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Robotics Engineering Capstone Presentation - Manoj Velmurugan

Thursday, November 13, 2025 11:00 AM – 12:00 PM
  • Description
    Saranga: milliWatt Ultrasound System for 3D Navigation in Visually Degraded Environments Abstract: Tiny autonomous aerial robots face severe limitations in sensing capability due to payload and power constraints, making robust 3D navigation in visually degraded environments extremely challenging. In this work, we propose Saranga, a lightweight, low-power ultrasonic 3D obstacle localization stack for aerial robots. Propellers generate ultrasonic noise that limits the efficacy of ultrasound systems on aerial platforms, for which I proposed a two-step solution: (1) a physical acoustic shield that mitigates propeller noise, and (2) a deep neural network that denoises echoes and estimates obstacle positions by reconstructing the impulse response of the scene. This talk will focus on the sensor suite configuration, denoising technique, synthetic data generation process, and the 3D trilateration method, along with comparisons against classical denoising and edge detection techniques. We demonstrate that the system enables reliable operation under low light, fog, transparent obstacles, and snow—conditions where conventional sensing modalities such as cameras, LiDAR, and radar fail—paving the way for robust all-weather perception in tiny aerial robots.Advisor: Professor Nitin SantekZoom link: https://wpi.zoom.us/my/vmanoj1996
  • Website
    https://www.wpi.edu/news/calendar/events/robotics-engineering-capstone-presentation-manoj-velmurugan

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