Indore diary [7] : Robot was my life (Part 3)

We went to Bhopal and from there we boarded on a train for Nagpur. From Nagpur we boarded a train for Kharagpur , Durg was one of the intermediate station. At Durg station we got chance to meet mother, brother and some friends of Bhupendra. Her mother brought lunch for us. We enjoyed homemade food while travelling. Food was delicious especially Gajar ka Halwa and one could not expect such kind of lunch while travelling. Travelling with friends is always a wonderful experience. We enjoyed our train journey to Kharagpur.  

In early morning of 27 Jan,2012, we reached at Kharagpur. We hired an auto ricksaw and we finally reached our destination i.e. IIT Khragpur. There we could see so many people like us. Hoardings and posters were around every corner. After registration, we came to know that first round of our competition will be in afternoon around 2 PM. So we had chance and time to improve our robots and also we really needed that. Because we didn’t know whether the slave robot would run or still behave like confused child. There was place for parking at ground floor and at that time that place was looking like workshop. Participants of various robotic competitions were engaged with their robots. We got chance to see various type of robots and how same idea can be implemented in various creative ways. We also found place for ourselves. 

We arrange our setup there. Then we encountered our first problem of the day, we found that we were unable to reprogram microcontroller used in master robot. We look for every possible reason but all was vain. We got stuck in a problem about which we never thought of. Suddenly we found that a wire lose its contact although it was looking fine. So finally we were able to reprogram microcontroller. But the main problem related to slave robot was still challenging us. We tried to use wireless communication between master and slave robot. We tried so much time but the results were much below the required result. Finally we surrender and decided to use wired communication (allowed in competition). We thought this would definitely work fine. But the results were much below the expectations. Now the only option was to try to improve the performance.

Meanwhile, the watch indicates that the time of first round was near. But due to some reason the some delay of two hours was announced there. Now we had some more time to try our luck. Competitions started at scheduled time. But it was already 4-5 PM of evening. Time was passing with every minute. We were still trying and there was not much improvement. Evening passed and sun went his home with promise to come in morning. Time was passing with every second. We got to know that our turn may at 11 at night. We were still messing with robots. At 10-10.30, we came to know that our turn may come at 12. At 11.30, we requested to shift our turn further after few more participants. We wanted to try our best. Around 3-4 AM in morning, our robots got chance to show their abilities. It was near to okay. After competition, we slept at same place where we were trying our luck with robots, we were so much tired and we didn’t have energy to go room that was allotted to us.

3D street painting

Next morning, results were not in our favors. We failed to qualify for second round. Now we had time to attend lecture, demos and various competitions. We also visited kharagpur town. We attended fire and dance show along with lectures by Naseeruddin Shah and Prabhu Chawla.

Although we failed to win the competition but at least we tried and at least I can say that once “Robot was my life.”

Indore diary [6] : Robot was my life (Part 2)

For Part1: Click here

Only few days were left and in those few days it was require to integrating all sections, to test the robot and to solve any error. As we already tested all the sections separately it seems easy. But the real challenge to build robot was just started. We decided to change the material used to build body of robot from wood to poly sheet. Because the body made from wood was somewhat heavy. It was better to have less weight. For almost two days I along with Krishna queried in almost every shop of SIYAGANJ market and few other shops for poly sheet. But all was vain. After two days, while asking for poly sheet we came to know that poly sheet is used in advertisement industry. Then we concentrated on advertisement agencies only and after some efforts we got poly sheet.

We wanted to work after the department close its doors. So we chose Krishna’s room in hostel as our lab because it was nearest to department. At that time Amar was preparing for GATE. Initially we had planned to use one sided PCB to implement circuits but Krishna insisted to use zero PCB (general PCB). One advantage of using zero PCB is that any connection can be change easily while in other case it is requiring to redesign the PCB. So after some debate all agree for zero PCB. Then we started to implement circuits on PCB.

