Projects

AutoPort

Autonomous robot for indoor navigation and delivery.

Ballerina Cappucina

Omnidirectional robot that autonomously collects and sorts colored objects using custom hardware and computer vision.

CustomBoot-32

STM32+ESP32 development board with custom bootloader and OTA support.

EchoCore

B-mode ultrasound imaging and 16-QAM digital communication on FPGA using Verilog.

ESP32 Flight Controller

Custom ESP32-based quadcopter flight controller with stable autonomous flight.

FlexSonic

Smart glove that translates hand gestures into audible speech for the speech-impaired.

FPGA-Based Tetris

Tetris game rendered entirely in Verilog on a BeagleVFire FPGA.

GantryMate-200

Gantry-style CNC system for precision motion control, mechanical design, and firmware integration.

Handheld Gaming Console

Custom STM32-based board running a Snake-style game on LCD with bare-metal C and custom I²C drivers.

NovaPI

Bare-metal OS on Raspberry Pi with HDMI output and Pong from scratch.

Quad-Move

PPO-based gait policy trained in MuJoCo and deployed on a low-cost quadruped.

RC Ornithopter

Remote-controlled, bird-scale ornithopter with bio-inspired design.

Re:Fine

LLM alignment using dataset-free RL combining synthetic data generation, RULER evaluation, and GRPO optimization.

Robot Learning from First Principles

Simulation and real-world control of a SO100 robotic arm using vision, language, and machine learning.

RubikNet

Deep Reinforcement Learning for Rubik's Cube solving with a stepper motor apparatus.

Stewart Platform

6-DOF Stewart Platform for precise motion control, kinematics analysis, and real-time actuation.

Synapse32

Direct-mapped and set-associative cache subsystem for an existing RISC-V pipeline to reduce memory-access latency.

T5 Grammarator

Fine-tuned T5 transformer for grammar correction served through a FastAPI endpoint.

ApexCore

Single-core CPU based on RV32 ISA.

Convolution on FPGA

Implementing convolution algorithms on FPGA.

EMG Armband

Predicts hand gestures using EMG sensor data and machine learning for precise gesture recognition.

Gymmaster

Reinforcement learning concepts implemented through various control problems.

Gyro Glider

Self-balancing bot using two BLDC thrusters and N20 wheel motors.

LQR Balancer

Self-balancing Wall-E bot using Linear Quadratic Regulator.

Micromouse

Autonomous robot that navigates and solves a 16×16 maze in the shortest possible time.

Raytracer from Scratch

Raytracing application built entirely from scratch using C++ and OpenGL.

Titan Quadruped

Quadruped robot legs designed in CAD and tested against torque, load, and shock capacities across various terrains.

Video Card on FPGA

FPGA-based video card capable of displaying images with up to 64 colors through an analog VGA interface.

Vision Transformers from Scratch

ViT model from scratch with image captioning using Vision Transformers and computer vision.

Voice-Video-Manipulator

Processes camera input to calculate object coordinates and guide a manipulator to that point in space.

ctRL

Classic reinforcement learning algorithms applied to control problems, deployed on RPi.

DSP on FPGA

Canny edge detection algorithm implemented on FPGA.

EMG Armband

Wearable bracelet detecting hand movements and orientation via forearm muscle impulses.

GestureSense

Webcam-based app navigation and computer interaction using hand gestures.

GPGPU with CUDA

General-purpose GPU computations using CUDA C++ for image pipeline algorithms.

LangCraft

Custom programming language from scratch with lexer, parser, AST, and tree-walk interpreter.

Leg of the Titan

Quadruped leg design tested in simulation and manufactured, including Gazebo integration.

Manipulator on Dynamixel

Controlling and designing a 3-DOF manipulator with three Dynamixel motors.

MazeBlaze

Line-following and maze-solving PID bot that finds the shortest path in a given maze.

ML Model on FPGA

CNN-based ML model for MNIST implemented on FPGA in Verilog.

OpenGL 3D Game Engine

3D Chess game built using OpenGL libraries.

RISC-V CPU

RISC-V 32IM ISA based CPU implementation.

ROSfunc

ROS-like publisher-subscriber communication model using functional programming.

Rotary Inverted Pendulum

Stabilised inverted pendulum using LQR with optimally controlled feedback gains.

Scene Graph Generator

Detects objects and their spatial relations in images as a graph data structure.

Soft Quad

Soft-material quadruped robot with obstacle avoidance using sensors and intelligent algorithms.

WriteMate

RNN-based model converting text into handwriting.

32-bit RISC-V CPU on FPGA

RISC-V CPU implemented on Cyclone II FPGA.

Alfetta

ESP32-based self-balancing and line-following bot using PID via ESP-IDF and FreeRTOS.

Balance on Wheels

Variable height self-balancing and jumping robot.

Copter Control

Control system for hexacopter with co-axial tilt-rotors in simulation.

Drone Terrain Reconstruction

3D reconstruction and meshing of terrain data collected from a drone.

