Balakrishnan Irudhayaraman

Title - Sensor fusion for Self-localisation of Autonomous Vehicle • Development of probabilistic Sensor Fusion Models (Extended Kalman Filter and Particle Filter - Sensors - POZYX, Encoder, IMU) in ROS-C++ for localization of autonomous vehicles in DHBW-ZF InnoLab. • Implementation of sequential model in Deep Learning for state estimation of autonomous vehicles. • Integration of visual odometry algorithm with RGB-D Kamera to the fusion model.

Development and Integration of RTLS system POZYX with existing ROS environment on the autonomous vehicle. Developing ROS odometry node for tracking the position of the vehicle with absolute encoder. Integrate the Ackermann steering in the simulation of Autonomous vehicle in Gazebo, ROS controllers. Developing POZYX RTLS system simulation and odometry node from joint velocities in the Gazebo environment. Sensor fusion for localisation with open source Extended Kalman Filter in the Gazebo simulation.

• Utility tool development for performing Integration Tests for the robot in CoppeliaSim Simulation • Implementing a C++ Driver for an LED Module • State of the art Software Development, ROS, Linux, C++, Python, Git, CoppeliaSim Agile development using Jira for Scrum • Multiple RGB-D Sensors mechanical arrangement optimization for outlier removal in Point Clouds • Design of Software Architecture

Development of Python program for manipulation of objects based on ROS –MoveIt. ROS-Python program for object pose estimation with Aruco markers. Creation of Gazebo models with Aruco markers for simulation. Member of the RoboCup team.

Inspection and quality control of fighter aircrafts structural components. Perform NDT on the root structure of aircraft wings. 3D Modelling of Hydraulic System components of aircraft with CATIA.

Creation of technical literature content of technical manuals for Daimler – Mitsubishi FUSO trucks and buses. Quality checking of the manuals prepared by the team, so that it meets the client requirements.

Electrical Drives, Integration of Mechatronics Systems, Advanced mathematics, Autonomous Mobile Robots

Engineering Mathematics, Strength of Materials, Kinematics of Machinery, Principles of Management, Robotics