Research Experiences
Media3.mp4Deep learning based Key point annotation for high-speed video
Use of transfer learning to reduce training time
Siamese network to learn generalized features from all the video frames available
Multistage tracking system to improve the accuracy
YOLO tracker for animal tracking and second-stage pixel classification for key point tracking
Dynamic Model-based post-processing to filter and improve tracking results.
Reinforcement Learning and Model Predictive Control for Pitching Control in Flapping Wing Flight
Mode decomposition to covert complex dynamic system to simplified linear mapping
Model predictive control for pitch control of hummingbird simulation
Reinforcement learning for control pitch
Media1.mp4Analysis of Hummingbird’s control under external torque perturbance
Designed and conducted an experiment to analyze the response of hummingbirds under external perturbation
Analyzed the time series data of wing kinematics to determine the flight control strategy
Derived the passive stabilization torque responsible for fast flight stabilization
Media4.mp4Analysis of sensory feedback and control of hummingbird during agile escape maneuver
Designed and conducted an experiment to determine the role of visual feedback in calliope hummingbird
Implemented dynamic time warping to improve the estimation of intended wing trajectory for escape flight
Established the presence of rate commanded control responsible for agile maneuver
Determined the feedforward and feedback control segments during the escape flight
Flatness based Control for an under-actuated flexible link system (B Tech Thesis)
o Modelled a flexible rod as a general ‘n’ link system.
o Studied and incorporated the differential flatness based trajectory control for a flexible system
o Formulated the differential flatness based modelling of the flexible link
o Workspace determination of 3RRR parallel manipulator
o Studied and planned a trajectory to avoid the singularity condition
o Designed a Litter picker with the flexible arm of variable length using the developed model
Analysis of forward propulsion in Flapping Membrane
• Designed and fabricated an experiment to study the effect of thickness and chord wise flexibility of membrane on the vortex shed on its edges.
• Carried out the experiments to establish the relation between flapping frequency and the rotational frequency of the membrane under a fluid.
• Obtained the dependence of thrust generation on the increasing thickness of the membrane.
• Discovered the opposite nature of thrust generation in the flexible as compared to the rigid membrane.
Development of a precise Laparoscopy Grasper
• Modeled the device using Simscape (MATLAB) and incorporated mechanical issues like friction and backlash.
• Calculated the bandwidth of feedback and related the outcome with the loss of tactile sensation (haptic) by the abdomen tissue during Laparoscopic surgery.
• Obtained and incorporated the dependence of friction on the clearance at the revolute joints.
• Checked the economic viability of improving tolerances for achieving better tactile sensation.