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<!DOCTYPE html>
<html>
<head>
<title>Jitendra Singh's Homepage</title>
<meta name="google-site-verification" content="LQlO5af1WRWR2LTANywtdn_o0Yk35psNCHxezyPZAkQ" />
<meta name="author" content="Jitendra Singh">
<meta name="description" content="Jitendra Singh's Homepage">
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<script async src="https://www.googletagmanager.com/gtag/js?id=G-993G6R5ZYP"></script>
<script>
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function gtag(){dataLayer.push(arguments);}
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dots.style.display = "inline";
btnText.innerHTML = "Read more";
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dots.style.display = "none";
btnText.innerHTML = "Read less";
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<meta name="keywords" content="Jitendra Singh, Jitendra Singh">
<style type="text/css">
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</head>
<body leftmargin = "50">
<table border="0">
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<td width="200">
<img src="MY_profile.png" alt="Profile Picture" height="300" style="margin-right:30px; margin-top:50px;">
</td>
<td width="750">
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<p style="font-family: 'Lato', Verdana, Helvetica, sans-serif;font-size:35px; margin-bottom:0; color:#404040;">Jitendra Singh</p>
</tr>
<tr>
<!-- <ul style="list-style-type:none"> -->
<p> I obtained my Master's degree from <a href="https://www.svnit.ac.in/", target="_blank"> National Institute of Technology Surat</a> guided by <a href="https://www.svnit.ac.in/facup/Dr.S.N.Sharma-Resume.pdf", target="_blank">Prof. S.N. Sharma</a>. My Master's thesis focused on the field of control systems, titled “Mathematical Modelling & Control
design for Inverted Pendulum”. I developed a practical setup and implemented an LQR control for balancing & Energy Based Collocated Partial Feedback Linearization Control for Swing Up.
<p> After my Master's degree, I gained experience as Teaching Assistant at<a href="https://iitj.ac.in/", target="_blank"> Indian Institute of Technology Jodhpur</a> and National Institute of Technology Surat. After that, I was an Assistant Professor under <a href="https://www.teqip.in/", target="_blank">TEQIP-III</a> at UCET Bikaner. Furthermore, I have gained Research experience at the <a href="https://iisc.ac.in/", target="_blank">Indian Institute of Science Bangalore</a> and Indian Institute of Technology Jodhpur.
<p>I am most interested in Robotics, Control Systems, Dynamics, Optimisation, Linear Algebra, Computer Vision, and Machine Learning.
<p>Technical Skills: ROS, GAZEBO, MATLAB, Embedded System, Digital Control Design, Digital Filter Design,
Estimation, Python and Embedded C.
<br>
<!-- <li><strong><a href="cv.pdf">resume</a></strong></li> -->
<!-- </ul> -->
</tr>
</table>
</td>
<!-- <td width="200">
<img src="MY_profile.png" alt="Profile Picture" height="300" style="margin-left:30px; margin-top:20px;">
</td> -->
</tr>
</table>
<table border="0">
<tr>
<td width="10000">
<div style="width: 2049px; float: left; padding: 0 0 0 250px;display:flex;justify-content:flex-start;">
<div style="display: grid;align-items:center;padding: 0 50px 0 1px;"><a href="http://www.svnit.ac.in/" target="_blank"><img id="button-ntu" src="images/button/svnit.png" width=40 height=40><p style="color:#1772d0;padding-top:0;margin-top:0">Education</p></a></div>
<div style="display: grid;align-items:center;padding: 0 50px 0 1px;"><a href="https://drive.google.com/file/d/1oGt3Pk3k8SZ5WPyjHfzOXIVMPMlZ69HE/view?usp=sharing" target="_blank"><img id="button-cv" src="images/button/cv_icon.png" width=40 height=40><p style="color:#1772d0;padding-top:0;margin-top:0">Resume</p></a></div>
<div style="display: grid;align-items:center;padding: 0 50px 0 1px;"><a href=" https://scholar.google.com/citations?user=fxkwTfkAAAAJ&hl=en" target="_blank"><img id="button-cv" src="images/button/scholar.png" width=40 height=40><p style="color:#1772d0;padding-top:0;margin-top:0">Google<br>Scholar</p></a></div>
<div style="display: grid;align-items:center;padding: 0 50px 0 1px;"><a href="https://github.com/jitendra825" target="_blank"><img id="button-github" src="images/button/github.png" width=40 height=40><p style="color:#1772d0;padding-top:0;margin-top:0; padding-center:5px">Github</p></a></div>
<div style="display: grid;align-items:center;padding: 0 50px 0 1px;"><a href="https://www.linkedin.com/in/jitendra-singh825/" target="_blank"><img id="button-linkedin" src="images/button/linkedin.png" width=40 height=40><p style="color:#1772d0;padding-top:0;margin-top:0">Linkedin</p></a></div>
