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portfolio.html
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<!DOCTYPE html>
<html>
<head>
<title>Gordon Fountain | Portfolio</title>
<link rel="stylesheet" href="./styles.css">
<link rel="shortcut icon" href="./resources/favicon.ico" type="image/x-icon">
<link rel="icon" href="./resources/favicon.ico" type="image/x-icon">
<script>
window.dataLayer = window.dataLayer || [];
</script>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, user-scalable=no, initial-scale=1.0, maximum-scale=1.0, minimum-scale=1.0">
<meta http-equiv="X-UA-Compatible" content="ie=edge">
<meta name="description" content="A University of Waterloo Mechatronics Engineering Alumni passionate about developing mobile robots.">
</head>
<!-- <div class="sidenav">
<button onclick = "window.location.href='#top';">Top</button>
<button onclick = "window.location.href='#Robotics';">Full Robots</button>
<button onclick = "window.location.href='#CAD';">Mechanical Projects</button>
<button onclick = "window.location.href='#Software';">Software & Controls Projects</button>
</div> -->
<body class="main">
<div class="navbar" style="position: fixed;">
<a href='./index.html'>Home</a>
<a href='./resume.html'>Resume</a>
<a href='./portfolio.html' style="text-decoration: underline; text-underline-offset: 5px; text-decoration-thickness: 3px;">Projects</a>
<div class="gradient-line"></div>
</div>
<header class="filter_header">
<div class="filters">
<ul>
<li>
<div class="border">
<a data-filter=".all" id="all-filter" href="./portfolio.html#all">All Projects</a>
</div>
</li>
<li>
<div class="border">
<a data-filter=".firmware" id="sw-filter" href="./portfolio.html#firmware">Software and Controls</a>
</div>
</li>
<li>
<div class="border">
<a data-filter=".mechanical" id="mech-filter" href="./portfolio.html#mechanical">Mechanical</a>
</div>
</li>
<li>
<div class="border">
<a data-filter=".electrical" id="elec-filter" href="./portfolio.html#electrical">Electrical</a>
</div>
</li>
<li>
<div class="border">
<a data-filter=".job" id="job-filter" href="./portfolio.html#job">Work 💼</a>
</div>
</li>
</ul>
</div>
</header>
<!-- Adaptively change the top margin of the cards container based on header height -->
<script>
function adjustContentPosition() {
// Get the height of the filter header
const filterHeader = document.querySelector('.filter_header');
const filterHeight = filterHeader.offsetHeight;
// Get the main content and adjust the padding-top based on the filter header height
const mainContent = document.querySelector('.cards_container');
mainContent.style.paddingTop = filterHeight + 60 + 'px';
}
// Adjust the content position on page load
window.addEventListener('load', adjustContentPosition);
// Adjust the content position on window resize, in case the text wraps
window.addEventListener('resize', adjustContentPosition);
</script>
<div class="cards_container">
<!-- CARD -1-->
<a class="portfolio-link" href="./project_pages/snake_bot.html">
<figure class="card mechanical firmware electrical all">
<div class="card-img-container">
<img src="./resources/SnakeCurled.jpg" class="card-img" width=100% height=auto>
</div>
<figcaption>
<h3>Snake Robot</h3>
</figcaption>
<p class="card-description">
An in depth project to create a large snake robot to investigate organic motions, kinematics, and collision avoidance
</p>
<div class="card-tags">
<ul>
<li>
<div class="border">
<p>
Mechanical
</p>
</div>
</li>
<li>
<div class="border">
<p>
Electrical
</p>
</div>
</li>
<li>
<div class="border">
<p>
Software and Controls
</p>
</div>
</li>
</ul>
</div>
</figure>
</a>
<!-- CARD -2-->
<a class="portfolio-link" href="./project_pages/oscar.html">
<figure class="card mechanical firmware electrical all">
<div class="card-img-container">
<img src="./resources/OSCARBeach.jpg" class="card-img" width=100% height=auto>
</div>
<figcaption>
<h3>OSCAR Marine Rescue Vehicle</h3>
</figcaption>
<p class="card-description">
A capstone project creating an autonomous marine rescue robot
</p>
<div class="card-tags">
