My Portfolio of projects

10. ROS2 LeRobot SO-ARM101

• Summary: LeRobot SO-ARM101
• Key steps: Build a URDF model and integrate in to Rviz, Gazebo, ROS2 Control, MoveIt 2
• Keywords: Python, Gazebo, ROS2 Control MoveIt 2

Rviz,

SO101_Rviz.mp4

Gazebo and ROS 2 Control,

SO101_Gazebo.mp4

Gazebo, ROS 2 Control and MoveIt,

SO101_moveit_arm.mp4

SO101_moveit_gripper.mp4

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9. ROS2 Mobile Robot

• Summary: ROS2 Mobile Robot with integrated sensors
• Key steps: Build a URDF model and integrate in to Rviz and Gazebo
• Keywords: C++, Python, Gazebo, Xbox controller

camera,

Camera.mp4

Depth Camera,

depth_2.mp4

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8. Machine Learning Web App with Streamlit and Python

• Summary: Binary classification of Mushrooms as edible and poisonous
• Key steps: Create web interface to perform classification with SVM, Logistic regression, and Random forest
• Keywords: Python, sklearn, streamlit

Mushroom_classification.mp4

7. Autonomous Cars

• Summary: End to end autonomous car
• Key steps: Kinetic/Dynamic car model, fusing incoming sensor data for localization, percieving world around using camera, Lidar, Radar etc and mission and path planning
• Keywords: OpenCV, Stanley controller, LKF/EKF/UKF, C++, SLAM, PointCloud, Python, C++

Stanly Controller	Linear Kalman Filter

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6. SLAM - Electroencephalography (EEG)

• Summary: SLAM using a handheld RGB-D camera
• Key steps: Camera calibration, hand-eye calibration, electrode detection, SLAM and evalulation
• Keywords: OpenCV, ROS, YOLO V3, Pose-Graph SLAM, PointCloud, Python

Experiment setup	Data acquisition	Electrode detection (YOLO V3)
System transformations	SLAM Robot	SLAM hand held

Trim_1.mp4

slam_trim.mp4

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5. Image guided robotic TMS

• Summary: Head motion detection and robot end-effector motion in tandem simulating TMS medical procedure
• Key steps: Camera calibration, hand-eye calibration, head motion estimation and robot motion planning
• Keywords: OpenCV, ROS, Python

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4. Segway Control

• Summary: Segway control using Optimal and Robust control strategies
• Key steps: Segway simulation mode development, ORC controller development
• Keywords: Matlab, Simulink, ORC controller

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3. Remote Pipe Inspection Camera Robot

• Summary: Arduino based, WiFi controlled, remote pipe inspection
• Key steps: Camera movement control, WiFi control
• Keywords: Arduino, WiFi, Servo Motor

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2. DC Plamsa

• Summary: Room temperature DC plasma generation and control
• Key steps: Chamber pressure reduction (low vacuum), 220-230V AC - 1000 V DC conversion and plasma
• Keywords: Vacuum, AC - DC, Plasma

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1. Augmented Reality App

• Summary: Basic AR App implementation
• Key steps: Cube creation, animation, Andoird App implemention
• Keywords: Unity, Andoird