Abhishek Raj

Studying at University of Illinois at Chicag
Living in United States
Website https://github.com/Abhishekraj166/

About

Robotics engineer with interests and experience in modeling, simulating and implementing real-time feedback control systems in R&D and production capacities.
Looking for Full-time Opportunities in all areas of Autonomous Vehicles Software Development and Mechatronics.
Specialities:
· Modeling and simulation of mobile and stationary robot dynamics.
· Experience with Mathworks toolchain: Matlab/Matlab Coder, Simulink/Simulink Coder.
· Development in C++, ROS, Python, PyTorch and MatLab.

Experience
Mechatronics Engineer - Servotech Inc. Chicago
• Designed the set-up to send and receive CAN bus signals using Arduino Microcontroller integrated with TREK570 CAN module
• Integrated TREK-570 with Visual Studio on Windows Embedded 7 to visualize raw CAN data.
• Implementing PLC ladder logic in CodeSys for multi-axis motion control application with servo drives.
• Tuning and Troubleshooting servomotors for PID gains using CodeSys function blocks.
Mechanical Engineering - Hero MotoCorp Ltd Internship
•My primary focus was in applying Just in Time Manufacturing Methodology in the assembly line of motorbikes.
•Design of Grommet Installing tool to reduce time and Manpower
•Implementation of layout changes, automation changes and work redistribution among operators to improve their utilization.
•It resulted in the reduction of 4 operators from the mainline and 2 operators from the sub-assembly lines, thus helping the company save money on wages and reduce the production cycle time by 3.5 sec from 22 sec to 18.5sec.
Simulation Engineering- Autoliv Internship
• Tensile testing of airbag cover material to determine the failure characteristics and operating
conditions.
• Simulation in Altair hyper works was done using LS Dyna solver to match experimental data from the
UTM machine.
• Static body simulation on test parts to simulate collision, damping between 2 objects was also done
using Altair hyper works
Projects
Autonomous Vehicle Modeling using CARLA Simulator. ( Coursera Self Driving Cars Specilization)
•Developed control code in python to navigate a self-driving car around a racetrack in the CARLA simulation environment.
• Designed controllers that regulate speed and path tracking performance using Python.
• Sensor fusion: Developed a model for typical vehicle localization sensors, including GPS and IMUs. Applied extended and unscented Kalman Filter to a vehicle state estimation problem. Applied these tools to fuse multiple sensor streams into a single state estimate for a self-driving car. Implemented the Error-State Extended Kalman Filter (ES-EKF) to localize a vehicle using data from the CARLA simulator.
• Developed algorithms that identify bounding boxes for objects in the scene and define the boundaries of the drivable surface.
• Path Planning : Implemented a hierarchical motion planner to navigate and avoid a vehicle parked in the same lane, follow a lead vehicle and safely navigate an intersection. Found the shortest path over a graph or road network using Dijkstra's and the A* algorithm. Used finite state machines to select safe behaviors to execute, and designed optimal, smooth paths and velocity profiles to navigate safely around obstacles while obeying traffic laws.
Traffic Sign Detection using Template Matching Algorithm and OpenCV in C++
• Using Template matching algorithm from OpenCV to recognize the traffic sign from the image.
• The project involves a non-overlapping algorithm to reduce the capture of unwanted objects in the input image.
• Data training was done using German Traffic Sign Detection Benchmark (GTSDB) and German Traffic Sign Recognition Benchmark (GTSRB).
Mobile Actuator Hardware and Controller design of Ankle Exo-suit for Gait assistance.
• Designed and Manufactured housing for motors using Solidworks CAD modeling and FEA on Ansys workbench.
• Design for Manufacturing and Design for Assembly was done to ensure easy assembly of parts, mounting and removal from the body.
• Harness Design and prototype assembly was done to mount the motors and gearbox on the body.
• Designed a PID state machine for Mobile Actuator Control in MATLAB.
• Implemented EtherCAT communication to control EPOS motors by coding it in C++.

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