Projects

A brief description for some of the projects I worked on are listed below. Descriptions of these projects can be found here. Some of these projects resulted in conference/journal papers, which can be downloaded from 'Publication' page.

Videos (simulations) are uploaded to YouTube. This avoid a lot of issues regarding the video codec to play the movie file. Please visit my YouTube page at: YouTube.

M.S. Thesis:

Thesis Title: "Decentralized Motion Planning within an Artificial Potential Framework for Cooperative Payload Transport by Multi-Robot Collectives".
- To develop a systematic way to formulate the dynamics equations for multiple mobile robots with formation control while avoiding collision with obstacle using potential field approach.
- Advisor: Dr. Venkat N. Krovi.
- Please visit: Thesis page.

Graduate Research Project - Musculoskeletal Analysis

Rehabilitation

Rehabilitation is a complex multifaceted process with complexity and variability that depends not only on human patients and/or specialized equipment but also on the nature of their functional interaction. Rapid and effective customization of the functional interactions between the patient and the rehabilitation device thus becomes critical for any rehabilitation program. Two principal dimensions govern the effectiveness of such functional interactions: geometric placement of user-device (ergonomics) and exercise selection and performance (regimen).

Download the conference paper from: PDF. View larger screen of this movie on: YouTube
- Advisor: Dr. Venkat Krovi.

Animal Gait

- A musculoskeletal simulation of a single crab leg motion to determine the optimal gait frequency.
- The 'hypothesis' is that: For locomotion that involves repetitive motion, the optimal gait frequency (lowest energy consumption) is one at the speed of it's propulsive structures (arms, legs, fins, wings) resonant frequencies.
- While there are many experimental / field data to support this hypothesis, we would like to see if the musculoskeletal analysis tool such as AnyBody could gives us such result.

View larger screen of this movie on: YouTube

Biped Locomotion

- Title: "Musculoskeletal Simulation-based Parametric Study of Optimal Gait Frequency in Biped Locomotion";
- Presented at The second IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics – BioRob 2008, Oct 19-22, Scottsdale, Arizona.
- Download the paper from: [ PDF ]; Two pages 'Poster Teaser': [ PDF ].
- Download the poster: [ PDF ], or 3072 x 2304 sized [ JPG ].
- Received IEEE BIOROB 2008 "Best Poster Award".

View larger screen of this movie on: YouTube


MAE 574 Virtual Reality Applications.


Final Project: "Tissue Cutting and Bleeding Simulation".
- Using GLUT and GLU, developed a tissue cutting and simulation program in Visual C++ environment. Texture mapping are included. The knife is controlled through either mouse or keyboard. The bleeding effect and tissue cutting effect are created in real-time, rendered using OpenGL.

Movie of this project can be view download from:
Please right click on the link, and select "save as" (Need "tscc codec" to play the movie):
1. Demo 1 [Full Ver. 42.3 MB]:download or view it on YouTube.
2. Demo 2 [Short Ver. 2.89 MB]:download or view it on YouTube.
- Download Project Report [PDF, 272KB]: download
- Download Executable (extract using WinRar, instructions included) [.rar file, 347KB]: download
- Advisor: Dr. Thenkurussi Kesavadas.

MAE 593 Maths Methods in Robotics.

Sample Homeworks:
1. Homework 02 Report [PDF, 1.34MB]: download
2. Homework 03 Report [PDF, 1.42MB]: download
3. Homework 04 Report [PDF, 2.53MB]: download

Final Project: "Motion Rate control of Nonholonomic Wheeled-Mobile Robot".
- Using Matlab, simulate motion of a wheeled-mobile robot for a given path. While taking into account the nonholonomic constraint, the motion of the wheel-mobile robot base and the two RR arms attached on it is controlled by optimizing the manipulability of the wheeled-mobile robot. Work is based on research done by Dr. Bayle.
- View larger version on YouTube.
- PPT with movies files created using MATLAB [9.12MB]: download
- Download Project Report [PDF, 212KB]: download

All Simulations in the final project:

Sim. 1

1. Robotic Project Case Study 01
- Nonholonomic Constraints: No.
- Error Correction: No.
- Initial Position Error: No.
- Note that the robot can move sideway, which is not allowed.
- Download avi [1.17MB]:download.
- View it on YouTube: [YouTube].

