Labeeb Nassar

About

I am a B.Tech graduate in Mechanical Engineering from Indian Institute of Technology, Palakkad (in 2024) with a strong focus on robotics, autonomous systems, motion planning and control. Experience spans simulation-driven development to real-world hardware-software integration across quadcopters, wheeled mobile robots (holonomic and non-holonomic), robotic manipulators, and mobile manipulators. Work includes system modeling, control, firmware development, and perception pipelines, along with motion planning, and localization. Also involved in developing computer vision systems for robotics and standalone applications, combining deep learning approaches with classical image processing techniques.

Technical Skills

Robotics & Autonomous Systems

ROS2 ROS2-NAV2 MoveIt2 PX4-Autopilot MAVSDK Behavior Trees Finite State Machines NVIDIA Isaac Cortex

Simulation

NVIDIA IsaacSim NVIDIA IsaacLab Gazebo Sim Ansys Structural Ansys Fluent

Computer Vision & Machine Learning

OpenCV PyTorch TensorFlow YOLO-Models Scikit-Learn Scikit-Image

Embedded & Hardware Systems

ESP32 Raspberry Pi Sensor Integration Firmware Development Arduino MicroROS MAVLINK PX4-Autopilot Ardupilot

Mechanical Design & Just Design

Autodesk Fusion 360 SolidWorks Autodesk AutoCAD Blender(Just Design not mechanical)

Programming

C++ Python C

Tools & Platforms

Docker AWS GIT

Experience

Developer-III · UST · July 2024 - Present

Develop robotics automation solutions for drones and mobile robots using ROS2, NAV2, PX4, MAVSDK, and MicroROS, with focus on reliability and real-world deployment.
Designed and implemented a warehouse digital twin simulation in NVIDIA IsaacSim for assembly workflows with Cobots and AMRs to analyze throughput and bottlenecks.
Work on embedded robotic platforms using micro-controllers and companion computers, integrating sensing, navigation, and control modules for autonomous operation.
Maintain technical documentation for reproducibility and cross-team knowledge transfer.

Projects

Automated Evaluator For PCT-MMSE Using Computer Vision Techniques

Designed and deployed a classical computer vision pipeline to automate scoring of the MMSE Pentagon-Copying Test for Alzheimer’s cognitive assessment.

Implemented preprocessing with illumination normalization, adaptive thresholding, morphology, and Canny edge detection.
Built geometric reconstruction using Hough Transform, custom line merging, convex hull, polygon approximation, and intersection analysis.
Developed a search-based unravelling algorithm to separate overlapping pentagon structures under noisy drawing conditions.
Integrated a custom-trained YOLOv8 object detection model with 90–92% mAP@50 to isolate hand-drawn ROIs prior to evaluation.
Delivered a deterministic, production-ready scoring module with structured reporting.
Improved agreement with baseline annotations from 60% to ~76–80% by re-engineering evaluation logic using structured geometric reasoning and rule-based validation.

GitHub Repo

output with annotated geometric overlays

output with annotated geometric overlays.

Autonomous Drone System

Engineered an autonomous UAV platform using Pixhawk 6C and Raspberry Pi 4B with PX4-Avoidance and Intel RealSense D435 for real-time obstacle avoidance.

Implemented 3DVFH+* local path planning and automated survey missions via QGroundControl for plantation monitoring.
Streamed live drone feeds to ERP systems for analytics including crop health, worker monitoring, and compliance tracking.
Conducted photogrammetry-based 3D reconstruction to benchmark flight stability and localization performance.

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Add drone demo video here

Video Demo

Show survey flight, avoidance behavior, or mission execution.

Add drone image / reconstruction output here

Image / Output

Use this for flight frames, depth views, or 3D reconstruction results.

NVIDIA IsaacSim Based Warehouse Model And Simulation

Developed a warehouse simulation environment in NVIDIA IsaacSim as a proof-of-concept digital twin for a PCB manufacturing plant.

Researched and mapped the PCB assembly line process, then designed custom simulation models to replicate assembly tasks and material flow.
Implemented FSM-based pick-and-place tasks on a simulated UR10 robotic manipulator using NVIDIA Decider Network.
Designed a custom 4-wheeled omni-directional mobile robot automated via ROS 2 NAV2 for package transport in the simulated warehouse.
Contributed to combined manipulation and mobile robot logistics for process monitoring and optimization.

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Add simulation video here

Video Demo

Show warehouse flow, UR10 task execution, or digital twin operation.

Add warehouse image / scene render here

Image / Output

Use this for scene renders, task snapshots, or layout images.

Autonomous Mobile Robot

Designed a 4-wheeled mecanum-drive AMR with localization, navigation, and control integration for physical deployment.

Implemented PID velocity control for smooth motion response.
Improved localization accuracy through EKF-based sensor fusion using wheel odometry, gyro, and magnetometer data.
Diagnosed and resolved an MPU9250 IMU driver issue, enabling proper AK8963 magnetometer integration for reliable sensor fusion.
Integrated ROS2 NAV2 with SLAM and AMCL-based localization for waypoint navigation.
Benchmarked DWB–NavFn and MPPI–NavFn planner configurations on physical hardware.

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Add robot demo video here

Video Demo

Show AMR motion, waypoint navigation, or planner behavior.

Add robot image / localization output here

Image / Output

Use this for hardware photos, RViz snapshots, or trajectory visuals.

Mobile Manipulator Simulation For Farming Setups

Developed a simulation proof-of-concept for a hydroponics-based vertical farming system to demonstrate robotics integration for agricultural automation.

