Siddhartha Mehta Email & Phone Number

Fort Walton Beach, Fl, Us

Shalimar, Fl

Adaptive and robust control of uncertain nonlinear systems, vision-based guidance, navigation, control (GNC) of wheeled mobile robots and robotic manipulators, robust and nonlinear estimation, networked control systems, and shared and assistive control of human-in-the-loop systems

Gainesville, Florida Area

Program director for the USDA Small Business Innovation Research (USDA CSREES SBIR) Program Phase I. Basic and applied research in the area of nonlinear control of robotic systems for autonomous fruit harvesting.

Eglin Afb

Visual servo control, nonlinear adaptive and robust control of uncertain systems,particle filter-based estimation, human-robot interaction.

* Navigation in GPS denied zones using daisy-chaining method implemented on the Maveric UAV platform. * Nonlinear observer based range identification of a stationary target using a moving camera. * Amalgamation of Prioria’s entropy-based target tracking method with developed robust pose estimation method for improved tracking and pose estimation. * Enhancing the target tracking method using time series of target Euclidean positions.

Department of Mechanical and Aerospace Engineering.Advisor: Dr. Warren DixonNonlinear Controls and Robotics LaboratoryDissertation: A Daisy-Chaining Approach for Vision-Based Control and Estimation * Developed a novel algorithm for vision-based robust position and orientation (pose) estimation and refinement, named PEGUS, based on directional statistics. * Developed a visual servo control method for regulating an unmanned ground vehicle (UGV) to the desired pose utilizing feedback from a moving airborne monocular camera. * Developed a cooperative multi-reference tracking controller, Daisy-Chaining controller, to enable a UGV to follow a desired trajectory in presence of reseeding features from a moving airborne camera. * Developed a visual simultaneous localization and mapping (vSLAM) scheme for Euclidean pose estimation of a wheeled mobile robot (WMR) and building a map of the scene. * Developed a camera independent teach-by-zooming (TBZ) visual servo controller in presence of uncertain camera calibration parameters.

Advisor: Dr. Thomas BurksAgricultural Robotics and Mechatronics GroupThesis: Vision-Based Control for Autonomous Robotic Citrus Harvesting * Pattern classification and image processing - Implemented Fisher linear discriminant-based classification scheme for citrus detection. * Pose estimation - Estimated target Euclidean position via model-based three-dimensional (3D) target reconstruction using perspective projection. * Visual servo control - Developed a vision-based controller to servo a robot manipulator to the desired position using the pose estimates from the camera in-hand and a global map generated by the fixed camera. * Implementation - Image processing and control algorithms are implemented on a 7-DOF robotic manipulator using C++ and OpenCV via INtime RTOS communication network. * Relevant sub-project: Vision-based localization of a WMR for greenhouse applications using the daisy-chaining approach.

* Designed water treatment plants such as sea water desalination and reverse osmosis. * Led, managed, and motivated a team of four people. * Developed software and programs for unfired pressure vessel and piping design. * Planned and managed manpower, conducted weekly reviews, and annual appraisals.

* Performed force and vibration analysis on a high-speed precision grinding machine. * Redesigned bearing lubrication system to direct pressurized mist lubrication. * Contribution: Increased bearing life by 300%, reduced vibration level by 94%, annual savings of 54,000 USD on bearing costs.

Ms, Phd, Agricultural Engineering, Mechanical Engineering

Bachelor of Engineering in mechanical engineering (June 2002) Master of Science in mechanical engineering (Dec 2006) Master of Science.

Bachelor Of Engineering (B.E.), Mechanical Engineering