Mechanical design of robot. (Thanks to NIVEA)

During those days we worked from morning to late night. We usually sleep for four-five hours. Tube light remains ON for 24 hour, as at least one person was there who still working or completed his sleep. During those days I went my room just to take bath and change clothes in morning and to take dinner in night. Rest of time I found myself at department or at Krishna’s room. During late nights, hostel had deserted look but CHUNNU and MUNNU were always there for us. They also refuse to sleep until we went to bed. Selfless service of both brothers indirectly motivate us to keep continue our work. CHUNNU and MUNNU are two speakers’ manufactures by lenevo (for us). They are still inspiring me. Chunnu – munnu, you are great and melodious.

CHUNNU-MUNNU doing their work during late night

In few days we made circuits on PCB and also made body of robots on own. We also made test path on paper so that we could test the accuracy of our robot to follow path. Our strategy was to first build a line follower robot and then slave robot. So it was time to integrate them all. After the integration, we had first prototype of our robot. We were exited to test our robot. We were praying that everything should be fine because the main task is to build another robot to which line follower robot send information regarding the path it is following and another robot follow same path based on this information.

When we tried our robot with test path, we found that line follower robot was not following path accurately. This makes us little disappointed but at least we had something to test. After some spying on robot while it was following the path, we came to conclusion that there must be problem in our algorithm. I advised that everybody made his own algorithm and let us see which algorithm will work. We maintained this throughout our project. Everybody tried but the result was not satisfactory. So we decided to change the position of sensors and increased the number of sensors. This required to again designing the sensor circuitry and it took some more sleepless nights. 

Robots enjoying each other's company

After we had line follower robot with new sensor design, we again tested our robot. This time, results were better than previous time but not so much accurate. So we decided to improve our algorithm to such extent that we got satisfactory result. But at the same time calendar was changing dates and we really needed to worry about deadline. After discussions and debates, we had algorithm which gave us performance above average. Suddenly we realized that we had only less than day to think about another slave robot. Although we had body of both robots, so we need to worry about the body of slave robot. We tested both robots with wireless communication between them. The result was very disappointed for us, it seem like nothing was happening. While master robot (line follower robot) was following the path, slave robot was watching like a child towards master robot and waiting for instructions. With hope in mind that something good will happen, we leaved for IIT Khadagpur…

[To be concluded..]

Indore diary [5] : Robot was my life (Part 1)

Every action has a cause. Different people doing same action may have different-different cause. As far as the my reason of pursuing M Tech is concern, it was more related to acquire certain skills so that I can use them in order to achieve my goal than to got a postgraduate degree. I wanted to be a good designer of microcontroller based system. During my first semester I along with classmate cum friend (Bhupendra) decided to make a microcontroller based project. After few days I came to know about “Kshitij” annual technical festival of IIT khadagpur which was going to organize on last week of January 2012. There was few robotic competitions were also going to organize. I found one of them suitable for us according to our knowledge level and current skills. The problem was to build a line follower robot and another robot which follows the same path as follows by line follower robot. Both wired and wireless communication was allowed between robots. Name of the competition was STALK which was compatible with given problem.

I want to research on the line follower robot and for this I downloaded so many related IEEE paper. For the first time I know that line follower robot can be implement many different techniques like image processing technique, through PID control or by using different types of sensor. I read almost all of them and analyze with respect to our problem. We decided to use Omniwheel and reflective optical sensor (CNY70). Instead of differential drive technique used in most of line follower robot, we decided to use new type of drive technique using omniwheel. Omniwheel was used to increase the DoF (degree of freedom) of robot. After initial theoretical work had completed, we made initial circuit diagram of different section of robot. Now it was time to jump from theoretical world to practical things. So we purchase few things from shop like stepper motor, wireless receiver and transmitter and dc motor. We wanted to check circuits on bread board before we implement on PCB. There were mainly four sections of our lovely robot:

