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PROJECTS

Search and Reconnaissance using Spherical Robots

Project1
Spherical_Bot.png

National Center of Excellence in Technology for Internal Security (NCETIS), IIT Bombay 

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Advisor - Dr. Leena Vachhani

Spherical Bot
  • Yoke and Pendulum based model, can maneuver in any direction.
  • Teleoperated using Android App & live video feed over HTTP.
Controller & Navigation
  • ROS interface is developed for dynamixel servos and other components to control bot over ROS network and stream video.
  • Vicon motion capture setup is used to test point navigation and controllability.
Scene Reconstruction
  • ORB SLAM, feature based monocular mapping and LSD SLAM, direct monocular mapping techniques are applied over benchmarked.
  • Failure cases are overcomed to an extent in LSD SLAM by increasing key frame generation and matching score.
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UAV Obstacle Avoidance and Navigation in Forest Environment

Project 2
  • Monocular obstacle avoidance algorithms based on Optical Flow and Texture based Supervised learning are developed and tested in simulations and on field with Parrot bebop drone over ROS.
  •  Algorithms are developed as standalone modules to be fused with other applications like road following, object tracking and GPS waypoint navigation.
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M.Tech Project carried out at IISc Bangalore, UAV Lab​

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Advisor - Dr. S.N Omkar

Autonomous Deforestation Monitoring using UAV

Project 3
Internship Project at IIIT Hyderabad, RRC
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Advisor - Dr. K. Madhava Krishna
 
  • Parrot Bebop drone mounted with S.L.A.M Dunk stereo rig is used for Autonomous Navigation in orchard.
  • Autonomous navigation with obstacle avoidance is demonstrated with GPS waypoints and tracing manual path of initial piloted flight.

3D Mapping of Indoor Environment using RGB-D sensor & Mobile Robot

Project 4
B.Tech Project
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Advisor - Dr. Senthilnathan
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  • Custom mobile robot is designed and build from scratch to accomodate Laptop and necessary equipment.
  • 3D maps of static environment with metric and color values preserved are built with Kinect using MATLAB.
  • Project is later developed using RTABmap for building large maps to be used as priori for UAVs.

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Mini Projects & Miscellaneous

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  • Aerial Shoot of Architectural Constructions (K M V Projects Ltd)

         I piloted Parrot Bebop 2 to cover 7 architectural constructions across Vijaywada. The aerial footage is for the firm to asses their progress and showcase in their corporate film.

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  • 3D Reconstruction of Environment as Priori to UAV (IISc)

          An RGB-D sensor, Kinect is mounted on a mobile robot and teleoperated across the corridor to obtain 3D poincloud of entire corridor representing obstacles and free spaces clearly. to assist in smooth UAV indoor flight. The map is intended to assist in autonomous flight of UAV indoors when given as priori.
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  • Design Algorithm for Blended Wing UAV (IISc)
           Design Algorithm for Fixed Wing UAV is developed using MATLAB and the results were tested on DeltaWing UAV. Design algorithm is based on parametric approach, intended to avoid laborious calculations one has
to make during design process of UAVs. Algorithm helps in selection of airfoil from a specified directory of airfoils for better performance parameters and stability upon required input parameters like desired top speed and payload weight. Critical factors like planform, wing sweep range for stability, optimal position for payload are visualized.
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  • Continuous Object Tracking in Fixed FOV (UPES)
          The mini project is performed on an offline video taken using mobile camera and MATLAB as software platform. Object detection was achieved using Background Subtraction and Gaussian Mixture Models for continuous object Tracking using GMMs.
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  • Low Cost Multicopter and FixedWing UAVs (UPES)
         The mini project is performed as an exercise to implement the key skills learned in UAV system Design course. The objective of the mini project was to achieve a working model of quadcopter and Fixed wing UAV with necessary integration of components at minimal cost. Fixed Wing UAV with coroplast as material was made along with Motor-ESC-Battery selection with calculations and flown successfully. Quadcopter is built using custom Aluminium chasis and a low level flight controller board with proper selection and integration of components.
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  • Blister Pack Inspection (SRM University)
           The mini project is carried out to inspect faults in Blister Packs like misplaced capsule or missing capsule. The suitable apparatus was designed to inspect errors using simple RGB camera with stand and a slot to fit blister package under RGB camera.
AerialShoot
Corridor
BlisterPack
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