TAMOGHNA SAHA | ME22B205

Indian Institute of Technology Madras

LinkedIn | Github Email : [email protected]

Education
Program Institution %/CGPA Year
Bachelor of Technology in
IIT Madras 7.32/10.0 2022 – 2026
Mechanical Engineering
Class XII | CBSE Shiv Jyoti Convent School, Kota 94.40% 2022
Class X | ICSE Don Bosco School, Siliguri 96.20% 2020

Course Work
Programming, Data structures and Algorithms using Python: Study of data-structures and algorithms in
python.
Linear Algebra: Study of vector spaces, lines and planes, and mappings.
Machine Learning Specialization: A set of courses on machine learning offered by coursera taught by Andrew Ng.
Measurement and Instrumentation: Study of various circuits, sensors and their uses.
Introduction to Electrical Engineering: Analysis of electrical circuits in detail.
Introduction to Programming: Introduction to the C language.

Skills
Languages: C, C++, Python, MATLAB, Java
Frameworks & Libraries: ROS/ROS2, Linux, Numpy, OpenCV
Design & Simulation Tools: Gazebo, Carla, Simulink, AutoCAD, Fusion 360, Blender

Projects | (Portfolio)
Project Vidyut | Autonomous Bot | Abhiyaan December 2023 - June 2024
• Collaborated with a 3-member software team in the ground-up development of a differential drive robot

• Designed a robust ROS-based navigation stack to enable seamless intercommunication between various algorithms,

ensuring cohesive integration.

• Integrated sensors and fused data from encoders, GPS, and visual odometry to enhance perception and navigation

precision.
• Developed a Lane Detection system using advanced computer vision techniques such as color thresholding for

lane identification and DBScan and median filter for noise removal, achieving accurate real-time results.
• Created a Lane Following module in cpp enabling the bot to navigate roads while adhering to lane markings and

avoiding obstacles en route to its destination.

• Deployed a GPS waypoint generator and corresponding navigation code for efficient route planning.

• Engineered SLAM (Simultaneous Localization and Mapping) for bot localization and environmental

mapping, leveraging a Lidar-based obstacle detection system.

• Utilized simulation environments such as Gazebo and Carla to emulate real-life scenarios for testing and

validating our algorithms.

Project Bolt | Autonomous Shuttle| Abhiyaan May 2023 - Present

• Developed and deployed ROS based software on an Electric Golf cart, turning it into a driverless shuttle at

IITM.
• Conducted comprehensive testing and validation in Gazebo and Carla simulation environments under various

road conditions.
• Developed Lane Detection and Avoidance using YOLOP. The output is binarized to extract lane pixel

information, then polyfit is applied to calculate curve coefficients, which are published as a point cloud and
integrated into the bot’s global map.
• Conducted Semantic Segmentation of images using the DDR-net machine learning model trained on the

Cityscapes dataset to classify various obstacles into distinct categories.

• Fused depth data from stereo-camera with detected obstacle data form RGB image for map generation and safe

trajectory planning.
 • Executed RTAB-Mapping in a ROS environment for precise real-time mapping and localization using point cloud
data, enhancing the Bolt’s spatial awareness capabilities.
• Implemented GPS waypoint navigation, enabling the bot to traverse through consecutive goals provided via
GPS.
• Successfully deployed and tested the navigation system on the physical vehicle.

Active Vibration Control of Cantilever Beam | ME2400 Project April 2024 - May 2024
• Mentored by Prof. Sivasrinivasu Devadula, IIT Madras, for the Measurement and Instrumentation course.

• Collaborated with a team of 7 to design an LQR controller using the State Space Model for active vibration

control of a cantilever beam.

• Developed MATLAB code and utilized Simulink to demonstrate vibration control of the cantilever beam

according to specified requirements

Analysis of a Web-Cutter Mechanism | ME2201 Project October 2023 - November 2023

• Guided by Prof. Sourav Rakhshit, IIT Madras for Kinematics and Dynamics of Machinery course.

• Collaborated with a team of 5 to construct a 4-bar mechanism for a web cutter according to given specifications

using MATLAB and GeoGebra.

• Developed MATLAB code to evaluate the unknowns in the mechanism and conducted an analysis of each link.

Position of Responsibilities
Team Abhiyaan (CFI) | Senior Software Engineer| Autonomous Vehicle Navigation April 2023 – Present
• Collaborating with a 8-member software team, to build and test autonomous software systems for ground vehicles.

• Architected a ROS based software stack for a differential drive robot, with the goal of navigating through an

obstacle course autonomously.

• Deployed sophisticated algorithms for semantic segmentation, lane detection, obstacle detection and

avoidance, lane following, environment mapping, GPS waypoint navigation, and path planning
• Developed an autonomous electric vehicle to provide shuttle services across the entire institute campus.

• Represented IIT Madras at the 31st Intelligent Ground Vehicle Competition IGVC organized by Robonation

held in Detroit, USA

Mechanical Engineering Association (MEA) | Events Coordinator March 2023 – March 2024
• Collaborated with the team in the smooth organizing of events for the students such as MEA freshie night,

MEA sports week, Mechanica, MEA night and Research park visits

SAATHI Mentor August 2023 – Present

• Mentored juniors in the smooth transition from school to life at IIT Madras and guiding them regarding

academic and non academic activities in campus.

Extra Curricular Activities

IGVC 2024
• Represented IIT Madras at the 31st Intelligent Ground Vehicle Competition IGVC organized by Robonation

held in Detroit, USA.

• Delivered an in-depth technical presentation on the software stack of the autonomous robot Vidyut to the

judges.

Violin
• Practiced the Violin for 5 years during school, participating in numerous functions and competitions.

Art
• Practiced Drawing/Sketching for 7 years in School and participating in a various competitions and exhibitions.

NCC
• Contributed as a member of the Institute’s National Cadet Corps (NCC).

CFI : Centre For Innovation, IITM’s Student-run Innovation Lab. SAE : Society Of Automotive Engineers.
IGVC : Intelligent Ground Vehicle Competition. MEA : Mechanical Engineering Association.
SLAM : Simultaneous Localization and Mapping. RTAB-Mapping : Real Time Appearance Based Mapping.
NCC : National Cadet Corps.