Hello, I'm Kedar More

Controls Engineeer R&D

• Developed and implemented control systems utilizing SAIA PLC and HMI in Instruction List and Beckhoff TwinCAT in Structured Text and Object-Oriented Programming principles.
• Contributed to the development of table-top machines for testing syringes, integrating HVLD technology and vacuum/pressure decay methods.
• Initiated the integration of 6-axis robots into the testing system to convert them from manual to fully autonomous and increasing the testing rate by 80%.
• Defined research criteria and devised test methodologies to assess the performance and reliability of the testing systems by setting recipes to align with the products to be tested and the severity of its defect.
• Enhanced machine functionality and optimized existing programs to reduce the number components by 10% and subsequently the cost resulting in improved efficiency and effectiveness.

Controls Engineeer

• Created programs for custom assembly line machines as quoted by the top manufacturers of the packaging industry on OMRON Sysmac Studio and Beckhoff TwinCAT (PLC and HMI).
• Developed a new system of HMI pages which could visually take you to the parts of machine you want to supervise and make the required changes. This drastically improved the user experience of the technicians working on it.
• Worked on Staubli 6-axis robots to fulfill the speed requirements for some applications with a lot of products going through the process which reduced the time by 20%.
• Certified with Staubli CS9 Programming Level 1 (Staubli Robotic Suite and safety).
• Certified with OMRON Mobile Robot Programming and Fleet Management.

Teaching Assistant: CAD and Manufacturing

• Conducted lab sessions with 25 undergrad students for ‘CAD and Manufacturing’ course and thought Solidworks from a basic to advanced level.
• Provided hands-on training to the students on CNC Lathe and Mill machines using techniques like turning, slotting, parting, absolute and incremental precision measurements to make aluminum products.
• Analyzed the final year projects through presentations and contributed some ideas for future development.

Stabilize a Single Rotor at an input angle

• Constructed an assembly for an arm to rotate freely about an axis at one end and the other equipped with a single rotor.
Programmed and studied the effects of different controllers such as P, PI, PID on the stability of the device.
Created a model-based controller called variable PD and tested it to get a decrease in percent overshoot and settling time.
T-RECS: Build; Model; System Identification
Industrial Automation: Simulink
Industrial Automation: Euler's Methods
Industrial Automation: Shannon Nyquist Theorem

Path Planning Algorithms in python3

• Bug Algorithms: Bug1, Bug2, Tangent Bug.
Continuous: Potential Functions.
Discrete: Wavefront.
Sampling Based: Probabilistic Roadmaps, Rapidly exploring Random Tree, A*, Dijkstra's.
Final project: Updated Wavefront Planning Algorithm for Ackerman Steering System and its Comparision to Sampling-based planner RRT

Visualize and Control a virtual Inverted Pendulum with a single Motor Input

• Utilized Robot Operating Syatem (roscpp) to simulate the motion of an Inverted Pendulum. The two nodes represented the controller and the physical pendulum.
Setup the controller to take continuous feedback from the visualizer and give torque output to the motor.
Tuned the controller with a PID control to best suit the physical pendulum and its perturbations.
Perturbation angle can vary from -180 to 180 degrees.
Implementation

Cockroach inspired Robot

• Designed a 6-legged robot which could be controlled using only 2 motors.
The design was inspired by the motion of a cockroach that it undertakes while in search of food and while attacking its enemy.
Applied a path planning algorithm called Bug1 to reach a source of light from a certain point in an obstacle environment.
Bug1 is inspired by the food sensing ability of a bug and the tactile sensors in its antennae.
Implementing Bug Algorithms on Sparki Robot

‘Twitch Plays TwiPi: An analysis and comparison with Twitch Plays Pokémon’

• Conducted a social experiment on crowd-controlled gaming using YouTube Live Streaming and Chat and python library ‘ytchat’ on Raspberry Pi.
Hosted a server where 27 people controlled a wheeled robot simultaneously to achieve a specific task.
Similar experiment was done with 1,2, 4 people and an in-depth analysis was done on the total time taken with variables such as complexity of the task, no of people, etc.
Inspired by a video game ‘Pokémon Red’ which was played by 748006 players in real time.
Twitch Plays TwiPi

ABU Robocon

Participated in Asia-Pacific competition ‘ABU Robocon’
and lead a team of 7 mechanical engineers to complete the tasks while working closely with the electronics and coding team.
Frisbee throwing robot (manually controlled, frisbee could be thrown at a desired location accurately)
Ball swinging robot (autonomous, used pneumatic systems)
Quadrupedal robot (autonomous, used linear actuators and accelerometer for feedback)

University of Colorado Boulder, USA

University of Mumbai, India

Mobile Robot Programming and Fleet Management

STÄUBLI CS9 Programming Level1

MTA: Introduction to Programming Using Python