I am a graduate researcher at the University of Minnesota with an interest in robotics, control system, and Self-driving.
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Experience
Mechatronics and Intelligent Machines Laboratory Minneapolis, U.S.A.
Graduate Research Assistant (Software development) Jan 2019 – Present
• Developed a vision based “2-D Ball on a plate balancing system” using computer vision and real time tunable PID controller
• Implemented motion planning, trajectory tracking, motion control using control algorithms on a real time dynamic system
• Designed, modeled and developed the software for motion control of hybrid heavy-duty vehicle using a nonlinear controller
• Implemented optimized decision making, estimation for choice of rails and least norm control method for motion control
• Involved with system integration of software and hardware for a hardware in the loop (HIL) setup to validate the control algorithm
• Invented a minimally invasive smart implantable neurostimulator necklace to treat Obstructive Sleep Apnea (Provisional Patent)
3M Maplewood, U.S.A.
New Product Design and development engineer Sept 2018 – May 2019
• Developed a next generation smart sensing electronic medical device from idea generation to product development (Filed patent)
• The prototypes were driven from customer requirement and were unanimously accepted by the 3M management team
University of Minnesota, Twin Cities Minneapolis, U.S.A.
Graduate Teaching Assistant (Advanced Control System Design, Fluid power controls lab) Jan 2019 – Dec 2019
• Taught classical and modern control algorithms, system identification and responses, controller designs to a class of 30 students
Tres Technology Solutions Mumbai, India
Product Development intern April 2017 – August 2017
• Led the development of an embedded trim controller for a maritime analytics company that captured the investors’ attention
Indian Institute of Technology, Bombay Mumbai, India
Indian Academy of Science, Summer Research Fellow May 2017 - July 2017
• Designed and prototyped the safety experimental setup for with PID controller that successfully conducted Particle Image Velocimetry
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Projects
• Implemented a motion planning stack that consisted of a mission planner, trajectory optimizer, collision detector and behaviour planner
• Built a localization pipeline for an autonomous car by applying error state extended Kalman filter algorithm using sensor fusion from Lidar, IMU and GNSS data obtained from CARLA and studied the potential impact of data loss and miscalibration of these sensors
• Modeled vehicle dynamics for an autonomous vehicle and implemented feedforward PID control method for longitudinal control and Stanley control for latitudinal control and simulated it in an open source simulation environment CARLA for trajectory tracking
• Implemented a perception pipeline which includes visual odometry, lane detection, segmentation, object detection and deep learning
• Implemented model predictive control (MPC) to park an autonomous car in different parking spot in presence of obstacles
• Controlled and programmed an industrial robot manipulator arm (UR5) to assemble a flashlight with 5 parts in under a minute
• Implemented a feedback control on a robotic Babcock Grasper to grasp a human tissue without causing any damage to it
• Reduced pump pressure ripple in a Variable Displacement Axial Piston Pump using piezoelectric actuation (FPMC conference)
• Microcontroller projects: coin counter, motor control, line followers, edge detectors, object detection