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Sarv Parteek Singh's career portfolio (as of May 5, 2015)
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CAREER
PORTFOLIO
SARV PARTEEK SINGH
Table of Contents
Vision & Mission………………………………………………………………………………………………………………………………………3
Resume……………………………………………………………………………………………………………………………………………………4
Education………………………………………………………………………………………………………………………………………………..6
Experience……………………………………………………………………………………………………………………………………………….7
Projects
Parallel Viscoelastic Actuator………..……………………………………………………………………………………………………….10
Foam Machining Bot………………………………………………………………………………………………………………………………14
Miscellaneous at BIRDS Lab……………………………………………………………………………………………………………………17
Chairless Chair……………………………………………………………………………………………………………………………………….19
Training Wheels for a Bipedal Robot..……………………………………………………………………………………………………21
Formula SAE…………………………………………………………………………………………………………………………………………..23
HHO Engine……………………………………………………………………………………………………………………………………………28
Leveraged Freedom Chair………………………………………………………………………………………………………………………31
Neonatal Resuscitation Device………………………………………………………………………………………………………………33
Optimization of Feeding Systems……………………………………………………………………………………………………..……35
Operation & Control of NC Machining Systems……………………………………………………………………………………..37
Inverted Pendulum control via stepper motor……………………………………………………………………………………….39
Adaptive Cruise Control & Automatic Steering design……………………………………………………………………………44
Weather-based window controller………………………………………………………………………………………………………..47
Vision
To understand, explore, and explain the fundamentals and
details of nature, as it exists and the way it has been
transformed by man. To use these concepts to create,
explain, and improvise cutting-edge technologies.
Mission
To work in the field of robotics and help enforce a symbiosis
between science and engineering
Motivating quotations
Be the change you want to see in the world
The reasonable man adapts himself to the world; the
unreasonable one persists in trying to adapt the world to
himself. Therefore all progress depends on the unreasonable
man.
SARV PARTEEK SINGH
269 Harvard Street, Apt. 31, Cambridge, MA-02139 ■ Phone: 734-747-0838 ■ Email: [email protected]
____________________________________________________________________________________________________________
EDUCATION
WORK EXPERIENCE
University of Michigan, Ann Arbor, MI, USA MS, Mechanical Engineering Sep’12- Apr’15 Courses: Linear Sys. Theory, Nonlinear Sys. & Control, Control of Machining Systems, Embedded Control Systems, Hybrid Sys. Control, Mechatronics, Modeling & Analysis of Dynamic Systems; Intermediate Dynamics; Introduction to Robotics; Advanced Calculus GPA:3.71/4.0
Netaji Subhas Institute of Technology (NSIT), University of Delhi, New Delhi, India B.E., Manufacturing Process & Automation Engineering Aug’07- Jun‘11 Graduated with First class with Distinction (highest possible honor); GPA: 78.93%, Deptt. Rank: 5th out 60 Courses: Robotics, Automation, CAD/CAM, Mechanical Design,Conventional & Modern Manufacturing; Analog & Digital Electronics, Classical Control, Transducers & Measurement; AI, Computer Graphics
Kiva Systems (Amazon), North Reading, MA, USA Aug’14 – Apr’15 Robotic Hardware Services Engineer
Performed troubleshooting, maintenance and upgrade of autonomous robots on live Amazon Fulfilment Centers, based on mechatronic tests as well as software-based data analysis.
Designed Python, Linux and MySQL-based software tools to aid in analysis of hardware-induced robot failures, and aid in better hardware system design.
No-Nee, spin-off from Bio-inspired Robotics Lab, ETH Zurich, Switzerland May’13-Aug'13 Research Intern
The project, called ‘Chairless Chair’, aimed at building a wearable device that could be used as an ergonomic chair for sitting whenever desired.
Generated a physics model of the chair, and simulated the forces during walking and sitting phases when the device is worn.
Stanford India Biodesign Center (now Windmill Technologies), New Delhi, India Jan’12-Mar’12 Design Consultant
Project aimed to create an economical neonatal resuscitation device for frontline health workers.
Worked on development of a mechanical system for leak-proof air delivery and improved physical interaction through the human airway interface.
Mechatronics Lab, Indian Institute of Technology Delhi, India Jan’12
Project, called ‘Leveraged Freedom Chair’, a collaboration between IIT Delhi and MIT (USA), aimed at developing a low-cost, rugged and efficient wheelchair for use in developing countries.
Analyzed human arm kinematic and dynamic models to decide the optimal trajectories (based on different functions) to be used on the wheelchair.
