Autonomous landing on moving targets using LiDAR, Camera and IMU sensor Fusion

2022

Design of the Auto Gain Control amplifier based on a resistance modeling of the MOSFET for a distance accuracy of the ToF LiDAR

2021

Projects

Teleoperation Interface based on visual odometry

This letter presents a novel visuo-haptic interface for Mobile Collaborative Robots, integrating detachable mechanisms and Visual-Inertial Odometry for adaptable control modes, offering comparable performance to commercial MoCap systems in a cost-effective, versatile design.

LiDAR, Camera and IMU fusion for Autonomous landing on moving target

Employing a one-dimensional LiDAR and camera fusion, we achieve precise target localization, utilizing drone altitude, camera view, and IMU data for accurate 3D positioning.

Speed Estimation using dash Camera

This project leverages comma.ai's dataset and OpenCV's optical flow alongside a CNN trained in TensorFlow, achieving a validation MSE of approximately 7.56 for speed estimation from dashcam footage.

Fuzzy-PID auto Tuner (Simulation)

I developed an m-file for system behavior interpretation, including peak detection and settling time determination, followed by fuzzy controller design for PID tuning, showcased in an accompanying video.

Ball and Beam Control

Engineered a system for precise ball positioning on a beam, leveraging servo motor, potentiometer feedback, and Arduino-based PID control. Employed Matlab-Simulink for real-time programming and fuzzy control, optimizing performance.