<ul>
<li>
<div class="border">
<p>
Mechanical
</p>
</div>
</li>
<li>
<div class="border">
<p>
Electrical
</p>
</div>
</li>
<li>
<div class="border">
<p>
Software and Controls
</p>
</div>
</li>
</ul>
</div>
</figure>
</a>
<!-- CARD -3-->
<a class="portfolio-link" href="./project_pages/LidarSLAMBot.html">
<figure class="card mechanical firmware electrical all">
<div class="card-img-container">
<img src="./resources/SLAMLidarFirstMap.jpg" class="card-img" width=100% height=auto>
</div>
<figcaption>
<h3>Lidar SLAM Robot</h3>
</figcaption>
<p class="card-description">
A robot that performs localization, navigation, and obstacle avoidance
</p>
<div class="card-tags">
<ul>
<li>
<div class="border">
<p>
Mechanical
</p>
</div>
</li>
<li>
<div class="border">
<p>
Electrical
</p>
</div>
</li>
<li>
<div class="border">
<p>
Software and Controls
</p>
</div>
</li>
</ul>
</div>
</figure>
</a>
<!-- CARD -4-->
<a class="portfolio-link" href="./project_pages/flywheel_bot.html">
<figure class="card mechanical firmware electrical all">
<div class="card-img-container">
<img src="./resources/GyroV1.png" class="card-img" width=100% height=auto>
</div>
<figcaption>
<h3>Flywheel Gyroscopic Robot</h3>
</figcaption>
<p class="card-description">
A Gyroscopic Balancing Robot with Non-actuated Wheels
</p>
<div class="card-tags">
<ul>
<li>
<div class="border">
<p>
Mechanical
</p>
</div>
</li>
<li>
<div class="border">
<p>
Electrical
</p>
</div>
</li>
<li>
<div class="border">
<p>
Software and Controls
</p>
</div>
</li>
</ul>
</div>
</figure>
</a>
<!-- CARD -5-->
<a class="portfolio-link" href="./project_pages/unicycle_bot.html">
<figure class="card mechanical firmware all">
<div class="card-img-container">
<img src="./resources/UnicycleModelIso.jpg" class="card-img" width=100% height=auto>
</div>
<figcaption>
<h3>Unicycle Balance Robot</h3>
</figcaption>
<p class="card-description">
A short project building a balancing unicycle robot
</p>
<div class="card-tags">
<ul>
<li>
<div class="border">
<p>
Mechanical
</p>
</div>
</li>
<li>
<div class="border">
<p>
Software and Controls
</p>
</div>
</li>
</ul>
</div>
</figure>
</a>
<!-- CARD -6-->
<a class="portfolio-link" href="./project_pages/wall_climber.html">
<figure class="card mechanical firmware electrical all">
<div class="card-img-container">
<img src="./resources/WallBotV2.png" class="card-img" width=100% height=auto>
</div>
<figcaption>
<h3>Magnetic Wall-climbing Robot</h3>
</figcaption>
<p class="card-description">
A class project creating a magnetic wall-climbing robot
</p>
<div class="card-tags">
<ul>
<li>
<div class="border">
<p>
Mechanical
</p>
</div>
</li>
<li>
<div class="border">
<p>
Electrical
</p>
</div>
</li>
<li>
<div class="border">
<p>
Software and Controls
</p>
</div>
</li>
</ul>
</div>
</figure>
</a>
<!-- CARD -7-->
<a class="portfolio-link" href="./404-page.html">
<figure class="card mechanical firmware electrical all">
<div class="card-img-container">
<img src="./resources/LaserGimbal.jpg" class="card-img" width=100% height=auto>
</div>
<figcaption>
<h3>Laser Pointer Gimbal</h3>
</figcaption>
<p class="card-description">
A small project to create an autonomous laser gimbal for cat entertainment
</p>
<div class="card-tags">
<ul>
<li>
<div class="border">
<p>
Mechanical
</p>
</div>
</li>
<li>
<div class="border">
<p>
Electrical
</p>
</div>
</li>
<li>
<div class="border">
<p>
Software and Controls
</p>
</div>
</li>
</ul>
</div>
</figure>
</a>
<!-- CARD -8-->
<a class="portfolio-link" href="./404-page.html">
<figure class="card mechanical job all">
<div class="card-img-container">
<img src="./resources/2unify-arms.jpg" class="card-img" width=100% height=auto>
</div>
<figcaption>
<h3>Robot Arm DFM and End Effectors</h3>
</figcaption>
<p class="card-description">
A part-time job during a class term where I designed end effectors and worked on robotic arm manufacturability
</p>
<div class="card-tags">
<ul>
<li>
<div class="border">
<p>
Mechanical
</p>
</div>
</li>
<li>
<div class="border">
<p>
Work 💼
</p>
</div>
</li>
</ul>
</div>
