Projects

PUBLICATION

Effective Education using a 2-DOF Five-bar Mechanism

Introduction: The prototype developed aims to use the 5-Bar Mechanism to assist the young and differently-abled write in a game-like setting.

Specifics: A variation of the 5-Bar parallel linkage where the ground link length is zero (0) is used for maximum workspace. An Iris mechanism is placed in the end effector for its variable diameter which provides different levels of difficulty for writing. During the run if the pen touches the iris, a buzzer sounds and an error is recorded which determines the final score. This score helps keep track of the progress & we believe with repeated trials the user will improve owing to the fun learning experience. First prototype had stepper motors, but the controllers frequently burned. Hence, for the next version, we used DC motors with quadrature encoders which had good resolution and life.

Further Work: Field tests required for pedagogical results.

PROJECTS

Temperature mapping with TurtleBots and ROS - 2021

Aim:

Map the environment
Collect temperature data at discretized points in the environment
Visualize the temperature distribution

Documentation: Please follow this Github Link for complete details - Temperature-ROS-TurtleBots(github.com)

Specifics: A turtlebot2 with LIDAR to map & localize, temperature sensor and Arduino Uno to acquire data, Wi-Fi router for communication, a workstation for remote control of the mobile robot.

Further Work: Develop a temperature hotspots seeking robot by different localization and search techniques.

Sudoku Solver - ongoing (part-time)

Introduction: Solving Sudokus has been one of my favorite pastime, which pulled me through many a lazy afternoon & lengthy lecture. Now, I've decided to develop an algorithm to solve standard sudokus of the toughest order without backtracking.

Specifics: Python is used for implementation. Will be discussed in the final documentation of this project.

Further Work: Extend the algorithm to solve other interesting variations in the sudoku.

Self-driving Car Simulation - 2020

Introduction: This one is the final project in the online course "Intro to Self-Driving Cars" offered by University of Toronto in Coursera.

Specifics: CARLA simulator developed by Unreal Engine is used for this project. The code is written in Python. Longitudinal Control of the vehicle is based on a PID controller. Latitudinal Control is based on the Stanley Controller. Essential support on the working of CARLA and its interface with Python is provided in this course.

2R digitizer - 2020

Introduction: A fun attempt at developing a digitizer by repurposing a mini-drafter.

Specifics: A sturdy prototype has been developed using basic rotary encoders at the joints. An application has been developed using Visual C# to display the output. Arduino is used as the microcontroller to collect the joint angle inputs and communicate it to the PC running the C# app.

Although the whole setup worked seamlessly, the output was not acceptable due to lack of precision in the encoders.

Further Work: Replace the rotary encoders with potentiometers for better results.

Note: The idea of repurposing the mini-drafter was suggested by Prof. Rajeevlochana C.

Shape plotting mechanism - 2019

Introduction: This project is based on a 5-bar linkage with servo control for two of the revolute joints (with ground) which determine the position of one revolute joint in a defined cartesian coordinate frame using an Arduino based micro-controller.

Specifics: I aimed to reproduce the mechanism with a more primitive type of servo control. Using kinematics, based on the input, the algorithm works out the angles and feeds it to the servos as required. All kinds of 2D shapes can be plotted using their own governing equations.

Further Work: Using an IMU to draw shapes traced by the hand gestures.

A detailed Project Report can be found here.

Maze Runner - 2018

Specifics: Based on the famous MicroMouse Competition, this bot aims to solve a maze autonomously using an on-board microcontroller, and ultrasonic sensors. Preliminary mapping of the maze and basic optimization algorithms were worked out. Arduino was used as the microcontroller. Further work pending.

Precise Irrigation - 2018

Domain of working: Better techniques/machines for Agriculture

Specifics: A complete model for remote monitoring of various parameters of the land and regulate the dispensing procedure accordingly.

Technologies Used: Microcontroller (Arduino), RFID Technology (Radio Frequency Identification), Solar Powered , IOT (Internet of Things)

This project was selected for exhibition at Kalpana 2018 | IEEE PESIT South Campus Student Branch, WiE Chapter (We were unable to showcase the complete functionality at the event, nonetheless enthusiastic to explore its practical results).

Page updated

Google Sites

Report abuse