Vision based Pose and Velocity estimation of a micro aerial vehicle using RANSAC      April 2022

  • Implemented four-point algorithm and projective geometry to localize an aerial vehicle on a mat of April Tags
  • Programmed an algorithm for optical flow estimation using the Lucas–Kanade algorithm & Motion Field Equations
  • Implemented RANSAC to make the system more robust and reject outliers using three sets of constraints

Extended Kalman Filter for AV Localization using Vicon camera and IMU      March 2022

  • Implemented Extended Kalman Filter for estimating position, velocity, and orientation, and sensor biases of a AV
  • Programmed Prediction and Update functions accounting the sensor noise to get the predicted and updated probability density functions with unique mean and covariance in each iteration
  • Achieved a plot with almost complete overlap with desired values and runtime for 864 iterations under 1 min

Inverse kinematics and resolved rate control for KUKA IIWA 14      December 2021

  • Computed forward kinematics, joint velocities, jacobians, and joint trajectories for the serial manipulator
  • Generated joint trajectories by computing inverse kinematics and joint control along with end effector control
  • Implemented impedance control for the manipulator with gravity compensation
  • Obtained point-to-point trajectories for the end-effector by implementing different controls

Phalanx rehabilitation and replacement      December 2021

  • Manufactured a prosthetic device for missing fingers which can also be used as a rehabilitation device
  • The device movements mirror the actions of the corresponding finger from another hand
  • Developed a low-cost underactuated device using a flex sensor and Arduino for disabled patients

Traffic Light Classifier      February 2021

  • Built a classifier for images from a given dataset of traffic light images in which one colored light is illuminated
  • Employed OpenCV2 computer vision library for Loading and visualizing the data, Pre-processing it, Feature extraction Classification and visualizing error, and evaluating the model
  • Recognized and classified the images in multiple colors and achieved greater than 90% accuracy in classification

Histogram Filter      January 2021

  • Programmed a 2-D histogram filter for robot localization in Python and C++
  • Implemented the histogram filter in a grid map representing the robot's world by assigning the robot's belief of its environment before sensing, considering the probability of the robot making an error in sensing its environment
  • Obtained a refined 2-D filter for a robot living on a colored cyclical grid