robotics and mechatronics

The BlackBoat project, initiated in September 2021, focused on innovating remote control capabilities for autonomous pump-jet boats. Employing advanced remote control systems, it ensured precise navigation, maintaining a consistent trajectory in challenging water currents at speeds exceeding 15 km/h. Strategic surface treatment protected onboard electronics, laying a foundation for enhanced remote-controlled marine systems.

Conceptualized a rendezvous and landing mission to comet 46P/Wirtanen. Preliminary trajectory designed using methods of Hohmann transfer and Lambert conics. Landing approach designed through successively shrinking triangular orbits, followed by semi-circular arcs and a terminator circular orbit. Carried out spacecraft system integration, allocating space for necessary payloads and subsystems.

An automated TIG welding system has been designed with a robotic arm featuring precise degrees of freedom, cross slide, carriage, manipulator arms, nozzle, and bed. The machine is coded for actions like rapid traverse, linear and circular motion, and rotation of the welding head. Actuation systems are modeled using Matlab Simulink with PID control. SolidWorks integration aids in design, and the simulation offers a 3D representation. The system finds applications in seam welding fuselage and pressure vessel welding in industries like power plants and refineries.