Ankit Saini

- Modified robot’s behavior to pick/place totes from shelf and cart using a lifting gripper instead of using a mechanical pull-in/push-out gripper to pick/place only from shelf. - Added time of flight camera to the robot for obstacle detection and avoidance. - Built contamination strategy for Lidar data to filter valid obstacle distance readings from phantom obstacle distance readings generated by dust on lidar's lens. - Added code changes to accommodate Lidar tilt, made Lidar tilt configurable from robot's webpage and fixed Lidar's calibration procedure. - Added a dynamic human comfort margin for obstacle detection and fixed bugs in skirting obstacles. - Identified limitations of localization algorithm and implemented solution for the limitation. - Installed systems at customer and collaborator sites and trained employees to run the system. - Added functionality to make site specific changes for customer sites configurable through robot’s webpage instead of having to change the code. - Built and deployed demos for trade shows. - Added functionality to demo programs to recover from errors without having to reset the entire demo. - Added regions to slow down the robot and beep 3 times before turning. - Designed mud guard and a light mount in Solidworks. - Made software changes in Estop module to stop the robot, instead of letting it roll, when the Estop flag is pulled. - Fixed bug to show warnings and errors on the LCD screen that were not being displayed originally. - Fixed bugs in software used to build maps. - Fixed memory leaks using objgraph.

- Helped 4 international teaching assistants(ITA) improve their listening and conversational skills in English. - Improved ITA's grammatical correctness and pronunciation of English words.

Disassembled end effector, gear train, forearm of FANUC s-420i F and built ladder logic for a batching plant.

Involved in the scratch to final prototyping of a canvas painting robot.