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CODE-ROBO/README.md

HARSHAL GADEKAR

Automation & Robotics Engineer | Hardware-in-the-Loop Builder | Systems Researcher

"I don't just write the control loops; I build the engines that fire."

Portfolio ORCID LinkedIn

🌐 EXECUTIVE SYSTEM OVERVIEW

Final-year Automation & Robotics Engineering undergraduate at JSPM's Rajarshi Shahu College of Engineering (RSCOE), Pune. My engineering focus operates at the intersection of high-fidelity multi-physics simulation, deterministic embedded control, and precision physical hardware integration. From formulating zero-relative-velocity kinematics for agricultural robotics to validating solid propellant ballistics across high-frequency static fire test stands, I build safety-critical autonomous systems from first principles.

🗄️ MAINFRAME ARCHITECTURE (11-NODE REPOSITORY GRID)

Central catalog of engineering systems, empirical test stands, and computational models:
🤖 Robotics & Mechatronics 🔬 Applied Research & Simulation 🌐 Systems, Data & Web
AgroBot-Autonomous-Transplanter Research-XAI-Robotics Automated-Waste-Segregation-System
Heavy-Duty-Quadcopter Prarambh-1-Solid-Rocket-Motor Portfolio-Website
4WD-Vision-Line-Follower IISER-Internship-Project IBM-SkillsBuild-Project
Research-ATM-Emergency-Medical-System CODE-ROBO (Root Core)

🛡️ INTELLECTUAL PROPERTY & R&D VAULT

🔴 [EXPAND FILE] Design Patent: Automated Health Diagnostic Kiosk
Architecture: High-availability point-of-care biomedical Human-Machine Interface (HMI).
Objective: Engineered an ergonomic diagnostic enclosure integrating multi-vital acquisition (ECG, PPG, SpO2) and fail-safe clinical sample collection mechanisms under rigorous regulatory spatial guidelines.
🟡 [EXPAND FILE] Design Patent: Autonomous Agricultural Seedling Planter
Architecture: Synchronized Zero-Relative-Velocity Planar Dibbling Mechanism.
Objective: Engineered a structurally decoupled planting carriage that counter-translates against forward chassis travel, executing purely vertical penetration without horizontal furrow shearing, root-ball tear, or soil capillary destruction.
🔵 [EXPAND FILE] Research Publication (ICoRD '27 Target): Explainable AI
Title: Human-Centric Explainable AI (XAI) Framework for Adaptive Co-Bot Trajectories.
Core Contribution: Formulated an interpretable machine-learning supervisory layer that dynamically adapts collaborative manipulator speeds based on operator ergonomics and predictive occlusion risk, providing real-time visual decision trees over black-box outputs.
🟢 [EXPAND FILE] IISER Pune Research: Applied Machine Learning & Geophysics
Title: Machine Learning–Based Imaging of Subsurface Basement Structures from Gravity Anomaly Data.
Objective: Developed numerical forward-modeling algorithms and inversion pipelines using Python scientific computing libraries to reconstruct higher-order basement topographic profiles during a research internship.

🚀 TEAM DHRUVISHAYA ROCKETRY & SPACE RESEARCH (TDRSR)

Founder & Team Lead
Directing interdisciplinary student rocketry R&D with a focus on internal ballistics verification, structural composites, and telemetry data acquisition.
  • Prarambh-1 Solid Rocket Motor: Completed 14 empirical static-fire test iterations evaluating KNSB propellant grain configurations, validating chamber pressure ($P_c$) transients against theoretical OpenMotor simulations via a 24-bit strain-gauge DAQ.
  • Telemetry & DSP: Engineered Python and MATLAB digital signal processing pipelines utilizing Fast Fourier Transforms (FFT) and Butterworth low-pass filtering to isolate test-stand harmonics from raw thrust curves.