Halliburton Offshore Services Inc., Mumbai, India Jul’11- Oct’11
Associate Field Professional
Worked as Measurement While Drilling (MWD) engineer and gained exposure to tools and techniques employed for measuring and transmitting real-time downhole data to surface.
Instrument Design & Development Center, Indian Inst. of Technology Delhi, India Jun’10-Jul’10 Intern
Designed and implemented a home automation system – a PIC microcontroller-based window controller that offered manual and automatic window control in response to ambient weather conditions.
RESEARCH IN CONTROLS & DYNAMICS
Training wheels for adaptive energy-efficient gaits for a bipedal robot(MS thesis) Feb’14- Apr’15 Robotics and Motion Lab; Department of Mechanical Engineering, University of Michigan
Project aimed at implementating training wheels (at the hip) on RAMone, a bipedal robot via reinforcement learning, to generate stable, energy-efficient gaits.
Investigated applicability of Policy Improvement with Path Integrals on a monopod hopper with an effort to minimize energetics while hopping at a desired height.
SARV PARTEEK SINGH
269 Harvard Street, Apt. 31, Cambridge, MA-02139 ■ Phone: 734-747-0838 ■ Email: [email protected]
____________________________________________________________________________________________________________
RESEARCH IN DESIGN AND MANUFACTU- -RING
PUBLICATIONS
SKILLS
KEY INITIATIVES
Mechatronic System Design (course), University of Michigan, Ann Arbor, MI Sep’13-Dec’13 Designed and implemented controllers for Magnetic levitation system, DC Motor, Stepper Motor
and Inverted Pendulum (actuated via DC Motor) using LabVIEW. Implemented a swing-up controller and investigated reasons for failure of a classical controller
for balancing an Inverted Pendulum actuated via a hybrid stepper motor, as course project.
Embedded Control Systems (course), University of Michigan, Ann Arbor, MI Sep’13-Dec’13 Implemented Adaptive Cruise Control and Automatic Steering system for a bicyle-model
vehicle, on a haptic wheel and Freescale MPC5553 microprocessor using FlexCAN and Simulink.
Control of Machining Systems (course), University of Michigan, Ann Arbor, MI Feb’13-Apr'13
Used classical controllers to achieve good reference tracking for a hybrid feed drive system.
Fabricated and modeled an x-y type machining system using sand as a cutting agent for cutting foam-based robotic parts produced by UPenn’s modular robot Foambot. Generated motion commands for planar countours using different trajectory interpolation techniques.
Design and fabrication of an unconventional actuator Sep’12- Feb'13 Biologically Inspired Robotics and Dynamical Systems (BIRDS) Lab; EECS, University of Michigan
Project was aimed at designing an unconventional actuator for protection of joints from impact in rigid chain robots.
Created a general layout for design of a Parallel Viscoelastic Actuator (PVA), and carried out experiments with different putty’s to test their feasibility for use in the actuator
Conversion of a conventional IC Engine to run on water HHO (B.E. Thesis) Feb’11- Jun’11 Division of Manufacturing Process and Automation Engineering, NSIT
Project involved design and fabrication of HHO (Oxyhydrogen/Brown’s gas) generation setup and engine overhauling to investigate the effects of HHO injection on a gasoline-fueled engine
Designed a general model for n-cylinder engine to run on gasoline-HHO mixture in Ricardo WAVE. Carried out simulations to predict fuel efficiency and emissions on HHO injection
Formula SAE Dec’08- Jul’11 Division of Manufacturing Process and Automation Engineering, NSIT
Season 2009 : Secured 6th position out of 27 teams in Formula SAE India Design Challenge 2009,
Chennai held in Dec’09 Position of Responsibility: Member, Vehicle Safety and Transmission systems team
Season 2010-11: Stood 28th out of 76 teams in Supra SAE India 2011, Chennai held in Jul’11. Position of Responsibility: Chief Engineer, Vehicle Safety ; Member, Powertrain team
Singh, S.P.; Ghosh, S.; Khanna, P.; Tanwar, A., “Mathematical Performance Analysis of Reciprocating-Fork Hopper Feeder”,2009 IEEE SCOReD
S. Ghosh, S. P. Singh, “Optimizing Feeding Systems”,2011, In Tech
Softwares: Microsoft Office, Minitab, Design Expert, Ricardo WAVE, Pro/E, AutoCAD, Autodesk Inventor, MySQL (DBMS)
Languages: C,C++, Python, MATLAB, Simulink, Mathematica, LabVIEW, 20 SIM Machine shop skills: CNC machining, Rapid prototyping (Selective Laser Sintering, Laser cutting)
