Basit MuhammaD imran

Controls and Robotics Engineer

Ph.D. Candidate at Virginia Tech

Hybrid Dynamic Systems and Robot Locomotion Lab (HDSRL)

Blacksburg, USA.

Email: basit@vt.edu

My Introduction

Summary

Hello, I am Basit. Currently, I am a Ph.D. Candidate in Mechanical Engineering department at Virginia Tech (USA) working on Coordination, Planning, and control of Multi-Agent Quadrupedal Legged Robots. My research interests lie in Control Theory, Trajectory Optimization, Planning and Autonomy, Reinforcement Learning, and Robotics. My previous projects and work span diverse robotic platforms such as UGVs, UAVs, Robotics Manipulators, and now Quadrupedal Robots.

My Active Projects and Research

My ongoing project involves control, coordination, and planning for Multi-Agent quadrupedal robots using trajectory planning and Model Predictive Control. I am also working to implement this on actual hardware using multiple Unitree A1 Robots.

My Previous Works

In my previous works: I have worked on autonomy and planning of UAVs, control synthesis of bipedal planar robots using Hybrid Zero Dynamics and IO-linearizing nonlinear control, Attitude Estimation using sensor fusion and Extended Kalman Filter for a Quadcopter UAV, System ID, LQR controller design for a plant with unknown dynamics, and Adaptive Control design for flutter suppression of Aircraft Wing Section.

My undergraduate degree is in Mechatronics Engineering, and I have spent a significant amount of time working on actual hardware and embedded programming. My other skills include PCB Design, Assembly Programming, Electrical interfacing, Sensor Fusion, and Estimation. My side interests include Perception, Computer Vision, and AI.

Publications

[C1] M. H. Tanveer, H. Zhu, W. Ahmed, A. Thomas, B. M. Imran and M. Salman, "Mel-spectrogram and Deep CNN Based Representation Learning from Bio-Sonar Implementation on UAVs," 2021 International Conference on Computer, Control and Robotics (ICCCR), 2021, pp. 220-224, doi: 10.1109/ICCCR49711.2021.9349416

[C2] M. H. Tanveer, M. Sabbagh, A. Thomas, B. M. Imran and M. H. Soomro, "RNN and Mel-spectrogram based acoustic balancing and bouncing of ping pong ball," 2020 International Conference on Computing, Networking, Telecommunications & Engineering Sciences Applications (CoNTESA), 2020, pp. 16-20, doi: 10.1109/CoNTESA50436.2020.9302849

[C3] D. Ahmed, W. Shahid Qureshi, S. Arsalan Aijaz, B. M. Imran, S. Manshoor Ali Naqvi and C. -Y. Lin, "Towards Selfie Drone: Spatial Localization and Navigation of drone Using Human Pose Estimation," 2021 International Conference on Robotics and Automation in Industry (ICRAI), 2021, pp. 1-7, doi: 10.1109/ICRAI54018.2021.9651330

Teaching and Mentoring Experience

GTA for Industrial Electronics ECE3254
Served as Mentor for new incoming students in the Mechanical Engineering graduate program at Virginia Tech

My Research interests

OPTIMIZATION CONTROL PLANNING TRAJECTORY OPTIMIZATION PERCEPTION COORDINATION MULTI-AGENT SYSTEMS

MY COMPETENCIES

Programming

- C/C++
- Python
- Bash
- MATLAB

Simulation

- MATLAB/ Simulink
- Python
- Gazebo

Control

- Classical Control (e.g. PID)
- Nonlinear Control
- Adaptive Control
- Model Predictive Control

Estimation/ Sensor Fusion

- Kalman Filter
- Extended Kalman Filter
- Complimentary Filter

Electronics

- PCB Design (Eagle, Altium, Proteus)
- Embedded Systems
- Assembly Programming
- ARM, PIC, Raspberry Pi

AI and Learning

- Reinforcement Learning (Gym)
- Machine Learning
- Perception and Computer Vision

Projects and research

path Planning and CONTROL of KINOvA ARM

Path Planning and Control for the 3rd Gen Kinova Arm model
Equations of motions obtained using Euler-Lagrance method

Autonomous Robotics project

National Engineering and Robotics Contest - Pakistan

Led a team of 6 members to develop an autonomous robot for participation in a nationwide theme competition. Our team manufactured the robot from scratch, including the electronics and mechanical structures. Power management modules and embedded electronics were designed by me and fabricated by hand using university facilities.
Our team stood in the top 8 in the nationwide contest among more than 150 competing teams.
Won "Best Engineering Design" Award on this project.

IO_Anim.mp4

Adaptive IO LInearizing control for wing section flutter suppression

Reproduced results of [1] using IO-linearizing adaptive controller for aircraft wing section flutter suppression using a trailing edge actuator. Simulations were done in MATLAB and it was shown that IO-linearzing controller outperformed MRAC controller for the same system under same conditions.

[1] Ko, J., Strganac, T.W. & Kurdila, A.J. Adaptive Feedback Linearization for the Control of a Typical Wing Section with Structural Nonlinearity. Nonlinear Dynamics 18, 289–301 (1999). https://doi.org/10.1023/A:1008323629064

My curriculum vitae

Basit_CV.pdf

For further reference, here's my CV

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