BITS Faculty Publications

Permanent URI for this communityhttp://localhost:4000/handle/123456789/1867

Browse

Author: search.filters.author.Rout, Bijay Kumar

Search Results

Now showing 1 - 10 of 52
  • No Thumbnail Available
    Item
    Vibration suppression of flexible beams for robotic assembly using vision and wrist motion
    (ACM Digital Library, 2023-11) Rout, Bijay Kumar
    Industrial robots are used in assembly operations to increase the productivity of the manufacturing process. In this operation, a robot grasp either a rigid or flexible object like beams, wires and sheets that may encounter undesired vibration in this object due to high speed motion of the robot. The present work designs a high-level control strategy using a robot vision system to suppress the vibrations of the flexible beams during the assembly process. The robot vision approach is used to detect the beam held by the gripper of the robot and measure the dimensions keeping an account of the change in perspective. The free response of the flexible beam is used for system identification regardless of dimension and material properties. To suppress the vibration of the flexible beam actively, the proposed high-level controller uses the wrist motion of the robot. The efficacy of the proposed approach is demonstrated by implementing it on a commercially available ABB 1410 industrial robot without modifying its controller for the beam-in-slot assembly operation. The proposed controller can suppress vibration amplitude up to 97.83% within 2.36 s and reduce suppression time by 96.23% compared to the control to no control scenario
  • No Thumbnail Available
    Item
    Numerical investigation on design parameters of orifice plate for positioning of workpiece in cavitation zone for cavitation machining
    (Taylor & Francis, 2024-01) Rout, Bijay Kumar; Bera, Tufan Chandra
    The recent development of non-traditional machining techniques, such as cavitation machining (CM), has been gaining traction amongst researchers due to its sustainable nature. The present research focuses on the use of computational fluid dynamics (CFD) model to predict the location of workpiece in the fluid domain and bubble distribution during CM process. For efficient CM, the correct positioning of a workpiece in cavitation zone is essential, as the implosion of the cavity bubble leads to formation of micro-jet and shock waves for a few milli-to-microseconds generating high temperature and pressure on workpiece. The aim is to harness cavitation phenomena in material processing, particularly by using orifice plates as a common tool to induce hydrodynamic cavitation. To generalise the investigation, the flow simulation through orifice plate with different aspect ratios (l/d) are carried out. For the bubble distribution and their diameters, the Lagrangian discrete phase model (DPM) is used in the downstream side of the flow domain. Using this information, bubble dynamics have also been investigated using the Keller–Miksis (KM) model to compute the implosion time and intensity in the zone. The presented exploration determines the orifice dimensions to optimize implosion intensity, ensuring precise workpiece placement in real-time CM
  • No Thumbnail Available
    Item
    Vision based control strategy to suppress residual vibration of flexible beams for robotic assembly using wrist motion
    (Sage, 2023-12) Rout, Bijay Kumar
    Automated assembly tasks require industrial robots to improve the efficiency of the manufacturing process. Most rigid or flexible objects handled by robots vibrate due to motion and transient disturbance. This work proposes an active vision-based vibration suppression strategy for flexible beams by providing motion to the wrist of a robot during robotic assembly process, which reduces the time to suppress vibration. The proposed method uses a cheap monocular camera to identify objects through a virtual marker and measure their dimensions. Subsequently, finite element method based mathematical model of a flexible beam predicts the maximum error. The proposed second stage controller determines the controller input in terms of wrist motion based on the predicted maximum error. The performance of the controller is assessed through simulations and experiments on metallic beams with different material characteristics and dimensions. The controller suppresses vibration amplitude within a safe limit so that object is inserted into the slot. It was observed from experiments that the controller can reduce vibration amplitude by ~96% in less than 2 s and decrease suppression time up to ~97%. These improvements were achieved without disturbing the internal robot controller.
  • No Thumbnail Available
    Item
    Deep learning based techniques to develop & enhance assistive gear for visually impaired
    (IEEE, 2024-12) Rout, Bijay Kumar
    This work investigates existing solutions tailored for the visually impaired, focusing on economically viable options for non-first-world communities. The exploration involves developing a real-time obstacle-tracking model using the YOLO (You Only Look Once) algorithm and Text-to-Speech synthesis to provide auditory cues. This effort yields improvements in assistive technology, though it still faces limitations in algorithmic precision and user feedback integration. The research paves the way for refining this technology and envisions its seamless integration into the daily lives of the visually impaired. The findings enhance the performance of assistive technologies, especially for distances less than 1.5 meters. The results show an inaccuracy of less than 10%, translating to a margin of 10−15 cm for objects located one meter away. This work thus provides increased independence and confidence for individuals with visual impairments in navigating and interacting with their surroundings.
  • No Thumbnail Available
    Item
    Optimization strategy for object picking and placing on table by industrial robot
    (IEEE, 2024) Rout, Bijay Kumar