Operating Systems: Windows, Linux
Developed an introductory course to teach Punjabi to students in India and the US (2013)
Initiated a student group to market my home department at NSIT in the Indian Industry, which lead to significant improvements in NSIT’s placement statistics. (2011)
Founded an online group to disseminate knowledge about Sikh religion and culture. (2011)
Played key role as a formative member of NSIT’s Formula SAE team, which was formed at a time when the FSAE program was active only in a very few universities across India (2008-09)
Education
B.E., Manufacturing Process and Automation Engineering (2007-11)
Netaji Subhas Institute of Technology, University of Delhi, India
Graduated with First Class with Distinction, GPA: 78.93%. Class Rank: 5th out of 61
Relevant Coursework:
Engineering and Machine Drawing Product Design Design of machine elements Design of machine tools Kinematics and Dynamics of Machinery CNC, Machine tools and Automation (lab-based) Robotics and CAM (lab-based) Conventional methods of manufacturing (lab/workshop-based) Modern methods of manufacturing Applied Plasticity/ Forming processes (lab-based) Management of Manufacturing Systems Metrology and Statistical Quality Control Analog and Digital Electronics (lab-based) Power Electronics (lab-based) Electromechanics (lab-based) Classical Control (lab-based) Transducers and Measurement (lab-based) Artificial Intelligence Computer Graphics (lab-based) Thermodynamics Fluid Mechanics (lab-based) Solid Mechanics (lab-based) Mathematics –I,II,III (covering the background required for Mechanical/Robotics Engineering)
M.S., Mechanical Engineering (2012-14)
University of Michigan Ann Arbor, USA
GPA: 3.71
Linear Systems Theory Nonlinear Systems and Control Control of Machining Systems Embedded Control Systems Hybrid Systems: Specification, Verification and Control Mechatronic System Design Modeling and Analysis of Dynamic Systems Intermediate Dynamics Introduction to Robotics Advanced Calculus
Experience
Kiva Systems (Amazon), North Reading, MA, USA Aug ’14 – Apr’15
Robotic Hardware Services Engineer/ Sys. Services Engineer (HW Integration)
Troubleshooting and upgrade hardware and firmware aspects of autonomous robots on live Amazon
Fulfillment Centers. Development of software tools for data analysis to gauge robot performance across
sites.
University of Michigan Ann Arbor, MI, USA Jan’14 – Apr’14
Grader, Mechanical Vibrations (graduate-level)
Noonee / Bio-Inspired Robotics Lab, Zurich, Switzerland May’13- Aug’13
Visiting Research Student
Dynamic Modeling of Chairless Chair – details under ‘Projects’
Windmill/Stanford India Biodesign Center, New Delhi, India Jan’12- Mar’12
Design Consultant
Development of a neonatal resuscitation device – details under ‘Projects’
Mechatronics Lab, Indian Institute of Technology Delhi, India Jan’12
Research Assistant
Leveraged Freedom Chair – details under ‘Projects’
Halliburton Offshore Services Inc., Mumbai, India Jul’11- Oct’11
Associate Field Professional
Worked as Measurement While Drilling (MWD) engineer and gained exposure to tools and techniques employed for measuring and transmitting real-time downhole data to surface.
Instrument Design & Development Center, Indian Inst. of Technology Delhi, India Jun’10 - Jul’10
Intern
Weather-based window controller – details under ‘Projects’
Latest Work experience – Kiva Systems (Amazon)
Job Details
Title : System Services Engineer
Group : HW Integration (a.k.a Robotic Hardware Services)
Company : Kiva Systems (now Amazon Robotics), Amazon
Location : North Reading (BOS-12), Massachusetts, USA
Period of Association: Aug ’14 – Apr’15
The new class of Kiva’s autonomous robots at an Amazon Fulfilment Center
Responsibilities
Troubleshoot and repair Kiva’s autonomous robots on live production sites. Tasks include
performing bench tests through a Linux environment, root cause analysis based on data
extracted from MySQL databases and programming electronic assemblies.
Upgrade Firmware and FPGA on robots’ Main Electronic Assembly.
Upgrade controllers on Kiva Control System using python packages
Conduct training sessions on various aspects of Hardware maintenance for Amazon technicians
Design and maintain a software portal to perform data analysis of robot fleet health across all
Amazon sites, using Python and MySQL
Create technical documentation around robot maintenance, upgrade and repair.
.
