Selected Projects

In this page, I have described my completed major projects. Most of my college days, I have been worked on these projects

Robotics Engineer at Joulea LLC (May 2023- Jan2024)


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  • Implemented a SLAM system using Lidar Inertial Odometry, and Point-cloud data, improving autonomous robot navigation via collision-avoidant paths in dynamic environments.

  • Optimized flight control of DJI drones by leveraging the SDK to design a custom velocity controller, enhancing the drone’s responsiveness and precision in navigation

  • Conducted scans and generated 3D models of Atlanta’s largest buildings using drone systems, contributing significantly to the city’s building inspection.


Indoor localization of multi-rotors



  • Bachelors thesis-1 at IIT Kanpur 2019

  • Implemented a range based SLAM using the wireless beacons for quadcopter localization in an indoor environment.

  • Automated the noise tuning part in the Gaussian filter using the Particle Swarm Optimization method.

  • Proposed anovel way of estimating the drone’s orientationand position in an indoor environment without the use of magnetometer and external sensors.


[Report][Code]

Reinforcement learning Capstone

  • Completed the Coursera online specialization on Reinforcement learning.

  • Learned to formalize the control task as a RL problem and to implement the solution.

  • Performed the neural network function approximation to train the agent on the simulated problem.

  • Implemented the q-learning, actor-critic algorithms to maintain the position on cart-pole, moon lander, and simulated quadcopter.


[Report][Code]

Swarm Robotics for ground bots

  • Summer Project at Electronics Club IIT Kanpur 2019

  • Designed a five small ground bots with interconnected WiFi communication

  • Localized the bots based on aruco markers and infrared sensors

  • Developed the controller for the robot based on concept Differential Drive

  • Implemented Centralized Multiagent path planning algorithm (Conflict Based Search) on the bots for desired shape formation.


[Report][Code]

Desktopography

  • Summer Project at Electronics Club IIT Kanpur 2018

  • Developed acomputer interfaceby using the depth-camera and projector.

  • Implemented gesture recognition of the hand by depth images and transformed those actions to move the computer pointer.

  • Explored Sift, surf, orbimage feature algorithms for finger segmentation and tracking using the OpenCV library.


[Report][Code]

Course Projects

In this part, I have described my academic projects done for the course work at IIT Kanpur.

Optimal Control of Electric-sail spacecraft

  • Course Project for Automatic Control of Aircraft Rockets and Spacecraft (AE649A)

  • Derived dynamics of the spacecraft with its novel propulsive system.

  • Implemented the linearized attitude and orbital control of the spacecraft.

  • Investigated the optimal control techniques to develop minimum time trajectories.


[Report][Code]

Observability based Sensor Placement

  • Course Project for Autonomous Navigation (AE640A)

  • Formulated the network constraint on beacon based localization based on non-linear observability analysis.

  • Presented a solution for sensor placement on the industrial structure using PSO method.

  • Investigated the optimal control problem around beacon to improve the estimation accuracy.


[Report][Code]

Aircraft Design and Analysis

  • This is the course project of (AE 361 and AE 461) Aircraft design at IIT Kanpur. Course has covered both design and fabrication of fixed wing aircraft model.

  • Analyzed the aerodynamics, performance, and stability of different aircraft models.

  • Designed a full light-weight aircraft model based on the system requirements.

  • Constructed a prototype model of twin-boom pusher aircraft and added autopilot for loitering operations.


[Report][Code]

Linear Programming

  • This is the course project of (ME:752) Optimization at IIT Kanpur. Course has covered both uncontrained and constrained optimization problems.

  • In the project, I have decided to work on the Contrained Optimization problem, particularly Linear Programming.

  • The Linear Programming problem can be solved by using different methods. In this project, I have studied two of the main methods used widely.

  • I have compared the Simplex and Interior Point methods in term of efficiency and complexity.

  • I have illustrated the two methods on different mathematical functions to compare their working principle.


[Report][Code]

Manufacturing Process

  • Course Project for Technical Arts (TA201A and TA202A)

  • Designed a AutoCAD models on Twin tower and Multipurpose delivery system.

  • Fabricated the real model using the mechanical manufacturing process like Milling, Drilling, Welding, Casting and Molding


[Report][Code]


My undergraduate intern story