Multi-wheeled vehicle modelling

Deep Orange 13-14 - Clemson University

Estimation of forces and resultant motion is an important component of vehicle design and control.
We have modelled tools of varying complexity to better understand the dynamic limits of the vehicle we develop. Some of them are shown below.

1. An overview of the Deep Orange 13-14 project.
2. Shows the most complex, most "true" model, created in Simscape Multibody.
   It considers the tracks around the wheels and its interaction with the ground.
3. Shows a much simpler, real-time capable model developed in MATLAB.

Tractor-trailer modelling

CU-ICAR

A fully configurable simplified tractor-trailer model was created. For small angles, this model should provide realistic results. The model is hence useful as a plant model to develop, verify and optimize controllers in simulation.
The following assumptions were made to simplify the model.

1. Linear tyre model.
2. No lateral load transfer.
3. No moments due to hitch forces.
4. No suspension, ideal flat road.

Vehicle datalogger

Data collection during AutoX events

As a challenge, I engineered a datalogger for my car to collect inertial and GPS data while participating in AutoX events.
The result was this ESP32-based device, for which more information can be found on GitHub.

TTGO TS 1.4 ESP32-based board, with built-in MPU9250 IMU and a microSD card reader, was used.
Adafruit Ultimate GPS module is used to get GPS data.
Inertial data is collected at around 300Hz, GPS data is collected at 5Hz.

Autonomous robot

Clemson University - International Center of Automotive Research

The course 'Autonomy: Science and Systems' at CU-ICAR required programming a Turtlebot3 robot to take on the following challenges.

• Wall following
• Obstacle avoidance
• Line following
• Stop-sign detection
• Apriltag following

The Turtlebot3 is equipped with a Raspberry Pi 4 computer which is responsible for much of the onboard data processing and publishing.
OpenCR board is in charge of receiving commands from the Pi and powering and controlling power-intensive components including servos, motors, LiDAR and camera(s).
Computationally intensive tasks were offloaded onto a more powerful Linux laptop.

The video goes over the final demonstration.

Small scale ADAS

Clemson University - International Center of Automotive Research

As part of our capstone project for the course 'Automotive Electronics Integration', we were tasked to introduce and demonstrate ADAS systems in a scale vehicle.

An Arduino Uno board was the central processor for the project.
HC-SR04 ultrasonic sensors were used to detect the sidewalls acting as lanes, and the presence of a head-on obstacle.

The video goes over our approach and results in introducing features including:

• Lane-Keep Assist
• Adaptive Cruise Control

Motorcycle gear shifting automation

Capstone Project - Bachelor's in Mechanical Engineering

For our undergraduate project, we decided to design and fabricate a bolt-on automation system to convert a motorcycle's controls into those similar to an automatic scooter.
This included automating the clutch, gears and throttle to follow rider input while considering engine RPM, speed, etc.

This video was made as a submission to the CS50 MOOC course, and shows a representation of what we had imaged for the project.

Boeing Aeromodelling 2019-20 - IIT Kharagpur

Finishing 3^rd place overall

IIT hosts Aeromodelling competitions sponsored by Boeing at a national level. Through our previous attempts, we steadily improved our results.
This was our third attempt at fetching results to be proud of, and proud, we are.
The results of this competition serves to be the highlight of our aeromodelling career through my undergraduate studies.

The aircraft fuselage was designed and manufactured to be as light as possible, with a maximum payload capacity of 42 golf balls. The balsa-wood wings were designed to be light, and yet capable of withstanding the payload weight high-g aerial maneuvers.

SAE Aero Design East 2019

7th* in Mission Performance

SAE Aero Design East, a competition held in Fort Worth, Texas, was an international-level challenge taken up by 6 students from our university.
An aircraft with a 12ft wingspan, weighing less than 7.5kg was designed and manufactured to lift 17.5kg of additional payload, including 50-odd tennis balls, and steel plates.

The aircraft performed well through heavy crosswinds for a first-year team to bag 7th place in Mission Performance.

