Subsumption Control
I
led a team project devoted to characterizing the adverse effect of the sonar on
the quadrotor altitude control as part of the Stochastic Systems course. In the Stochastic Systems course, team
project papers were ranked as belonging to the top-third, middle-third or
bottom-third of the class. The projects
were ranked by the instructor and her colleagues as belonging to the top-third
and my team gave an invited presentation for the benefit of our peers in the
Stochastic Systems course. My team members were Rakshit Allamraju and Ben Reish.
Blender Animation
My first animation in Blender was made with the help of Alex Suhren. I plan on further developing the initial render and updating this post with the polished result.
First Render
Rapid Leak Detection of Flexible Packaging
As part of the Integrated Product and Process Design (IPPD) course at UF, through the Integrated Technology Ventures (ITV) program, we had designed, manufactured and tested a proof of concept of a patented testing method. The patented testing method had been developed by Dr. Ghatu Subhash and subsequent developments throughout the project had resulted in two additional provisional patent applications. Below is a video of the prototype rapidly testing a flexible package.
Characterizing Internal Parasitic Controllers
I
led a team project devoted to characterizing the adverse effect of the sonar on
the quadrotor altitude control as part of the Stochastic Systems course. In the Stochastic Systems course, team
project papers were ranked as belonging to the top-third, middle-third or
bottom-third of the class. The projects
were ranked by the instructor and her colleagues as belonging to the top-third
and my team gave an invited presentation for the benefit of our peers in the
Stochastic Systems course. My team members were Rakshit Allamraju and Ben Reish.
Establishing Functionality on the Parrot AR Drone 2.0 in the Optitrack Environment
Keep it simple. Keep it simple. Keep it simple.
I had arrived at Oklahoma State University to find a graduate student that needed help with their research project. It turned out that an advanced control systems was malfunctioning, and I was recruited to establish controllable flight on the Parrot AR Drone 2.0 quadrotor, rewrite the C++ Robotic Operating System (ROS) architecture in python, and establish communication between the Optitrack environment and the computer controlling the quadrotor. It turns out that the advanced control structure was unnecessary, so I had replaced the control structure with a bundle of PID controllers. If you watch closely, you'll see an anomaly in the controller performance which gave rise to part of my research direction.
I had arrived at Oklahoma State University to find a graduate student that needed help with their research project. It turned out that an advanced control systems was malfunctioning, and I was recruited to establish controllable flight on the Parrot AR Drone 2.0 quadrotor, rewrite the C++ Robotic Operating System (ROS) architecture in python, and establish communication between the Optitrack environment and the computer controlling the quadrotor. It turns out that the advanced control structure was unnecessary, so I had replaced the control structure with a bundle of PID controllers. If you watch closely, you'll see an anomaly in the controller performance which gave rise to part of my research direction.
Establishing Functionality for Novel Autonomous Underwater Vehicle through LabVIEW
At the Institute of Cyberautonomous Systems and under the direction of the Post-Doctoral Lab-Manger, Bobby Hodgkinson, I re-established functionality on the KRAKEN Autonomous Underwater Vehicle. I later designed a program to maneuver the AUV so that the flow This system is pretty cool, and at the time that I was working on the KRAKEN AUV, the HYDRA AUV was under construction. More information about these platforms and related research may be found here.
Inverting and Balancing a Pendulum using Control Theory
For my undergraduate linear control theory lab course, we were given the option to go above and beyond the requirements for the final project, which was to simply balance an inverted pendulum, and design a system that inverts and then balances a pendulum.
The red laptop nearby ran the software commanding the cart and pendulum system. It is of note that the computer suffered from irregular performance, for instance, the computer would randomly pause executing code, and then speed up the program output to resynchronize with the internal computer clock. The point is that this control architecture was robust to not only disturbances, but also system delay.
The red laptop nearby ran the software commanding the cart and pendulum system. It is of note that the computer suffered from irregular performance, for instance, the computer would randomly pause executing code, and then speed up the program output to resynchronize with the internal computer clock. The point is that this control architecture was robust to not only disturbances, but also system delay.
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