Work samples from this position cannot be shown owing to confidentiality agreement
PROJECTS
Projects – Parallel Viscoelastic Actuator
Project title: Towards a Parallel Viscoelastic Actuator for protection from impacts in Rigid Chain Robots
Location: Biologically Inspired Robotics and Dynamical Systems (BIRDS) Lab, University of Michigan Ann
Arbor
Project overview
The aim of this research was to aid in the design and development of a field robot which could exhibit
robust behavior in dynamic and unstructured environments. At the heart of this issue, lies a very
frequent problem faced by legged robots: damage of joints by high impact forces generated on ground
contact. This research proposed a novel approach for this purpose via use of a shear-thickening
viscoelastic material for avoiding damage to the gearbox located at a given joint
Work accomplished
Literature survey of various drive techniques used and importance of geared electric motor
in robotics
Performed a detailed comparative analysis of actuators (with different joint protection
mechanisms) in existence – Series Elastic Actuator, Series Damper Actuator and Series
Elastic Actuator with Parallel Damping.
Based on the shortcomings on the above, proposed use of a shear-thickening material for
construction of an actuator having the viscoelastic substance in parallel to the axis of
actuator output – Parallel Viscoelastic Actuator (PVA)
Conducted qualitative experiments using high-speed camera, designed and fabricated a test
setup, and studied theoretical viscoelastic models to establish usability of silly putty as the
appropriate agent for the actuator
CAD model for test apparatus
Projects – Parallel Viscoelastic Actuator
Actual prototype of test apparatus
Washers and thin plate added to reduce friction between the upper (acrylic; not shown in figure) and middle (ABS)
plate
Projects – Parallel Viscoelastic Actuator
Gasket added to prevent detachment of shaft from the putty
Acrylic spur gears, designed and fabricated for use in experiments
Projects – Parallel Viscoelastic Actuator
Collisions of two putty balls of different stiffnesses. Snaps taken at a gap of 6 ms in general
Projects – FOam MAchining BOT (FOMABOT)
Project title: Introduction of subtractive manufacturing capabilities into Foambot
Location: Biologically Inspired Robotics and Dynamical Systems (BIRDS) Lab, University of Michigan Ann
Arbor
Project overview
Modular robots like Foambot have established their success in the field of additive manufacturing
by performing ‘synthesis-on-the-fly’. In order to complete their manufacturing capabilities, and
provide them an enhanced ability to change morphologies, this research proposed to introduce
subtractive manufacturing into Foambot. An x-y machining system (employing sand as a cutting
agent) was designed for cutting simple geometrical figures out of foam and system identification
techniques for the same were suggested.
Work accomplished
Made CAD models representing systems potentially capable of being built in-house (via
Rapid prototyping). Finalized one design so as to minimize procurement and fabrication
time
Prototyped and assembled the system, in conjunction with ‘dynamixels’, selected to as
actuators
Performed
Wrote codes in MATLAB for trajectory generation in the horizontal plane
Performed system modeling for describing (a) system motion (b) feed rate of sand being fed
into the system
Investigated factors affecting quality of cuts (eg. Backlash, nozzle orientation, recoil etc) and
suggested System Identification techniques for critical parameters.
CAD model of Fomabot
Projects – FOam MAchining BOT (FOMABOT)
Actual prototype of Fomabot
Shaft clamps serving as load bearing elements in the lower section of the system
Projects – FOam MAchining BOT (FOMABOT)
Sliding mechanism for the system
Backlash in the rack and pinion assembly for the system
Projects – Miscellaneous at BIRDS Lab
Location: Biologically Inspired Robotics and Dynamical Systems (BIRDS) Lab, University of Michigan Ann
Arbor
Task 1: Tutorials for Laser cutting
Introduced a detailed section on use of AutoCAD for Laser cutting on the internal lab online
repository.
Added detailed instructions for minimizing material wastage, better quality cuts and design
considerations for proper assembly, on the internal lab online repository.
Experimentally determined and shared cutting conditions for various different materials on the
lab repository.