1.      DC motor control

2.      Sensor circuitry

3.      Wireless transmitter and receiver

4.      Stepper motor control

So we started our work in Electronics Lab (thanks to Vasanti ma’am) on bread board. We bunked few lectures and during free time we rushed to electronics lab for some days. Except dc motor control sections no circuit work fine in one try. We needed to change the values of resistance and after investing so much time and efforts; we found that everybody was working fine except the stepper motor. Initially we wanted to control stepper motor and did not get any success. Later we changed our strategy and were trying that at least stepper motor move a bit. But stepper motor swore to not move a bit. After some mischievous experiment finally stepper motor was agree to move a bit but not every time. It was as reliable as street dog, may be dog will run after you or not. We got stuck in this problem. 

A project made by Rajkamal sir (www.rajkamal.org) now in dust at Electronics Lab. 

We tried for many days but still didn’t able to catch any ray of hope. We were frustrated and disappointed towards the future of robot. First semester examination was near and hence we started to give less time to robot. But I was still hope for something good. After examination, it was time to go home. At home, even if we were not sure about the future of robot but we decided to make body of robots.  Under the sun of uncertainty, with the help of some skill people I had body of robots in few days. After few days I again found myself in Indore and it was starting of next semester. We again tried but result was same and unpredictable.

During those days I could smell the news of our robot in the air of department still its future was quite uncertain. Krishna was also willing to join and along with Devendra, we were now team of four. Krishna was lucky fellow for all of us. He had previous experience of working with stepper motor and he solved our problem up to significant extent. But still all was not well…

[To be concluded...]

For Part 2: Click Here

Indore diary [4] : Paanch rupye ki fati hui note...

What first comes in your mind, whenever you hear “Indore”. Honestly when I first thought seriously about indore, I thought what is reason of name “Indore”. I found through Wikipedia that this is due to Indrashwer temple. Sand of time polish name from Indrapur to Indur and finally to indore.

At the end of my first journey through van in Indore, I gave 10 rupees note and van driver return me 5 rupees note. But when I saw the bad condition of that note, I immediately complain to driver but he gave little attention towards me. “Are bhiya, chal jayega”, after this words he accelerated van and I was watching five rupees note in little storm of dust. I thought he was mad person who wants to get rid of that note, it’s better to forget such people.

For Indori people: a rare fresh five rupee note

But next day same incident happen with me, but this time my friend was also with me. When I was about to complain, he pulled my arm and say “are yar indore me chalta hai”. I briefly look at five rupee note and reply, “really”. Whether it’s a van, auto rickshaw or any restaurant, everywhere any type of five rupee is acceptable irrespective of condition of that note. Now when anyone refuses defective note of five rupee, I immediately remember Indore. Strange but true, a torn note of five rupees reminds me of Indore.

In Indore, breakfast means poha and/or jalebi. In almost every street, one can easily find Poha shop. Just like Tom with jerry, if there is Poha, there must be ‘Sev’. In Indore, people can see Tom without jerry, but there is no possibility of Poha without Sev unless one doesn’t want to take breakfast. During the whole year when I was in Indore, I ate Poha, Poha and only Poha in breakfast. (There are very-very few exceptions) Now when I eat Poha sometime it reminds me of Poha city.

A view of sarafa market at night

Until the day I visit sarafa, I never thought Indori people are so crazy about food. Sarafa in Indore is less known for jewellery than food. During day time jewellery shop are open and in evening up to midnight jewellery shops get closed and place is full of street vendors selling different type of delicious food. If you are in Indore and your friends say that ,”Let’s go Sarafa”, this means for exploring food only and nothing to do with gold or silver. Sometime I think, may be some crazy foodies ask for food at jewellery shop during day time. An unimaginable thing for other cities. Chappan bhog near palasiya is another place in Indore for food explorers. Chapppan bhog is market having shops of many types of foods.

