In this Ballbot system there was analysis for stability and Controllability of the robot. I found ways to control the Ballbot system for balancing at different electric motor torque during the course of its motion. Also, I designed the linear system of this Ball-bot at its equilibrium point. Moreover, I devised the non-linear system model for Ba…

This repository contains MATLAB code for the published paper entitled "Invariant Funnels for Underactuated Dynamic Walking Robots: New Phase Variable and Experimental Validation" by Justin Z. Tang et al. The paper was published in the IEEE International Conference for Robotics and Automation.

This is the computer code corresponding to "Microbial physiology governs the oceanic distribution of dissolved organic carbon in a scenario of equal degradability"

A complete Routh-Hurwitz Stability method implementation, for a second, third and higher-order polynomials. Moreover, an optimized version is available which works in special conditions.

A Mathematical Model for Orbit Debris Proliferation. This project also includes Jacobian analysis for finding equilibrium solutions and stability point.

Diploma Thesis - Study and modeling of pedestrian walk with regard to the improvement of stability and comfort on walkways

Code for my controls class

This repository contains a MATLAB code that includes a main program and RouthCriteria class, this program takes input from user (transfer function) then extract the numerator and denominator polynomials and apply Routh criteria to examine stability.

Numerical implementation of the uniform shear model including stability by Chougule et al. (2018)

Program of 3D truss structure optimization with global stability constraints in MATLAB

Foot shuffles are a method of stabilizing a quadruped without shifting the body position. This repository contains code for finding optimal foot shuffles for stabilizing a quadruped robot.

DC-Motor analysis, transfer function is given.

The implementation of our paper 't-k-means: A Robust and Stable k-means Variant', accepted by the IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP) 2021.

OCTOPUS, an hexapod from Shanghai Jiao Tong University needs to walk without a camera system on top. An encoder based SLAM is presented along with the low level functionalities. Math. principles: Projective geometry, quaternion interpolation, linear estimation, static stability principle, involutive convergence, modelling of kinematic parallel s…

Modeling Complex Systems (CSYS302) course assignments - Exchange program at the University of Vermont

Determined the difference in Human Gait by recording and analyzing Human Gait trials pertaining to Lower Limb Transtibial Amputation simulated by an able-bodied subject wearing an Ankle Brace using Vicon Vero Motion Capture system and Vicon Nexus Software.

climbing simulator written in Matlab

An illustrative example of DS based controller for non-contact/contact transitions

Non-Linear Dynamic Systems

Codebase associated with paper "Memory-Efficient Learning of Stable Linear Dynamical Systems for Prediction and Control"