Projects

AA274A: Autonomous Food Delivery Robot | Sep 2019 - Dec 2019

Over the course of this class, the complete autonomy stack with SLAM (using LiDAR data), motion planning and perception modules was built for a turtlebot on ROS using Python.
Autonomous food pickup and delivery was implemented using this turtlebot in a mock urban environment set up in the lab.
Image classification was used to identify food locations while exploring the map and the turtlebot was capable of performing path planning to the pickup and delivery locations based on the order placed by the user.

In this Smart Product Design class, we built an interactive arcade game, themed on Mars Colonization, from scratch. The objective of the game was to protect yourself from an alien attack.
As shown in the video, the user was required to crank a motor to light up an electric fence and solve a jigsaw puzzle to plug the leaks within 60 seconds to prevent alien invasion. During these two events, random alien appearances occur which the user is required to tackle with an IR emitter gun.
For a thorough description of the design and logic, visit our team's webpage https://mechatronics218a2019team4.weebly.com/

We designed three different controllers namely look-ahead, PID and LQR to autonomously guide a Volkswagen GTI around a given oval track in the shortest possible time with constraints on the acceleration.
We were able to restrict the experimental lateral heading error to just 25cm from the desired path.

We built a fully autonomous robot that could navigate its way around a circuit and fire foam balls at opponent towers.
We used a Teensy LC micro-controller and utilized limit switches, IR sensing, servo controlled thrust bearing and a flywheel shooting mechanism.
For a more detailed description, visit our team's webpage https://forthecodeisoffmarkandfulloferrors.weebly.com/

Developed a MATLAB code to simulate local variation of temperature and pressure for a compressible flow through a multi-pass coolant channel. Incorporated internal channel features like ribs and bleeds in the code.
Designed and fabricated an experimental setup; a channel with a backward facing step mounted on a rotating rig.
Obtained the local variation of heat transfer coefficient downstream of the step under rotation using the transient liquid crystal thermographic technique.
Integrated simulation and experimental results to predict cooling effectiveness under the effect of rotation.

Colors developing on liquid crystal sheet in channel during an experiment

Performed an extensive literature review on techniques to measure spray characteristics and its application in optimizing design of sprays in fuel injection.
Conducted experiments using three techniques namely Phase Doppler Analysis, Optical Patternation and Forward Light Scattering to determine droplet size, velocity and flux.
Validated and juxtaposed results from all three techniques to facilitate large scale wind tunnel testing .

Optical Patternator

The aim of the project was to study flow characteristics of particle laden jets when introduced into a stratified medium.
Performed several experiments employing the Particle Image Velocimetry and Planar Laser Induced Fluorescence techniques for different values of stratification strength.
Measured the maximum height and spreading height of buoyant jets evolving in a bi and a single layer stratified medium; quantified the differences between the two sets of experiments.
Analysed the generated velocity and density data via image processing on MATLAB.

Plume Structure

The goal of the Solar Decathlon Competition is to build fully functional house which is self-sufficient in terms of its energy requirements.
Part of a 70 member strong team comprising students Civil, Mechanical, Energy, Electrical Engineering and Architecture Departments.
Conceptualized and tested a novel dehumidifier design to reduce power consumption as a part of the HVAC sub-team.