Projects
Details about each project can be found in their respective GitHub repositories.
Autonomous Scheduling of Self-Driving Vehicles 09/2023 – Ongoing
Artificial Intelligence and Decision Systems Course, Instituto Superior Técnico.
Instructors: Prof. Rodrigo Ventura
Tools Used: Python Libraries.
Adaptive Control of a Flexible Robotic Arm 09/2023 – Ongoing
Control of Cyber-Physical Systems Course, Instituto Superior Técnico.
Instructors: Prof João Manuel, Prof. José António Da Cruz
Tools Used: MATLAB, Simulink.
Autonomous Docking and Underwater Treasure Search with BlueROV 03/2023 – 06/2023
Robotics Challenge, Jaume I University.
Supervisors: Prof. Pedro Sanz, Prof V. Hugel.
Tasks Completed:
Generated, augmented, and labelled an image dataset from a video file.
Developed a real-time object detection algorithm for ArUco markers, docker and desired treasures.
Developed a vision-based PID control algorithm for docking and treasure hunting with live-detection.
Implemented the algorithm on a Unity simulator and eventually tested in a controlled pool.
Tools Used: ROS (Python), RoboFlow.
Repository: https://github.com/olanrewajufarooq/BlueROVCompetition
Trajectory Planning and Autonomous Control of BlueROV 01/2023 – 04/2023
Marine Mechatronics Course,Université de Toulon.
Instructors: Prof V. Hugel, Prof. V. Creuze, Prof. C. Anthierens, Prof. C. Dune
Tasks Completed:
Implemented a PID controller for a decoupled yaw and depth control.
Implemented a state estimation algorithm for yaw and depth using alpha-beta filter.
Implemented a visual-servoing control technique for patch and blob tracking.
Implemented autonomous inspection of a tank wall using finite state transitions.
Implemented collision avoidance and free-path-search algorithm using sonar sensor.
Tools Used: ROS (Python).
Repository: https://github.com/olanrewajufarooq/MIRBlueROV
Modelling and Simulation of Autonomous Underwater Vehicle 11/2022 – 01/2023
Modelling of Marine Systems Course, Université de Toulon.
Instructor: Dr. Mathieu Richier
Tasks Completed:
Identified the inertia and added-mass matrices, coriolis matrix, drag matrix and the actuation parameters.
Implemented the simulation of the AUV and performed experiments to determine the impact of the identified parameters on the simulation.
Tools Used: MATLAB, Simulink
Repository: https://github.com/olanrewajufarooq/MIRUnderwaterRobotics
Vertical Stability Control of Autonomous Underwater Vehicle 11/2022 – 01/2023
Control of Multivariate Linear Systems, Université de Toulon.
Instructors: Mr. Aurelien Dhaisne
Tasks Completed:
Identified the hydrodynamic and environmental parameters from sensor data using Least Square and Cost Optimization.
Linearized and discretized the AUV model around the equilibrium point.
Implemented an LQR control to steer and stabilize the AUV at a particular depth with minimal oscillations and overshoot.
Tools Used: MATLAB, Simulink.
Repository: https://github.com/olanrewajufarooq/MIRAUVSimulator-ControlTheory
Analysis of Mediterranean Sea Data 10/2022 – 01/2023
Fundamentals of Marine Systems Course, Université de Toulon.
Instructor: Prof. Anne Molcard
Tasks Completed:
Deployed sensors and collected raw oceanographic data from the Toulon Bay, France.
Developed an ETL pipeline for drifting buoy data and CTD data and performed secondary analysis.
Explored and visualized the cleaned data to regenerate the drifting buoy trajectory, the ocean surface current and its vertical structure.
Implemented a hind-cast algorithm using the wind data and ocean surface current data for tracking of object under motion due to advection.
Validation of the hind-cast algorithm with the primary data collected.
Standardized the code for open use.
Tools Used: MATLAB, Python.
Repository: https://github.com/olanrewajufarooq/MIRUnderwaterRobotics
Modelling and Simulation of Hexabot Leg 11/2022 – 01/2023
Modelling of Mechanical Systems course, Université de Toulon.
Instructors: Prof. Cedric Anthierens
Tasks Completed:
Identified the DH-parameters of the link configuration and computed the Jacobian matrix.
Implemented the inverse kinematics and identified the singularities in the configuration.
Modelled and simulated the end-effector control on Simulink.
Tools Used: MATLAB, Simulink.
Repository: https://github.com/olanrewajufarooq/MIRAUVSimulator-ControlTheory