</figure>
</a>
<!-- CARD -9-->
<a class="portfolio-link" href="./project_pages/smaller_projects.html#LARRY">
<figure class="card mechanical firmware all">
<div class="card-img-container">
<img src="./resources/LarryV3.png" class="card-img" width=100% height=auto>
</div>
<figcaption>
<h3>Hexapod Walking Robot</h3>
</figcaption>
<p class="card-description">
A project to design a 6-leg walking robot with natural motions
</p>
<div class="card-tags">
<ul>
<li>
<div class="border">
<p>
Mechanical
</p>
</div>
</li>
<li>
<div class="border">
<p>
Software and Controls
</p>
</div>
</li>
</ul>
</div>
</figure>
</a>
<!-- CARD -10-->
<a class="portfolio-link" href="./project_pages/smaller_projects.html#PIN">
<figure class="card mechanical all">
<div class="card-img-container">
<img src="./resources/EngPin.jpg" class="card-img" width=100% height=auto>
</div>
<figcaption>
<h3>Uwaterloo Engineering Pin</h3>
</figcaption>
<p class="card-description">
My winning design for the Uwaterloo Engineering Pin contest
</p>
<div class="card-tags">
<ul>
<li>
<div class="border">
<p>
Mechanical
</p>
</div>
</li>
</ul>
</div>
</figure>
</a>
<!-- CARD -11-->
<a class="portfolio-link" href="./404-page.html">
<figure class="card mechanical all">
<div class="card-img-container">
<img src="./resources/WalletReal.jpg" class="card-img" width=100% height=auto>
</div>
<figcaption>
<h3>Lever Wallet</h3>
</figcaption>
<p class="card-description">
A few iterations of my 3D printable levering wallet that I (and now some of my family) use
</p>
<div class="card-tags">
<ul>
<li>
<div class="border">
<p>
Mechanical
</p>
</div>
</li>
</ul>
</div>
</figure>
</a>
<!-- CARD -12-->
<a class="portfolio-link" href="./404-page.html">
<figure class="card mechanical all">
<div class="card-img-container">
<img src="./resources/GripperAssembled.png" class="card-img" width=100% height=auto>
</div>
<figcaption>
<h3>Flexing Motorized Gripper</h3>
</figcaption>
<p class="card-description">
A small project creating a minimal printing gripper with thin flexing walls in the Festo gripper style
</p>
<div class="card-tags">
<ul>
<li>
<div class="border">
<p>
Mechanical
</p>
</div>
</li>
</ul>
</div>
</figure>
</a>
<!-- CARD -13-->
<a class="portfolio-link" href="./404-page.html">
<figure class="card mechanical all">
<div class="card-img-container">
<img src="./resources/PIPFestoReal.jpg" class="card-img" width=100% height=auto>
</div>
<figcaption>
<h3>Print-In-Place Adaptive Gripper</h3>
</figcaption>
<p class="card-description">
A small project investigating chained 4-bar linkages in a print-in-place gripper
</p>
<div class="card-tags">
<ul>
<li>
<div class="border">
<p>
Mechanical
</p>
</div>
</li>
</ul>
</div>
</figure>
</a>
<!-- CARD -14-->
<a class="portfolio-link" href="./404-page.html">
<figure class="card firmware job all">
<div class="card-img-container">
<img src="./resources/SkygaugeContact.jpg" class="card-img" width=100% height=auto>
</div>
<figcaption>
<h3>Payload Control RTOS System</h3>
</figcaption>
<p class="card-description">
Work I did during a co-op term in creating the system that runs the payload control system for an NDT drone
</p>
<div class="card-tags">
<ul>
<li>
<div class="border">
<p>
Software and Controls
</p>
</div>
</li>
<li>
<div class="border">
<p>
Work 💼
</p>
</div>
</li>
</ul>
</div>
</figure>
</a>
<!-- CARD -15-->
<a class="portfolio-link" href="./404-page.html">
<figure class="card firmware all">
<div class="card-img-container">
<img src="./resources/CarcassoneInterface.png" class="card-img" width=100% height=auto>
</div>
<figcaption>
<h3>Carcassonne Game Desktop App</h3>
</figcaption>
<p class="card-description">
A side project to recreate the game Carcassonne as a desktop game in python
</p>
<div class="card-tags">
<ul>
<li>
<div class="border">
<p>
Software and Controls
</p>
</div>
</li>
</ul>
</div>
</figure>
</a>
<!-- Add more cards here -->
<a class="portfolio-link" href="./404-page.html">
<figure class="card mechanical all">
<div class="card-img-container">
<img src="./resources/OrnamentModel.png" class="card-img" width=100% height=auto>