<div style="display: flex;align-items:center;padding: 0 50px 0 1px;flex-direction:column;"><a href="https://in.mathworks.com/matlabcentral/fileexchange/?q=profileid:8356716" target="_blank"><img id="button-matlab" src="images/button/matlab.png" height=40><p style="color:#1772d0;padding-top:0;margin-top:0">MATLAB<br>File Exchange</p></a></div>
<div style="display: grid;align-items:center;padding: 0 50px 0 1px;"><a href="https://www.youtube.com/channel/UCeR-uyirH7-4pyl4mpCs0LQ/videos" target="_blank"><img id="button-youtube" src="images/button/youtube.png" style="padding: 0 50px 0 1px;" height=30><p style="color:#1772d0;padding-top:0;margin-top:0;padding-left:5px;">YouTube</p></a></div>
</td>
</tr>
</table>
<h2>Projects</h2>
<table border="0">
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<td valign="top" width="250"><img src="projects/Self_Balancing_Robot.gif" width="300" style="margin-right:20px;"></td>
<td valign="top" width="700">
<p>
<papertitle>Two Wheel Self Balancing Robot: Design Linear & Non Linear Control techniques for Balancing & Trajectory Tracking</papertitle>
<p>The self-balancing robot is essentially an inverted pendulum. In this project, I
simulated non-linear mathematical models and implemented an LQR control in
MATLAB to balance the robot at upward position. I then implemented a Feedback
Linearization control for tracking the desired trajectory. Once I obtained stable
simulation results, I implemented these control techniques on real hardware to
validate simulation results.
<br>
<p> <strong>[<a href="https://drive.google.com/file/d/1AlGW-jotpibwbjhbU75gmtX1bSlWOxc3/view", target="_blank">PDF</a> | <a href="https://www.youtube.com/watch?v=gvfqVTKq9_w", target="_blank">Video</a> | <a href="https://github.com/jitendra825/Self-Balancing-Robot-Simulation", target="_blank">Simulation File</a>]</strong
</td>
</tr>
</table>
<table border="0">
<br>
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<td valign="top" width="250"><img src="projects/IMU_filter.gif" width="300" style="margin-right:20px;"></td>
<td valign="top" width="700">
<p>
<papertitle>Fuse IMU data using Complementary Filter</papertitle>
<br>
In this project, I Implemented Complementary Filter to Fuse Gyro &
Accelerometer Data of IMU (MPU9250). I used Rosserial to send raw data from
the IMU to ROS. I then created a GUI to test the performance of Filter using
rqt_gui. Next, I published the output data of the filter on MATLAB for
visualizing 3D Animation.
<p> <strong>[<a href="https://drive.google.com/file/d/1k3KwQYlsQjYdFbo_I2tBP1Ijm75c7hwo/view", target="_blank">PDF</a> | <a href="https://www.youtube.com/watch?v=0uVZ8PlVObA", target="_blank">Video</a>]</strong
</td>
</p>
</tr>
</table>
<table border="0">
<br>
<tr>
<td valign="top" width="250"><img src="projects/IP_Hardware.gif" width="300" height="230" style="margin-right:20px;"></td>
<td valign="top" width="700">
<p>
<papertitle>Mathematical modelling & controller design for INVERTED PENDULUM</papertitle>
<br>
The Primary objective of this project was to create a control system that could
effectively balance a Inverted Pendulum using LQR control and swing up using
Energy Based Swing up control. This project covered the full scope of design
including creating a valid model of the system,<span id="dots">...</span><span id = "more"> identifying numerical values for the
model parameters, assembling the system hardware, and implementing the
control system using MATLAB Simulink support package for Arduino Mega (8-bit
AVR Microcontroller) to interface with the DC motor. I used a linear guide actuator
system that is taken out from defective Inkjet Printer for develop a linear actuator
and some other parts have been designed using 3D printer to manipulate the
whole model into this setup. I implemented an Energy based Collocated Partial
Feedback Linearization control for swing up & LQR control for balance it at the top.
finally, I have done this in Control system lab at IIT Jodhpur.</span>
<button onclick="myFunction()" id="myBtn">Read more</button>
<p> <strong>[<a href="https://drive.google.com/file/d/1W2v3wKXBVW4FohB33kTv8iBEiOFgoS8d/view", target="_blank">PDF</a> | <a href="https://www.youtube.com/watch?v=G6exRYJ20I4", target="_blank">Video</a>]</strong
</td>
</tr>
</table>
<table border="0">
<br>
<tr>
<td valign="top" width="250"><img src="projects/IP_code.gif" width="300" style="margin-right:20px;"></td>
<td valign="top" width="700">
<p>
<papertitle>Inverted Pendulum: design Swing up & LQR Control using MATLAB Code</papertitle>
<br>
<p>
I implemented Energy based collocated partial feedback linearization control for
Swing Up the Pendulum and LQR for balancing at upward position in MATLAB
code.
