Vraj Mrudang Parikh

Electro Pneumatic Quick Shifting for FSAE Vehicles

Department of Mechanical Engineering
Indian Institute of Technology, India

The project aims to develop a seamless Electro Pneumatic Shifting System for FSAE cars. I developed the electronic circuit controlling this system using ATMega 16 and Arduino. It has been designed so as to support on-site tuning as well as launch control. I also designed a custom two stage Air preperation unit to increase the efficiency of this mechanism. It costs one-tenth of the commercially available systems. Currently modelling the air flow as a thermo-viscous flow to find out a mathematical model for the amount of air used per shft.

Report: Electro-Pneumatic Shifting for K3. (Report in Progress)

• August 15' - March 16'

Eccentric Differential Mounts for K4

Aerial Robotics Kharagpur
Centre for Excellence in Robotics, IIT Kharagpur

I am attempting to make a simple, strong yet hassle free mechanism for Securing the Differential in it's place as well as acting as a chain tensioning mechanism for a formula SAE car, K4, the season 17-18 car of TeamKART. Designed these on SOlidWorks, optimized on Hyper Works after analysis on ANSYS. The previous system weighed 4.5 kgs, the currently designed system by me would weigh under 2 kgs, with the same safety factor

Electronic CUT Shifting with Launch Control

Kharagpur Automobile Racing Team
Mechanical Department, IIT Kharagpur

I am developing an inhouse Electronic shifting system for FSAE vehicles. I aim at making this an inexpensive yet very robust kit. Will be using an Electronic Solenoid Actuator with 4 cm stroke and 200N max force, with comparatively low loading time. Currently developing the circuit for the same to be compatible with MoTeC RCU to implement CUT shifting and launch cotrol. Expecting to complete this by February 2017.

Reports:

• Web-Link
• August 16' to Present
• Github

Steering System for I Bike, A low Cost Autonomous Bicycle

LBS Hall IIT Kharagpur
General Championships, IIT Kharagpur

The project aims to develop a low cost mechanically balanced autonomous bicycle to solve the last mile transport problem. I worked on the steering system of the bicycle. Developed a mechanical clutch nut system for switching between manual and autonomous mode. Also used sprocket and chain drive system to couple the steering with a DC stepper motor which acted like a servo. Feedback was taken from an IR based sensor located at the baseline of the bike.

Report Low Cost Autonomous Control and Navigation of a Mechanically Balanced Bicycle with Dual Mode of Locomotion (Link)

• January 15' to April 15'

Synthesis of a Chebyshev Plantigrade Machine

Term Project
Department of Mechanical Engineering

I synthesized a model for the famous Chebyshev Plantigrade Machine which can convert rotational moion to linear motion of desired magnitude. This can be used to make legged robot cotrol easier, where many DOF are not required. This mechanism was then used to make a machine to walk on sand.

Report: Chebyshev Plantigrade Machine (Report in Progress)

• April 16'

Self Balancing Robot

IEEE Winter Workshop, IIT Kharagpur

The project proposed a two wheeled robot using 8-bit micro-controllers which can balance itself and then move in all directions on even and level terrain. The complete mechanical deisgn for the IMU position was optimised for low cost embedded devices, to get maximum resolution of angular displacement.

I developed and tested the PID loop used for provding stabilizing velocity to the wheels. Data source was IMU-6050 and the controlled parameter was the DC motor with a feedback system. Implemented complementary filter to get the angular displacement from the IMU data

• December 14'

Corridor Following using SONAR

Technology Robotix Society
IIT Kharagpur, IN

The project aimed to develop a low cost robust lane following system to be used in robotics competitions

I developed an algorithm for ensuring that the robot always stays near the center of the lane. Also implemented an algorithm to ensure 90 degree turns without the use of IMU or feedback from motor. Controlled speed of motor using ultrasound map data.

• August 15'
• Github

Elderly People Helper (ELPER)

IEEE SMB Hackathon, IIT KHaragpur

The project aimed at making a comprehensive and robust step-counting and health monitoring device for the elderly. The device featured a robust step counting algorithm, an emergency detectio system, a fall detection system and an indoor navigation module. This device can be monitored through an Application developed on MIT App Inventor. I was incharge for the indoor navigation mechanism and the android App developemnt..

