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Affordable Swarm Robots
Affordable Swarm Robots
- Unique designed palm-size robot for swarm search application with long distance communication capability
- Optimized morphology of the robot frame to minimize the size
- Open-source sensor and software flexibility for research purpose
Swarm Intelligence Algorithm for Search Application
Swarm Intelligence Algorithm for Search Application
- A decentralized swarm intelligence algorithm for search application of source with spatially varying signal
- This SI (Swarm Intelligence) Algorithm is derived from nature inspired Heuristic particle swarm optimization method
- The Optimized SI Algorithm have high success rate of 78% with 5 robots and >98% with 10 robots to locate the source in unknown cluttered environment
Flying UAV Detection-Tracking System
Flying UAV Detection-Tracking System
- DARPA funded project, objective is to detect and track a flying UAV using partially known physics based model along with data driven machine learning algorithm
- For training ML model, a large data set of flying UAV in motion capture system collected with sensor fused data from multiple senor :LIDAR, Stereo-vision, Kinect, Thermal and RGB camera according to a well designed DOE
- A trained hybrid model can predict to track UAV using partial physics model and various sensor inputs with low computational power
Collision Avoidance Algorithm using Behaviour Trees
Collision Avoidance Algorithm using Behaviour Trees
- A behaviour trees based obstacle avoidance algorithm with advantage of low maintainability, and high scalability & reusability
- Easy to adapt and update new policies
- Modular architecture for better compatibility to add more complexity
Sungrove Video Documentation 4 Screens.aviSUNGROVE: Solar Unmanned GROund VEichle
SUNGROVE: Solar Unmanned GROund VEichle
- Completely Energy autonomous
- Works in urban and remote areas
- Maximum solar exposure per footprint
- Maximum solar exposure with optimal tilting angle
- Optimized hardware design for maximum travel range
Minimizing Accumulated Heat During Re-Entry of a Spacecraft
Minimizing Accumulated Heat During Re-Entry of a Spacecraft
- This is a well-known but rather difficult problem of minimizing the accumulated heat (eq. 4,5) in a spacecraft during its reentry into the Earth’s atmosphere
- This highly nonlinear dynamics problem is govern by three complex equation 1,2,3 of shown in images
- This problem has three states and three co-states:
The velocity of the spacecraft V,
The velocity of the spacecraft V,
The normalized height ξ,
The normalized height ξ,
The flight path angle γ,
The flight path angle γ,
The accumulated heat
The accumulated heat
- Indirect multiple-shooting method is used, red shows initial values (Iter. 1)and blue line shows converge values (Iter. 78).
Shape Image Processing
Shape Image Processing
- Original Image with multiple rudimentary shapes
- Histogram analysis of the image
- Masted the Image to determine the foreground
- Count the all of shapes
- Find & locate all the circular shapes
- Find % locate all the green shapes
IMU sensor Orientation Estimation Using Kalman Filter
IMU sensor Orientation Estimation Using Kalman Filter
- Collect IMU data at 100Hz, preprocess & convert pitch θ and roll ϕ angles in degree
- Apply Complementary filter on using gyroscope and acceleration data from the IMU
- Use Kalman filter on IMU data for more accurate orientation
- For robustness validation, a heavy forced periodic vibration was applied using vibration motor on the sensor
- The result are shown in figure with raw data, complementary filter data and Kalman filter data.
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