Projects Portfolio
The project is an implementation of Sreenath et al.’s modeling and control of a quadrotor with a cable suspended load. The system is modeled using the Newton-Euler approach and its dynamics are split into cable taut and nontaut dynamics with a continuous switching case between the two. The differential flatness properties of the quadrotor-load system …
Continue reading “Modeling and Control of a Quadrotor with Cable Suspended Load”
Objectives The aim of this project is to model a Quadrotor, evaluate different attitude controllers, and design two controllers to be tested on the Quanser 3-DOF Hover testbed. Neglecting the effects of drag, gyroscopic effects, bias voltage, saturation limit, disturbances, and nonlinearities can have serious implications on the system’s actual performance. Thus, controllers designed for …
Milestone I UAV Angular tracking of the stick via ROS UAV Position + Angular tracking of the stick via ROS Milestone II Design and implementation of the microphone array on the drone Simulation of the beamforming algorithm with noisy signals using a 4 microphones array Integration of the microphone array and live testing coming soon… …
Continue reading “Final Year Project – UAV Acoustic Source Localization and Tracking”
Problem: Find the unobstructed reachable space and maximize it. Solutions to this problem are implemented in rapid manufacturing, self-driving cars, UAV obstacle avoidance, and legged robotics. Solution: Maximize the obstacle-free space using Quadratic and Semi Definite Programming based on the maximal volume ellipsoid inscribed in a polyhedron. Algorithm based on the paper Computing Large Convex …
During this internship, the goal was to develop a delta robot to be used in pick and place applications. My tasks covered various topics including machine vision, workspace determination using inverse kinematics, market research, design of links, stress analysis on joints, and robot motion analysis. Here is the resulting final product:
As part of the course MECH 421 – Manufacturing Processes
Linear actuators from old malfunctioning inkjet printers Assembly of the components on an old printer body Testing the setup after linking everything to an Arduino Uno
Step 1 – 3D Print the general structure Step 2 – Assemble the steering mechanism Step 3 – Wire the motors, sensors and power Step 4 – Basic functionalities testing Step 5 – Add the delivery mechanism Step 6 – Last checks and calibration Step 7 – Competition day Step 8 – Innovation Award
This is a course project as part of MECH 332 – Mechanics of Machines SolidWorks 3D Model Actual Design
Yves Daoud 