Mukund Bala Email & Phone Number

Singapore

Singapore

Singapore, Singapore

Collaborated in a team of 4 in partnership with Daltorio Lab, Case Western Reserve University, USA, to develop novel proprioception based Informative Footfall Planner using HEBI Daisy Hexapod to detect Unexploded Ordinances (UXOs). Project supervised by Dr Guillaume Sartoretti* Developed low latency end-effector state observer using CuPy on Jetson AGX Orin to accurately track position, velocity and ground reaction forces at hexapod feet based on hexapod kinematic model.* Implemented Finite State Machine for precise tracking of locomotion gait phases to extract ground reaction force and feet displacement during ground contact phase to estimate terrain stiffness at footfall location.* Formulated a Gaussian Process using SciPy to build 2D stiffness map of environment using incoming stiffness measurements during robot locomotion for online map updates for terrain anomaly detection.* Designed Inverse Kinematic and Proportional-Derivative (PD) Controller to generate cycloidal end effector trajectories in a tripod gait to ensure accurate foothold placement during locomotion to given goal point.* Developed trajectory planner for exploration using trajectory sampling algorithm supported by Evolutionary Covariance Matrix Adaptation (CMA-ES) optimization strategy to select robot trajectories that maximize stiffness map coverage under exploration budget constraints (battery life, energy).* Integrated subsystems using C++ and Python on ROS Noetic for rigorous testing on Gazebo simulation and real hexapod.

Singapore

Building and deploying autonomous drones that can perform aerial pollination in indoor glasshouses. Here's some of the cool stuff that I had the privilege to work on:* Implementing fiducial-marker based localization for pose estimation on drones using monocular cameras for pollination missions using ROS* Leveraging Behaviour Trees for flight, navigation and control for pollination missions using ROS.* Rigorous testing and validation of T261/T265 cameras for pose estimation solution.* Deployment to PerfectionFresh indoor glasshouse in Adelaide, Australia, for trials from Oct-Dec 2022. I played a part in setting up the infrastructure in the farm to enable our drone to successfully pollinate flowers in the farm. I also conducted rigorous testing with multiple iterations to refine drone autonomy and ensure robustness during operations.* Mechanical design and development of the QueenBee micro drone using SOLIDWORKS.* Wrote detailed user manuals for our clients as well as software documentation for internal use.

Singapore

Singapore

Singapore

Singapore, Singapore

Singapore

2nd in Charge Alpha Company, 1 Singapore Infantry Regiment (1SIR)Managed daily training and administrative matters of a company of Infantry soldiers (100 men)Appointed as OC for 777 Singapore Infantry Regiment(777SIR)

Bachelor Of Engineering - Be, Mechanical Engineering (Robotics Specialization), Highest Distinction

Bachelor of Engineering (Mechanical Engineering) with Honours (Highest Distinction) Cumulative GPA: 4.67/5.0

Bachelor Of Engineering - Be, Robotics

Studied Masters Robotics courses as part of TU Delft's 3mE student exchange program. SC42050 Intelligent Control Systems Explored.

Gcse A Levels, Physics

Activities and Societies: Raffles Institution Softball Team, 2012-2015 Raffles Institution Students' Council, 2015-2016 Part of RI.