⚙️ ROBOTIC HARDWARE FABRICATION & AUTOMATION

Physical execution grounded in manufacturing tolerances, motion control, and circuit integrity:
  • AgroBot Field Platform: Dual-chassis field robot developed under the EPICS initiative (collaborating with Purdue University mentors) featuring RTK-GNSS, Cartographer SLAM, and a 10-state Error-State EKF.
  • Industrial Sorting Conveyor: Electropneumatic segregation cell built with Siemens S7-1200 PLC logic, inductive/capacitive sensor arrays, and TIA Portal ladder routines developed in collaboration with Janatics India.
  • Aerial & Ground Robotics: Tuned PID cascades for high-payload multirotor platforms and deployed OpenCV HSV color-space odometry pipelines on 4WD mobile chassis.

🛠️ CORE ENGINEERING TECH STACK

Mechanical CAD & Multi-Physics Robotics, Embedded & Industrial Scientific Computing & Software
• SolidWorks CAD / FEA
• Autodesk Fusion 360
• Ansys Workbench / Fluent
• OpenMotor (Ballistics)
• Rapid Prototyping (FDM / DFM) 		• ROS 2 (Humble) / Cartographer
• Siemens TIA Portal (PLC)
• STM32 & ESP32 Microcontrollers
• RTK-GNSS & 2D/3D LiDAR
• Altium Designer & KiCad 		• C++ (14/17) & Python 3
• MATLAB & Simulink
• PyTorch (Explainable AI)
• NumPy, SciPy & OpenCV
• React, TypeScript & Vercel

🌐 PROFESSIONAL MILESTONES & INDUSTRIAL FOOTPRINT

  • Engineering Projects in Community Service (EPICS): Technical development of precision agricultural transplanters with Purdue University and inter-institutional mentorship across RSCOE and CHRIST (Deemed to be University).
  • Industrial Competitions: Qualified finalist in the Janatics Automation Skill Challenge 2025; participant in the Bharatiya Antariksh Hackathon.
  • Specialized Training Programs: Selected participant in the Siemens Industry Readiness Program focusing on advanced industrial automation, PLCs, and simulation workflows.
  • Technical Expos & Symposiums: Active attendee across regional Automation Expos, Air Taxi & Advanced Air Mobility technical workshops, and national aerospace conventions.

📡 SECURE COMMS & COLLABORATION

Open to discussing autonomous mobile robotics, industrial automation cells, aerospace propulsion testing, and hardware research partnerships.

Pinned Loading

  1. 4WD-Vision-Line-Follower 4WD-Vision-Line-Follower Public

    Autonomous 4WD mobile robot featuring real-time OpenCV color segmentation, closed-loop PID path-tracking kinematics, and encoder-based odometry running on an embedded microcontroller.

    Python

  2. Automated-Waste-Segregation-System Automated-Waste-Segregation-System Public

    Automated multi-material sorting system utilizing inductive, capacitive, and optical sensor fusion with Siemens S7-1200 PLC ladder logic and electropneumatic ejection.

    Python

  3. Heavy-Duty-Quadcoptor Heavy-Duty-Quadcoptor Public

    High-payload multirotor UAV platform featuring carbon-fiber airframe FEA, thrust-to-weight dynamic modeling, PX4 autopilot tuning, and redundant power distribution architectures.

    Python

  4. Subsurface-Gravity-Inversion-IISER Subsurface-Gravity-Inversion-IISER Public

    Geophysical computational modeling and synthetic subsurface wave inversion using numerical PDE solvers, Python scientific computing pipelines, and finite-difference methods.

  5. Prarambh-1-Solid-Rocket-Motor Prarambh-1-Solid-Rocket-Motor Public

    Empirical KNSB solid rocket motor architecture with high-fidelity internal ballistics, OpenMotor modeling, 24-bit DAQ telemetry, and DSP filtering across 14 static fire tests.

    Python

  6. Research-XAI-Robotics- Research-XAI-Robotics- Public

    Explainable AI (XAI) framework for autonomous robotic vision, featuring SHAP/LIME feature attribution pipelines, PyTorch backbones, and interpretable spatial decision matrices.