PROJECTS

Haptics Project - Tactile Sensing    - (Dec 2024 - Present)

Developing a tactile sensing project to understand haptics and explore sensor fusion techniques:

Current Sensor Stack:

1) IMU - MPU6050

2) IR Temperature Sensor - MLX90614

3) Capactive Sensors - exploring flexible sensor options

4) Monitoring Epaper Display - SSD1680 Display Driver 

Possible ROS integration for control and visualisation tasks

DMA Controlled LightFlow    - (Fall 2024)

This project uses the DMA on the STM32F401RE microcontroller to send the varying duty cycle data from the memory of the STM32 to the Timer peripheral for controlling the WS2812B LED strip.

FreeRTOS with ESP32  - (Summer 2024 - Fall 2024)

This project covers set of  mini projects covered in Shawyn Hymel's Intro to RTOS course. Here are the challenges covered:

DC Motor Control - Intro to Mechatronics (ME333 Winter 2022) 

About:

Implemented a DC Motor Controller using PIC32 Microcontroller and Raspberry Pi PICO as part of the final project for ME333 Intro to Mechatronics at Northwestern. Developed interrupt functions using C programming to generate PWM with required duty cycle. Built a menu interface to set the motor in different operating modes and to tune the PI gains for the current controller using C programming and python.


Skills and Softwares used : C programming, PIC32, Raspberry PI PICO

Github link: https://github.com/bhagyeshagresar/DC_motor_control_project

Advanced Mechatronics  - Advanced Mechatronics (ME443 Spring 2022)

About:

In the ME433 Advanced Mechatronics course, I implemented Digital Communication Protocols such as I2C, UART and SPI. Performed Signal Processing,  worked on Neopixels, Pi Camera, IMU and LCDs. Implemented 3D Printing and PCB Designing.

Skills and Softwares used: C, PIC32, I2C, UART, SPI, Raspberry Pi  PICO, PICO Camera

Github link : https://github.com/bhagyeshagresar/me433_advanced_mechatronics

Marker Assembling Robot  - Embedded Systems in Robotics (ME495 Fall 2021)

About: 

This project was part of ME495 Embedded Systems in Robotics course at Northwestern University. The project involved using Franka Emika Panda Robot to assemble dry markers with their caps and place them in an assembly area. In this project we used Realsense Camera to do object detection for different colored markers. For trajectory planning and actuating the robotic arm, Moveit Python API was used. State Machine developed using the SMACH ROS Package was used to control sequence of actions needed to be performed by the robot.

Skills and Softwares Used:  ROS, Moveit, Python, OpenCV

Github link :  https://github.com/bhagyeshagresar/franka_markers_project

EKF SLAM from Scratch  - Sensing, Navigation and ML for Robotics (ME495 Winter 2022)

About:

Implemented Extended Kalman Filter SLAM algorithm from scratch using C++ and ROS  on Turtlebot3.  

Developed C++ libraries for implementing transformations and calculate forward and inverse kinematics. Built ROS packages to compute Odometry, calculate and visualize sensor measurements. Built my own simulation to visualize the robot , obstacles, the Laser Scan and the walls.  In order to demonstrate the differences in calculation of kinematics, odometry and estimate of the state using SLAM,  The simulation consists of 3 different robots. The red robot moves based on just the simulated kinematics. The blue robot updates its state based on the encoder readings (odometry). The green robot uses EKF SLAM to get the latest configuration of the robot.  


Skills and Softwares used: ROS, C++, Git, Docker

Github link: https://github.com/bhagyeshagresar/EKF_SLAM_on_turtlebot3


Kuka youBot - Pick and Place Robot  - Robotic Manipulation (ME443 Fall 2021)

About :

 In this project Kuka youBot Robot Manipulator was used in CoppeliaSim simulator to pick and place a cube from one place to another. The three main components of the project were Trajectory Generation, Feedforward plus PI Feedfack Control and State Estimation of the Robot after certain time step.


Skills and Softwares used: Python, CoppeliaSim

Github link: https://github.com/bhagyeshagresar/Kuka-youBot-Mobile-Manipulation


MoveIt Motion Planning Project  using HDT Adroit - Independent Project (Spring 2022)

About:

The aim of this project was to use Adroit Robot Arm and build a pyramid of cylinders. This is a motion planning task which is achieved by using ROS and Moveit on HDT Adroit. 

Skills and Softwares used : C++, MoveIt, ROS

Github link: https://github.com/bhagyeshagresar/me499_project

Automating the process for Implant Manufacturing - Industry 4.0 Manufacturing (ME395 Winter 2022)

About:

Automated the sealing operation of tubes required for HIV Drug Implant using 6 DoF Robot Arm.  

Used Arduino to activate the action groups and automate the sealing operation.