Sim. 2

2. Robotic Project Case Study 02
- Nonholonomic Constraints: Yes.
- Error Correction: No.
- Initial Position Error: No.
- Note that the robot can move sideway, which is not allowed.
- Download avi [1.51MB]:download.
- View it on YouTube: [YouTube].

Sim. 3

3. Robotic Project Case Study 03
- Nonholonomic Constraints: Yes.
- Error Correction: Yes.
- Initial Position Error: No.
- Note that the robot cannot move sideway.
- Download avi [1.90MB]:download.
- View it on YouTube: [YouTube].

Sim. 4

4. Robotic Project Case Study 04
- Nonholonomic Constraints: Yes.
- Error Correction: Yes.
- Initial Position Error: Yes.
- Note that the robot cannot move sideway.
- Download avi [2.65MB]:download.
- View it on YouTube: [YouTube].

Sim. 5

5. Robotic Project Case Study 05
- Nonholonomic Constraints: Yes.
- Error Correction: No.
- Initial Position Error: Yes.
- Note that the robot cannot trace the correct path.
- View it on YouTube: [YouTube].

Sim. 6

6. Robotic Project Case Study 06
- Nonholonomic Constraints: Yes; Error Correction: Yes; Initial Position Error: No.
- Optimize Manipulability Measure: Yes, with Bayle's Manipulability Measure.
- Note that the change of the Manipulability Ellipsoid.
- View it on YouTube: [YouTube].

Sim. 7

7. Robotic Project Case Study 07
- Nonholonomic Constraints: Yes; Error Correction: Yes; Initial Position Error: No.
- Optimize Manipulability Measure: Yes, with Yoshikawa's Manipulability Measure.
- Note that the change of the Manupulability Ellipsoid.
- View it on YouTube: [YouTube].

Sim. 8

8. Robotic Project Case Study 08
- Nonholonomic Constraints: Yes; Error Correction: Yes; Initial Position Error: No.
- Optimize Manupulability Measure: Yes, with Yoshikawa's Manupulability Measure - 'Square root of determinant of J transpose J'.
- Note that the change of the Manupulability Ellipsoid.
- View it on YouTube: [YouTube].

Sim. 9

9. Robotic Project Case Study 09
- Nonholonomic Constraints: Yes; Error Correction: Yes; Initial Position Error: No.
- Optimize Manupulability Measure: Yes, with Yoshikawa's Manupulability Measure - 'Square root of determinant of J transpose J'.
- Note that the change of the Manupulability Ellipsoid.
- View it on YouTube: [YouTube].

Sim. 10

10. Robotic Project Case Study 10
- Nonholonomic Constraints: Yes; Error Correction: Yes; Initial Position Error: No.
- Optimize Manupulability Measure: Yes (Yoshikawa's Manupulability Measure).
- Priority: 10% Platform Manupulability, 90% Robot Arm Manupulability.
- Note that the change of the Manupulability Ellipsoid.
- View it on YouTube: [YouTube].

Sim. 11

11. Robotic Project Case Study 11
- Nonholonomic Constraints: Yes; Error Correction: Yes; Initial Position Error: No.
- Optimize Manupulability Measure: Yes (Yoshikawa's Manupulability Measure).
- Priority: 90% Platform Manupulability, 10% Robot Arm Manupulability.
- Note that the change of the Manupulability Ellipsoid.
- View it on YouTube: [YouTube].

Sim. 12

12. Robotic Project Case Study 12
- Nonholonomic Constraints: Yes; Error Correction: Yes; Initial Position Error: Yes.
- Optimize Manupulability Measure: Yes (Yoshikawa's Manupulability Measure).
- Priority: 50% Platform Manupulability, 50% Robot Arm Manupulability.
- Note that the change of the Manupulability Ellipsoid.
- View it on YouTube: [YouTube].

MAE 609 High Performance Computing.

Course Homeworks:
1. Homework 01 Report [PDF, 57KB]: download
2. Homework 02 Report [PDF, 153KB]: download
3. Homework 03 & 04 Report [PDF, 73KB]: download
4. Homework 05 Report [PDF, 1.18MB]: download

Final Project: "Distributed Motion-Planning for Multi-robots Collectives".
- Download Final Project Report [PDF, 0.86MB]: download
- Advisor: Dr. Abani Patra.

