SAPassembly line integration
Developed a contextual extraction system to understand the generated SAP error codes and relay the information to the conveyor system of the assembly line using a custom built communication interface. Observed improved traceability of the assemblies produced on the line. 

Vision based burr detection for robotic fettling process
Developed a vision based burr detection system which alerts the operator if the burr size crosses a predefined threshold value. This prevents any further damage to the abrasive cutter setup. 

Vision based petrol tank model identification system
Developed an endtoend vision based flexible model identification system. The stateofthe art resnet models from Pytorch are used for identification of the petrol tanks. The entire solution is developed using Flask, a Python based rapid web application deployment package. The model is made modular to allow for online addition of new tank designs. A faster inference time and a high frame rate are achieved by optimising the model through quantisation. 

Vision based weld classification system on the edge
Robust vision based classification system for different welding of mufflers. Developed an inhouse low cost deep learning based machine vision solution using an edge device and a webcamera. Pytorch's mobilenet_v2 improves the frame rate at the cost of classification accuracy between the components when implemented on a resource constraint edge devices. Inference of the serialised model using torch library on C++ further improves the frame rate. 
Accessible topology optimisation
Implementation of the 88 line Matlab function "top88" in C++ using the Eigen library. 

Dual Quaternion Control
This project aims to explore the control of a manipulator with dual quaternion representation. Also studies the effects of choice of error to be controlled and its implication on the physical robot. 

The Rising Camel Problem: Trajectory optimisation of parallel manipulators
Considering a quadruped robot in its quadruple stance phase as a parallel manipulator, we attempt to solve the energyoptimal control from sitting to a standing posture, also known as the rising camel problem. The idea of powerlifting is also explored. 

Kalman Filter Implementation
Implementation of an Extended Kalman Filter (EKF) on the data obtained from a nonlinear chemical plant model. 

Parametric Study of Energy Optimal Control of a 2R Manipulator
Implementation of time and energy optimal control on a 2R planar manipulator and study the effects of geometric and inertial parameters on the control law. 

Design of a 5bar parallel manipulator
Optimal design of a 5bar parallel manipulator with respect to the Global Conditioning Index (GCI), Measure of Manipulability (MoM) and maximisation of the Safe Working Zone (SWZ) using NSGAII 
CartPole Problem Revisited: Trajectory Optimisation and more
A compilation of a few methods to control the cartpole system and answer some questions on the way. 

Boid simulation in C++ and OpenGL
Simulating the naturally emergent flocking behaviour as proposed by Craig Reynolds in C++ using OpenGL. 

Simulating the game of life in C++
The game of life is an example of how complex behaviour can emerge from a simple set of rules. 

Dzhanibekov effect: Simulations in Fortran vs C++
The idea of this tutorial is (1) To simulate the Dzhanibekov effect (2) Compare the speed and accuracy of simulation in C++ and Fortran. 

Index Theorems
Index theorems gives us a qualitative way to understand the vector field of a dynamical system, i.e., to know if there is a possibility of a closed orbit or to know what type of fixed points are possible within a curve etc. 

Flexible rotating body simulation
Simulation of the Lagrangian formulation of a flexible rotating beam modeled using Finite Element Method (FEM). 