Ayush Sinha

I am a Masters student at University of Illinois at Urbana Champaign
Currently working at Control Systems Laboratory (COECSL) at UIUC
My interests lie in Robotics, Controls and Embedded Software Development
I have a Bachelor of Technology degree from IIT Kanpur

Email  /  Resume   

Selected Projects

Autonomous Robot Car Navigation

Navigate robot car in unknown map using LADAR, Mocap, camera and other on-board sensors to explore map, identify and figuratively exterminate 'weeds'. A* was used to plan paths to checkpoints and was customized to explore the map exhaustively. Project involved writing firmwares to use sensors, low-level controller on on-board microcontroller for driving and A*, computer vision and other programs on a DSP+ARM processor.

Control of Robot Arm for Precise Positioning and Handling Fragile Objects
Robot Dynamics and Control

Implemented multiple control schemes including Inverse Dynamics control and Simple Impedance control as digital controllers on on-board DSP. The end-effector successfully performed hole-insertion, groove traversing and load application to fragile objects.

A Simplified Problem of Localization and Mapping

Mapped an arena using a robot car, equipped with two inexpensive IR sensors, one photoresistor and MSP430 microcontroller, self-driving on a pre-determined path using wall-following and localizing itself by fusing dead-reckoning information with IR sensor data. Used photoresistor to find dark cells on grid. Achieved real-time updation of map on a MATLAB application.

Control and Actuation of Soft Exoskeleton
Human Dynamics and Controls Lab

Built pressure control board equipped with proportional pneumatic valves and pressure sensors to independently control 3 air channels to soft actuators powering our exoskeleton. Developed a LabVIEW based PID controller using Quanser q8-usb real-time DAQ.

Scalable Pneumatic and Tendon Driven Robotic Joint Inspired by Jumping Spiders
Max Planck Institute for Intelligent Systems, Stuttgart

A novel robotic actuator joint employing both pneumatics and electrically-actuated tendons was developed inspired by joints seen in real spiders (inferences drawn from scanning-electron microscope images of real spiders). System is characterized under static and dynamic conditions. Published at IEEE ICRA 2017.

ABU Robocon 2015 (Robominton): Badminton Playing Robots
Centre for Mechatronics, IIT Kanpur

Two robots are built to play badminton on an actual size court. Several mechanisms are synthesized to implement a wide variety of strokes played by real badminton players. A double-actuation mechanism is constructed to imitate the combined movement of elbow and wrist joints in humans. All mechanisms are powered by pneumatic pistons and controlled through electrically actuated valves. The chassis is designed to implement holonomic drive using omni wheels to provide it three degrees of freedom on court.

Pennate Muscle Inspired Actuator Using SMA Wires
Smart Materials, Structures and Systems Lab, IIT Kanpur

A smart actuator using shape memory alloy wires is designed which replicates the arrangement of muscle fibres in a pennate array. The constitutional modelling is done using Brinson's model for SMA. The actuator attempts to achieve all advantages of pennate arrangement such as compactness, displacement magnification and easy tuning to desired specifications. Moreover, usage of SMA makes it a self-sensing actuator too.

Mechanically Actuated Garbage Compactor
Dept. Of Mechanical Engineering, IIT Kanpur

Project aims to develop inexpensive and robust small-scale/domestic garbage compressing solution for Indian circumstances. The mechanism constructed for amplifying user input doesn't employ electronics or hydraulics. Current design generates 1635N output for an input of 300N and achieves compression ratio of five. A smart notification system is also integrated which senses when the bin is full and sends message to the concerned personnel.

Problem Resolution after Root Cause Analysis for Cross-member of Vehicle Chassis
TATA Motors Limited, Lucknow

A fitment issue is repeatedly reported by Assembly line operators. The fitment issue is traced to incorrect dimensions of cross-members received from an ancillary. The origin of error is identified in riveting and punching processes at the ancillary. The riveting fixture is suitable modified and the punch of press is replaced. The next lot of cross-members received from this ancillary are dimensionally correct and the fitment issue is eliminated.

Hand Held Portable Dry Cleaner: CleanEasy
New Product Design and Prototyping

A novel device capable of performing all stages in dry cleaning process is designed and prototyped. Next, the team performed and analysed market survey to identify potential customer segments and tuned the product accordingly. The product idea is pitched to Mechanical and Design department of IIT Kanpur and won monetary grant for further stages of prototyping.