Meet HEBI Bot

HEBI Bot is a high-end environment monitoring and mitigation platform that we developed at Robomechanics Lab in collaboration with HEBI Robotics and a top US energy company.

The system is equipped with

• HEBI motors for actuation and mobility

• Velodyne Lidar for mapping and navigation

• Cameras for teleoperation

• PXRF sensor for contamination detection

• GPS module for localization

Meet CESAR

CESAR is the low-cost adaptive sampling platform that I developed. The platform and the adaptive sampling algorithm were deployed and tested in a remote industrial site in Texas.

All the

Adaptive Sampling Algorithm

The algorithm is developed to be a more efficient way of taking samples in an unknown environment. The algorithm is implemented in Python with scikit-learn machine learning library. The performance of the adaptive sampling algorithm is compared with the Boustrophedon algorithm and the performance graphs are generated with MATLAB python library. To ensure the fairness of comparison, both adaptive and Boustrophedon algorithms use the same underlying Gaussian Process settings. To compare the accuracy of the reconstruction, the Wasserstein distance is used. The Wasserstein distance is also known as Earth Mover's Distance (EMD)