Research Work
I have been involved in conceptualization and development of robots for over 3 years now. Here are some of the problem statements that I’ve completed or am currently tackling. Please click on the respective Project Title links to know more about them.
Related to Autonomous Ground Vehicle
Eklavya 6.0 and 7.0 : Intelligent Ground Vehicle Prototype
Our very own Autonomous Prototype designed from scratch, developed for Lane Following, Obstacle Avoidance and GPS via-point navigation.
Automated Warning and Braking Driver Assistance system
Developed driver assist system to warn/stop the vehicle based on alertness score, calculated based on facial expressions.
Related to Geometric Computer Vision and SLAM
Real time LiDAR and RGB-D Camera Based Localisation and Navigation in GPS-Denied Environment [Click here for Details]
Wheel odometry based localisation is very inaccurate. However, it can be corrected using Prior Map matching based approach. Prior Map matching based approach alone are computationally very expensive, thus using it to correct parameters of approximate localisation makes the process both efficient and accurate.
Dense Mapping of Campus
Generated dense 3D Map of Campus, using NDT Mapping in Autoware, on LaserScan data from 3D LiDAR.
Sparse Mapping of Campus Road
Constructed Sparse map of Campus Road using Monocular Camera and OpenMVG
Related to Coordination Robotics and UAVs
Exploration Mapping using Coordinated Robotics
Objective : To Explore an unstructured and unknown environment using a Single Exploration Agent. Project Phase :
1. Extension of Next Best View Planar. [Time Bounded Exploration and Agent Recovery]
2. UAV and UGV coordinated exploration and Failiure Recovery
3. Multi-agent exploration with tracking, map-merging and relocalisation.
*Work in Progress
SWARM Search Operation : D.R.D.O. UAV Fleet
Coordinated SWARM Search Operation with objective to detect a Green Box in an given arena.
Open Source Code available supported by proper documentation, project report and detailed presentation.
Click on the Title to Read More.
AGV Research Group : Testing and Trial Runs
Other Robotics Related Projects
Low-Cost Ventilator
BVM based Ventilator design, with synced human triggered breathing cycle, humidification, PEEP, air flow rate and tidal volume control.
ArMyo : Bionic Exoskeleton
Non-Intrusive Bionic Exoskeleton, based on EMG signals, for paralysed patient assistance.
Non-Intrusive Inertial Sensor for Odometry of a Ground Vehicle
External Intertial based Wheel Encoder Sensor.
Hobby Projects
5.1 ch Headphone built from Waste
5.1ch Headphone with Equalizer control built from Waste components,
This has a dedicated Sub-Woofer, Central Front and Rear Channel.
S.A.D.M.C.S.
Signal Amplification Distribution and Modulation Control System.
Multi-purpose highly configurable, signal distribution platform.
Line Following, Sound Sensing and Color Identifying Bot
Constructed a autonomous line follower that determines it’s course based on coloured checkpoints and frequency sources placed at various spots along the path.
Changing Inter-axial Distance Bot
First Prize at KTJ’18
• Inter-axial Distance of the bot can be changed by RC.
Lane Following & Maze Solving
2nd Position: NSSC’18
• Bot had to solve maze by using Path Planning and Image Processing
My first Wireless RC Car!
• Uses 433Mhz RF Module and HT12E/D Encoder and Decoder.
Control System :
1. Using DC Motor as Servo Motor
2. Closed Loop controlling Speed of DC Motor
Academic Lab Experiments
Digital Electronics Tutorials
- 7 Segment Display and Driver | Decade Counter
- 2 Digit Clock (Cycle of 100, 60, Arbitrary Number)
- Adding two 4 bit No. & two 8 bit No.
- Fibonacci Series using IC 🙂
- 8 bit Binary to Decimal Converter
- Displaying String on 7-Segment Display (K-Map)
- Sequential Multiplier
- Serial Communication
- RAM
** Educational Tutorial Content Under Construction, will be published by April, 2020
Control Systems
- Oven Temperature Control
- Tank Water Level Control
- Crane – Pendulum Control
- Magnetic Levitation Control
- Rectilinear Motion Control
- Motor Speed Torque Char
- AC Servomotor
** Educational Tutorial Content Under Construction, will be published by April, 2020