Vishal Singh

Project Overview
Well-Walk, a collaborative effort with the Stanford Center for Design Research, addresses the limited adoption of consumer robotics among older adults. Through extensive needfinding, the team developed a comprehensive system comprising a device holder, charging solution, motorized driving mechanism, and digital user interface. Well-Walk aims to provide comfort, control, and connection to older adults and their loved ones, offering semi-autonomous through voice commands or the user interface.

Design
The Well-Walk project involved combining a linear actuator, servo motor, and DC motor to achieve a 3 DOF motion. The DC motor, mounted on a housing with a 3D-printed wheel, was attached to the top portion using a stainless steel shaft. The modular bottom allowed for easy swapping of the DC motor. The top housing, with a servo motor, was mounted onto the linear actuator. The entire assembly was affixed to an 80-20 aluminum extrusion bar using appropriate screws, which, in turn, was mounted onto the front bar of the rollator using clamps. This modular design allows for flexibility and ease of use.

Link to the SDR Website

Project Overview

For the Principles of Robot Autonomy course, a lab project was undertaken to implement advanced functionalities on a TurtleBot using ROS2. The A* planner algorithm was used to facilitate efficient path planning, allowing the TurtleBot to navigate through the environment systematically. An image classifier was implemented to recognize Stop signs using the camera feed, and upon detection, the robot executed a stop command. Additionally, frontier exploration algorithms were employed to optimize the exploration process by identifying and navigating towards unexplored areas.

Project Overview

The project involved the comprehensive design, analysis, and construction of a staff office for the manufacturing plant in Vadodara. The primary objective was to create an office layout that provides a panoramic view of the entire factory, enhancing overall visibility of the manufacturing operations and management capabilities.

Design Overview

Utilizing SolidWorks for the design phase, the office was constructed using a Gypsum board with Rockwool Insulation to regulate internal temperatures as the office was very close to the metallic roof. Despite challenges posed by the COVID-19 pandemic, effective management of the fabrication process was achieved. The entire project, from design to fabrication, was completed within a timeframe of 7 months.

Project Overview

This is a haptic-focused project aimed at designing a finger-controlled teleoperated gripper that goes beyond mere object manipulation. Leveraging four hapkit devices—two acting as grippers and two as end handles for user interaction—we implement proportion derivative control. This allows users to discern the hardness attributes of the manipulated objects through force feedback, enhancing the teleoperated experience.

Link to the Website

SVAG-bot is a small robot equipped with sensors designed to effortlessly maneuver through the Parkour Madness arena. It can navigate the said arena, touch the contact zone, drop balls into a basket, and celebrate.

The design of the robot prioritizes simplicity, cost-effectiveness, modularity, and efficiency.

Link to Website for more details.

Project Overview

This project focuses on the innovative design and implementation of a sophisticated bartending robot—a 4 Degree of Freedom (DOF) equipped with 2 revolute and 2 prismatic joints. This robotic mixer is designed to perform intricate tasks such as picking and placing a cup and skillfully pouring drinks.

Design

The design phase of the robot began with the comprehensive design thinking process where different configurations of the robot and its applications were considered. A detailed design was built using SolidWokrks ensuring its precision and functionality. The assembly incorporated linear actuators, automotive wheel bearings, DC motors, and servo motors. A cable-driven base, featuring a 20:1 gear ratio, was designed to bear the weight of the entire robot and its actuators. This design ensures optimal torque for smooth rotations of the robot during its bartending tasks.

Project Overview

The Biomass Cookstove Design project revolutionizes traditional cookstove materials by introducing the world's first biomass cookstove crafted from CLC (Cellulose Lightweight Concrete). This innovative design not only addresses the need for sustainable alternatives but also significantly improves cost efficiency and weight reduction.

Design Details

A need analysis was done to identify the key requirements. Multiple iterations and rigorous testing were conducted to achieve the optimal ratio of water, concrete, and foam. The outcome yielded remarkable results, showcasing a 40% reduction in cost and a substantial 60% decrease in weight. To enhance both aesthetics and thermal efficiency, the cookstove features a top lid made of ceramic, preventing heat loss and elevating its overall functionality.

Project Overview

The Vessel Support Strip Cutting Die Tool project aimed to optimize the shearing process for vessel support strips, efficiently transforming an 87.8 mm steel coil into the required size. This tool significantly accelerated the process, reducing the labor-intensive requirement from four operators cutting 80 strips per hour to a streamlined operation where a single operator could efficiently cut 120 strips per hour.

Design Details

D2 material was used for the shear blade and die plate. Other materials used were stainless steel and mild steel in the top/bottom plates, dowel pins, etc. Leveraging SOLIDWORKS for design precision, the tool was collaboratively assembled with machine shop technicians.

Project Overview

The Fuel Tray Spot Fixture project addressed the need for efficient spot welding of various-length stainless steel rods forming the fuel tray structure. Additionally, the project involved transitioning from MIG welding to spot welding, enhancing speed and ensuring a safer working environment for operators.

Design Details

The fixture, designed using Fusion 360, required a material distinct from stainless steel rods for swift removal post-welding. Utilizing aluminum as the chosen material for the fixture provided the necessary properties for quick disengagement while maintaining structural integrity. Modification of the spot welding machine's electrodes ensured precise and effective spot welds at the joints, contributing to a more streamlined and secure manufacturing process.

This project involves studying the application and comparison of Q-learning, SARSA, and double Q-learning algorithms to solve the MDP, providing valuable insights into the optimal strategy for such decision-making challenges in autonomous driving scenarios.

Link to the paper

Project Overview

The Paper Bike project aimed to simulate the experience of using a smart vehicle in a historic city center with narrow streets, constructed solely from cardboard and an additional 500 gm of non-paper material for authenticity. The design prioritized providing a realistic urban mobility experience.

Design Overview

The Paper Bike project aimed to simulate the experience of using a smart vehicle in a historic city center with narrow streets, constructed solely from cardboard and an additional 500 gm of non-paper material for authenticity. The design prioritized providing a realistic urban mobility experience.

Project Overview

The Recumbent Bike project for Team Raftaar involved designing a human-powered vehicle specifically for the Human Powered Vehicle Challenge (HPVC) organized by the American Society of Mechanical Engineers (ASME) Asia Pacific 2017. One of the constraints for the challenge was to achieve a complete stop from a speed of 24 kmph within a distance of 6m or less, with a turning radius of 7.5m.

Design Overview

Utilizing SolidWorks, the project included the production of 3D CAD models and detailed 2D engineering drawings. The fairing was fabricated using Carbon Fibre, with molds made of glass fibre. The design adopted a front-wheel-driven approach with a 7-speed internal geared hub. Remarkably, the achieved turning radius was 4.27m, and the braking distance was less than 5m.

Achievements

The recumbent bike successfully competed and secured the first prize in the ASME HPVC challenge 2017, men’s and women’s racing event, showcasing its excellence in design, functionality, and performance.

Website

Project Overview

The project focused on optimizing CNC machining processes, a reliable and versatile manufacturing method, with a specific emphasis on intricate surfaces. Surface characteristics and cutting parameters, such as spindle speed, feed rate, and depth of cut, were examined to understand their impact on surface roughness and residual stress in the context of EN24 material during end-milling operations.

Link to the paper