Mentored undergraduate students for using lab’s Laser cutter facility
Placed orders for equipping the lab workshop with necessary tools
Type of laser cutter machine involving Task 1
Task 2: Crab care
Developed a protocol for taking care of wild crabs shipped from Hawaii. This included - -
- programming the incubators for appropriate light and temperature conditions as per
their natural habitat
- introducing artificial hiding spots in crab tanks
- determining the suitable diet for crabs based on their responses to the food fed daily
- conducting experiments to detect ammonia levels in the water of tanks
- cleaning crab tanks regularly and introducing self-prepared salt water of suitable
temperature
- finding suitable disinfecting and ammonia-absorbing agents for crab
Projects – Miscellaneous at BIRDS Lab
- observing and documenting molting behavior of crabs
Developed a test bed for conducting high-speed camera experiments on crabs
Documented all the above on the internal online lab repository
Grapsus Grapsus, the crab species which was manually handled and taken care of as detailed under Task 2
Projects – Chairless Chair
Project title: Dynamic modeling of the ‘Chairless Chair’
Location: Bio-Inspired Robotics Lab , ETH Zurich, Switzerland
Project overview
The aim of this research was to help in the commercialization of an innovative wearable device called
the Chairless Chair by generating a physics model for the device and predicting its behavior via
simulation. The website for this spin-off can be visited here.
Work accomplished
Recommended alternative designs to the existing ones for cost reduction
Investigated ways of energy harvesting in the device
Proposed new research directions for investigations on the possibility of ‘Active Sitting’
while using this device
Generated a future-proof dynamic model using ‘Constrained Lagrangian Dynamics’, using
Lagrange multipliers for representing reaction forces.
Wrote codes in Mathematica for simulating the motion of the device
‘Chairless chair’ worn by a user
Projects – Chairless Chair
Front view of a person (left) resting on the ‘Chairless Chair’
CAD models for this device cannot be shared since a Non-Disclosure Agreement (NDA) was signed with
the start up.
Projects – Training wheels for biped
Project title: Training wheels for adaptive energy-efficient gaits for a bipedal robot
Location: Robotics and Motion Lab , University of Michigan Ann Arbor
Description
A bipedal robot is an inherently unstable nonlinear system, whose Cost of Mechanical Transport (CoT) is
dependent on the trajectories of motion. In order to stabilize the motion and reduce CoT, optimal
control is employed based on the robot model. In this project, the aim is
To remove inherent instability via use of training wheels (three actuators in the main body),
thereby making the system completely controllable and ensuring stable walking.
To implement Reinforcement Learning algorithms so as to perform adaptive optimal control of
the locomotion of the biped. In a few strides, the robot should be able to generate an energy-
efficient, stable gait, without requiring the assistance of training wheels any longer.
Work accomplished
Simulation of the biped (in MATLAB) based on a new definition of excitation states (supplied by
the actuator) and a control law for the actuators
Design of trajectories of the excitation states (based on known waypoints) for use in the
actuator control law
Application of Policy Improvement with Path Integrals (PI2) approach on a monopod hopper,
with and without a training wheel. The thesis explored pitfalls in applying this algorithm and
recommended improvements for application on the real robot.
Monopod hopper (left) employed in the PI2 simulations, and simulation model of the bipedal robot (right)
Projects – Training wheels for biped
RAMone, the bipedal robot under study. This system has 4 actuators – 2 for each knee and 2 for each hip. As can
be seen, it makes use of Series Elastic Actuators. Practical implementation of my work will involve addition of three
actuators (training wheels) – one for the horizontal motion, one for vertical motion and one for pitch
PI2 parameter evolution for a sample initial guess. Shown are the contour plot (left) and surface plot (right)
Projects – Formula SAE
Team details
Name: Bullethawk Racing
Affiliation: Netaji Subhas Institute of Technology, University of Delhi
Website: www.bullethawkracing.com
Period of association: Dec 2008 – July 2011
Responsibilities
Being one of the formative members of the team, I undertook various responsibilities based on the need
of the hour. In cases when the team was understaffed, I have filled in different shoes.
