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Projects Below are short descriptions of some of my earlier projects and the ones I am working on. Click on the title below to read about any of them. Full reports are available for download for some of them. Robotics
Other
Projects Note: The download material is either is PDF or Powerpoint format. Powerpoint files require the Microsoft Powerpoint software, while PDF files require the freely available Adobe Acrobat Reader. You can obtain Acrobat Reader by clicking on the link below.
Robotic
Leg for Lower Limb Prosthesis This is a project by a group of three students. The main objective of the project is to construct a robotic leg for above-knee prosthesis which can provide all the essential functions of walking, i.e. progression and weight bearing. It has to do this while making sure the gait does not look unnatural. By taking different angles as inputs, the intelligence input has to decide the knee angle, and has to control the knee joint actuation to achieve the angle. It consists of an input from a force angle to realise the phase of walking. EEPROM programming is also required to customize the leg for different users. Hydraulic dampers have also been used for shock absorbtion. Other
Students in the group: Mid Semester
Evaluation [ top ] Using
the Mitsubishi Robotic Arm for Writing The objective of the project was to use the robotic arm avalaible in the Robotics & AI Lab, NSIT, to write formattable characters, via an interface to the PC. The software consists of a windows based GUI, using which a user can write various characters onto the screen, and change their positions and size. This file is saved as a formattable character file format (.FCF) and can be loaded later to continue work. The software then generates the command file for the arm which can be directly programmed onto the robot memory to draw out the characters as specified by the user. The drawing function uses a font file, which defines all the different characters by using simple vectars, like line, arcs, etc.
Raman Aggarwal - [ top ] Flute
Playing Robot I had always wanted to build something like this, and started working on it with a junior student. It consists of six electromagnets which can move a switch over each of the orifices on the flute, and a blower which is also electronically controllable. These seven components are connected to the PC via the driving circuits and the parallel port. Software shall intially take a customized file format, but later shall be changed to incorporate MIDI files. The design of the project is complete, and fabrication has started. Rajneesh
Bansal - [ top ] Polar
Coordinate Robotic Arm This project, done with a partner, was an effort to make a simple, 2 degrees of freedom robotic arm, which can be used instead of XY tables. Advantages of polar coordinate systems were studied as opposed to Cartesian coordinate system, and the arm was constructed. The aim, as an example, of the robot was to be a "test tube filler" with required volume of container liquid. The stepper motors are controlled via a printer port cable, and the software resides onto the PC. The robotic arm consists of a nozzle and a container of the required liquid. The software is capable of filling each test tube placed with the required volume of liquid as instructed by the computer. This arm can, with modifications, be used for other purposes like automatic PCB drilling machine, etc. Stepper motor control circuits and conversion of rotatory to linear motion were fabricated by me for the first time. Raman Aggarwal
[ top ] Robotic
Hand for Upper Limb Prosthesis Since it was a part of the summer training, the aim of the project was to completely design a robotic hand which can be used for upper limb prosthesis. The main considerations were to create a design which should be safe and user-friendly, and still not so expensive that most of the target community cannot buy it. An innovative design was used which, by using only 2 degrees of freedom of the hand, gave the user the ability to easily grip a variety of differently shaped objects. Appropriate sensors were used to detect touch, force and slippage. Myoelectric signal analysis was studied and included in the design. Complete mechanical and electronic description was given along with flow diagrams of the code of the microcontrollers. The project was designed alone, with the help of some members of CEERI, and introduced me to complicated concepts of robotics and sensors. It also taught me how to work keeping considerations like safety, ease of use, weight, lower power consumption, etc. in mind. The hand is being fabricated by CEERI, Delhi. Complete Project
Report - [ top ] Evolution
Models and Simulation Initially as an exercise to study Tierra Software and Artificial Life, the project soon evolved into a simulation of the evolution process. After studying the Bak-Sneppen model, and reproducing the results, a complex data structure was created, which included classes for organisms and species. The organism class contained behaviors for birth, death and reproduction. Inter and Intra-species interactions were coded, like preying, competition, etc. along with the other evolution concepts, like speciation, mutation, etc. After this, the whole model was set free. Different parameters were plotted with time to observe how closely the simulation explains facts which happened during evolution, like mass extinction. Lifetime distributions were studied to see if they follow the power law or not. This project was done without any partner. I learnt complex agent based simulation, plotting of distributions, evolution concepts and modeling of complex systems and interactions using simple mathematics. The project was intellectually very refreshing and helped further improve my programming skills. [ top ] Mobile
Robot Unit for Greenhouses The first project that can be effectively called a robotics project. The aim of the project was to develop an autonomous mobile unit for greenhouses which has the capability of spraying required insecticides and germicides on infected plants automatically. Since the aim was a large one, and only two students working on it, it was decided to divide the project into sections, namely machine vision, mobile base and communication. Since the project required image processing, we started working on it, and learnt edge-detection techniques for feature extraction. The mobile base was designed completely. The project was paused for some time but it has started again. The construction of the mobile base is currently going on, alongside the communication unit. This project taught me a lot more about the use of microcontrollers, and specifically about controlling of motors, communication between two microcontrollers, interfacing computer to the microcontroller. More knowledge on image processing and communication were also gained. The project is still currently going on. Saurabh
Jain [ top ] Digital
Voltmeter This project was the one to introduce me to the basics of the microcontroller. The project was done with another classmate. The microcontroller used was AT90S2313, an 8-bit RISC microcontroller of the AVR series from Atmel. Two seven segment LED display units were connected to the microcontroller along with the required analog circuit for measuring the voltage using the inbuilt analog comparator. The project included the fabrication of the complete PCB from a plain un-etched copper plate. This project taught me the programming of a microcontroller, multiplexing technique of displaying, capacitor-discharge time method of measuring voltage, PCB fabrication and considerations required when working with microcontrollers. Joy Sharma
Complete Project
Report - [ top ] Driver-Less
Car Project (DLC) This was a large project consisting of 20-30 students from various departments and years of the college, to make an autonomous vehicle. This project was divided into different divisions. I worked in the Machine Vision and Inter-Vehicular Communication, with three other students in each. For Machine Vision, we learnt the basics of advanced image processing, and worked on feature extraction and object detection from the two proposed cameras on the bumper of the car. For Inter-Vehicular Communication, we tried to find ways to divide the total bandwidth available to as many cars as may be plying when the system will be implemented. Thus, we studied the different multiplexing techniques (TDM, FDM, etc.) and modulation techniques. The project was suspended and thus we could not fabricate our work. [ top ] Fractory The project was worked along with a classmate. It was written in C++ for DOS platform. It began as an exercise to develop a Windows-like user interface library for DOS. After the library was developed, called winguix, we decided to make an image processing software to demonstrate the use of the library. Our interest in fractals led us to add a couple of them as an option, making possibly the first software to allow fractals to be drawn alongside the other features of a standard image processing software. Along with the regular features, the software had blurring, advanced palette functions, BMP file editing and saving and grayscale. Arnab Nandi
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top ] Misc. This section of projects covers my other work which cannot be called full-fledged projects. This section is still under construction. I am attending some AI introductory lectures. As part of one of them, I developed a program to solve the old 8-queen, using A* heuristic search. Download the C++ file here and check it out, it is worth a look. The basis of my search has greatly reduced the CPU steps required to obtain the solution. Download the
CPP - [
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 [email protected] April
2004 |
- PDF File
- Powerpoint File
- C++ Program File
- Email Link
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