Devansh Dhrafani

Projects

  • Large-scale Autonomous Robotic Construction

    Large-scale Autonomous Robotic Construction

    Motion Planning and perception for a large-scale 3D concrete printed construction robot during my internship at Diamond Age 3D.
  • MPC TrajOpt for Quadrotor Subcanopy Flight

    MPC TrajOpt for Quadrotor Subcanopy Flight

    RRT + minimum snap trajectory and non-linear MPC controller with convex obstacle constraints for fast flight in forest subcanopy.
  • High-altitude Wildland-fire Infrared Crew detection

    High-altitude Wildland-fire Infrared Crew detection

    Comprehensive dataset of Wildland Fire Infrared images with crew labels for the enhancement of wildfire crew detection - published to IROS 2023.
  • Hierarchical Task and Motion Planning

    Hierarchical Task and Motion Planning

    Hierarchical planning using task-level STRIPS + A* search and execution with DMPs for household robotic manipulation.
  • NASA-JPL Exobiology Extant Life Surveyor

    NASA-JPL Exobiology Extant Life Surveyor

    Constrained optimization for gait generation in autonomous, self-propelled snake robot to travese icy crust of Saturn's moon Enceladus.
  • Autonomous Ultrasound-guided Needle Insertion for Battlefield Trauma Care

    Autonomous Ultrasound-guided Needle Insertion for Battlefield Trauma Care

    Novel vessel puncture recognition device validated on experiments in surgical pig labs.
  • Snake-like Robots for Search and Rescue

    Snake-like Robots for Search and Rescue

    ROS-based software stack to control Biorobotics lab Snake Robots; Firmware development for snake head perception module.
  • Solar Electricity Generation Forecasting

    Solar Electricity Generation Forecasting

    Using neural networks for weather based solar electricity forecasting.
  • EXPEVER

    EXPEVER

    Expert EV/HEV Prime-mover Selection System (EXPEVER) is a MATLAB based intelligent selection system for EV/HEV prime-mover parts.
  • Coefficient of Drag using Accelerometer Drop Test

    Coefficient of Drag using Accelerometer Drop Test

    A low cost, easy to setup drop test procedure to calculate the drag coefficient of a model aircraft.
  • Fabrication of Microfluidic Electrochemical Sensors

    Fabrication of Microfluidic Electrochemical Sensors

    Low-cost, portable dianostic electrochemical sensor using 3D carbon ink extrusion on glass substrate.
  • ALFA - APTRI Labs Floor Assistant

    ALFA - APTRI Labs Floor Assistant

    ALFA is an open-source internet controlled mobile robot developed during my summer internship at Adani Power.
  • Dextroid-The Humanoid

    Dextroid-The Humanoid

    An 8-DOF Bipedal Humanoid designed to be low-cost and enable fast prototyping, with easily replaceable off-the-shelf parts.