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Tinker-Twins/Self_Balancing_Robot

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C++
Created almost 6 years ago
Updated over 3 years ago

Tinker-Twins/Self_Balancing_Robot

Tinker-Twins

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Self-Balancing Robot is a robot that balances itself on just two wheels; it uses the principle of an inverted pendulum for balancing. The robot is powered using a DC power supply and uses the Digital Motion Processing Unit (DMPU) on accelerometer and a gyroscope combined breakout board (GY-521) to stably calculate its tilt angle. It then sends this data to the microcontroller (Arduino Nano), which processes the incoming data and decides the direction and speed (using PWM) of the motors in order to balance the robot (by moving it in the direction of fall). A control algorithm called ‘PID’ (Proportional-Integral-Derivative) is utilized to control the output signals to the motors. The output signal is passed to a motor driver circuit (L298N), which in turn drives the motors accordingly. Finally, the motors drive the robot in the direction it is falling in, with a speed adequate to keep it upright. This robotics project won the First Prize at "TechKnow 2018 (First Edition)", a physics concept based project demonstration competition at SRM Institute of Science and Technology.

AprilTag

AprilTag Detection and Pose Estimation Library for C, C++ and Python

Self_Driving_Car_Trajectory_Tracking

Motion Control of Self-Driving Car for Trajectory Tracking

AutoDRIVE

An Integrated Cyber-Physical Ecosystem for Autonomous Driving Research and Education

AutoRACE-Simulator

A Simulation System for Implementing and Testing Autonomous Racing Algorithms

SINGABOAT-VRX

Team SINGABOAT-VRX's GitHub Repository for Virtual RobotX (VRX) Competition.

MARL-Simulator

A Simulation System for Implementing and Testing Multi-Agent Reinforcement Learning Algorithms

Power_Analysis_of_Electric_Bus

This repository contains the code snippets for the power analysis of an electrical bus under various loading scenarios, weather conditions and vehicle parameters.

Husky

ROS Packages for Husky Robot

Robust_Behavioral_Cloning

Robust Behavioral Cloning for Autonomous Vehicles using End-to-End Deep Imitation Learning

Self_Driving_Car_Planning_and_Control

Motion Planning and Control of Self-Driving Car

Camera-Calibration

Camera Calibration using OpenCV

Jupyter Notebook

Behavioral-Cloning-Simulator

A Simulation System for Experimenting and Testing Autonomous Driving using Behavioral Cloning

AutoDRIVE-F1TENTH

AutoDRIVE-F1TENTH Development and Integration

MPU9250-Arduino-Library

Arduino Library for MPU-9250 Inertial Measurement Unit (IMU)

RM2EA

Rotation Matrix to Euler Angles

Jupyter Notebook

RPLIDAR-A1-Simulator

A Simulation System for 2D LIDAR Sensor

Autonomous_Racing_Using_Hybrid_Learning

Autonomous Racing using a Hybrid Imitation-Reinforcement Learning Architecture

AprilTag-ROS-1

AprilTag Detection and Tracking with ROS 1

Autonomy-Science-And-Systems

Autonomy: Science and Systems @ CU-ICAR

F1TENTH-Mocap-Data-Recording-Pipeline

F1TENTH Motion Capture Data Recording Pipeline

V4L2_Camera

Camera Frame Grabbing with Video4Linux2 (V4L2) for ROS 2 Foxy

Scaled-Autonomous-Vehicles

Scaled Autonomous Vehicles @ CU-ICAR

Image_Tools

Camera Frame Grabbing with Image Tools for ROS 2 Foxy

Path_Planning_Algorithms_For_Autonomous_Mobile_Robots

This repository contains path planning algorithms for autonomous mobile robots.

Occupancy_Grid_Map_From_Monocular_Camera_Frame

This repository hosts MATLAB script for generating occupancy grid map from a monocular camera frame.