Designed a custom mobile manipulator with a 4-WD base and 5-DOF arm equipped with an end-effector camera for crop surveillance and monitoring.
Automated arm trajectories using MoveIt and implemented base guidance with a P-controller for precise position control.
Built the simulation environment in NVIDIA IsaacSim and interfaced it with ROS 2 for motion planning, perception, and control workflows.
Validated feasibility for robotics-assisted inspection and monitoring in hydroponic vertical farming setups.

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Add farming simulation video here

Video Demo

Show mobile manipulator motion, crop inspection flow, or simulated tasks.

Add simulation image / scene render here

Image / Output

Use this for system renders, MoveIt snapshots, or end-effector views.

Self-Balancing Robot (2WD Platform)

Designed and developed a two-wheel self-balancing robot, focusing on system modeling, sensor integration, and closed-loop control using PID regulation for upright stabilization.

Performed preliminary dynamic analysis of the inverted pendulum system to estimate key physical parameters and system behavior for controller design.
Estimated system natural frequency and used it as a reference for selecting an appropriate PID control loop timing to ensure stable and responsive balancing performance.
Implemented and tuned a PID controller for real-time stabilization, addressing challenges related to IMU placement, sensor noise, and early instability during tuning phases.
Achieved successful self-balancing behavior on a 2WD differential drive platform through iterative tuning and system-level debugging.
Proposed future extension toward a full Segway-type system using wheel encoders and state estimation, with potential transition to state-space control methods such as LQR.

GitHub Repo

Self-balancing performance and PID stabilization demo

WindShaper (3x3 Prototype Array)

Contributed to the design and development of a compact WindShaper prototype consisting of a 3x3 wind module array for generating controlled airflow patterns at varying intensities.

Designed a modular 3x3 wind generation array using Fusion 360, focusing on structural layout, airflow directionality, and manufacturability of individual wind modules.
Performed CFD-based airflow analysis in Ansys Fluent to evaluate and validate wind profile behavior across different module speed configurations.
Fabricated a functional prototype using plywood structure integration with BLDC motor-propeller assemblies for each wind module.
Developed a proof-of-concept system for studying controllable wind field generation using a simplified modular array architecture.

Project Drive Link

3x3 Wind Module Array Prototype

Wind Module Design CAD

Airflow Variation and CFD simulation of one module

A Replica of BB-8 Droid

Developed a replica of the Star Wars BB-8 Droid, was a minor project worked on the side back in university. The BB-8 droid was programmed to track and follow objects.

Designed and developed a functional replica of the BB-8 spherical droid from Star Wars using a hamster-wheel-based internal drive mechanism with a 2WD mobile robot platform.
Performed structural design and manufacturability analysis of the internal chassis using Fusion 360 simulations to ensure mechanical stability and reliable fabrication.
Integrated HuskyLens computer vision hardware for real-time object detection and tracking, enabling the robot to autonomously identify, follow, and track pre-trained template objects.
Worked on the complete robotic system pipeline including mechanical design, embedded integration, autonomous motion control, and vision-based interaction.

Project Drive Link

BB-8 Replica Prototype

Internal Mobile Robot Skeleton

Cosmo Logistics Simulation (Hackathon Project)

Simulation and software development for warehouse automation in a lunar-base themed hackathon organized by IIT Bombay (E-yantra)-2023-24.

Integrated a simulated UR5 robotic manipulators with computer vision-based ArUco marker detection for pick-and-place tasks.
Developed and automated a 4WD automated mobile robot using ROS2 NAV2 stack and EKF sensor fusion for localization. Involving autonomous motion for transportation of stacks of shelves to required places in the warehouse sim and P-controller based docking behavior
Focused on both simulation and real-world hardware integration for logistics automation.

GitHub Repo

UR5 Manipulator Pick-and-Place with ArUco Marker Detection

AMR Navigating the warehouse to take a shelf from start to goal

Kinematic & Dynamic Control of Custom Designed 4-DOF Manipulator (Simulation)

Designed and simulated a 4-DOF stationary open serial robotic manipulator with MATLAB-based kinematic and dynamic modeling.

Modeled forward and inverse kinematics for open-loop and closed-loop waypoint-based motion control.
Designed and implemented PD controllers for closed-loop trajectory tracking under both kinematic and dynamic system conditions.

Repo Link

Design of the 4-DOF Manipulator

Frame Arrangement Diagram

Wheeled Mobile Robots Simulation

Course project on kinematic and dynamic simulation of a four-wheel omni-drive robot using MATLAB.

Selected a specific robot configuration and simulated its kinematics and dynamics.
Performed control simulations for motion accuracy and trajectory tracking. Mainly inverse kinematics and dynamic control using PD controllers in both cartesian and polar systems

Project Repo

Simulation of a 4-Wheeled Omni Drive Robot

Simulation Concept of a 4-Wheeled Omni Drive Robor

Solar Powered Glider

Worked on the design and development of an unmanned solar-powered glider for acquiring atmospheric data at high altitudes. Focused on selecting low-drag airfoils for the main as well as the tail wings to optimize the lift-to-drag ratio, enabling efficient flight performance and extended endurance.

Designed and fabricated a prototype glider, including structural analysis of landing gear using Ansys and Fusion 360.
Performed material selection to ensure controlled deflection under load while maintaining lightweight and structural integrity.

Project Report

Languages

English (Fluent)

German (A1-Level)

Malayalam (Native)

Hindi