For You

Alireza Ahmadi

Mobile Robotics & Electrocnics Engineer

Projects

2018

Visual-Servoing based Navigation for agricultural robots to navigate in Crop-rows fields

2019

Implementation of KinectFusion 


2018

MapRecon

a Host-based implementation of  Camera Tracking with a point-to-point ICP on RGBD Dataset using SVD Eigen.

2018

AgriBot LocalPlanner

ROS Local Planner - using DWA & PID control ideas to work with move_based and navigation packages to navigate the robot through waypoints to get it to its destination.

2018

Lable-Gun - a Tool to facilitate gathering databased of plants and weeds in agricultural fields

2019

Accelerated Marching Cubes and Mesh generation Library

2018

GNSS-AR

Vision-based approach for GPS Localization Improvement in Semi-Obstructed Areas

2018

Bag of Visual Words 

A Host implementation of back-end structure including KDTree - KNN - K-means, and HTML interface... 

meshRay
RayTracing

2019

Ray Tracing

A CUDA based implementation of mesh Ray Tracing to generate Depth Image

2019

TSDF (Truncated Signed Distance Function)

A volumetric Iso-surface representation 

pyramid
Gaussian_kernel
convolution_math
bilateral

2019

DynaMap- Image Library 

a Collection of libraries including Up-Down Pyramid, Bilateral Filter, Kernel Generators, Convolution operators, etc implemented in C++ CUDA based within Project DynaMap

2019

Dual-Quaternion Skinning  

High-performance cuda based dual-Quaternion implementation.

2019

 Quaternion library

a Cuda compatible,  high-performance library for quaternion and its related operations along with conversions to Euler and rotation matric representations.

2018

Local Density Outlier Removal

A Hsot implementation of Local density outlier removal, including fast KNN based on KDTree-FLANN.

2019

Tri-Linear Interpolation

a Cuda based implementation of tri-Linear Interpolation library 

2019

Accelerated Least-squares 

a device based impelemntation of Least-squares for resigtering point cluods and images with (Point-to-Point and Point-to-Plane metrics)

2017

K-Means 

a Host/Device implementation of K-means algorithm.

2018

KD-Tree

an Accleretad and Host implementation of KD-tree in C++ 

compatible with CUDA structure.

2017

Ego-Motion Estimation and prediction USing EKF

a Matlab implementation of Strap-Down integration for ego-motion tracking of vehicle eqquipped with GNSS and IMU.

2017

Ground-FootPrint Tracker of Satellites

Ground-FootPrint tracker of Grace twin satellites in Matlab based on TLE file

since 2018

Unscented Kalman Filter

a Matlab implementation of Unscented Kalman Fliter to estimate ego-motion of a vehicle eqquipped with GNSS and IMU.

Robots and Platforms

2016

SPH-Bot

A Spherical Mobile Robot with Pendulum  drive Control

2013 - 2017

Sepanta - AUT@Home Service Robot platfrom

May 12, 2016

WorldSkills 2013 - Iran National Mobile Robotics Team 

2013 - 2015

AUTMAN - Kid & Teen Size Humanoid Robots

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May 12, 2014

WeeMik - A Educational Swarm Robot Platform

2018 - 2019

AgriBot - An Agricultural Mobile Robot Platform

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2011

ReMoRo 

A low-cost Omnidirectional Mobile Robot Platform - An outcome of a series of omnidirectional mobile platforms with educational usages.

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2016

HexaPod

A project with the main goal of designing a legged robot capable of self-balancing and train climbing and simultaneously mapping environment

2015

Micro-Car - A Mini Vehicle like Mobile Robot Platform

A project consisting of designing and implementation of a Micro-car model capable of Mapping and Autonomous navigation

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isolated machine
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2010

Auto Isolation Machine

a Robot to twist insulation PSP papers on high-Amper cables used in PowerPlant transformers

ISOOpen (3)
ISOOpen (1)
ISOOpen (4)

May 12, 2016

Insulation Stripper/Cutter Machine

an insulation Stripper machine for cutting thick PSP covers of high-Amper cables of Power-Plant Transformers

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May 12, 2016

Welding Machine

Designing a pipe welding and cutter robot, capable of working on pipes and planes with different sizes and shapes.

Electrical and Embedded Controller Projects

2011

EMF 

Electro-Magnetic Based Power Line Detector, early version a commercial product uesd in power plants and electrical systems as an aid for measurements and safety issues.

2014

RC3 Remote Controller

18 Channel None Interference RC controller with training educational and usages for kids, used in varous national and international robotics competitions.

2016

IoT Irrigation System

An IoT based coherence irrigation system capable of supporting different wireless modules and connection types.

Sofwares

2015

MBlock

Developing open-source Java-based software MBlock to support PishROBOT Controllers connection via Bluetooth and Com-port along with  Operational Extepanding Blocks 

2015

PRCLAB  (PISHROBOT Co.)

a Software to Program and test PRC controller which graphically simulates and mimics behavior of actuators and sensors.

2015

PRCLAB Downloader  (PISHROBOT Co.)

a .Net based program to program AVR micro-controller