Shivoh Chirayil Nandakumar

Developed ROS nodes in Python for the tasks below.
1) Mapping Algorithm for tele-operation of Franka Emika Panda Robotic Arm using data from the Opti-track Motion Recognition system. 2) Control algorithm for simulation of Franka Arm in Gazebo 3) visualisation of mapped points using Rviz.

It was the capstone project of the Modern Robotics specialization about mobile manipulation: simultaneously controlling the motion of a wheeled mobile base and its robot arm to achieve a manipulation task. This project integrated several topics from the specialization, including trajectory planning, odometry for mobile robots, and feedback control. I was able develop the code to plan and control the motion of a mobile manipulator to perform a pick and place task. and then i tested my code on… Show more

It was the capstone project of the Modern Robotics specialization about mobile manipulation: simultaneously controlling the motion of a wheeled mobile base and its robot arm to achieve a manipulation task. This project integrated several topics from the specialization, including trajectory planning, odometry for mobile robots, and feedback control. I was able develop the code to plan and control the motion of a mobile manipulator to perform a pick and place task. and then i tested my code on the KUKA youBot, a mobile manipulator consisting of an omnidirectional mecanum-wheel mobile base, a 5-joint robot arm, and a gripper. The state-of-the-art, cross-platform V-REP robot simulator was used to simulate the task. The data regarding the motion of manipulator which was calculated in the Matlab was transferred to v-rep for simulation as CSV files. Show less

Final Assignment of the course was as below.
Take a ZIP file of images and process them, using a library built into python that you need to learn how to use. A ZIP file takes several different files and compresses them, thus saving space, into one single file. The files in the ZIP file we provide are newspaper images. Your task is to write python code which allows one to search through the images looking for the occurrences of keywords and faces.
After completing this specialisation… Show more

Final Assignment of the course was as below.
Take a ZIP file of images and process them, using a library built into python that you need to learn how to use. A ZIP file takes several different files and compresses them, thus saving space, into one single file. The files in the ZIP file we provide are newspaper images. Your task is to write python code which allows one to search through the images looking for the occurrences of keywords and faces.
After completing this specialisation , especially after this project, I obtained a good understanding on how to use the libraries as well as build and debug python codes. Show less

This was the final project completed in order to obtain the specialisation Certificate in Digital Manufacturing and Design, after successfully completing 8 courses in the Digital Manufacturing and Design Specialisation offered by University at Buffalo and State University of New York in the Coursera platform.

The detection of mould rotations of the cylindrical moulds, which are simultaneously moving linearly on the conveyor belt was crucial for the effective testing of the product, as well as challenging to solve. Thus, after understanding the issues and various possibilities I was able to design a sensor unit which was able to detect the moulds which are not rotating (as well as count the number of rotations while passing through the test section) and indicate a signal to the supervisor about the… Show more

The detection of mould rotations of the cylindrical moulds, which are simultaneously moving linearly on the conveyor belt was crucial for the effective testing of the product, as well as challenging to solve. Thus, after understanding the issues and various possibilities I was able to design a sensor unit which was able to detect the moulds which are not rotating (as well as count the number of rotations while passing through the test section) and indicate a signal to the supervisor about the non rotation of the mould which just passed through. I was able to interact with various Engineers in each department in the company about the project and got many constructive feedback which further enhanced my project . the 3D modeling of the sensor unit was done using Solidworks 2018 version . and Mr .Rajeev R V (DGM) Central Engineering Division of HLL appoved the idea and further implementation will be done after an initial testing on a single plant.
Overall , it was a great experience for me to use my problem solving ability and utilise my knowledge in Engineering . I am looking forward to have similar challenging problems in my future career as well . Show less

The project is basically a wearable chair, which can be attached to the backside of the legs , so that, he can sit comfortably in any flat terrain he want . people can walk wearing this equipment for short distances very comfortably. We used the pneumatic cylinders for the movement and support. Also, tried to reduce the cost of materials to make it economically feasible in the Indian market.

It's a 3-DOF robotic arm with a pen holder as an end-effector. We used Matlab for obtaining angle values, using the inverse kinamatics equation which was obtained from the transformation matrix for the 3-DOF manipulator , also the movement of arm in the global space was coded in the Matlab. the edge detection of the image was done using canny edge detection function in matlab . further the Matlab was interfaced with arduino for the servo control.
And that feel we got when we first saw our… Show more

It's a 3-DOF robotic arm with a pen holder as an end-effector. We used Matlab for obtaining angle values, using the inverse kinamatics equation which was obtained from the transformation matrix for the 3-DOF manipulator , also the movement of arm in the global space was coded in the Matlab. the edge detection of the image was done using canny edge detection function in matlab . further the Matlab was interfaced with arduino for the servo control.
And that feel we got when we first saw our robotic arm moved was mesmerizing ! Show less

The project was basically a black line following robot. we used infrared sensors , the standard servo motors (1.5kgcm ) and the motor drive LM293D for the controlled movement of the robot along the black line.