Gautami Golani

I am currently pursuing my master's degree in Electrical Engineering with a specialization in Control & Automation at National University of Singapore, where I am working on a robotics path planning project under the guidance of Prof. Sam Ge and PhD research assistant Dongsheng Guo.

I completed my bachelor's degree in Mechatronics Engineering from Manipal Academy of Higher Education, Dubai, with a focus on Robotics & Automation. For my final semester at Manipal, under the mentorship of Prof. Royson Dsouza, I worked on an Autonomous Robot at the Manipal Centre of Robotics Excellence Laboratory.

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Updates
  • [May 2019] Attended the Robotics Summit and Expo in Boston from June 5-6, 2019 and ATX East in New York from June 11-13, 2019.
  • [May 2019] Selected as one of the 70 participants for MIT's 3rd Summer School on Cognitive Robotics being held in July 2019.
  • [May 2019] Working on a research project under the guidance of Prof. Sam Ge and PhD research assistant Dongsheng Guo at the Control & Simulation Laboratory at NUS, Singapore.
  • [Nov 2018] Admitted to the M.Sc in Electrical Engineering program at NUS, Singapore for Spring 2019.
  • [Nov 2018] Paper w/ Prof. Royson Dsouza, Prof. Anil Sequeira and Marian Jose got published in IOP Conference Series : Materials Science & Engineering ICSMA, 2018.
  • [June 2018] Completed my Bachelor's thesis project at MAHE, Dubai.
  • [May 2018] Mentioned in the 3rd issue of Research Connect @Dubai (page 25) for a paper publication.
Publications
Damage Inspection and Online Monitoring using Lamb Waves: A Comparative Study on Aluminium and Composite Plate Structures
Royson Dsouza, Anil Sequeira, Marian Jose, Gautami Golani
ICSMA, 2018
IOP Conference Series : Materials Science & Engineering
bibtex

Structural damage is an important criterion that can affect the system performance and degrade its ability from its original condition. The proposed work aims at the health monitoring of aerospace and mechanical structures, by using the wave propagation method and the use of piezo-electric wafer active sensors.

Active Projects
Intelligent Path Planning for Robot Manipulators
Research being under the guidance of Prof. Sam Ge and Dongsheng Guo  

Project work coming up soon!

Relevant kinematic and dynamic equations needed to compute the position and orientation of the end-effector of a manipulator and to generate a path that can help the manipulator avoid obstacles will be developed. These will be applied on industrial manipulators to study the path of the end-effector from the initial position to the final position. The model will be developed in MATLAB/SIMULINK and several robot path planning schemes will be applied while keeping in mind redundant robotic manipulators, with the results of each generated.

SVM for Classification of Spam Email Messages (Minor Project)

Project work and code coming up soon!

Main tasks of the project:
1. Write a MATLAB program to compute the discriminant function for hard-margin and soft-margin SVM using the training set provided.
2. Write a MATLAB program to implement the SVMs with the discriminant functions obtained in Step 1 and to apply these SVMs to classify the training set and test set.
3. Design an SVM with one of the three types - hard-margin with linear kernel, hard-margin with polynomial kernel and soft-margin with polynomial kernel.

Course Projects
Vision Based Autonomous Assistance Robot using LabVIEW (Bachelor's thesis project)
Feb 2018 - May 2018
Gautami Golani, Ashwin Suresh, Rohini Basu, Vaibhav Raj Vyas
Done under the mentorship of Prof. Royson Dsouza  
Motor control video / Final project video

Led a team of 4 to build a user-driven robot that provided directions to different labs & classes in MAHE, Dubai. Designed the program on LabVIEW, using a myRIO evaluation board & developed a face detection algorithm to identify the user. Integrated voice commands & motor control for giving directions.

Bio mimicking a Pectoral Fin using PID Controller
March 2017 - May 2017
Gautami Golani, Ahmed Mohamed, Rohini Basu, Vaibhav Raj Vyas,

Studied movements of a Manta Ray to Bio mimic the motion of its fin. One half of Manta Ray's flexible pectoral fins were created with silicone rubber and this was then driven by servo motors to complete the oscillation. A PID controller was created in LabVIEW for this project.

Minor Projects
Inverted Pendulum Application
April 2019
Gautami Golani, Snehal Ratnakaran
Video

Integrated ROS and LabVIEW to drive an Inverted Pendulum with the data and control signal sent through ROS Topic message communication.

Design & Analysis of a Microgripper
Sep 2017

A compliant mechanism based microgripper was designed by using the topological optimization technique. A further study of the gripper’s behaviour was done in the finite element software ANSYS Workbench.

Education
National University of Singapore, Department of Electrial and Computer Engineering

M.Sc in Electrical Engineering with a specialization in Control & Automation
Expected year of completion : 2020
Manipal Academy of Higher Education, Dubai, School of Engineering & IT

B.Tech in Mechatronics Engineering with a minor specialization in Robotics & Automation
2014 - 2018
Coursework Modules   (at NUS, Singapore)
    EE 5106 : Advanced Robotics
    EE 5111 : Selected Topics in Industrial Control & Instrumentation
    EE 5904 : Neural Networks
    EE 5109 : Modelling & Applications of Mechatronic Systems
    EE 5101 : Linear Systems
    EE 5103 : Computer Control Systems
    EE 5110 : Special Topics in Automation & Control
    MT 5003 : Creativity & Innovation