Every subsystem, one platform.
DC motor drive, steering actuation, battery power, ultrasonic, temperature and speed sensing — integrated from first wire to final control logic.
Robotics · Autonomy · Control
DewarajRaparthi
I build intelligent machines that survive contact with the real world.
Explorethe work↓
00 Point of view
The parts can be perfect.
The system still has to work.
My work lives at the boundary between mechanism, electronics, perception, and control. I design the system, build it, then find out why the assembled machine behaves differently from the model.
That last step — isolating the interaction no single component test revealed — is where engineering gets interesting.
06Integrated systems
featured
featured
3.50M.S. Robotics
GPA
GPA
End → EndCAD to code
to field test
to field test
May ’26Stevens Institute
graduation
graduation
01 Flagship system
Autonomous
Ground Vehicle
A ground-up electromechanical platform integrating motor drive, steering, sensing, power distribution, and embedded decision-making.
VISION / AGV-01Subsystem map
Tracking05 targets
01Battery bankPower distribution
02Main controllerEmbedded compute
03Ultrasonic arrayObstacle perception
04Steering actuatorClosed-loop linkage
05Drive motorRear-wheel propulsion
01 Battery bank02 Main controller03 Ultrasonic array04 Steering actuator05 Drive motor
Embedded CSensor fusionMotor controlField debugging
Bench-perfect. Field-erratic.
Obstacle response became inconsistent outside the lab. The apparent software problem was actually sensor noise compounded by actuation lag.
Filter. Remount. Retune.
Signal filtering, revised sensor geometry, and delay-aware loop tuning turned intermittent behavior into repeatable field performance.
02 Autonomous software
JARVIS OS
Personal AI operating layer for Windows.
Multi-brain cognition. Bounded autonomy.
Channels
HUD · terminal · LAN · GUI · voice
Orchestrator
Single-flight OODA pipeline
Cognition
Direct · live · deep verification
Safety Gate
Class A · Class B · forbidden
Tools + Memory
System control · agents · persistence
~200intent dispatch
08max ReAct steps
05verification roles
04memory layers
Four concurrent queues coordinate input, speech, synthesis, and background monitors without blocking the interaction loop. Requests route across cloud and local models; every planner, agentic, and autonomous action crosses one permission rail.
Read the full architecture reference03—06 More systems
03 / Mechanism designEarthworm-inspired
Earthworm-inspired
in-pipe robot
A 50 mm telescopic locomotion mechanism modeled, printed, assembled, and tested against a fixed pipe constraint.
The failureLinkage binding and mistimed grip/extend sequencing compounded into a mid-travel stall.
04 / Computer visionMulti-camera
Multi-camera
3D reconstruction
Calibrated camera poses and voxel visual-hull reconstruction using Harris features, RANSAC outlier rejection, and SVD.
The unlockRANSAC stabilized pose estimation by rejecting the feature mismatches that collapsed the reconstruction.
05 / ElectronicsCustom motor-
Custom motor-
driver PCB
Dual H-bridge board designed in KiCad, pre-validated in LTspice, assembled, and bench-verified against expected electrical behavior.
06 / ControlsAutomated pick-
Automated pick-
and-place cell
A state-machine architecture for conveyor handling and robotic sorting, including explicit fault states for missed grasps.
Verified100% task success across the defined validation runs.
+ Supporting depth
2D SLAM
ROS Noetic occupancy-grid mapping, ground-truth benchmarking, scan-matching, and loop-closure tuning to reduce accumulated drift.
Dynamic systems
PID and state-feedback design against settling-time, overshoot, stability-margin, and steady-state-error targets.
Across the stack
SolidWorks · Fusion 360 · MATLAB · Simulink · Python · C/C++ · ROS · OpenCV · KiCad · Linux · Git.
→ Next build
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that needs to work?