JERRIN BRIGHT

My Portfolio

Roboticist

Autonomous Systems and Perception

India     Contact me     CURRICULUM VITAE

Jerrin is a versatile and self-motivated engineer pursuing final year Bachelor’s degree from Vellore Institute of Technology (VIT), India. His research interests lie in the intersection of Autonomous Systems and Robotic Real-time Perception. He likes to develop autonomy stacks for self-driving cars; mobile, aerial robots and robotic arms.

Has strong robot programming background (Python, ROS, C++). Hard work being his core pillar, combined with practical experiences, Jerrin is someone you could count on to persevere through challenges. He is an ardent follower of cricket, chess and loves travelling.

Has bagged research oppurtunities from prestigious universities around the world including McMaster University, Canada; Indian Institute of Science, India; Arizona State University, USA and Yuan-Ze University, Taiwan. He has also worked collaborating with industries including Aero2Astro and BrainMagic InfoTech Pvt Ltd. He is contributing to the society by associating with organizations such as National Service Scheme (NSS) and Madras Scientific Research Foundation (MSRF).


Core Interests:

  •   Autonomous Systems
  •   Real-time Perception
  •   Multirobot Systems

Education

Vellore Institute of Technology - Chennai, India

Undergraduation
Mechanical Engineer- School of Mechanical Engineering (SMEC)
Primarily focussed on Robotics, Mechatronics, Machine Vision, Artificial Intelligence and Automation.
July 2018 - April 2022 (scheduled)
vit

Chettinad Vidyashram - Chennai, India

School
Computer Science- Central Board of Secondary Education (CBSE)
Computer Science, Physics, Maths and Chemistry
June 2004 - March 2018
school

Skillset


Tools and Libraries


ros matlab sw sofa fusion ansys pybullet somo
cv pytorch tensorflow git febio gazebo proteus moveit

Programming Languages


python c++ C html css js

Experience

Research based internships

Indian Institute of Science Bangalore, India

Research Intern
  • Unsupervised monocular 3D obstacle avoidance using segmentation and reconstruction algorithms.
  • Monodepth estimation using left right consistency based reconstruction for disparity and semantic segmentation of free space for flight direction enhanced by canny edge detection and KNN algorithms.
  • Tarot 680 PRO hexacopter, NVIDIA Jetson Xavier NX, Logitech C930e were used for experimentation.
  • Supervised by Prof. Suresh Sundaram at the Artificial Intelligence and Robotics Laboratory
  • Sample Test Flights

Vision Systems Drone Mobile robots Python

July 2021 - Present
mcmaster

McMaster University Hamilton, Canada

Globalink Research Intern
  • Designing of a four Degree of Freedom (DoF) soft robotic manipulator in PyBullet simulation engine using Soft Motion (SoMo) toolkit.
  • Supplied sinusoidal torque to the actuators and plotted the velocity, position, acceleration and torque to analyze different actions.
  • Acquires real-time data from several sensors, and implements Model Predictive Control (MPC) for real-world scenarios.
  • Supervised by Prof. Gary Bone at the Robotics and Manufacturing Automation Laboratory

Soft Robotics SoRoSim MPC Matlab C++

July - September 2021
mcmaster
mitacs

Arizona State University Phoenix, USA

Summer Research Intern
  • Collaborative visual inertial multi agent Simultaneous Localization and Mapping (SLAM) to digitalize environments.
  • Custom architecture was proposed considering the need to screen dynamic features and update map in intervals.
  • The digital representations made was processed to provide insights to builders and stewards.
  • Supervised by Prof. Thomas Czerniawski at the Edifice Lab
  • Work Report | Certificate

Perception Stereo Vision Sensor Fusion Python

May 2021 - July 2021
asu

Yuan-Ze University Taoyuan City, Taiwan

Project Research Intern - Perception
  • Built a robust smart parking system using semantic segmentation with Conditional Random Fields (CRFs) and Atrous Convolution.
  • Aimed to visually enhance the parking system assisting drivers.
  • Supervised by Prof. Wei-Tyng Hong
  • Work Report | Certificate

