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A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.
Pages
About Me
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Posts
Future Blog Post
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Blog Post number 4
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Blog Post number 3
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Blog Post number 1
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portfolio
Geometric 3D reconstruction augmented with Deep Learning features
Reflecting on the moment I captured this photo, I remember being struck by the beauty of the landscape and the joyful presence of my dog Simba. But now, when I look back at the picture, the vividness of that day escapes me. The depth and scale of the scenery, the true size of my fluffy companion—these details are lost in the flatness of the 2D image. It’s a common dilemma with traditional photography. This realization spurred my interest in developing methods to transform such 2D images into 3D models, allowing us to relive our memories with a richness that matches the original experience. My work in geometric 3D reconstruction is a step towards this future, where capturing life in all its dimensions could be as simple as taking a picture with our phones..
Catching a Moving Target: My Venture into Dynamic Path Planning
Delving into the realm of dynamic environments in my Planning and Decision-making in Robotics course, I faced the intricate challenge of intercepting a moving target—a task that pushed the boundaries of strategic robotic planning. My solution involved A* search and the implementation of backward Dijkstra based heuristic calculation in C++, focusing on optimizing performance times and memory efficiency..
Comparing Four Sampling-Based Path Planners for an N DOF Robot Arm.
In this project, I confronted the dynamic challenge of sampling based path planning for a robotic arm. This required precise path planning under constraints, for which I developed a sophisticated C++ planner.
Varied Bite Acquistion in Robot Assisted Feeding
A major chunk of my research at the Robotic Caregiving and Human Interaction Lab, undertaken at Carnegie Mellon University, focuses on enhancing the capabilities of robot-assisted feeding systems. Aimed at improving the quality of life for individuals who struggle with self-feeding, this research develops a control primitive enabling a robotic arm to adeptly scoop varying amounts of food.
Developing a Symbolic Planner for Automated Action Sequencing
My crack at implementing a generic symbolic planner involved constructing a planner capable of parsing an environment’s symbolic description and generating an actionable sequence to transition from an initial state to a goal. The environment, exemplified by the Blocks world from class, featured a set of objects and a table with specific initial and goal conditions that my planner had to navigate.
Automatic Speech Recognition with Synthetic Speech
Could Synthetic Speech revolutionize Automatic Speech Recognition?
Multi-Goal Grasp Planning for Mobile Manipulators in Cluttered Environments
This project presents a grasp planning system for 2D planning of a robot arm and the Stretch mobile manipulator, designed for handling multiple objects on a table. It incorporates Multi Goal RRT* with a legible costmap, motivated by the gap in existing methods where the most probable grasp might require a more costly overall path. The system aims to enhance the robot’s capability in choosing the best grasping paths in cluttered environments and improve safety and intuitiveness for collaborative use.
Comparative Study of SAE 8620 and EN 36C in an Automotive Differential
This research provides a comprehensive comparison of two case hardening alloy steels, SAE 8620 and EN 36C, in the context of their application in automotive differential gearboxes. The study aims to evaluate and contrast these materials based on various performance metrics crucial for automotive applications.
publications
COMPARATIVE STUDY OF THE USAGE OF SAE 8620 AND EN 36C IN AN AUTOMOTIVE DIFFERENTIAL
Published in GearSolutions, 2022
Using a differential gearbox design, a comparison between two popular case hardening alloy steels shows that EN 36C offers significantly better tool strength, wear resistance, and fatigue properties.
Recommended citation: Saurav Kambil, Ankur Miglani, “Comparative study of the usage of SAE 8620 and EN 36C in an automotive differential.”.
talks
Talk 1 on Relevant Topic in Your Field
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Conference Proceeding talk 3 on Relevant Topic in Your Field
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teaching
24262 - Mechanics II: 3D Design - Prof. Chris McComb
Undergraduate course, Carnegie Mellon University, Mechanical Engineering, 2023
Course Description
This course, the second in a three-semester sequence, blends mechanical principles with hands-on design projects. Students advance from 2D statics to analyzing 3D engineering systems, focusing on connections, internal loads, and friction. Topics include shear stress, shear strain, torsion, multiaxial stresses, stress transformations, and simple failure criteria. The curriculum emphasizes teamwork, hands-on and computational design projects, particularly in stress and failure analysis of 3D systems. Key skills developed include sketching ideas, interpreting and creating engineering drawings, CAD modeling, CAE tool-based performance analysis, material and manufacturing selection, and prototype creation and testing. The course aims to build comprehensive design skills, integrating theoretical knowledge with practical application.
24370 - Mechanical Design: Methods and Applications - Prof. Rahul Panat
Undergraduate Course, Carnegie Mellon University, Mechanical Engineering Department, 2023
Course Description
This course represents the culmination of a three-semester sequence integrating the principles of mechanics with practical design projects. Building upon the foundation laid in the preceding courses, it offers an in-depth examination of load conditions, stresses, and deformations in essential machine elements like shafts, gears, power screws, and fasteners. Students delve into the design and application of these components, considering static and dynamic failure modes, material properties, manufacturability, and cost-effectiveness. Theoretical concepts are linked with analytical methods, computational tools, and real-world design considerations. Academic understanding is evaluated through homework, exams, and group projects, culminating in a comprehensive learning experience.