F1TENTH-Webcam-Data-Recording-Pipeline

F1TENTH Webcam Data Recording Pipeline

Arduino_Function_Generator

This repository hosts the programs for generating fundamental waveforms (signals) using Arduino Microcontroller along MCP4725 I2C DAC Breakout Development Board Module. DC, Pulse, Sawtooth, Sine, Square and Triangle are the supported waveform types.

Advanced_Line_Follower_Robot_Using_Proximity_Sensor

This robot uses advanced line following algorithm (written using Embedded C); it can trace straight line, obtuse turns, right turns, acute turns and can detect perpendicular junctions. It can also detect obstacles and stop at a safe distance. It also detects caves (using Proximity Sensor) and reduces its speed when inside one. The robot won 1st place in the competition held during Kaizen Robotics Program.

Number_Plate_Reader

This project not only detects the number plate of a vehicle, but it also tries to read it and provide the license number of the vehicle as a string output and even exports it as a text document. The program also provides an image of region of interest to the user. The project uses MATLAB 2016a in order to edit and compile the program. The built-in image processing module is used for this purpose.

3D-LIDAR-Localization

ROS Packages for Real-Time 3D LIDAR Based Localization using NDT Scan Matching Algorithm and UKF Estimation

Fundamentals-of-Robotics

Fundamentals of Robotics @ SRMIST

LDCS-Lab

Linear and Digital Control Systems Lab @ SRMIST

tinker-twins.github.io

Website for Tinker Twins

LabVIEW_Core_Virtual_Instruments

This repository contains several fundamental Virtual Instruments (VIs) of NI LabVIEW.

Geocoding_Project_Using_Google_API

This project asks the user to enter any arbitrary location on entire globe and returns the Geographical Coordinates (Longitude and Latitude).

MiniDRIVE

MiniDRIVE | A Teleoperated Mobile Robot

F1TENTH_Autonomous_Racing

Autonomous Racing using F1TENTH

Line_Follower_And_Obstacle_Detector_Robot

This robot uses the usual line following algorithm (written using Embedded C). It can also detect obstacles and stop at a safe distance.

Autoware-Messages

Autoware Messages

V-DSO

This repository hosts the source and application files of the 8-Channel PC-Based Digital Storage Oscilloscope, which is an Arduino Nano based miniature oscilloscope. It can be interfaced with PC in order to view the respective channel data. The oscilloscope can be operated using stand-alone GUI developed using LabVIEW as a virtual instrument.

Extracting_And_Summing_Numbers_In_HTML_File

This project extracts all the numbers present in an HTML file, converts them into integers, computes their sum and displays it.

YOLO-ROS-1

Darknet YOLO with ROS 1

ROSBag-to-CSV

A ROS-based PyQt GUI tool to conveniently extract data from bag file(s) to CSV file(s).

TurtleBot3

TurtleBot3 ROS Packages

Tinker-Twins

Personal Repository

FPSA-Lab

Fluid Power Systems and Automation Lab @ SRMIST

Autonomy-Mobility-And-Manipulation

Autonomy: Mobility and Manipulation @ CU-ICAR

Manufacturing-Processes-Lab

Manufacturing Processes Lab @ SRMIST

LIDAR-SLAM-Robot

ROS 2 Packages for Testing LIDAR-SLAM on a Robotic Vehicle with 3D LIDAR

Robotics-Mobility-And-Manipulation

Honors Section for Robotics: Mobility and Manipulation @ CU-ICAR

Live-Plotter

Create Live Data Plots with Dynamic Updates

Virtual-Instrumentation

Virtual Instrumentation @ SRMIST

Computing-and-Simulation-for-Autonomy

Computing and Simulation for Autonomy @ CU-ICAR

Control_Systems

This repository hosts the code snippets for simulating and understanding the fundamentals of control systems.

Dual_Axis_Solar_Tracker

The "Dual-Axis Solar Tracker" uses 4 LDRs to sense the difference in the light intensity from four directions. It then processes the signals in the microcontroller - Arduino Uno. Finally, 2 servos rotate the attached Solar Panel in two different axes, horizontal and vertical. This way, the Solar Panel can face the direction of maximum light intensity, thereby increasing the productivity.