<p> <strong>[<a href="https://drive.google.com/file/d/1W2v3wKXBVW4FohB33kTv8iBEiOFgoS8d/view", target="_blank">PDF</a> | <a href="https://www.youtube.com/watch?v=PdHCj_Ezz8Y&t=1s", target="_blank">Video</a> | <a href="https://in.mathworks.com/matlabcentral/fileexchange/97182-inverted-pendulum-swing-up-lqr-control-design-matlab-code?s_tid=srchtitle", target="_blank">MATLAB Code</a>]</strong
</td>
</tr>
</table>
<table border="0">
<br>
<tr>
<td valign="top" width="250"><img src="projects/IP_simulink.gif" width="300" style="margin-right:20px;"></td>
<td valign="top" width="700">
<p>
<papertitle>Inverted Pendulum: design Swing up & LQR Control using MATLAB Simulink</papertitle>
<br>
<p>I implemented Energy based collocated partial feedback linearization control for
Swing Up the Pendulum and LQR for balancing at upward position in MATLAB
Simulink.
<p> <strong>[<a href="https://drive.google.com/file/d/1W2v3wKXBVW4FohB33kTv8iBEiOFgoS8d/view", target="_blank">PDF</a> | <a href="https://www.youtube.com/watch?v=PdHCj_Ezz8Y&t=1s", target="_blank">Video</a> | <a href="https://in.mathworks.com/matlabcentral/fileexchange/97187-inverted-pendulum-swing-up-lqr-control-design-simulation?s_tid=srchtitle", target="_blank">Simulation File</a>]</strong
</td>
</tr>
</table>
<table border="0">
<br>
<tr>
<td valign="top" width="250"><img src="projects/GUI.gif" width="300" style="margin-right:20px;"></td>
<td valign="top" width="700">
<p>
<papertitle>An interactive Matlab GUI to tune PID gains for a line following robot</papertitle>
<br>
<p>The software I developed was a graphical user interface (GUI) that is for monitoring the response of robot and tuning the PID's gains in real-time. I used the conventional trial-and-error method
for tuning the PID's gains for Line Following Robot.
<p> <strong>[<a href="https://drive.google.com/file/d/16rb89PZrd02s0gUBWebQIHw6_p1NoAdy/view", target="_blank">Video</a>]</strong
</td>
</tr>
</table>
<table border="0">
<br>
<tr>
<td valign="top" width="250"><img src="projects/Dc_motor_MBC.gif" width="300" style="margin-right:20px;"></td>
<td valign="top" width="700">
<p>
<papertitle>Model Based Control Design for Speed Control of DC Motor using MATLAB & Simulink</papertitle>
<br>
<p>A Model-Based Control design was used in this project. I first experimented on the
DC motor by giving step input voltage to it and recording the output speed. Next, I
estimated the first-order transfer function of the motor by using the SISO tool in
MATLAB. Then, I used Control System Toolbox to design a PID controller.
Lastly, using Automatic Code Generating in Simulink for all Arduino code, including
control, sensor, and serial communication.
<p> <strong>[<a href="https://drive.google.com/file/d/1m6I2MYtONl_TTN15iuDKybJbzZ-lQ6jc/view", target="_blank">Video</a>]</strong
</td>
</tr>
</table>
<br>
<br>
<h2>Publications</h2>
<table border="0">
<!-- <br> -->
<tr>
<td valign="top" width="250"><img src="projects/paper.gif" width="300" height="300" style="margin-right:20px;"></td>
<td valign="top" width="700">
<p>
<papertitle>A new approach for line following robot using radius of path curvature and differential drive kinematics</papertitle>
<p><b>Jitendra Singh</b>, Prashant Singh
<p>6th IEEE International Conference CERA, 2017
<br>
<p> <strong>[<a href="https://ieeexplore.ieee.org/document/8343380", target="_blank">PDF</a> | <a href="https://drive.google.com/file/d/1lpmBGGlblheiTOJe9R8g4LVz6HQmP7nR/view", target="_blank">Video</a>]</strong
</td>
</tr>
</table>
<hr>
</body>
</html>