Walid Shaker's repositories
autonomous_mobile_robots
This repository contains different aspects of autonomous mobile robots including motion, control, and estimation. PID, LQR, and MPC controllers for differential drive robot are developed with ROS2. In addition, some filters are covered such as particle filter and ekf for localization.
7DOF-KUKA-Linear-Axis-Forward-and-Inverse-Kinematics
In this repository, the implementation of forward and inverse kinematics by redundancy resolution is presented for KUKA on linear axis 7-DOF robot. The Redundancy Resolution includes three methods, which are Jacobian-based (Damped Least Square and Weighted Pseudoinverse), Null Space, and Task Augmentation.
6DOF-Robot-Trajectory-Planning
In this repository, trajectory planning for a 6DOF manipulator is implemented. Synchronization and numerical control are applied. In addition, propagated error in end-effector position is calculated. Finally, polynomial trajectory and trajectory junction are solved. The repository is also a solution for Assignment3 in Dynamics of Nonlinear Robotics Systems course for ROCV master's program at Innopolis University.
Multidimensional-Kalman-Filter-with-Sensor-Fusion
In this repository, Multidimensional Kalman Filter and sensor fusion are implemented to predict the trajectories for constant velocity model. Data is extracted from GPS and Accelerometer using mobile phone. It is apart of Assignment3 in Sensing, Perception and Actuation course for ROCV master's program at Innopolis University.
YOLO-Object-Detection-for-Pick-and-Place-task-using-ROS-on-KUKA-iiwa
In this repository, pick and place application is implemented on KUKA iiwa robot with a camera mounted on the end-effector. YOLOv4 is used for object detection and HSI color space is used for color segmentation.
6DOF-Robot-Dynamics
In this repository, dynamic model for 6DOF robot is derived using Euler-Lagrange approach. Inertia matrix, Coriolis matrix, and gravity vector are calculated. The repository is also a solution for Assignment4 in Dynamics of Nonlinear Robotics Systems course for ROCV master's program at Innopolis University.
Design-Patterns-Detection-ML
This repository contains an implementation for design patterns detection. In this task, feature engineering and ensemble learning are applied. The dataset is a subset of source code metrics for each an every java project. Each project in the dataset belongs to one of 3 categories. It is apart of Assignment2 in Machine Learning course for ROCV master's program at Innopolis University.
Elastostatic-Calibration-of-7DOF-KUKA-Linear-Axis
In this repository, robot calibration is implemented to identify the calibrated compliance of 7DOF KUKA linear axis robot for accuracy improvement.
Regulation-and-Trajectory-Tracking-of-Flexible-Joint-Link
Regulation and trajectory tracking of flexible joint link. State transformation and feedback linearization are applied. It is a solution of Assignment2 in Fundamentals of Robot Control course for ROCV master's program at Innopolis University.
Stepper-Motors-Synchronization-for-Assistive-Robot-Control
In this repository, steppers motors are synchronized to control 6DOF manipulator for assistive robot applications. In addition, MATLAB-Arduino communication is set in order to send the kinematics solution to the robot. Moreover, special functions are implemented such as joints calibration, homing, and end position.
Camera-Calibration-using-Chessboard-Pattern
In this repository, camera calibration is implemented using MATLAB Camera Calibrator APP. It is apart of Assignment2 in Sensing, Perception and Actuation course for ROCV master's program at Innopolis University.
Double-Pantograph-Stiffness-Modelling
This repository contains the implementation of the stiffness analysis of the double pantograph transmission system using MSA, and VJM approaches for accuracy improvement purposes.
Human-Iris-Center-Detection-ML
This repository contains an implementation for calculating human iris center using CNN model built by PyTorch. The CNN architecture and dataset are attached. It is apart of Assignment2 in Machine Learning course for ROCV master's program at Innopolis University.
Stereo-Vision-8-Point-Algorithm-and-Depth-Estimation
In this repository, 8-point algorithm is used to find the fundamental matrix based on SVD. Disparity map is generated from left and right images. In addition, RealSense depth camera 435i is used to estimate object center depth. Image thresholding and object detection are implemented. It is apart of Assignment3 in Sensing, Perception and Actuation course for ROCV master's program at Innopolis University.
Stiffness-Modelling-of-7DOF-KUKA-Linear-Axis
Stiffness modelling of 7DOF KUKA linear axis manipulator using VJM to improve the overall accuracy by calculating the deflection due to the applied load.
Walking-Robot-Stability-Optimization
In this repository, some walking robot optimization problems are solved using cvxpy feasibility problems and linear programming. It is a solution of Assignment2 in Computational Intelligence course for ROCV master's program at Innopolis University.
Flight-Delay-Forecasting-ML
This repository contains an implementation for Flight delay forecasting using different machine learning models such as linear regression, polynomial regression, and regularizing based on lasso regression. It is also the solution for Assignment1 in Machine Learning course for ROCV master's program at Innopolis University.
Network-Intrusions-Clustering-ML
This repository contains an implementation for network intrusions clustering. In this task, unsupervised approach is used to cluster network intrusions. It is apart of Assignment2 in Machine Learning course for ROCV master's program at Innopolis University.
Teach-in-Programming-for-6DOF-Robot
In this repository, teach-in programming is experienced on 6DOF serial manipulator using a fabricated panel. Stepper motors are used for joints and servo motor is used for gripper. The idea is the program records the positions which the are manually set by the user, then it can playback the sequence automatically.
Linear-Regression-VS-Kalman-Filter-on-UAV
In this repository, UAV pitch angle is fitted using linear regression and Kalman Filter. It is apart of Assignment1&2 in Sensing, Perception and Actuation course for ROCV master's program at Innopolis University.
PID-Control-for-Self-Balancing-Twin-Rotor-using-Brushless-DC-motors
In this repository, PID control is applied to twin rotor using brushless DC motors for self balancing applications. ESC calibration is implemented, and arduino uno is used. Codes and CAD files are attached.
Plane-Estimation-using-RANSAC
In this repository, RANSAC is used to define a plane given data points in R3. It is apart of Assignment1 in Sensing, Perception and Actuation course for ROCV master's program at Innopolis University.
Plane-Representation-and-Projection-into-Subspaces
In this repository, projection into subspaces is and plane representation are investigated through different examples. It is a solution of Assignment1 in Computational Intelligence course for ROCV master's program at Innopolis University.
Python-Decorators-in-Action
This repository contains a solution for Assignment1 in Software System Design course for ROCV master's program at Innopolis University.
Python-Internals
This repository contains an implementation for bytecode compiling and interpreting for different source files. It is a solution for Assignment2 in Software System Design course for ROCV master's program at Innopolis University.
Stabilization-of-Artificial-Satellite
In this repository, PD control is applied to stabilize the satellite on the desired orbit. It is a solution of Assignment1 in Fundamentals of Robot Control course for ROCV master's program at Innopolis University.
Traffic-Signal-Control-using-Deep-Q-Learning
This repository shows a traffic flow optimization by controlling the traffic light signal at the intersection using deep Q-learning with experience replay.