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Guest Lecturer, Mechanical Engineering - 10/27/2016
Guest Lecturer, Mechanical Engineering - 10/27/2016
University of Texas at Austin
University of Texas at Austin
Designed and conducted a one hour lecture on robotics and rehabilitation for an undergraduate class
Guest Lecturer, Mechanical Engineering - 10/25/2011
Guest Lecturer, Mechanical Engineering - 10/25/2011
State University of New York at Buffalo
State University of New York at Buffalo
Conducted a one hour lecture on spline fitting for a graduate course on mathematical methods in robotics
Guest Lecturer, Mechanical Engineering - 08/30/2011
Guest Lecturer, Mechanical Engineering - 08/30/2011
State University of New York at Buffalo
State University of New York at Buffalo
Conducted a one hour lecture on introduction to MATLAB programming for an undergraduate class [PDF]
Teaching Assistant - 08/2009 - 05/2010
Teaching Assistant - 08/2009 - 05/2010
Mechanical and Aerospace Engineering Department
Mechanical and Aerospace Engineering Department
State University of New York at Buffalo
State University of New York at Buffalo
Courses Taught
MAE277: Introduction to Mechanical Engineering Practice 08/2009 - 12/2009
Conducted lab sessions and provided guidance to students for analyzing assigned products.
MAE 340: Systems Analysis (Lab) 01/2010 - 05/2010
Taught weekly lab sessions dealing with modeling and analysis of physical/engineering systems.
Lab7a_Talking_Points_Priyanshu [PDF]
Course Projects
Course Projects
Autonomous mobile robots capitalize on their ability to intelligently, efficiently and reliably interact with their environment. This makes them suitable for various applications that are hazardous or unpleasant for human beings. Their task may range from as simple as following a line, to as complex as ....Read More
Faster and efficient gear shifts have always been the demand of automobile industry. Be it an automatic transmission having distinctly low efficiency or an automated manual transmission with combined benefits of automatic and manual gearboxes, the phenomenon of gear shift has always been the area of interest. Sequential type gear shift mechanisms ... Read More
The objective of this project is to develop a model for the dynamics of Sequential type gearshift mechanism and to study the controllability and observability of the mechanism as a dynamic system. A mathematical model capable of ... Read More
The analysis of 3-PRR manipulators is carried out. Forward and Inverse pose kinematics of the manipulator is derived. The Jacobian matrix relating the task space velocity to the join-space velocity is then symbolically evaluated. Various algorithms are... Read More
Presentation Project Report MATLAB Source Code
( Showcased in the MATLAB kiosk as one of the available tools to better understand modeling of parallel manipulators in MATLAB, IEEE International Conference on Robotics and Automation, 2012.)
The problem of gearshift control is crucial for effecting an efficient gearshift. The issue becomes more interesting when it is constrained by yet another demand i.e. reduced gearshift time. In this paper, we address the issue of designing a controller for a sequential type gearshift mechanism in order to achieve the dynamically varying demand of gearshift force. A difference equation governing the dynamics of the gearshift mechanism is derived ...Read More
P. Agarwal, "Discrete-time Backstepping Torque Controller for Cylindrical Cam in Sequential type Gearshift Mechanism", Project Paper, Optimization in Engineering Design. [Paper]
An Electronic Differential based Electric Vehicle
An Electronic Differential based Electric Vehicle
P. Agarwal, G. Sharma, D. Ghosh, M. Satish, A. Upadhay, "Design and Development of a Battery Operated Electric Car with an Electronic Differential", B.Tech Project Report, MNNIT Allahabad, 2007. [Report]
Simulation Aided Teaching: Character Recognition, Graph Generation and Robot Control
Simulation Aided Teaching: Character Recognition, Graph Generation and Robot Control
P. Agarwal, R. Gupta, P. K. Chaurasia, “Development of a system for Character Recognition, Graph Generation, and Autonomous Robot Control,” All India Seminar on Advances in Product Development, MNNIT, Allahabad, Feb 2006. [PDF]
A system for Dynamically Balancing a Bicycle
A system for Dynamically Balancing a Bicycle
(Summer Fellowship Program, Indian Institute of Technology, Madras, India)
A study of the dynamics of a bicycle is carried out to evaluate the effect of key parameters like wheel base, head angle and trail on stability. It is observed that the design of front fork has a major impact on the stability of the bicycle. Second-order models are developed for the bicycle and a transfer function is finally established relating the roll angle to the steer angle. A PID controller is then modeled in MATLAB using Simulink. The response of the controller for various inputs like impulse, step etc. is then obtained. A frequency response study is then carried out for sinusoidal inputs using Bode plot and Nyquist Criterion.