This project won silver medal at the Hackathon, and the indoor navigation was highly commended upon. Also this device has been offered a place i the commercial market by multiple commerical backers

• August 15'

Motion Mimicing Robot

IEEE Winter Workshop, IIT Kharagpur

This robot was an extension of the ELPER project. The robot traveeleda distance equal or proportional to the distance travelled by the user. I was a mentor at this workshop and alongside making this robot, i taught 30 freshmen and sophomores how to make the same robot, from scratch in a 7 day rigorous workshop

• December 15'
• Documentation

Obstacle Avoidance And Control On Autonomous Bicycle

LBS Hall of Residence, IIT Kharagpur

Created Depth Map using SONAR, in order to locate the obstacles in the way of the bicycle and then wrote an algorithm to avoid the obstacle and later rejoin the original path in order to reach the preset destination. Did triangulation using SONAR, to create an obstacle map to avoid them. Due to hardware restrictions had to switch to a simpler model using two ultrasound sensors, aided by an onboard camera. Odeometry was performed using hub motor for locomotion.

This project won the KPIT Sparkle 2015

• Documentation
• January 15' to September 15'

Autonomous Campus Rover

MakerSpace, IIT Kharagpur

This project aims at making a cheap autonomous Campus Rover, like the erle rover. I will be responsible for manufacturing the chassis and writing the control for the speed of the wheels.

• August 16' - Present

Hobby Robotics Projects

IIT Kharagpur

Hobby Robotics is one of my favourite past time which played a prime role in nurturing my interest in robotics. I have built multiple small robots for tech-fests in IIT Kharagpur or to teach robotics to students on workshops and at times even just to learn to use some sensor modules.

Some of the robots that I have built are:

• Ball Follower - Robot that can follow a ball from on-board camera feed.
• Stair Climbing Robot - A robot that can climb up and down stairs.
• Wrist Movement Controlled - Robot cabale of being controlled using wrist movement using accelerometer on the wrist or even using android phone.
• Person Follower - Equipped with the Microsoft Kinect, the robot could follow a human.

Close Project

Warehouse

ROBOTIX 2016

Warehouse was the semi autonomous event held at ROBOTIX 2016. I co- conceptualized the event and looked after its execution on the ground.

• January 16'

Anti-Virus

ROBOTIX 2017

Anti-Virus is the Autonomous Event that is going to be held in ROBOTIX 2017. It involves localization and data decryption in its problem statement. I am the chief designer and Head for this event

• September 16' - Current

Hobby Coding Projects

IIT Kharagpur

Hobby Coding is my way of cooling off. I am not an avid coder but enjoy coding some twisted problem statements now and then. They keep me in touch with the optimization methods and a little bit of algorithms. Overall coding is fun

Some of my projects are:

• Keyboard Optimization Suite - A program to optimize keyboard layouts on touchscreens, using keystroke dynamics and statistics.( Link to Source )
• ADVGFX Cipher Suite - A program to encode messages using the said cipher.( Link to Source )
• Chrome Dashboard Using C++. (Link to Source)
• Some Fun Curves and 3D models on C++. (Link to Source)

Close Project

Quadrotor Systems Engineering

Intern, Systems Engineering, Asteria Aerospace Pvt. Ltd., Bengaluru, IN

As a Systems Engineering intern accomplished the following tasks:

• In - FLight Stabilization of Quadrotors - Analyzed the effect of PID values on system performance, simulated mathematical models to optimize the tuning parameters for a long range, endurance Quad
• Hot - Swappable payload design for Fixed Wing UAV - Worked on the design process for a hot - swappable payload with 2 Degrees of Freedom for a UAV
• PX4 Flight Stack Testing - Tested the inflight parameters for a PX4 flight stack as opposed to a custom ArduCopter 3.3.2 Firmware, also built a Quad from scratch using Pixhawk 2 within 72 hours, ready for Autonomous outdoor missions

P.S. : Gained Significant flight esperience on DIY Quads

• November 16' - January 17'