https://juttu-s.github.io/saikiran_juttu.github.io/details/DetailsHugo Blox Builder (https://hugoblox.com)en-usThu, 01 May 2025 00:00:00 +0000https://juttu-s.github.io/saikiran_juttu.github.io/media/icon_hu7729264130191091259.pnghttps://juttu-s.github.io/saikiran_juttu.github.io/details/https://juttu-s.github.io/saikiran_juttu.github.io/details/robotics-coop/Thu, 01 May 2025 00:00:00 +0000https://juttu-s.github.io/saikiran_juttu.github.io/details/robotics-coop/<h2 id="overview">Overview</h2> <p>Worked at Northeastern University on:</p> <hr> <h3 id="sensor-integration">Sensor Integration</h3> <p>Integrated <strong>3D LiDAR and Intel RealSense</strong> sensors with the <strong>Scout Mini Rover</strong> via CAN protocol in ROS 2, deployed on <strong>Jetson AGX Orin</strong> for synchronized perception, sensor fusion, and reliable HW–SW communication.</p> <p><strong>Physical Setup</strong> <figure > <div class="flex justify-center "> <div class="w-100" ><img src="https://juttu-s.github.io/saikiran_juttu.github.io/saikiran_juttu.github.io/uploads/Robot.jpeg" alt="Scout Mini Rover Setup" loading="lazy" data-zoomable /></div> </div></figure> </p> <h3 id="slam-implementation">SLAM Implementation</h3> <p>Implemented ROS 2-based <strong>SLAM systems</strong> using:</p> <ul> <li>RTAB-Map</li> <li>LIO-SAM</li> <li>Visual-Inertial Odometry (VIO)</li> <li>SLAM Toolbox<br> In C++/Python with Nav2 for improved localization in GPS-denied environments.</li> </ul> <p><strong>RTAB-Map Demo:</strong></p> <video controls width="100%" muted autoplay loop> <source src="https://juttu-s.github.io/saikiran_juttu.github.io/saikiran_juttu.github.io/uploads/RTAB_demo.mp4" type="video/mp4"> </video> <p><strong>LIO-SAM Screenshot:</strong></p> <p> <figure > <div class="flex justify-center "> <div class="w-100" ><img src="https://juttu-s.github.io/saikiran_juttu.github.io/saikiran_juttu.github.io/uploads/lio_sam.png" alt="LIO-SAM Visualization" loading="lazy" data-zoomable /></div> </div></figure> </p> <hr> <h3 id="uav-motion-planning">UAV Motion Planning</h3> <p>Developed <strong>waypoint navigation and motion planning</strong> pipelines for <strong>Crazyflie and DJI Tello</strong> using the <strong>OptiTrack motion capture system</strong>.</p> <ul> <li>Automated takeoff</li> <li>Precision landing</li> <li>Closed-loop control with state estimation</li> </ul> <hr> <h3 id="semantic-perception-with-vlms">Semantic Perception with VLMs</h3> <p>Exploring integration of <strong>Vision-Language Models (VLMs)</strong> to:</p> <ul> <li>Enhance indoor semantic navigation</li> <li>Reduce localization drift</li> <li>Enable autonomous scene understanding</li> </ul>https://juttu-s.github.io/saikiran_juttu.github.io/details/grad-research-assistant/Mon, 01 Apr 2024 00:00:00 +0000https://juttu-s.github.io/saikiran_juttu.github.io/details/grad-research-assistant/<h2 id="overview">Overview</h2> <p>Worked at the Multi-Agent Robotics and Autonomy Lab on:</p> <ul> <li>UAV–UGV exploration in Gazebo (ROS2, C++)</li> <li>Incremental PRM planner (C++/Python)</li> <li>Custom drone hardware for GPS-denied flight</li> <li>MATLAB vision-based IK solver &amp; motion planning</li> <li>Simscape robotic arm with real+sim integration</li> </ul>https://juttu-s.github.io/saikiran_juttu.github.io/details/brakes_testing_head/Tue, 15 Jan 2019 00:00:00 +0000https://juttu-s.github.io/saikiran_juttu.github.io/details/brakes_testing_head/<h2 id="overview">Overview</h2> <p><strong>Role:</strong> Brakes and Testing Head<br> <strong>Team:</strong> Off-Road Racing Team — NIT Jalandhar<br> <strong>Duration:</strong> Jan 2017 – May 2019</p> <ul> <li>Led end-to-end development of high-performance ATV brake systems.