Publicity and Marketing
Publicity within NSIT
Marketing and publicity in the industry – meetings and presentations with OEMs and vendors
for ancillary, financial and technical support
Recruitment drives in NSIT including orientation and interview sessions
Workshops for sponsors in NSIT
Design of team brochure
Team Management and administrative tasks
Workshop acquisition from the university for vehicle fabrication
Workshop cleaning and maintenance drives
Setting up of ‘presentation practice’ sessions for each department
Arrangement of temporary workshop facilities in Chennai (Season-1)
Department allocation for new recruits
Mentoring team members on sponsorship and technical aspects (done both as a senior team
member and as an alumnus)
Vehicle Design and Fabrication
Liaising with part vendors, machinists and mechanics for purchases and technical assistance
Powertrain
Literature survey of IC engines and drivetrains suitable for Formula SAE
Cost-driven market surveys and purchases of suitable powertrain components for the vehicle
Conception and (collaborative) fabrication and installation of drivetrain components on the
vehicle
Final report on drivetrain (Season-1)
Final presentation on drivetrain (Season-1)
Projects – Formula SAE
Chassis
Fabrication of PVC model for design validation
Welding, filing and grinding on the MS chassis for mounting suspension joints and other
components
Projects – Formula SAE
Impact Attentuator
Conception and validation (based on theoretical calculations) of a honeycomb-based crashbox
Acquisition, reshaping, gluing (with epoxy) and curing of the honeycomb sheets for design of
attenuator as per competition specifications
Final report on Impact attenuator (collaborative; Season-1)
Vehicles
Bullethawk Racing’s design-concept vehicle for Formula SAE India Design Challenge 2009, Chennai, India
Projects – Formula SAE
Bullethawk Racing’s vehicle for Supra SAE 2011, MMSC, Chennai, India
Bullethawk Racing’s vehicle for Supra SAE 2012, BIC Greater Noida, India
Projects – Formula SAE
Accolades
Formula SAE India 2009 Design Challenge
First successful vehicle roll-out from NSIT
Widely appreciated for the design of impact attenuator at the event
Ranked 4th in Design Evaluation, 4th in Design Presentation and 6th overall (out of 28 teams).
Supra SAE 2011
Received applause for light-weight wheel assembly design and optimized suspension geometry
Ranked 28th overall out of 76 teams
Projects – HHO Engine
Project title
Conversion of a conventional IC engine to run on water HHO
Location
Netaji Subhas Institute of Technology, University of Delhi
Team strength: 6
Overall project
The project aimed to study the effect of adding Brown’s gas (HHO) generated from an electrolysis unit to
the air intake of a gasoline engine, on parameters like fuel consumption, exhaust emissions and fuel
efficiency. Sub-projects involved:
- Fabrication of an HHO producing unit
- Conversion of a gasoline engine to accommodate injection of HHO
- Predict the desired results via simulation
- Perform testing to validate/disprove the simulations
Responsibilities
Literature survey of the effect of adding HHO to engines
Creation of a generic n-cylinder model for testing injection of any given material to an IC engine
Analysis of data obtained from experiments
Compilation of results and proposal of possible future directions of investigation
Results
Built an electrolysis unit to generate HHO from tap water and conducted experiments on the
same
Modified a 1 cylinder 173cc commercial auto-rickshaw engine to accommodate HHO injection
Generated a general model for predicting various combustion parameters
Owing to the safety regulations of local police authorities, testing of the engine with HHO (potentially
dangerous being a hydrogen-rich gas) was not allowed (process of getting a permission was beyond the
time available for the project) and testing could unfortunately not be performed.
Projects – HHO Engine
Graphic details from the project
Single cylinder 173cc engine setup
HHO generation setup
Projects – HHO Engine
Complete Ricardo WAVE model for the system, composed of Intake (with resonator), 1-cylinder engine
and exhaust system with complex muffler. Black arrows represent ducts, fluorescent boxes represent
orifices for connecting ducts, and dull green boxes represent junctions. Blue colored clouds represent
intake and exhaust. Orange circle on a grey block represents a 1 cylinder engine
Projects – Leveraged Freedom Chair
Project title : Leveraged Freedom Chair
Location: Mechatronics Lab, Indian Institute of Technology Delhi (in collaboration with Massachusetts
Institute of Technology/Singapore University of Technology and Design)
Overall project
The project involved conception, development and testing of an all-terrain wheelchair designed for use
in rural areas of developing countries. The key innovation behind the Leveraged Freedom Chair (LFC) is
its single-speed, variable mechanical advantaged drivetrain.
Responsibility Tas
Finding the optimal power and energy consumed in different trajectories of arm motions.
Results
Based on literature survey arrived at two models for predicting optimal trajectories
Analytical Model
Arm is represented by a 2-dof linkage driven by 4 torque providers (muscles). Power can be
determined in terms of joint angular velocities and moments, and eventually reduced to only
velocities by Fourier analysis.
Musculoskeletal Model
Investigates muscle behavior at musculoskeletal level. Modeling done using Anybody Modeling
System directly generates the power of muscle-tendon elements.
Graphic details from the project
Analytical Model
Projects – Leveraged Freedom Chair
Musculoskeletal model
Leveraged Freedom Chair
Projects – Neonatal Resuscitation Device
Project title
Development of a neonatal resuscitation device
Location
Stanford India Biodesign Center , All India Institute of Medical Sciences, New Delhi, India. Stanford India
Biodesign is a collaboration amongst Stanford University (USA), Indian Institute of Technology Delhi
(India) and All India Institute of Medical Sciences, New Delhi (India).