NLP_Using_Python

This repository hosts the code snippets used for small NLP project using Python3. The SpeechRecognition API was used to convert English as well as Non-English speech to text.

Jupyter Notebook

MEMS

Micro-Electro-Mechanical-Systems @ SRMIST

Arduino_LED_Control_Using_LabVIEW

This project is useful for controlling an LED (or any other digital output device) connected to Arduino using LabVIEW.

Extracting_And_Summing_Numbers_In_Text_File

This project extracts all the numbers present in a Text file, converts them into integers, computes their sum and displays it.

Mechatronics-Lab

Mechatronics Lab @ SRMIST

Light_Sensitive_Robot

This robot uses LDR to sense the ambient light and accordingly alters its speed.

PID-Controller

Image2Plot

Generate Plots from Images or Photos in MATLAB

Autonomous_Vehicle_Fundamentals

This repository hosts the algorithmic concepts required for the development of software stack for autonomous vehicles. The code snippets can be used to develop firmware for driverless cars in the future.

Jupyter Notebook

Extracting_And_Summing_Numbers_In_XML_File

This project extracts all the numbers present in an XML file, converts them into integers, computes their sum and displays it.

DriveBot

DriveBot is a multi-platform controlled mobile robot. It can be controlled using a smartphone or a PC.

RGB_Colour_Detector_From_Live_Video

This project uses webcam of the laptop to capture live video of the environment, which is then processed in Processing IDE to detect RGB components of the frames. The maximum threshold value is considered and the colour is displayed accordingly.

F1TENTH

Wireless_Aqua_Cleaner_Robot

The "Wireless Aqua-Cleaner Robot" is designed to clean small debris from waterbodies. It is uses HC-05 and is controlled over Bluetooth. It uses 3 simple DC motors as the only actuators and all the movements are produced using appropriate mechanisms.

Resistor_Colour_Code_Decoder

The aim of this project is to decode the colour bands of a resistor by image processing and display the value of the resistance.

Dynamic-Performance-of-Vehicles

Dynamic Performance of Vehicles @ CU-ICAR

Deep-Learning-Applications-in-Engineering

Deep Learning: Applications in Engineering @ CU-ICAR

Jupyter Notebook

Four-Bar-Simulator

A Simulation System for Four-Bar Mechanism

YOLO-ROS-2

Darknet YOLO with ROS 2

Arduino_LED_Control_Using_MATLAB

This project proposes 2 methods of controlling an LED connected to Arduino using MATLAB - one using the FOR loop and the other using WHILE loop.

AutoDRIVE-Nigel-Dataset

Dynamics and Perception Dataset of AutoDRIVE Ecosystem's "Nigel" Vehicle

Intranet_Based_LED_IoT

The project uses NodeMCU to host an HTML webpage with two buttons to switch an LED ON or OFF respectively. This project is a stepping stone for Home Automation.

Real_Time_Lane_Detection_Algorithm

This repository hosts the project files for Real Time Lane Detection Algorithm implemented using OpenCV in Python

Swarm_LEDs

This project uses 2 Arduino boars with HC-05 Bluetooth Modules connected to each one. One of them is master and the other is slave. The master LED blinks ON and OFF on its own at an interval of 5 seconds. This data is transferred over the Bluetooth to the slave, which then imitates the master's operation

Music_Tracks_Project

This project creates a database of Music Tracks along with their Artists, Albums, Genres, Duration, Rating, etc. from an XML file.

AprilTag-ROS-2

AprilTag Detection and Tracking with ROS 2

Extracting_And_Summing_Numbers_In_JSON_File

This project extracts all the numbers present in a JSON file, converts them into integers, computes their sum and displays it.

Fundamental_Statistics_Using_MATLAB

This project not only detects the number plate of a vehicle, but it also tries to read it and provide the license number of the vehicle as a string output and even exports it as a text document. The program also provides an image of region of interest to the user. The project uses MATLAB 2016a in order to edit and compile the program. The built-in image processing module is used for this purpose.

