Signal processing
Heart-rate extraction from cellphone video
FFT, blind source separation, noisy inputs, and one of the earliest clear examples of the sensing instinct that kept showing up later.
Technical archive
A few earlier projects that still say something useful.
This is the smaller, earlier part of the technical story: sensing, controls, signal processing, and experiments that connect cleanly to hands-on robotics work.
Robotics + controls
Teradyne capstone and IEEE paper
Tool changing, load-cell-informed control, automation workflows, and a project that forced controls and usability to coexist.