Design of a 32-bit MIPS-ISA based Pipelined Processor
Design of a 32-bit MIPS-ISA based Pipelined Processor

In this project, we first built a single-cycled pipeline processor basing on MIPS Instruction Set Architecture. Then, we inserted the pipeline registers and divided the execution of each instruction into 5 steps. Finally, to handle the hazards, we implemented a hazard detection and stalling unit, a flushing unit, and a data forwarding unit.

Xilinx ISE
Branch Type Robot Control Robot Control
Branch Type Robot Control Robot Control

In this project, first I have developed the model for numerical inverse kinematics of a 2R robot. After that, using this numerical IK model, I have made the 2R robot joints to trace out some trajectories like straight line, circule, square, etc. Finally, a tree-type robot is modeled is modeled in MATLAB and its numerical IK model is also developed.

MATLAB
Design of PID & LQR Controllers for motion control of a six-thruster AUV
Design of PID & LQR Controllers for motion control of a six-thruster AUV

In this project, we have first modelled the physics of an actual AUV using Simulink Blocks. Later, we designed a PID controller for controlling the motion of the AUV model and tuned the parameters using the inbuilt PID tuner app in Simulink. Further, we have modelled the physics of the AUV in terms of a state equation and designed the state-fed LQR controller for this equation.

MATLABSimulink
Design, Fabrication, & Testing of Stewart Platform
Design, Fabrication, & Testing of Stewart Platform

In this project, we first modelled the movable platform of the hexapod using Onshape CAD software. Then we gathered many resources like servo motors, power supplies, microcontrollers, wooden planks, etc., using which we have built the hexapod! Finally, we used the Arduino IDE to excite the motors inorder to make the hexapod follow a predefined trajectory like circular, vibratory, vertical, etc.

Arduino IDEOnshape
Design of an 8-bit by 8-bit Unsigned Array Multiplier using 180 nm technology node
Design of an 8-bit by 8-bit Unsigned Array Multiplier using 180 nm technology node

In this project, we first designed AND gate, half-adder & full-adder modules using transmission gate logic style. Later, we used these two modules to build the array multiplier. Finally, we tested out this designed array multiplier to evaluate the worst case propagation delay and power dissipation

Cadence Virtuoso
Facial & Speech Emotion Detection
Facial & Speech Emotion Detection

In this project, we first built and trained a CNN model for classifying emotions displayed in facial images. Then, we went on build and train a model for detecting emotions in speech signals. Finally, we tested the performance of both these models on a video dataset by extracting video frames and audio signals from a video and analysing the frame-wise display of emotions in a single video and emotion detected in the audio!

PythonTensorflow