Nirmalkumar K M

Autonomous 6-Wheel Rocker-Bogie Rover

• Designed and built a six-wheeled rocker-bogie rover with 15 kg payload capacity for autonomous terrain navigation and real-time object identification. • Developed Embedded C firmware for the STM32G431RB using STM32CubeIDE and HAL drivers, configuring GPIO, Timers, PWM, UART, SPI, and interrupt-driven peripherals for real-time control. • Implemented motor speed control using PWM generation and encoder feedback, achieving <2% velocity error with a 20 ms obstacle-avoidance control loop. • Integrated communication between the STM32G431RB, Jetson Nano, IMU, and RPLiDAR using I2C, SPI, and UART interfaces for autonomous navigation. • Deployed YOLOv5-based object detection (10–15 FPS) and SLAM pipeline on Jetson Nano (ROS, OpenVINO, Ubuntu 20.04) using OAK-D stereo depth camera.

Intelligent Adaptive Headlight System

Developed an adaptive automobile headlight system on STM32-G431RB integrating weather sensors via I2C/ADC, achieving 90% reliability at 30 m range.

Wireless Temperature Monitoring System

Built a real-time wireless temperature monitoring system on ESP32, transmitting sensor data via TCP sockets over Wi-Fi with <100 ms latency at 20 m range.