Projects

Please click on the image for more information!!!

Modeling and Simulations

Acoustically Powered Insect Robot

A robot that uses the concept of resonance to move its wings to propel in its environment. For more details Click here

Trampoline : A Multibody Study

For more details Click here

Venus Rover Obstacle Avoidance System

To explore the daunting surface of Venus, NASA needs an innovative obstacle avoidance sensor for its mechanical clockwork rover. For more details about the challenge Click here.
My Submission: Click here

Tenezbot: A tennis ball collection Robot

“TenezBot” is a robot which can detect and collect tennis balls from the tennis court. This project uses Agile Iterative Software Development Process and Test Driven Development Practices.
For more information Click here

Air Water and Land Surveillance Bot

AWL - SB is a surveillance Robot which has the capability to move in Air, Water and Land. It is a robot with spherical morphology which encompasses a differential drive cart, a quadrotor and a floater unit.
For more details Click here

Game and Animation Development Projects

Kaboom

Kaboom is a C++11 rendering created from scratch. Various concepts in the graphical processing such as image noising, linear interpolation, shaders, displacement mapping and ray tracing are used in the project.

The Cube Runner

A game designed in Unity3D. You can play the game by clicking on the image.
Avoid the obstacles by steering the cube.
Controls: A - Steer Left, D - Steer Right

Pendulum Wave Animation

A Pendulum animation created in Blender. There are 10 pendulums in the animation and the phase of each of them is shifted by some degree. The most intriguing fact I found about this animation is the chaos in the relative motion which occurs after every specific interval.
For a longer version Click here

The Lost Hull

The Lost Hull is one of my long term hobby project. It is an adventure game where the protagonist - "a dog" ventures through the forest to find its master. The storyline is still not decided 😉. I plan to finish this project by the fall of 2022.

Motion Planning

A Star Path Planner

A Path planning Project in which I wrote a Path Planner in Python for a point and a rigid robot to traverse from a start node to an end node in an obstacle map and then used ROS Gazebo to simulate it on a Turtlebot Robot.

Dijkstra Algorithm

A Path planning Project in which I wrote a Path Planner in Python for a point and a rigid robot to traverse from a start node to an end node in an obstacle map.

Pick it Up

Path planning for a Baxter Robot Manipulator. In this project I used ROS Move it Library.

Computer Vision

Visual Odometry

Visual Odometry is the process of determining the position and orientation of a robot by analyzing the associated camera images. Visual Odometry is a crucial concept in Robotics Perception for estimating the trajectory of the robot (the camera on the robot to be precise). In this project we are given frames of a driving sequence taken by a camera in a car, and the scripts to extract the intrinsic parameters.

Lane Departure Warning System

In this project, we used computer vision concept to design a lane departure warning system. The frames were warped using the homography transformation to get a birds eye view and then thresholded. We also predict turns in this project.

Human Detection Module

The presence of humans in a webcam feed is detected by the use of Haar Cascade Classifier from the OpenCV library, which is covered under the 3-clause BSD License. Cascade functionality can be used to detect objects by importing a trained model XML file. These XML files can be of a pre-trained model or can be generated using command prompt utility of the OpenCV. For this project our team created a new model from scratch.

Algorithms and Data Structures

8 Puzzle Solver

In this project, an 8 puzzle game is solved using BFS Algorithm.

Algorithm Visualizer

In this project, various sorting algorithms are visualized using ReactJs webapp and Css.

My Blog Posts

[1] Bayes theorem and Kalman Filters (Work in Progress)

[2] How to create a Robot in ROS from Scratch.

[3] Occam's Razor

[4] Blossom's Algorithm

[5] Why is glass Transparent?

[6] Entropy and Physics

Patents and Publications

[1] Pruthvi Sanghavi, Chanakya Thaker, Dhruv Thanki, and Naisarg Pandya: “Air Water and Land Surveillance Bot,” provisional patent filing April 2019.

[2] Derek A. Paley, Pruthvi Sanghavi: “Self Driving Scooter,” patent disclosure filing October 2020.

[3] Derek A. Paley, Pruthvi Sanghavi: “Electric Scooter Self Righting Mechanism,” patent disclosure filing November 2020.

[4] Derek A. Paley, Pruthvi Sanghavi: “Protective Handle Grip Covers and Dispenser,” patent disclosure filing April 2020.

[5] Pruthvi Sanghavi, Dhruv Thanki, et. al.: “Oxygen Generating System for Underwater Breathing using Counterflow Diffusion: A Concept"

[6] National Science Foundation - ICORPS, Supervisor: Dr. Derek Paley | Role: Entrepreneurial Lead for REZOOM team July 2020 - Sept. 2020 - Created a business model canvas for the startup and concurrently performed customer discovery through market survey and interview in the electric scooter domain.

Pruthvi Sanghavi

Howdy! I'm Pruthvi, an engineer based in Pasadena, California. I recently joined Miso Robotics' Systems Team after completing my Masters in Robotics at the University of Maryland, College Park. For more information click on About Me button above or get in touch at pruthvi@terpmail.umd.edu