</li> <li>Built India’s <strong>lightest ATV</strong> for BAJA SAE 2019.</li> <li>Achieved <strong>4th fastest ATV</strong> at BAJA SAE Illinois 2017.</li> <li>Delivered robust braking under extreme off-road and endurance conditions. <figure > <div class="flex justify-center "> <div class="w-100" ><img src="https://juttu-s.github.io/saikiran_juttu.github.io/saikiran_juttu.github.io/uploads/experience.jpg" alt="" loading="lazy" data-zoomable /></div> </div></figure> </li> </ul> <hr> <h2 id="full-lifecycle-mechanical-design">Full Lifecycle Mechanical Design</h2> <ul> <li><strong>Concept to CAD:</strong> Designed floating brake calipers and dual-rotor configurations in <strong>Catia V5</strong>.</li> <li><strong>Simulation &amp; Analysis:</strong> Validated all designs using <strong>ANSYS 16.0</strong> (thermal &amp; static structural).</li> <li><strong>Prototyping &amp; Testing:</strong> Built physical test setups using <strong>Arduino, load cells, and sensors</strong>.</li> <li><strong>DFM &amp; Machining:</strong> Translated CAD into manufacturable parts using CNC machining and lathe operations.</li> </ul> <hr> <h3 id="brake-caliper-design--simulation">Brake Caliper Design &amp; Simulation</h3> <p>Developed and validated a custom <strong>floating brake caliper</strong> to suit the geometry of a compact, lightweight ATV with extreme off-road use cases.</p> <ul> <li>Designed from scratch in <strong>Catia V5</strong> to match suspension and rotor configurations</li> <li>Performed <strong>FEA-based stress testing</strong> in <strong>ANSYS</strong> to validate mechanical strength under peak braking loads</li> <li>Conducted <strong>iterative simulations</strong> to minimize deflection and ensure even brake pad wear</li> <li>Assembly designed with DFM principles, ease of maintenance</li> </ul> <h4 id="cad-exploded-view">CAD Exploded View</h4> <p> <figure > <div class="flex justify-center "> <div class="w-100" ><img src="https://juttu-s.github.io/saikiran_juttu.github.io/saikiran_juttu.github.io/uploads/calliper_assembly.jpg" alt="Exploded view of caliper assembly" loading="lazy" data-zoomable /></div> </div></figure> </p> <h4 id="ansys-fea-analysis">ANSYS FEA Analysis</h4> <p> <figure > <div class="flex justify-center "> <div class="w-100" ><img src="https://juttu-s.github.io/saikiran_juttu.github.io/saikiran_juttu.github.io/uploads/caliper_ansys.jpg" alt="FEA Stress Simulation in ANSYS" loading="lazy" data-zoomable /></div> </div></figure> </p> <hr> <h2 id="structural--thermal-analysis-fea">Structural &amp; Thermal Analysis (FEA)</h2> <h3 id="rear-brake-rotor">Rear Brake Rotor</h3> <ul> <li>Conducted <strong>transient thermal analysis</strong> for heat dissipation during prolonged braking.</li> <li>Used vented profiles to reduce thermal hotspots and fade.</li> </ul> <p> <figure > <div class="flex justify-center "> <div class="w-100" ><img src="https://juttu-s.github.io/saikiran_juttu.github.io/saikiran_juttu.github.io/uploads/rear_rotor_thermal.jpg" alt="Rear Rotor Thermal" loading="lazy" data-zoomable /></div> </div></figure> <br> *Rear Rotor — Thermal Simulation *</p> <p> <figure > <div class="flex justify-center "> <div class="w-100" ><img src="https://juttu-s.github.io/saikiran_juttu.github.io/saikiran_juttu.github.io/uploads/rear_rotor.jpg" alt="Rear Rotor Stress" loading="lazy" data-zoomable /></div> </div></figure> <br> *Rear Rotor — Static Structural FEA *</p> <hr> <h3 id="front-brake-rotor">Front Brake Rotor</h3> <ul> <li>Combined <strong>aluminum core</strong> with <strong>SS420 stainless steel coating</strong> for weight and heat resistance.</li> <li>Optimized spoke pattern for mechanical integrity with minimal mass.