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§ 01 // PROJECTS

Case files

Internships, projects, and competitions, sorted by start date, newest first.

FILE 09 // WATCHCLOSED

Mechanical Watch: Going Train and Swiss Lever Escapement

Independent · AUG 2026 TO SEP 2026

The basic mechanism of a mechanical watch, from mainspring barrel to balance, designed from first principles: thirteen parts driven by 393 linked equations, ogival NIHS 20-30 teeth, a Monte Carlo tolerance study, and a full contact simulation that ticks at 0.2498 s against a design value of 0.2500 s.

  • Mechanical Design
  • Precision Mechanisms
  • Simulation
  • Tolerance Analysis

ON FILE:SHORT REPORTREPORT

The complete mechanism from the mainspring barrel on the left, through the going train and escapement, to the balance on the right: thirteen unique parts on one line of centres.
FILE 01 // ZBOTCLOSED

ZBot: Simulating a Zebrafish Larva's Bio-Inspired Locomotion

BioRob, EPFL · JUN 2026 TO AUG 2026

Ported a bio-inspired zebrafish-larva swimming robot from Webots to MuJoCo/FARMS, then fixed two physics defects in the lab's underwater simulation stack: a fixed-point buoyancy model and a hard-coded fluid density.

  • Control
  • Simulation
  • Underwater
  • CPG

ON FILE:REPORTPRESENTATION

ZBot's articulated body holding a traveling body wave in the MuJoCo viewer, next to a small green target marker.
FILE 04 // TRIDENTCLOSED

Trident AMR: Design and Simulation of a Differential-Drive Pick-and-Place Robot

RMI, NIT Trichy · SEP 2025 TO DEC 2025

A 3D-printed differential-drive robot designed for a WorldSkills pick-and-place task: a caging gripper slides coins without lifting, RTAB-Map and Nav2 navigate around obstacles, and a line follower guides the final blind docking. 36 of 36 coins delivered across twelve simulated missions.

  • ROS2
  • SLAM
  • Navigation
  • Mobile Robotics

ON FILE:SHORT REPORTREPORT

CAD model of Trident Version 2: differential drive with two N20 gearmotors, caging gripper, and depth camera mount.
FILE 06 // ARM-3RCLOSED

Designing a 3R Robotic Arm

NIT Trichy · AUG 2025 TO SEP 2025

A minimal 3-degree-of-freedom revolute arm, designed for sequential hardware assembly rather than just simulation, with an anchored base and stainless-steel drive shaft.

  • Robotic Arm
  • CAD
  • Kinematics

ON FILE:SHORT REPORT

CAD render of the assembled 3R arm: turntable base, two link pairs, and end effector.
FILE 03 // WHEELCHAIRCLOSED

Data Collection and Mathematical Modeling of Wheelchair Dynamics

R2D2 / Thryv Mobility, IIT Madras · MAY 2025 TO JUL 2025

Derived a state-space model of wheelchair push dynamics from strain-gauge data collected across 40 subjects, and implemented a cruise-control proof of concept.

  • Control
  • Signal Processing
  • Modeling
FILE 02 // PENDULUMONGOING

Controller Implementation on a Rotary Inverted Pendulum

NIT Trichy · DEC 2024 TO PRESENT

Linearized and stabilized a Quanser rotary inverted pendulum using pole placement, LQR, and gain-scheduled LQR, validated on real hardware.

  • Control
  • LQR
  • Hardware

ON FILE:SHORT REPORT

Diagram of the rotary inverted pendulum: rotary arm angle theta and pendulum angle alpha, with lengths L_r and L_p labeled.
FILE 05 // ROVIOONGOING

ROVIO: Simulation, Control and Vision-Based Autonomy for an Underwater Vehicle

RMI, NIT Trichy · DEC 2024 TO PRESENT

RMI's eight-thruster, 6-DOF underwater vehicle: I sealed its enclosure, then built a simulated autonomy stack in Stonefish: thruster allocation, cascaded control, AprilTag localization and a monocular coral-mapping pipeline trained on auto-labelled images.

  • Underwater
  • Control
  • Perception
  • Simulation

ON FILE:SHORT REPORTREPORT

ROVIO in the simulator, seen from below in open water with sunlight overhead: the open frame, carry handles and thrusters.
FILE 07 // BBB-2091CLOSED

Balancing Builder Bot

e-Yantra, IIT Bombay (RMI team) · SEP 2024 TO NOV 2024

A two-wheeled self-balancing robot with a gripper, simulated in CoppeliaSim: LQR-balanced while traversing a path and performing pick-and-place of foam boxes.

  • LQR
  • Simulation
  • Competition

ON FILE:SHORT REPORT

CoppeliaSim top-down view of the balancing bot's path, from a green start marker curving to a red pickup/drop point.
FILE 08 // EXTRUDERCLOSED

PLA Filament Extruder

NIT Trichy · AUG 2023 TO DEC 2023

Rebuilt a filament extruder that recycles failed 3D prints and PLA support structures back into usable filament.

  • 3D Printing
  • Sustainability
  • Hardware

ON FILE:PRESENTATION

The full extruder rig on a workbench: hopper, heated barrel and screw, temperature controller, and a spool winder in the background.