</div>
<figcaption>
<h3>Miscellaneous Designs and Prints</h3>
</figcaption>
<p class="card-description">
A few miscellaneous 3D Prints and designs I've enjoyed
</p>
<div class="card-tags">
<ul>
<li>
<div class="border">
<p>
Mechanical
</p>
</div>
</li>
</ul>
</div>
</figure>
</a>
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<img src="./resources/WebsiteHomepage.png" width=100% height=auto>
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<h3>This Website</h3>
</figcaption>
<p class="card-description">
A place for me to learn some basics of front-end and put together my portfolio
</p>
<div class="card-tags">
<ul>
<li>
<div class="border">
<p>
Software and Controls
</p>
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</li>
</ul>
</div>
</figure>
</a>
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</body>
<!-- <h3 id="Robotics">Full Robots</h3>
<div class="project">
<button type="button" data-toggle="collapse" class="project_title">Articulated Snake Robot</button>
<div class="description-area">
<div class="description">
<p>Creating a large (over 1 meter long) 8dof articulated snake robot with some climbing abilities, 2 independent driving systems, and the ability to grab and drag objects. This project will be a base to work on forward and inverse kinematics as well as lifelike motions.</p>
<embed type="image/png" src="resources/SnakeWideShotV1.png">
<embed type="image/png" src="resources/SnakeHead.png">
<embed type="image/png" src="resources/SnakeGears.png">
<embed type="image/png" src="resources/SnakeGearsReal.png">
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</div>
<div class="project">
<button type="button" data-toggle="collapse" class="project_title">Flywheel Under-actuated Robot</button>
<div class="description-area">
<div class="description">
<p>A project creating a robot that uses the acceleration and roll of a flywheel to control the pitch and yaw. Future versions may add a fan for propulsion as the wheels are not actuated.</p>
<embed type="image/png" src="resources/GyroV1.png">
</div>
</div>
</div>
<div class="project">
<button type="button" data-toggle="collapse" class="project_title">Unicycle Balance Robot</button>
<div class="description-area">
<div class="description">
<p>A project working on a robot designed to use gyroscopic balancing methods and to explore control algorithms. The video shows running it to tune a controller that is underdamped. This project is succeeded by the Flywheel Robot project.</p>
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<source src="resources/UnicycleBalance.mp4" type="video/mp4">
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<embed type="image/jpg" src="resources/UnicycleModelIso.jpg">
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<div class="project">
<button type="button" data-toggle="collapse" class="project_title">Magnetic Wall Climbing Robot</button>
<div class="description-area">
<div class="description">
<p>Worked in a group to create a free-spinning magnetic arm robot to mount, climb, and dismount vertical magnetic walls. Here are a few versions and a slow motion video of it descending a vertical wall.</p>
<embed type="image/png" src="resources/WallBotV1.png">
<embed type="image/png" src="resources/WallBotV2.png">
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<source src="resources/WallBotDescent.mp4" type="video/mp4">
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</div>
<div class="project">
<button type="button" data-toggle="collapse" class="project_title">Hexapod Walker Robot</button>
<div class="description-area">
<div class="description">
<p>In the early stages of creating a 6 legged walking robot to develop an organic walking cycle with remote control commands.</p>
<embed type="image/png" src="resources/LarryV2.png">
<embed type="image/png" src="resources/LarryV3.png">
</div>
</div>
</div>
<div class="project">
<button type="button" data-toggle="collapse" class="project_title">CNC Maze Solver</button>
