Things I have designed and built, from autonomous robots and custom PCBs to field devices for agriculture. Cards marked “Read more” have a full write-up.
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Robotics & Autonomy
F1TENTH Autonomous Race Car
ROS 2Controls
A 1/10-scale autonomous race car with IMU-fused odometry, an offline minimum-curvature raceline optimizer, and Stanley + VFH, MPPI and MPC racing controllers.
Battery-powered control and LED lighting electronics for a portable camera device: USB-C Power Delivery, Li-ion charging with a fuel gauge, and a PWM-dimmed high-power LED driver on a 4-layer board.
A mobile SDR tool that works as a data interpreter and a weather station. It can read data from 150+ weather stations and connects over LoRa 433/868, Wi-Fi, BLE and 4G.
Grades tomatoes as ripe, unripe or overripe using a Keras model with multi-view capture, twisting verified by optical flow, and ESP32-driven feed and drop mechanisms.
Scale replicas of historical forts with built-in lighting, made as an educational exhibit and now installed at a school. I did the electronics and programming.
A low-cost remote lab platform that makes industrial robotics education more accessible, tested with 1,000+ students in the e-Yantra Robotics Competition.
Proprietary HID Devices over Native USB on Teensy 4.1
Open SourceUSB
A library for connecting controllers such as Xbox and PlayStation pads to ARM-based microcontrollers (Teensy 4.1).
Robotics & Autonomy
Fab-able Low-Cost Drone & Flight Controller
AerialFirmware
A ~₹1000 drone that can be made with generic fab lab equipment and components. It is Arduino-compatible, with custom flight controller firmware that implements an EKF.
Electronics & Embedded
RepRapMicron Replica
Open SourceMotion Control
A replica of the open-source RepRapMicron, a 3D printer for micron-scale fabrication. I also wrote joystick programs to control the tool head.
Electronics & Embedded
Low-Cost Wireless HID Devices
Wireless
Benchmarking wireless technologies for low-latency, high-data-rate robot controllers, targeting 2 Mbps with minimal computational overhead.
Robotics & Autonomy
Odometry & Path Rectification for Holonomic Drives
KinematicsFirmware
Kinematic modelling and firmware for 3 and 4-wheel holonomic drives: PID-based odometry, plus an IMU-based algorithm that rectifies the robot's path.
Electronics & Embedded
Object Detection using an IMU
FirmwareMagnetometer
Detects ferromagnetic objects from deviations in the magnetic field, to identify the type of vehicle nearby.
Agriculture & Environment
Regional Power Generation Predictor
Prediction
Predicts power generation for wind turbines and gives recommendations for getting the best output.
Robotics & Autonomy
Real-Time Object Detection on a Raspberry Pi 4B
Computer Vision
Custom object detection running in real time on a Raspberry Pi 4B with OpenCV.
Electronics & Embedded
Speedometer, Odometer & Telemetry for an E-Bike
Embedded
A GLCD display and telemetry system for a custom e-bike.
Robotics & Autonomy
Android App for Object Detection
Computer VisionAndroid
An Android app for deploying custom object detection models, with wireless communication for integrating with robots.
More Work
Other projects I have worked on, without write-ups yet.
Outcome-Driven Control for CNC Machines
Personal
grbl-HAL for High-Speed Laser EngravingOptimizing grbl-HAL on a Teensy 4.1 for high-speed laser engraving.
Personal
4-Wheel Differential Drive PlatformA robotic platform for education and small-scale automation.
ERTS Lab, IIT Bombay
Open-Source Universal Climate Data AcquisitionAn open-source system for collecting climate data.
ERTS Lab, IIT Bombay
Pest Detection & PredictionFor capsicum and custard apple crops.
ERTS Lab, IIT Bombay
Polyhouse Cultivation & Pest Growth StudyHow different cultivation approaches in polyhouses affect pest growth.
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