31 May 2024
Summary
During my 20-week internship as a Mobile Robotics Intern at Delta-NTU Corporate Laboratory for Advanced Robotics, I gained hands-on experience in developing an Autonomous Mobile Robot (AMR) to deliver medical supplies to elderly residents. Guided by John Chua and Associate Professor Mir Feroskhan, I tackled responsibilities such as researching safety features, designing a mapping backpack, generating and post-processing pointcloud maps, and documenting procedures. Despite initial challenges in hardware and software development, I bridged my knowledge gaps through online resources, colleague advice, and hands-on experimentation. This experience not only enhanced my technical and soft skills but also taught me the importance of effective communication and user-centric design. Working with vulnerable populations and welfare organizations like Lion Befrienders provided valuable insights that will shape my future projects. I am eager to apply these skills in new opportunities and highly recommend internships for their invaluable professional growth and networking opportunities.
Introduction
During my recent internship as a Mobile Robotics Intern at Delta-NTU Corporate Laboratory for Advanced Robotics, I had the opportunity to immerse myself in cutting-edge technology and innovative projects. This internship, a vital component of my NTU Mechanical Engineering curriculum, spanned 20 weeks from January 15th, 2024, to May 31st, 2024. Under the expert guidance of John Chua, a Senior Robotics Research Engineer at Delta Electronics, and Associate Professor Mir Feroskhan, I gained invaluable hands-on experience in the field of mobile robotics.
Throughout my attachment, I contributed to the development of an Autonomous Mobile Robot (AMR) designed to deliver medical supplies and necessities to elderly residents in apartments. This project provided me with a comprehensive understanding of both software and hardware development, as well as practical fieldwork involving data collection, testing, and deployment. Engaging directly with elderly residents allowed me to incorporate their needs into the development process, ensuring that our solutions were user-centric. The skills, lessons, and experiences I acquired during this period have significantly enhanced my capabilities and prepared me for future endeavors in robotics.
Responsibilities
Key responsibilities of my position included:
- Safety Features of AMR: I conducted in-depth research into safety standards for AMRs and evaluated available safety components on the market. I designed basic safety feature implementations, including a proof of concept for integrating ultrasonic sensors with safety relays.
- Mapping Backpack: I researched existing mapping backpacks and designed two versions tailored to our project needs. This involved creating components such as plates and mounts, and analyzing IMU data to ensure the stability and quality of the mapping process.
- Pointcloud Map Generation: I utilized the mapping backpack to collect pointcloud data for generating maps essential for AMR navigation. My focus was on ensuring the accuracy of these maps by preventing common errors such as drifting or duplication.
- Pointcloud Map Post-Processing: I installed and learned to use three post-processing packages to refine the generated pointcloud maps. These tools allowed me to correct errors, remove unwanted obstacles, and enhance the overall accuracy of the maps.
- Documentation: I created clear, structured documentation to detail the usage of the mapping backpack and the post-processing tools. This documentation was designed to be accessible even to individuals without prior knowledge of the project.
- Sensors / Actuators Testing: I prepared various setups to test sensors and actuators before their implementation, ensuring they functioned correctly and met the project requirements.
Results
Key achievements from the internship are:
- Establishment of a foundational safety feature implementation for AMRs.
- Development of a stable and reliable mapping backpack.
- Creation of clean and accurate pointcloud maps for use in AMR navigation and deployment.
- Rigorous documentation that enables future teams to replicate and build upon my work.
Skills
Throughout the experience, I acquired or enhanced the following skills:
- Robot Operating System (ROS)
- C++
- Python
- CAD (SolidWorks)
- 3D Lidar VSLAM
- Sensors and actuators (LIDAR)
- Machine learning
- Computer vision
- Safety Sensors and components
- International standards
- Project planning and execution
- Rapid prototyping for proof of concept
- Data collection and presentation
- Structured documentation
Reflection
During my internship, I faced several challenges that tested my adaptability and resilience. Initially, my lack of background knowledge in hardware and software development, along with limited hands-on experience, posed significant hurdles. Understanding parts, components, assembly, sensors, and software frameworks was daunting, and the transition from academic projects to workplace demands required independent planning and execution. To overcome these challenges, I invested time in bridging my knowledge gaps through online resources, advice from colleagues, and hands-on experimentation. This proactive approach, combined with a willingness to learn from every opportunity, enabled me to build confidence and enhance productivity.
I learned that continuous learning and adaptability are crucial for growth, and there are no shortcuts to achieving it. Online resources are valuable, but practice is essential for honing skills. Effective communication is also key to optimal productivity. These lessons underscored the importance of a growth mindset and ongoing development. My internship also provided insights into rapid prototyping, proof of concept, and the complexities of development, including fieldwork, data collection, and deployment. Working with the elderly and welfare organizations like Lion Befrienders highlighted the importance of user-centric design and collaboration to develop impactful solutions.
The skills and knowledge I gained are invaluable for future projects. I learned effective project design and management, team participation, and working with vulnerable populations and welfare organizations. These experiences have given me early insights into structuring teams for future projects in my startup, particularly in biomechatronics. I am eager to apply these skills in new opportunities and challenges, confident they will support my continued growth.
For anyone considering an internship or research opportunity, I highly recommend seizing the chance. The practical skills, professional growth, and networking opportunities are invaluable. Embrace these opportunities fully; you won't regret the experience and knowledge gained.
Conclusion
Reflecting on my internship at the Delta-NTU Corporate Laboratory for Advanced Robotics, I am immensely grateful for the invaluable experiences and lessons gained. Despite facing numerous challenges, I emerged with a wealth of new skills and knowledge, both technical and soft, essential for my professional development.
I owe a great deal of appreciation to my supervisors and my colleagues, whose unwavering support and guidance were instrumental throughout my journey. This opportunity not only enhanced my understanding of mobile robotics and practical development procedures but also taught me the importance of working with vulnerable populations and welfare organizations. I look forward to apply my newfound knowledge and skills to future endeavors with confidence and enthusiasm.
Thank you for reading about my journey. I hope my experiences inspire others to pursue their passions and embrace every learning opportunity.