Engineering Projects
I programmed a flight controller from first principles for a quadcopter system. In this, I modelled the physical dynamics of the system, the state-space equations, PIDs, Kalman filters, electrical architecture, sensor fusion, etc. All this amounted to roughly ~2500 lines of code in C++. The details are attached in a powerpoint on the next page. I am currently in the testing and evaluation stage of the design, tuning and changing control constant until I get stable flight.
In my Master's program, I built a seed tracking system using Computer Vision techniques for the company John Deere under the supervision of a PhD student. The system was able to real-time track the trajectories of moving particles in a 3D landscape.
In my senior capstone project, I worked on a team of 6 to build a system that planned to vertically and softly land a rocket body from a free-fall scenario. Our design entailed a deployable quadcopter setup to catch and control the movement of the rocket and deployable landing legs to hold up the rocket at the ground.
The landing legs, quadcopter arms and additional components were designed on solidworks and built from PLA and a ultra-high-strength Continuous Fiber for the parts requiring higher material strength.
Additionally, the control system was built using a Pixhawk Flight Controller and a Raspberry Pi connected to the ground station via an SSH signal in order to give commands to the rocket landing system. Using the Python DroneKit Repository we could write programs to run different types of missions with the Rocket Lander.
