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Subo: ROS based robot using monocular SLAM
  • The four-wheeled robot runs ROS nodes on the onboard RPi and communicates with the ground station computer
  • Base computer subscribes to images which are processed to find required odometery using fiducial markers
  • Implemented ORB-SLAM2 on the monocular image stream for mapping and navigation in the indoor environment
code
Design and fabrication of experimental setup for kinematic and dynamic analysis
  • Designed the experimental setup to have three retrofitted mechanism configurations for institute’s lab
  • Performed detailed dynamic and kinematic analysis of the setup using Simscape, Python and GeoGebra
  • Carried out complete instrumentation (with integrated display) of the setup to take measurements of various parameters
pdf code
Analysis of GAN and its variants
  • Implemented GAN, WGAN using PyTorch for the MNIST dataset.
  • Created custom face dataset and used DCGAN to generate fake samples.
pdf code
Autonomous Drone Navigation using Fiducial Markers
  • Used ArUco markers for pose estimation and localization in real-time in an indoor environment
  • Captured images are sent to base PC where computation happens, and the odometry is sent back to drone using ROS
pdf code
CFD Analysis Lid Driven Cavity Problem
  • Solved and simulated the problem in derived variable form using iterative method for both static and transient regimes
  • Applied Courant-Friedrichs-Lewy Criteria for stability analysis, and both uniform and non-uniform grids for improved results
pdf code
Maze Solver using Rapidly Exploring Random Tree (RRT)
  • Implemented the RRT algorithm to solve the maze in a image give the start and end point coordinates
  • The growing tree can be visualized as it progresses
code
Helical Spring Designer
  • Designed and implemented an algorithm to compute parameters like wire and spring diameter, the figure of merit etc.
  • Incorporated both static and dynamic conditions and provided a feature to choose from various possible designs.
  • Designed full-fledged standalone application in Python using tkinter with user-friendly interface.
code
Persistence of Vision Display
  • Fabricated a mechatronics display based on the persistence of vision of human eye
  • Implemented Bluetooth communication to change the display using mobile app
  • Minimised the mechanical vibrations produced at high rotations
code