Robotics Engineer

• Aug 2020 - Present

Robotics Engineer

• Feb 2020 - May 2020

Robotics Engineer working on building software for industrial automation for manipulators. Focused on Motion Planning and Controls. Robotics Engineer working on building software for industrial automation for manipulators. Focused on Motion Planning and Controls.

Artificial Intelligence Fellow

• Sep 2019 - Feb 2020

Robotics Control

• May 2019 - Aug 2019

My job mainly focus on programming and testing stable controller for Kinova’s manipulator arm. I mainly work with Joint Admittance Control, Force Control for manipulation My job mainly focus on programming and testing stable controller for Kinova’s manipulator arm. I mainly work with Joint Admittance Control, Force Control for manipulation

Research Assistant

• Sep 2016 - Aug 2019

Member of NSERC Canadian Field Robotics Network (NCFRN).Implemented probabilistic model based imitation learning for various self driving behaviours on self programmedsimulator. Further improved the project by implementing reward learning for these scenarios using active queryingtechnique useful for learning user’s preference. Novel contribution of thesis is actively learning preference functionusing temporal segmentation. Work is focused mainly on, when to query, format of query and format of response.The research aims at developing sample efficient intelligent system that learns reward function with sample efficient human input. Show less

CREATE student Surgical Innovation

• Sep 2018 - Jun 2019

Programmed Kinova JACO2 to automatically collect images of surgical instruments from various views, segmentand label them for data set building for object detection and recognition. Worked on tool counting on the surgical table using deep learning technique called R-CNN. Working on tool recognition and manipulation using JACO2 in order to facilitate better surgical performance in operating rooms. Prior to the project, went through the process of concept screening in real hospital environment. Performed need analysis by interviewing surgeons and taking surveys from nurses and residents. Gained insight into need by observing actual surgeries being performed in Operating Rooms. Show less

Head Student Representative, Intelligent Robotics Group

• Jul 2014 - Aug 2016

Developed an in-door localization system using Markov-chain Monte Carlo approach. UsedCurio(see below) togenerate grid map of controlled and limited indoor environment using sparse ultrasonic sensor readings. Learnedand developed visibility graph simulation for robot navigation given geometric map of the environment as input.Received project grant to develop a Low cost educational robotic platform. Built a differential drive robot fromscratch with wireless communication modules, IMU and vision, proximity, odeometory sensors. Self designed and3D printed the chassis. Developed subsumption architecture based software framework for the behavior basedrobot. Framework design was based on concept of Extended State-Machines making it flexible, scalable, modularand intuitive to program in terms of higher level control actions also made it flexible for hardware additions.Programmed robot control and sensing using raw actuator and sensor data.Manage Finance of the projects undertaken. And help arrange various classes and workshops. Show less

Member of the Editorial Board

• Sep 2012 - May 2015

Write and collect articles

Robocon India College Team member

• Jul 2013 - Feb 2014

Worked with Robocon Team representing VIT at national level Robotics Competition. Learned and implemented Tri-Wheeled chassis kinematic controls with omni-directional wheels for various behaviours like moving straight, moving in circle and various combinations. Programmed same behaviours on AVR micro-controller for the competition.

Research Intern

• May 2015 - Aug 2015

Worked on localizing an autonomous aquatic agent on the pond and tracking path given sequence of X,Y co-ordinates in global frame. Localized robot on pond using particle filter where correction feedback on position was obtained using off-board camera and on board IMU. Position of the robot was tracked using Homography and colored object tracking. Worked on localizing an autonomous aquatic agent on the pond and tracking path given sequence of X,Y co-ordinates in global frame. Localized robot on pond using particle filter where correction feedback on position was obtained using off-board camera and on board IMU. Position of the robot was tracked using Homography and colored object tracking.