MAE 529 Finite Element Method.

Sample Homeworks:
1. Homework 02 Report [PDF, 217KB]: download
2. Homework 03 Report [PDF, 1.12MB]: download
3. Homework 04 & 05 Report [PDF, 1.17MB]: download

Final Project: "Flexible Four-bar Mechanism".
- Download Final Project Report [PDF, 2.71MB]: download
- Advisor: Dr. Abani Patra.

MTH 538 Numerical Analysis II.

Sample Homework:
1. Homework #04 Report [PDF, 363KB]: download

Final Project:
- Report [PDF, 1.12MB]: download
- Advisor: Dr. Mikhail Khenner.

MAE 573 Graphics in CAD.

Course Projects:
1. Project 01: "Simple 2D CAD Drawing Software".
- Project 01 Report [PDF, 389KB]: download
- Executable [.rar file, 347KB]: download
2. Project 02: "Simple 3D CAD Drawing Software".
- Project 02 Report [PDF, 439KB]: download
- Executable [.rar file, 347KB]: download

Note: extract .rar file using WinRar, instructions included.


Final Project: "Animation of a Golf Ball Picking Wheeled Mobile Robot".
- Using Visual C++, Programmed a 3D wheeled mobile robot that can located the position of a golf ball being released by the user using a projectile, travel to the location, pickup the ball, travel back to its base and release the golf ball to a basket.
- Download Final Project Report [PDF, 3.0MB]: download
- Download Executable (extract using WinRar, instructions included) [.rar file, 347KB]: download
- Software Utilized: Visual C++ .Net with MFC application, rendered using OpenGL.
- Advisor: Dr. Roger Mayne.

Graduate Project: Multi-Resolution Haptic Models Simulation, Testing.

- Modify a Logitech MOMO Force-Feedback wheel, control its motor using ESC629 board that attached on a PC104 Industrial PC. Models were created using DYMOLA, incorporate into Simulink, and control using xPC Target. The testing is run in real-time.
- Tool Utilized: MATLAB, ESC629 Board, PC104, Simulink, xPC Target, Dymola, & Real-Time Workshop.
- Advisor: Dr. Venkat N. Krovi.

MAE 459 Senior Design Project.

Topic: "Web-Based, Self-Paced Virtual Prototyping Tutorials".
- A series of tutorials at different levels of difficulties was created and available online to allow students to learn virtual prototyping through the use of CAD modeling package, SolidEdge and functional simulation packages, Dynamic Designer.
- Received Fund: Gustav and Greta Zimmer Research Scholarship.
- Please visit: Solid Edge & Dynamic Designer Tutorials
- Download Project Report [PDF, 3.39MB]: download
- Advisor: Dr. Venkat N. Krovi.

MAE412/512 Mechines & Machanisms II.

Final Project: "Design and Analysis of a Catapult System".
- Build a Catapult System that can release a ball to a farthest distance, using a four-bar machanism.
- The models was designed. simulated, and optimized using ADAMS.
- Download Project Proposal [PDF, 286KB]: download
- Download Project Report [PDF, 2.00MB]: download
- Advisor: Venkat N. Krovi.

MAE 562 Analytical Dynamics.

Final Project: "Bicycle Equation of Motion using Kane's Equation".
- Download Final Project Report [PDF, 248KB]: download
- Software used: Autolev
- Advisor: Dr. Elbert L. Marsh.

MAE 571 System Analysis.

Final Project: "Controllability of an Underactuated Three-links Manipulators".
- Download Final Project Report [PDF, 192KB]: download
- Advisor: Dr. John Crassidis.

MAE 550 Optimization in Engineering Design.

Sample Homeworks:
1. Download Homework 01 Report [PDF, 68KB]: download
2. Download Homework 02 Report [PDF, 210KB]: download
3. Download Homework 04 Report [PDF, 117KB]: download
4. Download Homework 06 Report [PDF, 190KB]: download

Project: "Optimization in Bi-Polynomial Data Fitting method".
- Implement optimization algorithm using MATLAB Optimization Toolbox to obtain an optimized location of the transition point of the Bi-polynomial Data Fitting method that used in a study for the data obtained from an experiment of a Magnetostrictive thin film under applied magnetic field.
- Download Project Report [PDF, 0.50MB]: download
- Software Utilized: MATLAB Optimization Toolbox.
- Advisor: Dr. Christina L. Bloebuam.

