Control System C++

SHANTANI SINHA

Newark, DE +1-302-***-**** ********@****.*** linkedin.com/in/shantanisinha

EDUCATION

University of Delaware Newark, DE

Master’s with Thesis in Robotics, Mechatronics and Automation August 2021 - August 2024 Madan Mohan Malaviya University of Technology Gorakhpur, India Bachelor of Technology in Electrical Engineering July 2015 - May 2019 SKILLS SUMMARY

Programming and Tools: C, C++, Python, MATLAB, MuJoCo, PLC Robotics Framework : ROS, Gazebo, Rviz, OpenCV

Microcontroller: ATMEL, Atmega, Arduino, Raspberry Pi EXPERIENCE

Robotic Locomotion Lab, University of Delaware Newark, Delaware Graduate Student Researcher August 2022 - August 2024

• Graduate thesis on ” A Supervisory Control Approach for DIGIT Navigation on an Inclined Terrain” under Dr.Ioannis Poulakakis

• Designed a Supervisory Control system for bipedal robot DIGIT, enabling navigation on inclined terrain without prior knowledge of the terrain’s inclination angle and in the absence of visual input.

• Implemented a high-level Supervisory Control System programmed in Python, employing a logic-based switching strategy to select the optimal controller from a controller library for integration into the feedback loop, ensuring stable walking of DIGIT on inclined terrain.

• Orchestrated simulations and experiments, including tuning of the controller, while actively engaging in troubleshooting processes to validate the efficacy of the developed control system on DIGIT across various uphill and downhill terrains within the MuJoCo-simulated environment. Solinas Integrity Pvt. Ltd. Chennai, India

Electrical and Electronics Engineer July 2019 - January 2021

• Engineered three iterations of the Endobot specialized for water pipelines and innovated iGlobus, an autonomous leak detection robot tailored for the Oil and Gas sector.

• Developed algorithms for robotics application and debugged robotics programs while programming microcontrollers proficiently using C++.

• Responsible for designing the robot’s electronics layout plan and handling electrical and electronics components and data acquisition module while increasing the precision rate of the workflow by 30%.

• Performed detailed testing and troubleshooting of robotic systems, identifying and resolving technical issues to ensure optimal performance.

• Provided adept technical support to sales, marketing, and customer support functions, adeptly communicating intricate technical details to diverse audiences.

RELEVANT PROJECTS

Trajectory Design for LBR iiwa 7 R8oo KUKA 7 DOF Robotics Arm HORC Lab, U of D, Newark, DE Term project for Introduction to Robotics Feb 2022 - May 2022

• Engineered joint trajectories in MATLAB to precisely guide the robotic arm’s end-effector towards the designated target position and orientation.

• Implemented obstacle avoidance protocols, maintaining optimal joint velocity and adhering to angular limits, thereby streamlining operational time.

• Derived both forward and inverse kinematics through the utilization of DH parameters, achieving a notable accuracy rate of 95%

PUBLICATIONS

Color Sensor Based Object Sorting Robotics Arm December 2018 Computing Algorithm with Applications in Engineering, ICCAEEE 2019, Springer CDAC, Mohali, India Last updated: October 2, 2024

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