Pereception Segmentation Convolutional CRFs Kalman Filters Python

April – June 2020
Yuan-Ze

Industry based internships

Aero2Astro Chennai, India

Autonomous System Developer- Intern
  • Developed ROS based autonomous navigation firmware using Visual Inertial SLAM concepts for indoor environment.
  • Implementation was based on Sensor Fusion techniques, Extended Kalman Filters and aimed to eradicate the need for GPS.
  • Work Report | Source Code | Certificate

SLAM Kinect + IMU Visual Odometry Sensor Fusion ROS (Gazebo, RViz) ROSpy C++

October 2020 - April 2021
a2a

BrainMagic InfoTech Pvt Ltd Chennai, India

Data Science Intern
  • Automobile fault detection using vison techniques (Transfer Learning, Extremas and Augmentation).
  • Dimensional analysis was done to locate and monitor defects to prevent catastropic failures.
  • Preliminary testing was done using FLASK, Heroku and Git deploying in a web server. Later, the final built model was deployed in AWS using Amazon Sagemaker and S3 Buckets.
  • Source Code

Perception Fused Tranfer Learning AWS Buckets Python

May - July 2020
BrainMagic

Non-governmental Organizations (NGOs)

National Service Scheme (NSS) India

Research Fellow (NGO)
  • Taught and researched on various cutting-edge areas of manufacturing, robotics and vision systems.
  • Spreading awareness on basic robotics in schools and amongst unprivileged kids was done as part of the Non-Governmental Organization (NGO).
  • My NGO Profile | Source Code | Certificate

Robotic Arm 3D Printing defects Teaching Python Embedded C G-Code

October - November 2020
msrf

Madras Scientific Research Foundation Chennai, India

Research Fellow (NGO)
  • Taught and researched on various cutting-edge areas of manufacturing, robotics and vision systems.
  • Spreading awareness on basic robotics in schools and amongst unprivileged kids was done as part of the NGO.
  • My NGO Profile | Source Code | Certificate

Robotic Arm 3D Printing defects Teaching Python Embedded C G-Code

October - November 2020
msrf

Teams, Clubs and Chapters

Atom Robotics VIT Chennai, India

Team Captain and Co-Founder
  • An intelligent robotics and satellite exploration team consisting of 50+ aspiring young minds.
  • The team focuses on Intelligent Ground Vehicles Challenge, USA; International Planetary Aerial System, MSSA and Can-Sat, USA.
  • Won more than 20 awards to date including few international competitions and IEEE hackathons.
  • Team Report | Our Achievements

Intelligent Robotics Space Robotics Team Leadership Team Management

January 2019 - Present
ATOM-ROBOTICS

IEEE RAS VIT Chennai, India

Active Member
  • Part of the Robotics and Automation Society of IEEE student society.
  • Helped organize several workshops and symposiums for researchers.

Intelligent Robotics Space Robotics Team Leadership Team Management

January 2019 - March 2020
ATOM-ROBOTICS

Robotics Club VIT Chennai, India

Student Coordinator
  • Organized and led several events including the National Level Robotics Competition ‘ROBOPRIX’ as the Overall Student Coordinator, ABB Robotics and several other workshops.
  • Conducted value added sessions on aerial systems for more than 80 students.

Intelligent Robotics Space Robotics Team Leadership Team Management

January 2019 - September 2021
ATOM-ROBOTICS

Publication

RIACT 2020 International Conference

Optimization of quadcopter frame using generative design and comparison with DJI F450 drone frame
Jerrin Bright et al 2021 IOP Conf. Ser.: Mater. Sci. Eng. 1012 012019
  • Designed a drone frame using generative designing, an AI based technique.
  • Compared my results with DJI F450 drone frame and proved generative designing yielded better results.
  • Paper | Presentation Slides

Generative designing Drone frames GAN Autodesk

Ongoing Research

Attention Embedded Squeeze Excitation Network for Medical Imaging
  • Proposing a medical imaging benchmark using Attention based learning fused with residual networks.
  • Experimented with benchmarked brain tumor, pneumonia, skin lession and diabetic retinopathy datasets and proved to get better results upon comparison with 25+ recently published research outcomes.