India invented zero and every Indian has proud of it. But everybody talks about zero who cares about one(ek). Only a true Indori understand the value of one(ek), for him/her everything is either “ek number” or “nothing”. My friends in Indore usually tell “ek number” whenever something good they hear or see. I often thought that when will they say two(do), three(teen) or something else. But they never got ahead of one(ek). Sometime I think, One(1) might be invented in Indore.

So next time when you will in Indore, don’t forget to visit Sarafa and Chppan Bhog. Don’t forget to collect your defective five rupees notes to spend at Indore….

Indore is ‘ek number’.

Indore diary [3]- H.T.D.

After one month of sitting together in a classroom, faces which were looking like stranger now become familiar. But still thread of friendship was no so much thick. There was Teachers day after few days. I could smell the plan of function to be organized in the air. After one day I found the source of smell (fragrance), when I saw some people were talking about function of teacher’s day. I also joined them. Later other people joined us. I took responsibility of schedule preparation and matters related to anchoring. I and Rinkesh, thought about light games for teachers to be played on that day. Everybody take its own responsibility, but actually we worked together in one team. There was just logical distribution of work but physically everybody contribute in everything.

Friendship start with interactions may be in form of talk, sharing a light moment, a smile, sharing together something and so on, list is long. When we do something together with people, during the between those moments you better know those people. Sometime we may not notice. But something in us stores the data about different people. Data about different people in mind decides relationship with different people. Let’s have a experiment, just think about any of your friend, how many things you know about him/her? Before you became friends, did you know anything about him/her? The things that you know about your friend are the data you store in your mind since you are friend with him/her. There are only two types of people in the world- known and unknown friend.

 Nobody can’t say that he/she become my friend on that day and time. Plant of friendship grows with sunlight of time but with fertilizer of interactions it grows fast. This is true with your enemies too. During the preparation of Teacher’s day function, we had those moments. Knowingly or unknowingly, we store the data about each other. That was the starting of friendship between us. Whether it was decoration of computer lab by all of us or disagreement on issue between two people and other people rescue them from each other. Whether clap together and cheer after every song sung by a teacher or small debate over the planning of function. But there was two activities that I `superlike`--Teacher’s day invitation card and preparation of play at Rinkesh’s room.

Invitation card was nicely crafted and beautiful, looking like piece of art. Many people work very hard for preparation of invitation card although unfortunately I was not part of that team. When first time, I saw complete invitation card, for a moment I can’t believe that it was made by people around me. Most of teachers were more interested in, How the card was crafted?. Vasanti mam and Aparna mam were more interested than other teachers. I notice that every teacher had a smile on face when they hold invitation card. That smile was biggest appreciation for the hard work behind invitation card.

Walt Disney said “If you can dream it, you can do it.” Same was true with play. We had a wish to do a play on teacher’s day but there was no script. But we gather just few hours before and script was written on paper of mind with pen of so many mouths. Everybody wants to apply his creative (?) mind. Everybody enjoyed those 3-4 hours. Idea of starting facebook group came into my mind during those moments. After so much mess, script was ready.

Finally at the day of function, everybody performs well. Play was great success. Teachers liked arrangements of function. For them our hard work was their felicitation. That day was over with tea and snacks in the evening, but there was friendship started between us and it won’t over…

Here are the two videos of those days, enjoy:

