My Projects

A real-time visualization and control tool for the Unitree A1 robot, featuring:

• Interactive joint-control sliders to command the robot’s joints.
• Real-time plots of joint positions & foot forces.
• Synchronized Gazebo and RViz views.

A grid-based puzzle game implemented in Python using Pygame

• In this game, multiple agents navigate a 5x5 grid, overcome obstacles, and perform actions (such as acquiring colors and opening doors) to reach designated target positions.
• The project demonstrates the use of classical search and planning algorithms—BFS, DFS, and A*—to automatically solve the puzzle, as well as a random controller for baseline testing.

Implements a U-Net semantic segmentation model to spot defects on steel surfaces:

• UNet for pixel-level defect masks.
• Real-time inference pipeline.
• Evaluated via Dice coefficient & IoU metrics.

ML pipeline to classify EEG signals into hand gestures, enabling intuitive robot control:

• Preprocessed EEG data (noise removal, feature extraction).
• Designed & trained classification models.
• Validated accuracy & robustness on experimental datasets.

Compared two methods for counting apples in an orchard:

• YOLOv5s object detection.
• Blob detection on HSV-masked images.
• Benchmarked accuracy and speed.

Analysis of assistive robots’ impact on human-robot interaction:

• Pepper assisting with daily tasks.
• TurtleBot3 delivering medication on schedule.
• Evaluated user satisfaction & effectiveness.

Autonomous mobile robot surveying an underwater pipeline to find breakages and return:

• Based on Pololu 3Pi+ platform.
• Advanced navigation in challenging environments.

Study on collision-induced odometry errors using accelerometer & encoder data:

• Designed experiments with enhanced robot platform.
• Characterized and mitigated error sources.

User study comparing NAO robot-guided meditation vs. smartphone video:

• Measured emotional state & stress levels.
• Analyzed impact of physical robot presence.