Attention Learning Medical Imaging Deep Neural Network Python


Recent Projects

3D Stereo Obstacle Avoidance
Obstacle avoidance using pixhawk flight controller and stereo camera setup. Extrated the point clouds and used reconstructed polar histogram using it. Histograms from previous time steps where used to percieve the environment better. Cost function based on orientation and the smoothing term where used to assign weights to the field of view. Based on these navigation avoiding obstacles was established.
Techniques used:
  • Vector Field Histogram
  • A* planning
  • Memory histogram
  • Cost function
Visual Odometry
Development of python package to reconstruct indoor and outdoor environments with diverse texture contrasts using Oriented FAST and Rotated Brief feature detector, FLANN based matchers and RANSAC for outlier removal; Optical flow and PnP (DLT and Levenberg) for estimating the pose of robot.
Techniques used:
  • ORB Extraction
  • KLT Tracking
  • PnP
  • RANSAC
  • Triangulation
RTAB-Map Implementation using a Mobile Robot
Implemented 3D SLAM that is RTAB-Map SLAM using Kinect sensor on ground vehicle. A ground robot was added with the necessary sensors and mapped an indoor environment with the mobile robot. Real time appearance-based mapping (RTAB-Map) was used to make the 3D map launched in gazebo environment. Then, BUG-2 algorithm was used to move the robot in the environment, reading the sensor data and ultimaately mapping. Also RViz was used to visualize the 2D map.
Techniques used:
  • SLAM
  • Path Planning
  • Loop Closure
GMapping for AGV
Implementation of Gmapping by 2D lidar using turtle bot in ROS in Gazebo environment to construct a 2D map using RViz in an indoor environment. Also, an Adaptive Monte Carlo Localization (AMCL) based navigation stack was used to move the ground robot to a navigation goal
Techniques used:
  • SLAM- GMapping
  • ROS- Gazebo & RViz
  • Path Planning
  • Monte Carlo Localization
  • Teleoperation
OMEGA- VTOL UAV
An autonomous aerial planetary system designed for logistics and reconnaissance missions in the Mars environment by our team. Completely designed and tested from scratch considering the compatibility for flight in a Martian environment.
Techniques used:
  • ORBv3
  • CFD Analysis
  • Orthomasaic stitching
  • Landscape Detection
  • SITL Pixhawk
  • XBee Communication
PID based Autonomous Drone
Developed a ROSpy based control system for a quadcopter to transverse to a set of GPS set point autonomously. The Control System has two modules namely the Altitude Controller (AC) and the Position Controller (PC), AC stabilizes the drone at the zero error Roll, Yaw, Pitch (R-P-Y) angles using a PID based controller, the PC takes in the target GPS coordinate has set point values and calculates the R-P-Y angles to successfully move to the set point coordinates.
Techniques used:
  • PID Controller
  • ROS- Gazebo & RViz
  • Python

Click here to view some of my other projects.


Awards

Key awards won to date is shown here. Click here to have a look at all my awards.

Outstanding Research Paper Award

RIACT 2020 International Conference

Top Ten Internationally

International Planetary Aerial System Challenge 2021, MSSA

Recognized Galactic Problem Solver

NASA International Space Challenge

Second Runner-up IEEE Hackathon

Apogee’21, BITS Pilani Campus

Winner of CURRENTS’20 NIT Trichy

Autonomous Line Follower, National Level Techfest

BLOGS

Published more than 10 blogs to date for machine learning and deep learning enthusiasts.
Click here to have a look at all my blogs.

Contact me

My inbox is always open; glad to connect, discuss and collaborate.
Could relate to work, volunteering or a casual talk!
Feel free to shoot me an email; will get back ASAP!

Jerrin Bright | Roboticist

Copyrights @ 2021
Designed by Jerrin Bright