher speeds. If it enters production, it

is estimated to cost between $50 and $100 (USD) each.

The U-Rider prototype is currently being used by Luis Chutan, a Transitions team member.

He claims that it cuts his wheelchair trip to work – up and down hills and on cobbled road

– in half.

Figure 8a: To minimize cost, this attachment device is put together using welded steel and the latch from the back of a pick-up truck (which costs approximately $15). It has a number of holes running across the top so the device can be fitted to chairs with different size footrests.

Figure 8b: One of the Transitions team members trying out the U-Rider on his wheelchair.