Speedy G

"I am Speed!", said the Little Bird

Who doesn't like fast vehicles? Named after the iconic Looney Tunes character, Speedy G is a tiny 600mm RC plane that we designed to use a 1300mAh 3S battery powering a 2207 T-Motor drone motor through a 35A ESC, spinning a 2-blade 7x4 prop.

The design is almost entirely foamboard. The wings have no central spar. Instead, it is a stressed skin design. The front of the fuselage needed to be hollow for access to the battery, and is balsa. The motor mounts are 3D printed out of ABS.

We've measured doing over 160kph with GPS, around 100mph!

The adventures of foomie

The tiniest little RC plane I made

This project was taken up as a challenge, to make an indestructible RC aircraft.
It turned out to be quite a fun flyer, and the negligible chance of serious risk to the plane itself or the people around it encouraged us to learn faster and engage in activities that are otherwise too dangerous for hobby flying.

Aerobatics

What fun is flying straight

It's a pleasure to watch an aircraft tumble and roll and loop as much as we used to as kids. Aerobatic planes are probably the most fun flyers one can experience, regardless of the scale.
This plane was designed by FliteTest to be the most convenient way of experiencing aerobatics, and it is an absolutely beauty in the hands of a skilled pilot. Trust me, I've seen my mentor fly the wings off it (literally)

i1Pro 3 automated plotter

Designed, manufactured and programmed by self

In 2021, I took up a project for one of my mentors to automate a color-scanning tool using hobby-grade electronics.
An Arduino Nano board with a stepper board was used, running fully custom-written path calculation software.
An intuitive UI was introduced along with a joystick to guide the process in multiple scanning modes and velocities, including a manual mode.
The hardware was designed in CAD, with a number of parts being 3D printed.

The video shows testing of the solution.

DIY Smartwatch

Designed, manufactured and programmed by self

Expenditure on education and improvement is okay, buying frivolous objects is not.
I wanted a smartwatch.
There's only one solution. DIY

The watch is capable of connecting to WiFi to fetch time, as well as keeping count of the number of steps the user walks daily.

Project render - Car

In learning Blender modelling software

I learnt how to use blender, the software out of interest.
This short clip serves to showcase my skills in modelling and animation as a submission for one of the certified courses on a MOOC that taught blender.

All animations on this page, and their assets have been modelled, textured and rendered by me.

Project render - Motorcycle

Improving skills in blender

For this render, I took an untextured asset from the internet. All textures are procedurally generated, except the logos.
I modelled and textured the custom tyre model based on the motorcycle I owned, as well as an Akra exhaust.
The project was rendered in cycles.

3D Printer simulation

Using 3D Modelling and animation to visualize errors in g-code with blender

Using Python scripting inside Blender, I import g-code generated by a slicing software for a household 3D printer.
This facilitates virtual verification that the motion of the printer stands to reason, and won't potentially damage the printer.
The visualization is just an added feature.

More details on GitHub 🔗

Industry robotics

Stagnation isn't good for mind or business

During my undergraduate studies, I designed and manufactured multiple automation solutions and miscellaneous devices for streamlining workflow in processing of potato starch, soaps and detergents. for use in a factory.
These include:

1. Automatic bottle fillers for packaging soaps and detergents
2. Sound-based acid flow-rate and quantity estimation for positive displacement pumps.
3. Packaging heatshrink auto-cutter.

Website generation

Automate all repetitive tasks

Each page on this website was generated using simple text as input.
The goal is to allow straightforward expansion with new projects!

You can find more information and source code on the GitHub page. The following inputs are required:

1. Title
2. Short detail
3. Information
4. Links
5. Background CSS

Home Automation

Stagnation isn't good at home either

Who likes to stand up and walk over to the switch board to turn the lights on?
Who enjoys trying to find the AC remote when it's really hot and you're desperate to be lazy?

What is fun, motivates you

What is love, baby

Don't hurt me, don't hurt me, no more