Fly-By-Logic
Sep 2018 – Present
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Building a fleet of 4-6 autonomous quadrotors using off-the-shelf components.
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Developing a toolchain that allows the end user to specify missions across a fleet of drones
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Generating jerk minimizing trajectories for quadrotors to robustly carry out missions
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Designing algorithms (using ROS, MATLAB, CasADi for a non-convex optimization-based planning method for drone fleets
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Implementing standard position and attitude control algorithms for the quadrotors, and building localization methods of the drones
IN PREPARATION
Y. V. Pant, R. A. Quaye, H. Abbas, A. Varre, R. Mangharam. Fly-by-Logic: A Tool for multi-drone fleet planning using Temporal Logic Objectives. (Submitted to the NASA Formal Methods Symposium, 2019)
EKF - SLAM
Feb 2019 – Mar 2019
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Simultaneously localizing the vehicle along with mapping the landmarks
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Used GPS data, ODOM data, and LIDAR data along with EKF estimation techniques.
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Implemented Data association in order to account for growing state vector because of the landmarks
Road Lane Detection
Jun 2018 – Jun 2018
• Used OpenCV APIs to process and transform images from the video stream.
• Detect lane line points and extrapolate the lines into images region of interest.
• Overlaid the detected lane lines on top of the original images/video stream.
a)Path Planning using Dijkstra Algorithm and Control of Quadrotor using Linear Controller.
In this project, a desired trajectory is generated given the start and end points and also the obstacle points. This is done using Dikjstra algorithm.
To implement this trajectory by the Quadrotor a Linear Controller has been used. Project Report.
b) Pose Estimation using Extended Kalman Filter Estimation and Optical Flow analysis of Quadcopter
In this project Extended Kalman Filter is used to estimate the position of the quadcopter. Sensor measurements from IMU and the optical flow analysis involving Corner Detection principles have been used in EKF.
ROBO DOTA
This is also a competition held as a final project in Design of Mechatronics course. It includes designing a bot that can attack other bots, move, sense the light at a desired frequency, Integration of Audio, Ball Shooting etc. For more this is the Problem Statement
Wireless communications concept is used to communicate to ESP8266 and Teensy. I2C platform is used for communication between ESP8266 and Teensy. For more have a look at the Project Report
A Star Path Planning algorithm implementation with 3D obstacles
This is the final project of the MEAM 520 - Introduction to Robotics Course. A Star search is a higher version of Dijkstra's Algorithm. It includes Heuristic function and also gn, which gives the euclidian distance from the traversing grid to the goal grid. This algorithm uses this combo to make the next step or traverse the next optimal grid. The path is then derived by traversing the parental grids in a reverse way to the start grid.
I implemented A Star Search algorithm on path planning with 3D obstacles. I used MATLAB as the platform. For more, have a look at the Project Report
Analysis of Shear blades under thermos mechanical cyclic load conditions to determine New cooling channel
In this project, the maximum temperature and the temperature distribution of the shear blades at the end of ten machining operations has been determined through simulations of the blade under constant mechanical loading conditions using the software DEFORM-3D.
Shear blades in machining industry are used to cut the hot long cylindrical bars into required sizes of blankets. These are made up of a material called Stellite21. The maximum temperature was found at the central patch regions of the shear blades indicating the maximum contact it bears with the hot cylindrical bar. The maximum temperature was found to be 598C. For more have a look at the Project Report.
Cutting Tool Temperature Analysis in Heat Pipe assisted Dry Turning of Composite Materials
The purpose of this project is to determine the effectiveness of the use of heat pipe in turning operations on reducing cutting temperature. The temperature of a tool plays an important role in thermal distortion and the machined part’s dimensional accuracy, as well as the tool life.
The heat pipe has been used to effectively remove the heat generated at the tool chip interface in machining, thereby, reducing tool wear and prolonging tool life. Also, a new method has been proposed i.e. to make a hole in the insert (at an optimum position whose center is 3.5mm away from the nose of the insert) rather than in the tool holder to increase the effectiveness of heat pipe without disturbing the quality of machining. For more have a look at my Thesis.