</li> </ul> <p> <figure > <div class="flex justify-center "> <div class="w-100" ><img src="https://juttu-s.github.io/saikiran_juttu.github.io/saikiran_juttu.github.io/uploads/front_rotor_thermal.jpg" alt="Front Rotor Thermal" loading="lazy" data-zoomable /></div> </div></figure> <br> <em>Front Rotor — Thermal Analysis</em></p> <p> <figure > <div class="flex justify-center "> <div class="w-100" ><img src="https://juttu-s.github.io/saikiran_juttu.github.io/saikiran_juttu.github.io/uploads/Front_rotor.jpg" alt="Front Rotor Stress" loading="lazy" data-zoomable /></div> </div></figure> <br> <em>Front Rotor — Structural Stress Analysis</em></p> <hr> <h2 id="brake-pedal-design--validation">Brake Pedal Design &amp; Validation</h2> <ul> <li>Designed and analyzed <strong>pedal assembly</strong> with custom mount.</li> <li>Validated force distribution using <strong>FEA</strong> and real-time <strong>load cell logging</strong>.</li> </ul> <p> <figure > <div class="flex justify-center "> <div class="w-100" ><img src="https://juttu-s.github.io/saikiran_juttu.github.io/saikiran_juttu.github.io/uploads/Brake_pedal_ansys.png" alt="Brake Pedal ANSYS" loading="lazy" data-zoomable /></div> </div></figure> <br> <em>Brake Pedal — Stress Zones</em></p> <p> <figure > <div class="flex justify-center "> <div class="w-100" ><img src="https://juttu-s.github.io/saikiran_juttu.github.io/saikiran_juttu.github.io/uploads/pedal_mounting.png" alt="Pedal Mounting" loading="lazy" data-zoomable /></div> </div></figure> <br> <em>Custom Bracket — Pedal Mount Geometry</em></p> <hr> <h2 id="prototyping-fabrication--machining">Prototyping, Fabrication &amp; Machining</h2> <ul> <li>Designed parts for <strong>machinability and DFM</strong> — ensured tolerances for <strong>hydraulic caliper</strong> alignment.</li> <li>Utilized <strong>CNC</strong>, <strong>lathe</strong>, and conventional machining techniques for part manufacturing.</li> <li>Fabricated and tested prototypes under simulated track conditions.</li> <li>Assembled and field-tested brake components on the <strong>actual ATV chassis</strong>.</li> </ul> <hr> <h2 id="experimental-testing">Experimental Testing</h2> <ul> <li>Developed a <strong>custom rig</strong> using <strong>Arduino Uno</strong>, <strong>LDR</strong>, and <strong>load cell sensors</strong> to measure: <ul> <li>Acceleration during braking</li> <li>Pedal force vs stopping distance</li> <li>Response time</li> </ul> </li> </ul> <p> <figure > <div class="flex justify-center "> <div class="w-100" ><img src="https://juttu-s.github.io/saikiran_juttu.github.io/saikiran_juttu.github.io/uploads/test.png" alt="Test Rig" loading="lazy" data-zoomable /></div> </div></figure> <br> <em>On-field brake performance testing with Arduino sensor rig</em></p> <hr> <h2 id="tools--skills">Tools &amp; Skills</h2> <ul> <li><strong>CAD:</strong> Catia V5, SolidWorks</li> <li><strong>Simulation:</strong> ANSYS (Thermal, Structural), FEA, hand calculations</li> <li><strong>Prototyping:</strong> CNC, lathe, drilling, aluminum fabrication</li> <li><strong>Testing:</strong> Arduino, load cells, custom rigs</li> <li><strong>Design for Manufacturing (DFM)</strong></li> <li><strong>Material Selection:</strong> Aluminum, SS420, brake pad composites</li> <li><strong>Team Leadership &amp; Documentation</strong></li> </ul> <hr> <h2 id="outcomes">Outcomes</h2> <ul> <li>Reduced brake system weight by <strong>40%</strong>.</li> <li>Increased thermal capacity and structural durability.</li> <li>Enabled modular swap-out of brake parts for different terrains.</li> <li>Competitive performance in national/international SAE racing events.</li> </ul>