hemanthjoseph Goto Github PK

a-star-algorithm-for-path-planning-of-a-turtlebot-using-ros

Phase 2 of project 3 for the ENPM 661 course

affine-structure-from-motion

Applying the the Affine SfM pipeline for 3D scene reconstruction.

ai-for-robotics---udacity

A repository of my practice and solutions to the Problem Sets from the Artificial Intelligence for Robotics course taught by Sebastian Thrun on Udacity.

automating-the-part-inspection-process-in-automobile-manufacturing

basic-machine-learning-for-breast-cancer-detection

Using simple ML algorithms like Logistic Regression, Decision Trees, Random Forests from the Scikit learn library to classify breast cancer data

deep-learning-from-scratch

An in-depth understanding of Deep Learning fundamentals only using Python and the NumPy library.

design-and-simulation-of-a-mobile-robot

Design a robot car using Solidworks. Convert it to a URDF (Universal Robot Description Format). Apply inertial physics to it, add a LIDAR sensor, controllers for motion control. Create a ROS package and run it in Gazebo.

dijkstra-based-contact-routing-graphs

The principles and techniques for routing among ground elements and spacecraft in near-Earth orbit and deep-space are enacted in the Contact Graph Routing (CGR) framework. CGR blends a set of non-trivial algorithm adaptations, space operations concepts, time-dynamic scheduling and graph models like Dijkstra to build a Delay Tolerant Networks, DTN.

dijkstra-path-planning-mobile-robot

Using Dijkstra Path Planning algorithm to solve the shortest path problem for a mobile robot.

dsa-python

enhancing-rehabilitation-outcomes-with-a-virtual-reality-integrated-robotic-system-for-arm-leg-gait

ENPM640: Rehabilitation Robotics

enpm661-a_star

generative-adversarial-network-on-mnist-dataset

Creating a straightforward GAN by replicating Ian Goodfellow's original GAN paper and using it to generate fake MNIST data.

hemanthjoseph.github.io

histopathological-cancer-detection-using-deep-learning

Building a Deep Learning model based on Convolutional Neural Networks to help create a model which can classify histopathological slide images of lymph node sections and determine if a certain image has metastatic tissues.

human-emotion-acquisition-and-recognition-technology

Using the principles of Product Development and Product Management to design robot architectures for Human Robot Interactions.

humanoid-robot-modelling-for-pick-and-place

image-stitching

Using the OpenCV computer vision library to stitch images of the same scene together.

kinematics-and-dynamics-on-kuka-iiwa-robot-arm

Calculated DH parameters and evaluated the Forward Kinematics, Inverse Kinematics and Dynamics on the Kuka iiwa Robot Arm

lane-detection-with-turn-prediction-for-self-driving

Using traditional computer vision techniques to detect lanes on the road. Also done here is finding out the curvature of the road which is used to predict turns.

lqr-and-lqg-controller-design-for-a-double-inverted-pendulum-attached-to-a-cart

mathematics-for-control-theory

medusa-an-urban-search-and-assistance-drone

A novel product, a drone, to help with Emergency Services.

ml-projects-with-deployment

An end-to-end Machine Learning project from writing a Jupyter notebook to check the viability of the solution, to breaking down the same into modular code, creating a Flask web app integrated with a HTML template to make a website interface, and deploying on AWS and Azure.

mnist-classifier-nn-vs-cnn

I used PyTorch to build a multiclass classifier. I made a simple Neural Network and a simple Convolutional Network architecture and compared their results.

monocular-visual-odometry

Final Project in Perception for Autonomous Robots ENPM 673

path-planning-a-turtlebot-using-a-star-algorithm-in-ros

Using A* algorithm to generate a path for a non-holonomic robot like the Turtlebot. Use the path generated to move the robot along that path in a Gazebo environment.

sampling-based-path-planning-using-rrt-star-algorithm

Using a sampling-based path planning algorithm such as the RRT* algorithm to generate the map and a path to traverse in the map. A variation was explored where randomly sampled new points were generated closer to the goal thus ensuring faster convergence.

slam-from-scratch

Performing SLAM from Scratch using only Python.

slot-controller-and-simple-impedance-controller-for-rehabilitation-robots