Indore diary [2]- A day at School of Electronics

I never knew I will post this pic here

In lazy mornings, I was generally first to appear in the class although sometime found Alekh is already there. After put my ‘luggage’ on table, first task was to switch on projector and computer and then to check mail. Meanwhile people with their luggage on back willingly or unwillingly drag their body into classroom. As the time steps towards 9.30 AM, I open slide of embedded system in another window. But I keep continue my task of surfing net. Sometime Alekh replaces me, sometime someone other. But one thing was sure that there must be someone with elbow on dais, struggling with keyboard and mouse, surfing internet usually check mail. Some people were standing outside; some were sitting on chair and some restless souls were going out and in from classroom, looking for chance to surf internet. Suddenly all people rush to their seats which indicates that teacher is about to come in class. I always like to seat in front row. Because whenever I sat on back benches, I have to see so many heads which start the storm of thoughts in my mind. But later after one semester I realize that sitting on back benches is wonderful way to enjoy with friends as sitting on first bench for one semester didn’t make me ‘Einstein’. Then it’s better to enjoy. During lecture, some people were more interested in water bottle.(I was one of them) When a lecture over, people rush to water cooler with their water bottles. Some people never bought their own bottle. (This time also I was one of them) But I always filled water bottle selflessly. Sometime I felt, all bottles in class were of mine. As the time passes I started to calculate how much time is remaining for lunch. When clock shows 01.00 PM, I took deep breath. Now it’s time for lunch.

I always want to have lunch like I had during those days. Not because of quality or variety of food, but because we all sat together for lunch. Menu of lunch was always surprise for us until all people open their Tiffin. I usually enjoyed so many varieties of food, whether it’s all time tasty homemade food or self made food of some Tiffin. Winter season brought together ES, MCT and SIT in garden of department under sunlight. In summer and rainy season, usually people took lunch in their respective classrooms. But if you were still hungry after lunch in your classroom, you could join other people in their classroom. Run fast may be they have completed their lunch. (This time you are wrong, I was not one of them who did that) After lunch it’s time to go canteen to take tea, cold drink, butter milk and samosa for people like me. After lunch, it’s again time for lecture/ lab. Some people like to attend lab or keenly wait for lab so that they can download ‘something’ from internet. They even didn't know about what they want to download. (This time I won’t say anything whether I was one of them or not) As time proceeds, evening spread his wings, now it’s time to leave department. People start to go for home or second home like birds go to their nest in the evening. But some birds were still there; take their steps towards canteen. Those birds like to take tea in evening together.

I always like to spend my evenings like those evening with dear friends with tea in one hand and words in mouth. Day ends until there is tea in cup.

So many things still remain to mention and some things cannot be expressed in words.

Miss those days...

Indore diary [1]- First few days

I was searching for a college where I can take admission for pursuing M Tech. Through a website I came to know about School of Electronics, DAVV Indore. I was not sure about whether I will take admission there or not, but I applied there. But as the date of counseling(7 july 2011) came near as I was getting sure about that I have to take admission there because I didn’t have another good option. Finally I left home for Indore. I spent my night at hostel of DAVV inside the campus at the room of my friend. Next day, I was praying that I would get admission in embedded system branch, unfortunately I got admission in Mobile computing. I realized that life has some limits. But still I was happy.

My first train journey from Udaipur to Indore

At the day of counseling, first time I met Punit. When I first saw him I never thought that he will be my roommate for next one year. There was formal conversation between us.I went home. After few days, I left shelter of my home in search of new shelter at Indore. For 15 days, I stayed at another friend’s place. When I got fail to admission in hostel, I decided to rent a room with Punit

Abhay sir’s battle ground

First lecture delivered by Abhay sir. I still remember his words: “Whatever I will teach in class, will be my syllabus”. He taught DSP. I never attended lectures so attentive except those lectures of DSP. For first few days I attended MCT classes as after that I luckily got admission in embedded system. At MCT class, first time I met to Rinkesh, Lokesh, Priyanka, Ashish and so many other people. I was very happy after got admission in embedded system. I even accept non-stipend seat of embedded system and left stipend seat of mobile computing technology. I was so excited to attend lectures of Rajkamal sir. I even attended two lectures of Rajkamal sir before I secure admission in embedded system. Thanks to satish for support me during those moments. How can I forget slides having dark blue background? The moment I first time entered in classroom after secure my admission in embedded system, I was feeling as I am entering unknown sacred place. I still remember the faces of Alekh, Priyank, Pradeep, Khushbu and Kavita, to whom i saw when i was entering classroom. Obviously I didn’t know their names at that moment but I store their faces in my mind.  Later I tag them.