<div class="description-area">
<div class="description">
<p>For a first year project created a CNC machine and a maze mapping and solving algorithm.</p>
<embed type="image/jpg" src="resources/CNCMazeSolver.jpg">
</div>
</div>
</div>
<div class="project">
<button type="button" data-toggle="collapse" class="project_title">Laser Pointer Gimbal</button>
<div class="description-area">
<div class="description">
<p>A quick little project to entertain some cats with a wall-mounted laser pointer on a gimbal.</p>
<embed type="image/jpg" src="resources/LaserGimbalModel.jpg">
<embed type="image/jpg" src="resources/LaserGimbal.jpg">
</div>
</div>
</div>
<h3 id="CAD">Mechanical Projects</h3>
<div class="project">
<button type="button" data-toggle="collapse" class="project_title">Robotic Arm Assemblies and End Effectors</button>
<div class="description-area">
<div class="description">
<p>Worked part-time during a class term to improve the manufacturability and ease of assembly of robotic arms for the startup 2Unify. Worked on inventing end effector designs for use in educational settings. The effector designs were prototyped, iterated and are now in production for educators.</p>
<embed type="image/jpg" src="resources/2unify-arms.jpg">
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</div>
</div>
<div class="project">
<button type="button" data-toggle="collapse" class="project_title">Flexible Thin-wall Motorized Gripper</button>
<div class="description-area">
<div class="description">
<p>Created a gripper for studying thin-wall flexible PLA prints for Festo-style gripper assembly. A stronger motor was needed to flex the grippers and the thin wall prints had low durability, so this style of gripper in thin PLA was deemed not feasible.</p>
<video controls muted>
<source src="resources/FestoGripperMotion.mp4" type="video/mp4">
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</video>
<embed type="image/png" src="resources/GripperExploded.png">
<embed type="image/png" src="resources/GripperAssembled.png">
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</div>
</div>
<div class="project">
<button type="button" data-toggle="collapse" class="project_title">Print-In-Place Adaptive Gripper</button>
<div class="description-area">
<div class="description">
<p>Modeling and iterating ona a gripper design to adapt and form to the shape of an object being grasped. Based of the design of Festo soft grippers. </p>
<embed type="image/jpg" src="resources/PIPFestoGripper.jpg">
<embed type="image/jpg" src="resources/PIPFestoReal.jpg">
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</div>
</div>
<div class="project">
<button type="button" data-toggle="collapse" class="project_title">Simple Lever Wallet</button>
<div class="description-area">
<div class="description">
<p>This is a wallet I made on a weekend because I needed a new wallet and wanted a slim design that presented the contained cards when opened.</p>
<embed type="image/jpg" src="resources/WalletRender.JPG">
<video controls muted>
<source src="resources/MotionStudy.mp4" type="video/mp4">
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<embed type="image/jpg" src="resources/WalletReal.jpg">
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<div class="project">
<button type="button" data-toggle="collapse" class="project_title">UWaterloo Engineering Ethics Pin</button>
<div class="description-area">
<div class="description">
<p>Designed a pin that won a public vote to become the new Uwaterloo Engineering Ethics Pin. Then worked with faculty and machine shop workers on the manufacturing of pins and a 2-foot diameter version. <a href="https://uwaterloo.ca/news/engineering-students/defining-moment">Uwaterloo Article</a></p>
<embed type="image/webp" src="resources/EngPinMeanings.webp">
<embed type="image/jpg" src="resources/EngPin.jpg">
<embed type="image/jpg" src="resources/PizzaSizePin.jpg">
</div>
</div>
</div>
<div class="project">
<button type="button" data-toggle="collapse" class="project_title">Miscellaneous Designs and 3D Prints</button>