Projects
Final year Project
Developed code for integrating camera feed features in a human-machine interface for a construction site stair-climbing robot. Conducted a literature review of existing image stitching methods to achieve 360-degree views for automobiles and robots with fish-eye cameras, and sourced appropriate fish-eye cameras for the project. Carried out image stitching to achieve 360-degree views and prepared frames for individual directional camera feeds as well.
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Robotic Waste Sorting at Robert Bosch
Programmed the IRB120 Robot for automated plastic waste sorting on a conveyor belt based on classification data. The classification data was provided by a hybrid AI system comprising a TeraHertz Sensor and Computer Vision. Supported the AI team in developing the classification based on the CV side, and also helped integrate the camera system as well as supporting mechatronic devices with the robot. Developed a live Digital Twin of the system in RViz, with metrics on plastic types and picking rate.
Robotic Dishwasher
Engineered a 6-DOF Robotic Arm and surrounding mechatronic systems to automate dishwashing in households. Designed a system consisting of the robotic arm, trays for dirty and clean utensils, and a rinsing and scrubbing station to clean over 5 types of utensils. Led the robotic control team and utilized ROS, MoveIt!, and Dynamixel Workbench to carry out motion planning and actuation of the robot.
Mechatronics System Design Course Project
Designed and prototyped the robot that won the Mechatronics System Design Course robot competition at NTU. The objective was to design a robot that can compete in an arena with another robot to locate tennis balls in the arena and return them to a designated drop-off point. Took charge of the motion programming and search strategy for the competing robots as well as for the tennis balls in the arena. Also supported the sensor integration to the Microcontroller to read the correct signals on arena boundary limits, ball pickup status, and drop-off status. All programming was done on the Vex Microcontroller that was used as the brain of the robot.
Cyborg Beetle - Part Time Research Assistant
Under took part-time research work with Prof. Hirotaka Sato's Cyborg Beetle research team at NTU from April 2020 to Feb 2021. Designed experiments to test Cyborg Beetle swarm's efficiency in exploring an arena using different exploration algorithms, with swarm sizes from 10-100. Ran simulations on ARGoS 3 to generate data for performance of swarms based on exploration techiques such as E.Coli motion, fixed/varied step length, etc. Logged performance information, and experiment data for search algorithm comparative analysis.