Research Interests:
Research Interests:
Research Interests:
Research Interests: ROBOT and Nudge Theory
Research Interests:
Aerial and ground robots have been widely used in tandem to overcome the limitations of the individual systems, such as short run time and limited field of view. Several strategies have been proposed for this collaboration and all of them... more
Aerial and ground robots have been widely used in tandem to overcome the limitations of the individual systems, such as short run time and limited field of view. Several strategies have been proposed for this collaboration and all of them involve periodic autonomous precision landing of the aerial vehicle on the ground robot for recharging. Intelligent control systems like neural networks lend themselves naturally to precision landing applications since they offer immunity to system dynamics and adaptability to various environments. Our work describes an offline neural network backpropagation controller to provide visual servoing for the landing operation. The quadrotor control system is designed to perform precise landing on a marker platform within the specified time and distance constraints. The proposed method has been simulated and validated in a Gazebo and robot operating system simulation environment.
Research Interests:
Research Interests:
Research Interests:
DC motors are widely used in various industries because they cater to applications of high and low power and in both fixed and variable speed electric drives. This paper analyses the transient parameters of the speed of separately excited... more
DC motors are widely used in various industries because they cater to applications of high and low power and in both fixed and variable speed electric drives. This paper analyses the transient parameters of the speed of separately excited DC motors using the Linear Quadratic Regulator (LQR) method. The speed of the DC motor is analyzed by measuring the output. The LQR method has been applied on three different motors of different specifications. The speed of the three motors is compared on the basis of the transient specifications using the LQR method. Simulation of a motor in MATLAB has shown that the performance of a motor with a low power application has a significant and improved quality response with the LQR method. Properties such as minimized deviation in speed, easy design and cost reduction make it efficient for use in controlled and balanced systems. These properties enhance speed control of a DC motor by achieving the desired performance for the systems where different power ratings occur.
Research Interests:
The Sustainable Development Goals of the United Nations (UN SDGs) are a bid to transform the world by addressing the urgent environmental, economic, social, and political challenges facing our world at large. Education for children on... more
The Sustainable Development Goals of the United Nations (UN SDGs) are a bid to transform the world by addressing the urgent environmental, economic, social, and political challenges facing our world at large. Education for children on global goals can be achieved if schools are provided with learning resources and technological tools to educate their students through increased engagement and active participation. This work-in-progress article describes a constructionist workshop in a low-income school using the BBC Microbit and hands-on problem-solving activities addressing sustainable development goals. We share our insights on how the children designed meaningful solutions during a Makeathon to tackle problems faced in their communities, that are also globally relevant.
Research Interests:
We present Haksh-E, a social robot for promoting good hand hygiene among children. This robot can supply valuable objective data to stakeholders and the UN to monitor progress on targets for UN SDGs 3 and 6. We discuss the design... more
We present Haksh-E, a social robot for promoting good hand hygiene among children. This robot can supply valuable objective data to stakeholders and the UN to monitor progress on targets for UN SDGs 3 and 6. We discuss the design parameters of Haksh-E and a pilot study conducted with 10 children between the ages 6-11 years hailing from rural and urban locations in Southern India. The children provide insights on their perception and acceptance of our robot prototype over various dimensions including likeability, perceived intelligence, anthropomorphism, trustworthiness, age, and gender. Our results suggest that Haksh-E has the potential to be used in educational and children-centered spaces to promote handwashing behavior change.
Research Interests:
We present Haksh-E, a social robot for promoting good hand hygiene among children. This robot can supply valuable objective data to stakeholders and the UN to monitor progress on targets for UN SDGs 3 and 6. We discuss the design... more
We present Haksh-E, a social robot for promoting good hand hygiene among children. This robot can supply valuable objective data to stakeholders and the UN to monitor progress on targets for UN SDGs 3 and 6. We discuss the design parameters of Haksh-E and a pilot study conducted with 10 children between the ages 6-11 years hailing from rural and urban locations in Southern India. The children provide insights on their perception and acceptance of our robot prototype over various dimensions including likeability, perceived intelligence, anthropomorphism, trustworthiness, age, and gender. Our results suggest that Haksh-E has the potential to be used in educational and children-centered spaces to promote handwashing behavior change.