Project overview
The aim of this research was to develop a low-cost neonatal resuscitation device for use by frontline
health workers. The website for this spin-off can be visited here.
Responsibility
Prototyping for proof-of-concept demonstrations
Liaison with vendors, chemists and pneumatic component manufacturers for purchase and
market surveys
Identification of suitable sensing techniques for conducting tests on the developed
prototype
CAD design of the system, based on ergonomics and ease of use
Comparative analysis of existing resuscitation techniques and ways of cost reduction
Brainstorming with doctors and biomedical engineers.
Proposed new research directions for investigations on the possibility of ‘Active Sitting’
while using this device
Result
Helped in the conception and prototyping of a leak-proof air delivery system with improved
physical interaction through the human airway interface
Conceptualized a mechatronic system exploiting clever pneumatic design for automating
the process
Due to Non-Disclosure Agreement, CAD models and other product details cannot be shared here.
Projects – Neonatal Resuscitation Device
Competing product being used on a manikin
Projects – Optimization of feeding systems
Project 1: Mathematical Analysis of a Reciprocating-fork hopper feeder
Location: Netaji Subhas Institute of Technology, University of Delhi
Overhauled an existing reciprocating-fork hopper feeder system for conducting experiments
Used 23 full-factorial method for Design of Experiments (DOE) and studied the effect of three
parameters – part population, rate of reciprocation of fork and bowl angular velocity, on the
throughput of the feeder
Formulated a mathematical model using Design Expert to investigate the significance of
individual parameters (on the throughput) as well as the interaction amongst them
Checked adequacy of model to predict system performance using Analysis of Variance (ANOVA)
analysis.
Schematics of the Reciprocating Fork-hopper feeder
Actual feeding system
Projects – Optimization of feeding systems
Publication Singh, S.P.; Ghosh, S.; Khanna, P.; Tanwar, A., “Mathematical Performance Analysis of Reciprocating-Fork Hopper Feeder”, Proceedings of 2009 IEEE Student Conference on Research and Development (SCOReD), pp. 464-467, Malaysia, November 16-18, 2009
Project 2: Optimizing Feeding Systems
Conducted literature survey of various kinds of feeders employed in the industry
Suggested methods to optimize these feeding systems based on the research done in Project 1
Publication S. Ghosh, S. P. Singh, “Optimizing Feeding Systems”in “Assembly Line: Theory and Practice”, W. Grzechca (Ed.), In Tech (online), pp. 149-179, ISBN 978-953-307-320-0, 2011
Projects – Operation & control of NC machining systems
Courses (lab-based)
CNC, Machine Tools and Automation; University of Delhi
Control of Machining Systems; University of Michigan Ann Arbor
Locations
Flexible Manufacturing System Lab , Netaji Subhas Institute of Technology, University of Delhi
Mechatronics and Sustainability Research Lab, University of Michigan Ann Arbor
Course labs overview
University of Delhi
Implementing G codes and M codes in simulation and on a FANUC CNC machine
University of Michigan
Manual (based on G/M codes) and automatic (based on CAD+BobCAM) code generation for
cutting a part on a 3-axis CNC machine
Modeling and System Identification of an electromechanical drive (CNC mill) using time and
frequency domain methods
Design, analysis and implementation of classical controllers to achieve good reference
tracking of a feed drive system
Multi-axis command generation and contouring analysis
Each (but first) lab involved writing codes in MATLAB and implementing the same on the machine.
The experimental data was then collected and analyzed again using MATLAB.
Graphic details
CNC machine at University of Delhi
Projects – Operation & control of NC machining systems
Air-core linear motor feed drive, University of Michigan
Projects – IP control via Stepper Motor
Project title: Control of an Inverted Pendulum assembly actuated via a stepper motor
Location: Mechatronics Lab , University of Michigan Ann Arbor
Team strength: 4
Project overview
This project investigated the possibility of controlling an inverted pendulum assembly by providing
actuation through a hybrid style stepper motor. The approach involved using a linear controller for
balancing about the upright position and a swing up method for pushing the pendulum into that region.
Sub-projects involved:
- Setup of the electrical circuit
- Modification of the mechanical setup used for actuation of IP via DC motor (done as part of a lab
exercise)
- Development and implementation of a technique for swing up into the ‘balancing/linear’ region
- Development and implementation of a technique for balancing while avoiding step skipping
Work done in individual capacity
Conception of the project idea
Mechanical and electrical assembly (along with one and two other members respectively)
Implementation of swing-up logic (team effort)
Basic strategy to eliminate step skipping.
