Mechanical Engineer Assistant

Tulja Lal Birju

*******.****@*****.*** 480-***-**** Tempe, AZ www.linkedin.com/in/tulja-lal-birju SUMMARY

Mechanical Engineer with internship and project experience in system modelling and simulation, controller design, sensor fusion, system integration and testing, seeking for an entry level position in the field of robotics and autonomous vehicles. EDUCATION

Arizona State University: 3.4/4 Master’s in Mechanical Engineering Control Systems Aug 2018 –May 2020

• Courses: Vehicle Dynamics and Control, Optimal control, Advanced Systems Control, Modelling and Control of Robots, Connected and Automated Vehicles, System Identification, Optimization. Chaitanya Bharathi Institute of Technology: 8/10 Bachelors’ in Mechanical Engineering Aug 2013 – Jun 2017 SKILLS

Languages: C++, Python, MATLAB.

Tools: Simulink, Stateflow, Carsim, LabVIEW, dSPACE, CANalyzer, CARLA, Solidworks. Hardware: Ultrasonic, RADAR, Camera.

EXPIRIENCE

System Engineer- Controls intern Sensargrate LLC Tempe, USA July 2020 – Present

• Presently working on implementing a Model predictive control (MPC) algorithm for an autonomous vehicle to track the desired path trajectory, formulated cost function, constraints, vehicle model and tuned various parameters of the controller.

• Estimated dynamic obstacles states by fusing LIDAR and RADAR data in C++ using unscented Kalman filter for constant turn rate velocity (CTRV) nonlinear motion model and nonlinear measurement model.

• Tuned various parameters of the Kalman filter and check the consistency of the filter using Normalized innovation square matrix, compared the estimated trajectory to the ground truth data to verify the performance of UKF using RMSE method

• Formulated vehicle control algorithm in python implementing PID controller to track vehicle velocity and Stanley controller for vehicle lateral control in Carla framework to reduce cross track and heading angle error. Vehicle Control intern Local Motors Tempe, USA Oct 2018 – April 2019

• Developed a longitudinal vehicle control algorithm for Autonomous Olli shuttle bus with different powertrain configurations.

• Designed efficiency maps for Vehicle with two In Wheel Motors configuration and other Vehicle with Central Motor, performed simulations to select an optimal powertrain architecture with greater efficiency.

• Created velocity profiles and experiments to perform closure testing, acquired real time data of the vehicle with both configurations and performed data analysis to validate the experimental results with that of simulation. Research Assistant Dynamics System and Control Lab ASU Sept 2018 – Dec 2019

• Successfully installed ultrasonic sensors, TI AWR1843 RADAR and Camera on Multiscale Autonomous ground Vehicles.

• Implemented ADAS algorithms like Lane Keeping Assist, Cruise Control for an Autonomous vehicle in the Lab.

• Was a part of motion planning module team, formulated a finite state machine based behavioral planner and circle-based static collision checking for an intersection scenario.

• Developed an extended Kalman filter on a sensor array consisting of IMU, GPS and LIDAR data to estimate the vehicle’s position and velocity on a highway. Examined the effects of sensor miscalibration and sensor drop out on the vehicle estimates.

• Designed a PI controller for Traction Motor control using MATLAB, tuned the gains of the controller using Ziegler-Nicholls method and performed Hardware in loop testing to verify the simulation results.

• Was responsible for documenting the safety plan for lane assistance system according to ISO26262 safety standards. Vehicle Dynamics Engineer Praheti Racing Silverstone, UK Oct 2014 – Dec 2016

• Was responsible for designing suspension and steering geometry for a single seater formula race car.

• Built a quarter suspension system to study the vertical dynamics, Roll and pitch motion, formulated Dugoff’s Tire model for Hoosier 20.5 x 7.0 13 R25B.

PROJECTS

Steering Control for Automated Lane Keeping of an Autonomous Ground Vehicle. Aug 2019 – Sept 2019

• Derived lateral dynamic error-based state-space form for an AGV a bicycle model and designed a dynamic feedforward feedback controller to study the effects of feedforward term on steady state, cross track and heading angle errors.

• Implemented the algorithm on the carsim platform to verify its performance and then tested it on the AGV. Design of Multivariable control for a 2-DOF manipulator Jan 2019 – Mar 2019

• Derived system dynamics, linearized state-space form, performed frequency and time analysis, model analysis, transfer function matrix analysis to figure out instabilities in the system.

• Implemented Linear Quadratic Regulator and Linear Quadratic gaussian control design to the obtained plant using MATLAB and Analyzed open loop and closed loop properties of the resulting system by varying design parameters. CERTIFICATIONS

Intro to Self-driving cars (Udacity) Self -driving cars (Udacity) Vehicle Dynamics (Iversity) Controller Area Network (Udemy) State estimation and Localization, Visual perception, and Motion Planning (University of Toronto).

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