Research Interests:
This dataset contains images and segmentation maps for sevenhandwashing steps, six of which are prescirbed WHO handwashing steps.This work is based on a sample handwashing video dataset uploadedby Kaggle userreal-timeAR... more
This dataset contains images and segmentation maps for sevenhandwashing steps, six of which are prescirbed WHO handwashing steps.This work is based on a sample handwashing video dataset uploadedby Kaggle userreal-timeAR (https://www.kaggle.com/realtimear) .Class-wise breakdown of samples---Step_1 : 8749Step_2 : 18725Step_3 : 7516Step_4 : 19926Step_5 : 18696Step_6 : 17274Step_7 : 16163------------------Total : 107049 images------------------
The growth in minor port projects along India's coastline due to burgeoning investor interest and the complete freedom given by the governments to private entrepreneurs to develop and operate these ports have led to several... more
The growth in minor port projects along India's coastline due to burgeoning investor interest and the complete freedom given by the governments to private entrepreneurs to develop and operate these ports have led to several environmental and social costs. Activities around ports such as dredging, cargo operations, discharges from ships and industries that are setup along the coastline, and construction work have had a heavy toll on the marine ecology. To exacerbate the issue, several of the minor ports are situated in highly sensitive ecological regions. Local fishing communities are most impacted by the chemicals as well as other toxic materials that are being deposited in the soil and in the marine ecosystem. We propose an autonomous robotic system to periodically collect soil samples for pollution monitoring around the coastal regions as a step towards tackling the problem. In this work, we present a ROS based navigation system for the Clearpath Husky Unmanned Ground Vehicle ...
Research Interests:
The growth in minor port projects along India's coastline due to burgeoning investor interest and the complete freedom given by the governments to private entrepreneurs to develop and operate these ports have led to several... more
The growth in minor port projects along India's coastline due to burgeoning investor interest and the complete freedom given by the governments to private entrepreneurs to develop and operate these ports have led to several environmental and social costs. Activities around ports such as dredging, cargo operations, discharges from ships and industries that are setup along the coastline, and construction work have had a heavy toll on the marine ecology. To exacerbate the issue, several of the minor ports are situated in highly sensitive ecological regions. Local fishing communities are most impacted by the chemicals as well as other toxic materials that are being deposited in the soil and in the marine ecosystem. We propose an autonomous robotic system to periodically collect soil samples for pollution monitoring around the coastal regions as a step towards tackling the problem. In this work, we present a ROS based navigation system for the Clearpath Husky Unmanned Ground Vehicle ...
Research Interests:
Aerial and ground robots have been widely used in tandem to overcome the limitations of the individual systems, such as short run time and limited field of view. Several strategies have been proposed for this collaboration and all of them... more
Aerial and ground robots have been widely used in tandem to overcome the limitations of the individual systems, such as short run time and limited field of view. Several strategies have been proposed for this collaboration and all of them involve periodic autonomous precision landing of the aerial vehicle on the ground robot for recharging. Intelligent control systems like neural networks lend themselves naturally to precision landing applications since they offer immunity to system dynamics and adaptability to various environments. Our work describes an offline neural network backpropagation controller to provide visual servoing for the landing operation. The quadrotor control system is designed to perform precise landing on a marker platform within the specified time and distance constraints. The proposed method has been simulated and validated in a Gazebo and robot operating system simulation environment.
Research Interests:
Research Interests:
In this world of rapidly evolving technology and technological artifacts, there is an urgent need to bridge the digital divide between those online and offline, especially in developing countries. In this paper, we propose a low-cost... more
In this world of rapidly evolving technology and technological artifacts, there is an urgent need to bridge the digital divide between those online and offline, especially in developing countries. In this paper, we propose a low-cost educational package for teaching robotics to secondary school students in rural India to motivate youth interest in learning STEAM subjects. As rural India lacks technologically trained teachers, the self paced learning approach and carefully designed program guides allow the teacher to be a facilitator even without prior technology experience. The children demonstrated enthusiasm and engagement in activities, successfully attaining the defined outcomes based upon the application of STEAM concepts. The workshop curriculum proved to be a valid approach to promote interest in STEAM subjects in rural schools of India.
Research Interests:
DC motors are having wide range of application from household appliances to large industrial machinery at various speed conditions. In this paper, speed control of a separately excited direct current (DC) motor under load conditions has... more
DC motors are having wide range of application from household appliances to large industrial machinery at various speed conditions. In this paper, speed control of a separately excited direct current (DC) motor under load conditions has been implemented using CHR tuning and LQR controllers. The Chien-Hrones-Reswick (CHR) is based on a Proportional Integral Derivative controller (PID) tuning and Linear Quadratic Regulator controller (LQR) is based on an optimal controller. Comparison of both the methods have been done based on transient response specifications. Simulations in MATLAB have shown that the performance of the DC motor has significantly improved quality response with the LQR method over the CHR method. It has also minimized deviation from the desired speed, with the LQR method. This can lead to significant improvement when implemented in applications viz. robotics, process control and cruise control.
