About Me

Hello! I'm Hari Prasad Gajurel, a Mechanical Engineer with a strong interest in both theoretical and applied problems in control theory and AI/ML.

I am genuinely astounded by "The unreasonable effectiveness of mathematics as the language of nature" (Eugene Wigner). This drives my passion for the software implementation of theoretical ideas, 3D CAD design, and embedded systems. To me, engineering is about optimizing parameters to obtain the best result.

Research Projects

Model-Based Control Architecture & Bench-top Setup

Figure 1: Active Foot Prosthesis Hardware Prototype & Control System

Development and Bench-top Validation of Active Foot Prosthesis 2024 - 2025

Traditional prostheses are incapable of fully aiding in human locomotion, resulting in amputees with asymmetric gait patterns and small stride lengths. Powered prostheses can improve mobility, comfort, and quality of life for lower-extremity amputees. This project focuses on the design and benchtop validation of a powered ankle-foot prosthesis prototype (PAFP).

The PAFP utilizes a belt-pulley transmission driven by an AK-60-6 actuator, integrated with an STM-32 microcontroller for real-time sensor communication (IMU, encoder, and motor controller). Benchtop testing validated transmission efficiency, compliance via backdrivability tests, torque response under load, and position tracking to replicate natural human ankle gait dynamics.

Links and Results: • GitHub Mathematical Modelling: Modelling Code
• Final Project Report: Download Report
Sanosat-2.1 Design Structure 1

Figure 1: Satellite Structural Design

Sanosat-2.1 Component Layout 2

Figure 2: Internal Component Layout

Sanosat-2.1 Satellite Pin Diagram

Figure 3: Satellite Pin & Interface Diagram

Sanosat-2.1 Mission Design Flowchart

Figure 4: Mission Design Architecture

Design and Development of PocketQube Sanosat-2.1 for LEO Missions 2024

PocketQubes are picosatellites (5 cm × 5 cm × 5 cm, mass ≤ 250 g) built for specialized low-cost Low Earth Orbit (LEO) missions. Following Sanosat-1 de-orbiting, Sanosat-2.1 was designed at ORION Space Lab with upgraded optical sensing, an IMU for Attitude Determination and Control Systems (ADCS), and digital amateur radio repeater payloads.

The satellite demonstrates SSDV image packet transmission using GFSK modulation, deployable solar panels, and passive magnetic ADCS control, highlighting scalable COTS component reliability for space missions.

Links and Results: • GitHub Repository: Pocket_Qube-Development

Undergraduate Projects & Research

Simulation and Control of Legged Prosthesis Spring 2024 - Fall 2025

Mathematical modeling, CAD design, and benchtop testing for an active foot prosthesis capable of natural gait pattern tracking and feedback control loops.

Control Architecture Diagram

Control Architecture

IMU Simulation Feedback

IMU Feedback

Loadcell Simulation Feedback

Loadcell Feedback

ABU Robocon 2023 Competition Robot 2023

Designed and manufactured robot mechanisms; conducted FEA stress analysis and mechanical optimization for high reliability under dynamic operating conditions.

ABU Robocon 2023 Robot Action GIF

Robot in Action

Robocon Rabbit Robot

Rabbit Mechanism Prototype

Robocon Elephant Robot

Elephant Mechanism Prototype

Custom Drone Development 2023

Winner, Dronacharya Competition (Locus)
Mathematical modeling in MATLAB/Simulink, hardware selection, flight controller tuning, and custom drone assembly.

Maze Solving Autonomous Robot 2022

Implemented Dijkstra's and Flood Fill algorithms in C++ for shortest-path autonomous navigation and obstacle mapping on embedded microcontrollers.

Outreaching & Volunteering

  • Robotics Association & Workshops Leader 2023 - Present
    IOE Pulchowk Campus

    Organized hands-on technical workshops, mentored junior engineering students in CAD modeling, embedded programming, and microcontroller system integration.