ESP32 Group Chat

Self-healing and self-organising mesh chat network between 3 ESP32s.

ESP32 Radio Transceiver

Long-range transceiver using ESP32 boards for control commands and messages.

GPGPU with GLES

General-purpose GPU computations on BeagleBone Black using GLES 2.0.

Image Pipeline

Raw sensor image converted to meaningful output through an image pipeline.

Image Processing on FPGA

JPEG encoder algorithm implemented in Verilog on FPGA.

Image Segmentation

K-means clustering based image segmentation implemented from scratch.

Le-Transpiler

Toy compiler converting custom language PYLOX to equivalent C code.

LQR Inverted Pendulum

Self-balancing inverted pendulum using Linear Quadratic Regulator.

Luke Arm

Low-cost human-emulating robotic hand.

MazeBlaze v2

Maze-solving bot that finds the shortest path using PID control.

Neural Style Transfer

Blending content and style images using neural style transfer.

Pothole Detection

Oak-D camera depth map for pothole detection on roads.

Racecar

Obstacle-avoidance and line-following racecar using ODG-PF and OpenCV PID.

RL-Inator

Hands-on project applying Reinforcement Learning, Linear Algebra, and Robotics.

SLAM OpenCV Navigation

Gazebo/RViz bot that maps its environment and navigates while avoiding obstacles.

Smart Camera Stand

Self-sufficient phone stand that tracks and follows a person in 2 axes.

Wall-E on FPGA

Wall-E bot using FPGA as brain for line following and self balancing.

32-bit RISC-V CPU Core

32-bit RISC-V processor core in Logisim capable of running Fibonacci series.

ARA — Deep Learning Library

Deep learning library supporting binary classification model training.

Bluetooth Joystick

2-axis Bluetooth game controller using ESP32 and joystick module.

Delta Pick and Place

Bin packing algorithm simulation for a pick-and-place robot.

Drone Design, Simulation and Control

SolidWorks drone design, Gazebo simulation, and hovering control system.

Email TUI

Terminal-based email client built with VMime and FTXUI libraries.

Enter Darknet

Darknet framework exploration and multi-layer ResNet image classifier training.

ESP32 Audio Router

Audio router with 3.5mm jack support on ESP32.

ESP32 Chat over WiFi

Chat communication between two ESP32 boards using ESP-NOW protocol.

Gesture Detection and Replication

Gesture detection with OpenCV and replication on CoppeliaSim human arm model.

Image Grouping

Image segregation using ORB feature extraction and K-Means Clustering.

Live CCTV

Smart CCTV that stores only relevant footage and classifies objects in the frame.

Micromouse

Autonomous self-contained bot navigating to the centre of a 16×16 maze.

Noise Reduction

Environmental noise reduction from audio signals using DSP in Python.

Quadruped Gait Analysis

Gait analysis and teleportation of a quadruped bot using ROS.

RL Agents

Reinforcement learning agents implemented for OpenAI Gym environments.

Sketch-2-Paint

CGAN model colorizing 256×256 black-and-white sketches.

Wall-E Simulation ROS2

Self-balancing and line-following Wall-E bot simulation in Gazebo and ROS2.

Air Mouse

Cursor movement and click control using ESP32 and MPU sensor.

Automated Parking System

4-wheeled bot parking parallelly and perpendicularly in a simulated environment.

Ben Eater's 8-bit Computer

8-bit computer simulation.

Drone Simulation

Gazebo quadcopter performing obstacle avoidance and goal-to-goal movement.

Human Pose Replication

Track and replicate human poses to play an endless runner game in real time.

Labyrinth Simulation

Maze-solving bot finding the shortest path, simulated in CoppeliaSim.

Moodylyser

Emotion detection using deep learning and a camera.

Multiclass Vehicle Classification

Deep learning model distinguishing vehicles into different classes.

Pick and Place Bot Simulation

5-DOF manipulator sorting boxes onto conveyors by color.

Quadruped Simulation

4-legged robot reaching a destination, simulated in CoppeliaSim.

Trooper-K

Car navigating toward a target while avoiding obstacles using orientation correction.

Augmented Reality

AR keyboard and hand gesture recognition for UI control.

Human Robotic Arm with Haptics

Mechanical hand mimicking a human hand with haptic feedback.

UAV Traffic Monitoring

Traffic monitoring and management using cameras mounted on UAVs.

Unsupervised Speech Recognition

Remote module recording, translating, and summarizing conversations using NLP.

Ball Balancing on a Plate

Ball balanced on a plate using PID control and OpenCV image processing.

Robotic Cat

4-legged robot navigating through open space.

Virtual Cycle

Gazebo simulation of a moving cycle controlled by ROS teleoperation commands.

Automated Chessboard

Electronic version of the classic strategy board game.

Eye Writer

Mouse control by tracking pupil movements.

Smart Clothes Trial

Virtual clothes try-on system.

Soil Testing & Automatic Irrigation

Tests soil samples, reads physical properties, and stores data in an app.