Research Interests:
In this world of rapidly evolving technology and technological artifacts, there is an urgent need to bridge the digital divide between those online and offline, especially in developing countries. In this paper, we propose a low-cost... more
In this world of rapidly evolving technology and technological artifacts, there is an urgent need to bridge the digital divide between those online and offline, especially in developing countries. In this paper, we propose a low-cost educational package for teaching robotics to secondary school students in rural India to motivate youth interest in learning STEAM subjects. As rural India lacks technologically trained teachers, the self paced learning approach and carefully designed program guides allow the teacher to be a facilitator even without prior technology experience. The children demonstrated enthusiasm and engagement in activities, successfully attaining the defined outcomes based upon the application of STEAM concepts. The workshop curriculum proved to be a valid approach to promote interest in STEAM subjects in rural schools of India.
Research Interests:
Inculcating principles of environmental stewardship among the children and youth is needed urgently today for creating a sustainable future. This paper presents a model for promoting environment literacy in India using story telling based... more
Inculcating principles of environmental stewardship among the children and youth is needed urgently today for creating a sustainable future. This paper presents a model for promoting environment literacy in India using story telling based workshops while focusing on STEM education including computational thinking, robotics and maker skills. During the workshop, participants build a robotic diorama with digital animations and
animatronics to tell their story. Our initial observations from pilot studies conducted in 2019 in six rural and semi-urban schools in India showed us that the children were deeply engaged and enthusiastic throughout the workshop making the entire learning experience a very meaningful and joyful one for all.
animatronics to tell their story. Our initial observations from pilot studies conducted in 2019 in six rural and semi-urban schools in India showed us that the children were deeply engaged and enthusiastic throughout the workshop making the entire learning experience a very meaningful and joyful one for all.
Research Interests:
DC motors are widely used in various industries because they cater to applications of high and low power and in both fixed and variable speed electric drives. This paper analyses the transient parameters of the speed of separately excited... more
DC motors are widely used in various industries because they cater to applications of high and low power and in both fixed and variable speed electric drives. This paper analyses the transient parameters of the speed of separately excited DC motors using the Linear Quadratic Regulator (LQR) method. The speed of the DC motor is analyzed by measuring the output. The LQR method has been applied on three different motors of different specifications. The speed of the three motors is compared on the basis of the transient specifications using the LQR method. Simulation of a motor in MATLAB has shown that the performance of a motor with a low power application has a significant and improved quality response with the LQR method. Properties such as minimized deviation in speed, easy design and cost reduction make it efficient for use in controlled and balanced systems. These properties enhance speed control of a DC motor by achieving the desired performance for the systems where different power ratings occur.
Research Interests:
DC motors are having wide range of application from household appliances to large industrial machinery at various speed conditions. In this paper, speed control of a separately excited direct current (DC) motor under load conditions has... more
DC motors are having wide range of application from household appliances to large industrial machinery at various speed conditions. In this paper, speed control of a separately excited direct current (DC) motor under load conditions has been implemented using CHR tuning and LQR controllers. The Chien-Hrones-Reswick (CHR) is based on a Proportional Integral Derivative controller (PID) tuning and Linear Quadratic Regulator controller (LQR) is based on an optimal controller. Comparison of both the methods have been done based on transient response specifications. Simulations in MATLAB have shown that the performance of the DC motor has significantly improved quality response with the LQR method over the CHR method. It has also minimized deviation from the desired speed, with the LQR method. This can lead to significant improvement when implemented in applications viz. robotics, process control and cruise control.
Research Interests:
We present Haksh-E, a social robot for promoting good hand hygiene among children. This robot can supply valuable objective data to stakeholders and the UN to monitor progress on targets for UN SDGs 3 and 6. We discuss the design... more
We present Haksh-E, a social robot for promoting good hand hygiene among children. This robot can supply valuable objective data to stakeholders and the UN to monitor progress on targets for UN SDGs 3 and 6. We discuss the design parameters of Haksh-E and a pilot study conducted with 10 children between the ages 6-11 years hailing from rural and urban locations in Southern India. The children provide insights on their perception and acceptance of our robot prototype over various dimensions including likeability, perceived intelligence, anthropomorphism, trustworthiness, age, and gender. Our results suggest that Haksh-E has the potential to be used in educational and children-centered spaces to promote handwashing behavior change.