Automated Guided Vehicle for Mixed Model Assembly Line
Automated Guided Vehicle for Mixed Model Assembly Line
A computer controlled automated guided vehicle is developed with a capability (1) to identify balls of different colors, (2) to place them at their appropriate location based on their color. The vehicle is a white line follower installed with two sensors for guiding it to track the line. In addition to this, the vehicle is equipped with a sensor cluster capable of identifying few colors. The sensor is based on the theory that different colors have different reflectivity. All the sensors are based on a circuit consisting of a Light Dependent Resistor connected in series with a rotary type potentiometer so as to generate a voltage output based on the reflectivity of the color present in front of it. The vehicle is installed with four DC geared-motors for driving the vehicle and two such motors for operating the flaps to capture the ball. The code for controlling the vehicle is written in C and the vehicle is connected to the computer through parallel port.
The system includes a module developed in MATLAB capable of recognizing materials based on various features derived from their microstructure images. The system captures images using a high resolution camera mounted on a microscope. Based on the image captured a series of features are evaluated. These features are then used to identify the material using nearest neighbor classifier with the already stored features in the database. (Developed in association with Sachin Agarwal (M.Tech student) at Motilal Nehru National Institute of Technology, Allahabad under the guidance of Professor Rakesh Mathur, Applied Mechanics Department.)
Digital Stop Watch
Digital Stop Watch
The major goal of this lab assignment was to develop a digital stop watch. The basic interfacing of LCD module, MAX7219 7-Segment display driver, speaker, shift register for capturing inputs using switches and pulse generator is first achieved. The successful implementation of the stop watch is possible with synergistic integration of the components in the system. A digital stop watch is developed which operates in two modes i.e. normal stop watch mode and timer mode. The timer mode provides the user an option to enter hours, minutes and seconds after which the watch should give a buzzer. Both the modes provide option to pause or continue and stop the watch. In addition, the watch also has the feature of Auto Sleep Mode which kicks in when the watch is idle for some time. The user can also turn this mode off. Also, the watch provides audio visual cues to the user for user friendliness.
Digital Multimeter
Digital Multimeter
The major goal of this lab assignment was to develop a digital multi-meter. The basic interfacing of LCD module, shift register 74X165, shift register 74x595, ADC, operational amplifier, relay, MOSFET is achieved with the BASIC Stamp II. A digital multi-meter is developed which operates in four modes i.e. Ohmmeter, Voltmeter, Digitally Controlled Voltage Source using R-2R, Digitally Controlled Voltage Source using PWM. All the modes also provide the feature to make multiple measurements and retain the last two readings. In addition to this the developed multi-meter also offers a feature to check the continuity of a circuit. Also, the system has the feature of Auto Sleep Mode which kicks in when the system is idle for some time. The multi-meter also provides visual cues to the user for user friendliness.
Speed Control of a DC Motor
Speed Control of a DC Motor
The goal of this assignment was to develop a Speed control system for a DC motor. Various control methods were to be employed, both open loop and closed loop. All control methodologies are implemented using MATLAB GUI. The important feature of the system is the auto-calibrate function which provides the capability to calibrate the system at three different levels depending on the desired level of accuracy and recommend whether to use the calibration or not based on the statistics of fit. In closed loop control, on-off, differential, proportional, proportional-plus-differential and proportional-plus-integral-plus-differential are implemented. The system also has a feature to run a diagnostics in order to assess its state of health. A monitoring feature which employs a webcam to monitor the fan by the user is also present. This can be of importance in remote operation of the motor. In addition, the system also provides the feature of data logging both for calibration and for controls.
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