Implementation and update of the strategy (team effort)
Analysis of experimental data and final report (90%)
Final presentation on behalf of the group
Course labs overview
Mechatronic System Design was a lab-based course as part of which I designed and implemented
control schemes for the following cases:
Use of operational amplifiers and basic circuit elements to make voltage adders and other
similar circuits
Control of a Magnetic levitation system
Control of a DC Motor with the Servo operating in torque mode
Control of a Hybrid Style stepper motor
Control of an Inverted Pendulum assembly via a stepper motor
Use of Integrated Motion Unit and optical encoders for measuring angles and angular
velocities of an Inverted Pendulum assembly (Sensor Fusion)
Each lab involved writing codes in MATLAB/Simulink for theoretical analysis, and implementation
on the actual system via use of LabVIEW.
Projects – IP control via Stepper Motor
Graphic details from the project
Hardware - electrical and mechanical setup
Mechanical Assembly close-up
Projects – IP control via Stepper Motor
Strategy developed for closed-loop control of the stepper motor, to avoid step-skipping. ‘a’ refers to the
actual, ‘A’ denotes acceptable acceleration, ‘v’ denotes acceptable velocity, ‘d’ denotes desired, U.B. denotes
Upper Bound, while ‘c’ refers to count (i.e. the angle as per the number of pulses released
Projects – IP control via Stepper Motor
LabVIEW VI for balancing
Projects – IP control via Stepper Motor
Labview VI for swing-up
Projects – ACC &Automatic Steering
Project title: Adaptive Cruise Control (ACC) and Automatic Steering implementation for a vehicle in
simulation
Location: Embedded Systems Lab , University of Michigan Ann Arbor
Team strength: 2
Project overview
This project aimed at designing a Simulink model to implement a vehicle with an Adaptive Cruise Control
(ACC) and Automatic steering system in a simulated environment. The implementation was to be such
that the haptic wheel in the lab acted as the steering wheel to the simulated vehicle, and user inputs
(mode type, ACC speed etc.) could be done by toggling GPIO bits with the dip switches on a Freescale
MPC5553 board.
The entire system was divided into subsystems:
- Vehicle Dynamics subsystem consisting of the differential equations of the system
- Adaptive Cruise Control subsystem implemented using ‘Pick-lead’ logic and Stateflow/S-functions
- Automatic Steering subsystem Work done in individual capacity
High level design of the system including s-functions and the bicycle model in Simulink Setup and configuration of inputs and outputs to the subsystems Coding for position, velocity and manual control (along with the 2nd member) Coding for ‘pick lead’ logic which determined the leading vehicle on the road and its speed
(along with the 2nd member) Tuning the ACC system to ensure robustness Achieving gain parameters for Automatic Steering controllers
Course labs overview
Embedded Control Systems was a lab-based course as part of which I learnt the following via lab
exercises:
Programming MPC 5553 for digital I/O
Quadrature Decode using eTPU (enhanced Time Processor Unit) as angular position sensor
Queued Analog-to-Digital Conversion
Pulse Width Modulation and Simple Virtual Worlds
Interrupts, Timing and Frequency Analysis of PWM signals
Virtual worlds with consideration of time
Controller Area Network
Autocode Generation
Each lab involved writing codes in C for a 32-bit floating-point Freescale MPC5553 microcontroller
running on an Axiom/Freescale MPC5553EVB development board.
Projects – ACC &Automatic Steering
Graphic details from the project
High-level design of the project
Simulink design for Automatic Steering
Projects – ACC &Automatic Steering
A view of the car on the track in the simulated environment
Hardware setup used for lab exercises and project: Haptic wheel and Freescale microprocessor board
Projects – Weather-based window controller
Project title
Weather-based Automatic Window Controller
Location
Instrument Design Development Center, Indian Institute of Technology Delhi
Team strength: 4
Project description
The project involved development of a window controller with the following features:
Manual mode, allowing for manual opening/closing of window
Automatic mode, allowing for window control based on :
- Temperature range set by the user
- Rain outside the window
The project involved use of PIC 16F84, an indigenous rain sensor and LM 75 temperature sensor.
The software was written in JAL, a language similar to C.
Project responsibilities were shared equally
Training
As part of this internship, trainings were provided regarding
Voltage regulators (LM 317 and LM 723)
Series Pass Regulator Power Supply
Fault finding techniques in electrical circuits
Projects – Weather-based window controller
Graphic details from the project
Electrical circuit diagram
Projects – Weather-based window controller
Overall setup of the system
Zoomed-in view of the electrical circuit
