CHARMIN PRITESH DESAI

+1-716-***-**** ad2fw2@r.postjobfree.com LinkedIn GitHub Buffalo, NY, USA EDUCATION

University at Buffalo, The State University of New York Buffalo, NY, USA Master of Science, Engineering Science (Robotics) Aug 2021 – May 2023 Courses : Robot Control, Robot Algorithms & ROS, Machine Learning, Computer Vision Sardar Vallabhbhai Patel Institute of Technology Vasad, Gujarat, India Bachelor of Engineering, Instrumentation & Control Aug 2016 – May 2020 Courses : Process Control, Industrial Measurement, Electrical Machines, PLC, Embedded, Power Electronics & Drives SKILLS

Languages : Python, C, C++, Embedded C, PLC Ladder Logic Software & Libraries : MS Office, MATLAB-Simulink, ROS-Gazebo, NumPy, Pandas, Matplotlib, OpenCV, TensorFlow, Sklearn Hardware : PLC, PID Control, Electrical/Electronics, Embedded Systems WORK EXPERIENCE

University At Buffalo : Research Assistant June 2023 – Present 1. Research assistant for Prof. Chen Wang, and improving algorithms for the Autonomous Robot project. University At Buffalo : Teaching Assistant Sept 2022 – May 2023 1. Taught : Control systems and mathematical modeling of robot mechanisms. 2. Reference : Dr. Vojislav Kalanovic. You may contact my professor for my reference. 3. Fanuc LR Mate 200-iD Robot Arm : Standardized position of 6-DOF manipulator’s end-effector in robot base-frame and world frame. Formulated calculations by Denavit-Hartenberg methodology and Forward Kinematics. Derived 6x6 Jacobian Matrix to generalize linear and angular velocities of end-effectors. 4. Laboratory : Simulated a 6-DOF robot arm on ROS-Gazebo and ran robot hardware via ROS1 commands and program nodes. Worked with different end-effectors and interfaced various sensors to the robot arm. Localized the end-effector using apriltag. Performed operations such as object stacking, color sorting, etc. View Niyantras Automation : Automation Engineer June 2020 – July 2021 1. Indoor Air Quality Monitoring System : Prototyped the device using Arduino with different gas sensors to detect particulate matter, N2O, SO2, H2, LPG, CH4, CO, and alcohol. 2. Electrical Cutting Machine : Developed an automatic turn-off functionality in the machine for operator and field personnel safety using NC switch and 4-pole contactor. View 3. Industrial Temperature Transmitter : Designed and devised a signal conditioning circuit working for RTD PT100 sensor and calibrated temperature range of 0-100 C to 0-5 VDC output using IC741 Op-Amp. 4. Home Automation : Developed Indoor lighting system controlled via IR detection. Using 8051 MCU and relay. View 5. Water Management Control System : View Project

● Level Control :- Ultrasonic sensor measures the level of water in the overhead and underground tank. Underground water pump turns automatically ON & OFF based on the level of water in the overhead tank.

● Measurement :- Flow rate is constantly measured by the flow sensor in the pipeline to measure consumption.

● Wastage Detection & Prevention :- Flow sensor detects water wastage in open unmonitored taps, then sends feedback to MCU. MCU commands a solenoid valve to turn OFF in a particular pipeline shutting off water supply.

● Notification :- MCU notifies the user about water wastage in open tap using GSM technology. The users can later close the tap and restore the water supply.

Larsen and Toubro : Control & Instrumentation Intern June 2019 1. Conveyor Belt Control:

● Created a PLC program to control a conveyor belt system, running empty bottles to be filled.

● Included functionalities such as starting and stopping the belt, level sensors and filling actuators. 2. Batch Processing System:

● Developed a PLC program to control sequence of operations for a fluid batch processing system.

● Controlled operations like start and stop of pump, mixing, heating, level control, to produce resultant product. 3. Material Handling and Separation System:

● Controlled the movement of conveyors and actuators to transport and segregate materials.

● Separated the materials based on size as detected by a pair IR sensors. ENGINEERING PROJECTS

Autonomous Robot, ROS-Gazebo : View Project

1. SLAM :- Used Gmapping on a TurtleBot3 robot in ROS gazebo to generate an image of size 384x384 pixels. 2. Occupancy Grid :- Performed image processing to generate an occupancy grid matrix of 400x400 pixels from SLAM. 3. Path Planning :- Used homogeneous transformations to formulate coordinate frame transformations between world frame and occupancy grid frame. Optimized A* algorithm and planned a 95% improved shortest path. 4. Perception :- Executed AprilTag continuous detection node to derive the transform from robot camera to apriltag. 5. Localization :- Improved robot pose estimation with nearly 100% accuracy through apriltag detection and parallelly calculating position using robot’s linear and angular velocity. 6. Recognition :- Programmed a mathematical algorithm which estimates the true position of an object from continuously updated robot’s pose and robot to apriltag transform. 7. Exploration :- Robot explores the environment searching for candidate targets, saves their position in its memory. 8. Navigation & Control :- Executed a controller node, driving the robot 80% faster from start to goal location. Enabled the robot to navigate the shortest path in the least possible time.