Jan 2024 – May 2024 · 4 mos · Pune · On-site

• Reactive Robot Behaviour utilising BehaviourTree.CPP
• Dynamic Prohibition Layers feature enabling the addition or removal of prohibited areas based on user specifications.
• Checkpoints within warehouse AMRs to facilitate task resumption directly from designated checkpoints, thereby eliminating the need to return to the home or docking position, reducing time factor by 10%.
• Odometry system for Autonomous Mobile robots with the help of LiDar and IMU sensors using Extended Kalman Filter and Iterative Closest Point algorithms to improve accuracy to 4cm.

Sep 2023 – Dec 2023 · 3 mos

• Winning team for the problem statement development of software application for analysis and processing of DVBS2 receiver output stream.
• Analyzing packetized and continuous streams from TS and GSE protocol.
• Retrieving Multiplexed media from the Transport Stream (TS)
• Extracting IP payload from General Stream encapsulation (GSE)
• A dashboard that accepts raw data inputs in multiple formats and extensions.
• Real-time capture analysis from network interfaces
• An user-interface to display the extracted data in readable format.

Sep 2022 – Aug 2023 · 11 mos · Pune, Maharashtra, India

• Design and developed a Swerve Drive-train for Robocon robots with minimal component count as a primary design aspect utilizing locally sourced components.
• Solved pin count issue of ESP32 by designing a Motor Controller HAT for Cytron MDDA10 motor driver utilizing Atmega328p micro-controller communicating over I2C protocol for every Swerve pod.
• Achieved localization of the robot using the data collected through the use of an Inertial Measurement Unit and an Optical Mouse Sensor, which were combined using sensor integration technique to generate odometry data.
• Integrated ROS middleware deployed on Raspberry Pi with embedded system running on ESP32 to automate specified task.
• Responsible for designing mechanical systems of ABU Robocon 2023 robots and reducing component count through design for manufacturability via CNC milling and sheet metal techniques.

Jul 2021 – Aug 2022 · 1 yr 1 mo · Pune, Maharashtra, India

• Developed locomotion equations for a Differential Drive Train commanded via an analog joystick and controlled using ESP32.
• Tested three wheel holonomic drive and four wheel mecanum drive using rotary encoder based PID control system deployed on STM32 micro-controller.
• Structured the pre-existing code-base by specifying dedicated parameterized functions with custom variables to store motor states for specific task.
• Designed custom parts in Fusion 360 for various mounts and holders considering design for manufacturing using 3D printing for ABU Robocon 2022 Robots.
• Tested Dual-Core capabilities of ESP32.

Apr 2022 – Jun 2022 · 2 mos · Pune, Maharashtra, India

• Contributed in designing the control software including Teensy micro-controller as master communicating with RC transmitter and Arduino Nano as a slave controlling PID system for individual swerve pods.
• Handled communication systems between Arduino Nano and Teensy using MAX485 (TTL to RS485) with acknowledge symbol for synchronous transmission.
• Optimized the program structure to use rotary encoder - AS5048a at it’s fullest by increasing transmission speed and encoder counts via gear ratio.