| Action Recognition using Graphical Methods |
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| During my internship at Toyota Technical Center, Cambridge, MA, I investigated state of the the art methods for temporal pattern recognition. Online recognition of actions from video sequences using Hidden Markov Model and Conditional Random Fields are implemented in C++. |
| Velocity Controller for Six degree Robot: |
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Velocity and Position controller for six degree of freedom robot (PUMA 560). Inverse Kinematic transform for closed loop solution for velocity and position is integrated in a PID framework. Other features like gravity and friction compensation are also implemented. Controller is running on real time QNX system at 1000Hz.
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| Synchronized Navigation
and Processing (SNAP) |
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| An autonomous vehicle guided by an overhead camera (Global
Vision) to reach a desired location in the view frame of the
cam. Uniqueness of the system is its dynamic error correction to
keep the vehicle always on track. This vehicle finished 4th in an International Competition at Indian Institute of
Technology, Bombay.
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| Machine Vision based Robotic System |
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| This is my Final year B.Tech project under the guidance of Dr.
H.T.Thorat It is a vision based robotic system, where the
cams are mounted on the vehicle itself and are used to
follow an object of desired color and shape. Two cams are
mounted on the vehicle to for determining the exact distance of
the object from the machine. This Project was recognized as the Best Undergraduate Project for the year 2007 in
Visvesvaraya National Institute of Technology, Nagpur
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Micro-mouse |
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| Another International Robotics challenge where one has to
fabricate a completely autonomous robot which travels an unknown
maze and finds the shortest path to the center. Check http://www.micromouseinfo.com/ for more information and
resources on micromouse. |
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| Robust Line Follower System |
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| Our first encounter with the field of Robotics. It was a robot
which could sustain a fall of 1m and go ahead and follow a white
line and reach the desired location (A pre-specified competition
at IIT Bombay). Though we encountered failure, partial success
of this machine instigated our interests in robotics. |
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Other Embedded Systems projects:
| DC Motor Driver controller |
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| In my junior year, I was involved in design of an electric
scooter. I designed a controller for the motor which took
digital inputs from the throttle and depending on the speed of
the vehicle controlled the current in the motor. |
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| Chess clock |
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| This was our first project with microcontroller. We (Shashank
and Abhishek) interfaced an lcd display and developed a chess
clock. It was very simple but we learnt a lot from it. |
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