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Research
Research
Research
![](https://framerusercontent.com/images/7dg9qx8lp7ysQHcr38eEviGDwc.jpg)
![](https://framerusercontent.com/images/7dg9qx8lp7ysQHcr38eEviGDwc.jpg)
An individual project for AINT 513. Used Haar Cascades to localize the face followed by corner detection (Shi-Tomasi corners) which were tracked in real time using LK Optic flow.
![](https://framerusercontent.com/images/7dg9qx8lp7ysQHcr38eEviGDwc.jpg)
![](https://framerusercontent.com/images/7dg9qx8lp7ysQHcr38eEviGDwc.jpg)
Wrote ROS nodes and Arduino code to control variety of robots using a standard Xbox-compatible joystick.(Logitech F710 Wireless). The challenges involved getting making the code platform independent and compatible to various robots with minor robot specific tweaks.
![](https://framerusercontent.com/images/7dg9qx8lp7ysQHcr38eEviGDwc.jpg)
![](https://framerusercontent.com/images/7dg9qx8lp7ysQHcr38eEviGDwc.jpg)
The other group members were responsible for developing a tracking algorithm to track the ball in the air as well as a tactile sensor system to gauge the impact of the ball on the palm. The Platform for testing was the GummiArm developed by Dr. Martin F. Stoelen.
![](https://framerusercontent.com/images/7dg9qx8lp7ysQHcr38eEviGDwc.jpg)
![](https://framerusercontent.com/images/7dg9qx8lp7ysQHcr38eEviGDwc.jpg)
The objective of the research is to bridge the gap between conventional prosthesis and the functioning of the human control system.
![](https://framerusercontent.com/images/7dg9qx8lp7ysQHcr38eEviGDwc.jpg)
![](https://framerusercontent.com/images/7dg9qx8lp7ysQHcr38eEviGDwc.jpg)