PC_Controlled_Robot

This robot is driven by ATmega16 and is controlled using Bluetooth. It has HC-05 Bluetooth Module which connects with a PC and the robot can be controlled accordingly using any Serial Terminal application.

BLDC_Motor_Testing_Unit

BLDC Motor Testing Unit is driven by Arduino and uses SimonK ESC. It uses a potentiometer to vary the speed of a Brush-Less DC (BLDC) Motor and tests its performance.

Serial_Communication_Between_Arduino_Boards

The aim of this project is to successfully transmit data from an Arduino board using Serial Communication and receive and read it on another one. This repository hosts separate codes for the 2 Arduino Boards - Transmitter and Receiver.

Obstacle_Avoider_Robot

The "Obstacle Avoider Robot" uses IR Proximity Sensor to detect obstacles, the data is then processed by ATmega16 and ultimately, the robot avoids the obstacle successfully.

Active-Learning

Notes and Experiments with Active Learning

Jupyter Notebook

Table_Top_Robot

The Table-Top Robot uses 4 IR sensors to detect the surface beneath it. It then processes the data in an AVR based microcontroller (ATmega16) which also controls the motors through L293D motor driver circuit. The result is that the robot turns back once it reaches the edge of the table, thus avoiding any downfall.

AutoDRIVE-Hunter-SE-Dataset

Dynamics and Perception Dataset of Hunter SE Robot

Finding_Largest_And_Smallest_Numbers_From_Input

This project takes inputs from the user and compares them against each other. Once "done" is entered as the input, it stops accepting inputs and displays the Largest and Smallest numbers so far.

House_Price_Prediction_Using_Machine_Learning

This project uses supervised machine learning to predict the price of a property based upon its location and area. The database contains the data of around 100 different hypothetical houses, their location, their area and their price. The user has to enter the location and area of the house as the input and the program predicts the price of that house using machine learning and displays it as output.

Jupyter Notebook

AutoDRIVE-AVLDC

AutoDRIVE-AVL DRIVINGCUBE Development & Integration

Internet_Based_LED_IoT

The project uses 2 NodeMCUs and is divided into 2 sub-projects: 1. Publishing Data to the Server The analog data aquired from sensor (LDR) is first read, sampled and quantized into digital form and then published onto a server (Adafruit.io) using the first NodeMCU. 2. Subscribing Data from Server: The data of LDR being published continuouslly is subscribed by the second NodeMCU and depend upon its values, an LED is switched ON or OFF.

Number_Plate_Detector

The aim of this project is to detect the number plate of a vehicle and provide an image of region of interest. The project uses MATLAB R2015a in order to edit and compile the program. The built-in image processing module is used for the purpose. The program is useful to detect front as well as rear number plates, and is immune to variations in lighting conditions. Apart from those directly oriented, it can also detect number plates that are inclined to the camera by 15 to 30 degrees.

Ultrasonic_Obstacle_Avoider_Robot

The "Ultrasonic Obstacle Avoider Robot" uses Ultrasonic Sensor to detect obstacles, the data is then processed by Arduino and ultimately, the robot avoids the obstacle successfully. This robotics project won the First Prize at "TechKnow 2017 (Second Edition)", a physics concept based project demonstration competition at SRM Institute of Science and Technology.

ROS1-ROS2-Bridge

Documentation for the ROS1-ROS2 Bridge

System-Object-MATLAB-Simulink

System Objects using MATLAB and Simulink

YOLO-OpenCV-Python

YOLO Object Detection with OpenCV in Python

Ultrasonic_NDT_for_Surface_Fault_Detection

This project uses ultrasonic non-destructive testing (NDT) technique to detect any faults on the surface of any object. If a fault is detected, it lights up an LED and beeps a buzzer. The project uses HC-SR04 ultrasonic sensor module, which produces 40kHz ultrasound. The wavelength of ultrasound in air is ~0.85cm and since detection requires fault's size to be comparable with the wavelength, such a low frequency wave will not be able to detect a micron-level fault.