MAE 505 Mechatronics.

Sample Lab Reports:
- Download Lab 1 Report [PDF, 0.70MB]: download
- Download Lab 2 Report [PDF, 0.80MB]: download
- Download Lab 3 Report [PDF, 0.60MB]: download

Final Project: "Intelligent Temperature & Distance Sensing Robot".
- Examine the development and implementation of a distributed sensing and control framework for a system comprised of the mobile robot and the base station, which are coupled together by wireless IR and RF communication.
- Tool Utilized: Basic Stamp, PBasic language.
- Download Final Project Report [PDF, 1.10MB]: download
- Advisor: Dr. Venkat N. Krovi.

MAE 543 Continuous Control.

Final Project: "Control Handbook".
- Prepare an Handbook that covers all the materials, topics that are useful in Continuous Control Theory. From mathematical background to applications.
- Download Project Report [PDF, 1.18MB]: download
- Advisor: Dr. Joseph D. Mook.

MAE 336 Heat Transfer.

Final Project: "Design of a Heat Exchanger for Computer Hubs".
- Design a compact box used for holding stacks of Computer's Hubs. The objective is to minimized the space used while maximizing the heat flow inside the box. This box is designed for an high temperature environment such as in tropical country.
- Advisor: Dr. Joseph C. Mollendorf.

MAE 431 Energy System.

Presentation: "Introduction to Brayton's Cycle".
- Download Presentation Report [PDF, 476KB]: download
- Download Presentation Slides [PDF, 0.9MB]: download
Research Paper: "Entropy and the Second law of Thermodynamics".
- Download Research Paper Report [PDF, 0.9MB]: download
- Advisor: Dr. David Blackman.

MAE 364 Manufacturing Processes.

Final Project: "Analysis of Engine Block's Manufacturing Processes".
- Evaluate different manufacturing processes used to manufacture different parts of an Engine Block. Areas of analysis includes stress, cost, precision, quantity, and manufacturing processes.
- Download Project Report [PDF, 2.60MB]: download
- Advisor: Dr. Thenkurussi Kesavadas.

MAE 415 Analysis of Structures.

Final Project: "Structural Analysis of a Light Weight Aircraft".
- Perform Finite-Element Analysis (FEA) for a light-weight aircraft, under given loads.
- Construct a simplified 3D model for the aircraft structure using VirtualAnalysis 3D FEA package, and study the effect of the load on different parts of the structure.
- Download Project Report [PDF, 1.20MB]: download
- Advisor: Abani K. Patra.

Poster Presentation.


[4]. Title: "Musculoskeletal Simulation-based Parametric Study of Optimal Gait Frequency in Biped Locomotion"
- IEEE BIOROB 2008 Poster Presentation, Scottsdale, Arizona, Oct. 19-22, 2008.
- Download the conference paper from: [ PDF ].
- Two pages 'Poster Teaser': [ PDF ].
- 36' x 48' size [ PDF ], or 3072 x 2304 size [ JPG ].

[3]. Title: "Decentralized Swarming by Robot Collectives"
- Sigma Xi's Annual Student Research Day (Poster) Competition, 24 April 2007.
- SEAS Graduate Research Day & Open House Poster Competition, 18th April 2007.
- 20th Annual Computer Science & Engineering (CSE) Graduate Conference, 13 April 2007.
- 1st Mechanical & Aerospace Engineering Graduate Research Poster Competition, 11 April 2007.
- 36' x 48' size [ PDF ], or 3072 x 2304 size [ JPG ].

[2]. Title: “Virtual Musculoskeletal Analysis-based Refinement of Rehabilitation Programs”
- Sigma Xi's Annual Student Research (Poster) Competition, 26 April 2006.
- 2006 Robotics: Science and Systems Conference Poster Presentation, 16th-19th, August 2006.
- 36' x 48' size [ PDF ], or 3072 x 2304 size [ JPG ].

[1]. Title: "Decentralized Motion Planning For Cooperative Payload Transport by Robot Collectives”.
- Sigma Xi's Annual Student Research Day (Poster) Competition, 26 April 2007.
- 36' x 48' size [ PDF ], or 3072 x 2304 size [ JPG ].

last update: 25 October 2008.