    Object sorting is a problem of separating objects of different kinds based on shape, size, or any other feature into separate stacks to process those separately. In the food processing industry, object sorting is used to separate fruits of different grades. Separating fruits into different grades is essential for quality control. Manual sorting is slower and costs more than automated sorting. This paper presents a novel solution for the object sorting problem using YOLOv8x and various optimization algorithms (ILP, GA and PSO). Here, the object sorting problem is solved by modelling it as a TSP. Through experiments, it was observed that a PSO-based approach could solve the object-sorting problem efficiently. The PSO method obtained a near-optimal solution with 42% less processing time than those obtained from the ILP method, which would enhance the productivity and performance of the industrial robot
  • No Thumbnail Available
    Item
    Advancements in Yoga Pose Estimation Using Artificial Intelligence: A Survey
    (Bentham Science, 2024) Chamola, Vinay; Rout, Bijay Kumar
    Human pose estimation has been a prevalent field of computer vision and sensing study. In recent years, it has made many advances that have helped humanity in the fields of sports, surveillance, healthcare, etc. Yoga is an ancient science intended to improve physical, mental and spiritual wellbeing. It involves many kinds of asanas or postures that a practitioner can perform. Thus, the benefits of pose estimation can also be used for Yoga to help users assume Yoga postures with better accuracy. The Yoga practitioner can detect their own current posture in real-time, and the pose estimation method can provide them with corrective feedback if they commit mistakes. Yoga pose estimation can also help with remote Yoga instruction by the expert teacher, which can be a boon during a pandemic. This paper reviews various Machine Learning, Artificial Intelligence-enabled techniques available for real-time pose estimation and research pursued recently. We classify them based on the input they use for estimating the individual's pose. We also discuss multiple Yoga posture estimation systems in detail. We discuss the most commonly used keypoint estimation techniques in the existing literature. In addition to this, we discuss the real-time performance of the presented works. The paper further discusses the datasets and evaluation metrics available for pose estimation.
  • No Thumbnail Available
    Item
    RoboCupRescue 2011-Robot League Team Team Shaurya (India)
    (2011) Rout, Bijay Kumar
    This paper gives the details of the design and technologies to be incorporated in the Robotic Platform of Team ‘Shaurya’ for the RoboCup Rescue Robot League, 2011. The entry consists of a tracked robotic vehicle. The robot will be equipped with state of the art sensors for localization, mapping and victim identification. The robot will be capable of navigating autonomously in unknown environments while detecting and locating human victims and determining their conditions. The robot would possess a camera mounted robotic arm for grasping different objects. The entire robotic system along with the operator station would be designed to provide the operator maximum information so as to plan effective and efficient victim evacuation strategies
  • No Thumbnail Available
    Item
    AcYut TeenSize Team Description Paper 2017
    (Acyut., 2017) Rout, Bijay Kumar
    This paper summarizes the developments in humanoid robotics by Team AcYut of Birla Institute of Technology and Science, Pilani. This paper is submitted as a prerequisite for participation in TeenSize Hu- manoid Soccer League, RoboCup 2017 to be held in Nagoya, Japan. All robots have been developed exclusively by the team. This paper describes the hardware design of our humanoids and the underlying software in its autonomous nature.
  • No Thumbnail Available
    Item
    Reliability Based Approach to Manipulator Parameter Design
    (BITS-Pilani, 2006) Rout, Bijay Kumar
    The work illustrates simulation approach for parametric design and optimizing the performance of a 2-DOF RR planar manipulator. Using dynamic and kinematic models of a manipulator different performance measures for the manipulator are obtained for different combination of parameters with effect of noise incorporated to imitate the real time performance of the manipulator. A novel approach has been used to model, the otherwise difficult to model, noise effects. The data generated during simulation for various parameter combinations are utilized to analyze the statistical significance of kinematic and dynamic parameters on performance of manipulator using ANOVA technique. Optimal parameter combinations, which gave optimum performance measures, for a point in workspace are obtained and compared.
  • No Thumbnail Available
    Item
    A FEM and Image Processing Based Method for Simulation of 01 Manufacturing Imperfections
    (ARME, 2012) Rout, Bijay Kumar
    Use of appropriate methods to capture manufacturing imperfection at the conceptual stage is a major challenge for the designer and researchers in industry. Imperfections are observed in almost all type of in macro, micro and nano-machining domain of manufacturing process. These imperfections lead to undesirable performance in application phase. In the present work, a simulation based approach to handle manufacturing imperfection is implemented using image processing operators. This method simulates the image of the component due to manufacturing imperfections. The usage of these image processing operators facilitates a realistic simulation of manufacturing errors, in macro, micro, and nano domain manufacturing. The simulated image is further processed for its structural properties i.e. maximum deflection, reactions, Von Mises stress, and change in amount of material, corresponding to its intended application. In order to generate these results based on modified image of beam, the concept of "Solid Isotropic Material with Penalization"(SIMP) is utilized along with 2-D finite element routine. An example of a simple cantilever beam is selected to illustrate the proposed methodology, and the results are analyzed. The present work discusses a simple and easy method to predict the behavior of designed component prior to its manufacturing.