Asokan Thondiyath

Bio: Asokan Thondiyath is an academic researcher from Indian Institute of Technology Madras. The author has contributed to research in topics: Robot & Control theory. The author has an hindex of 9, co-authored 70 publications receiving 226 citations. Previous affiliations of Asokan Thondiyath include Intuitive Surgical.

Hardware-in-the-Loop verification for 3D obstacle avoidance algorithm of an underactuated flat-fish type AUV

Abstract: Hardware-in-the-Loop (HIL) simulations play a major role in the field of testing of Autonomous Underwater Vehicle (AUV) well before the actual vehicle is developed and deployed in the water. This paper discusses the real-time verification of a 3D obstacle avoidance algorithm of an underactuated flat-fish type AUV using hardware-in-the-loop simulation tool. Software-In-the-Loop (SIL) models are developed in MATLAB/Simulink environment and the HIL simulation is performed using dSPACE environment. The development of HIL test bench and the simulation results are presented in this paper. The results show that the HIL simulation is an effective tool for the verification of control algorithms and the developed obstacle avoidance algorithm can be used in real-time for the flat-fish type AUV.

Component Sizing of Single and Dual Drive Series Hybrid Electric Powertrain for Military Tracked Vehicles

Abstract: Hybrid electric technology is becoming important in military vehicles due to its features and benefits such as onboard electric power, silent mobility, and improved performance. The desired mobility attributes of a military tracked vehicle were considered in this study to design a series hybrid electric powertrain for the same. This involved the power and torque analysis of vehicle performance using fundamental governing equations. From analysis of performance requirements, operating terrains and powertrain components characteristics, component sizing of a series hybrid electric powertrain for a military tracked vehicle was done with single drive and dual drive configurations.

Design and Analysis of a Novel Underwater Glider - RoBuoy

Abstract: Underwater gliders are special class of autonomous underwater vehicles (AUVs) proven to be power efficient with better range and endurance compared to the conventional underwater robots. Most of the existing underwater gliders use ‘change of mass’ based variable buoyancy (VB) method in which the overall system architecture and construction are complex. A novel underwater glider RoBuoy based on the ‘change of volume’ concept of variable buoyancy method is presented here. RoBuoy uses actuated metallic bellows to change the volume which makes the system simple and modular in construction without any compromise in the performance. It uses minimal number of parts compared to the existing gliders which reduces the overall complexity of the system. Also, most of the conventional gliders use the external fluid for its working which may result in corrosion or fouling of parts and requires frequent maintenance. In the proposed glider, all the vital parts required for its working, apart from the sensing payloads are enclosed inside the hull, thereby increasing the durability. In this paper, a detailed design of RoBuoy is discussed with its possible modes of operation. An integrated mathematical model considering the individual dynamics of the actuator, hull/fuselage, and the wings has been developed and the open loop performance of the glider is studied at different input conditions. An experimental prototype has been designed and fabricated based on optimized dimensions, with the required mechatronic system. Experiments have been conducted and the results prove the feasibility of the concept.

A Practical Approach to the Design and Development of Tele-Operated Surgical Robots for Resource Constrained Environments—A Case Study

Abstract: Tele-operation has brought about a paradigm shift in the way minimally invasive surgeries are carried out. Several tele-operated robotic systems have been developed in the last three decades. In this research work, we present a practical approach for the complete design of a six degree-of-freedom (DoF) master–slave tele-operated robotic system with limited resources. This research work elaborates on the methodology followed by us for the complete system design, methods for simplifying the surgical tool design with decoupled DoF wrist utilizing stationary wire guides instead of pulleys, and method of reducing the number of balancing masses required for gravity compensation of master manipulator arms. We also demonstrate the avenues for utilizing compliant mechanism for several mechanisms of the system to reduce complexity and to mitigate the issue of biofouling. The concepts and design methodology described in this paper would serve as a starting point and design guideline for future designers of such systems in resource-constrained environments.

Out of the Crisis

Abstract: According to W. Edwards Deming, American companies require nothing less than a transformation of management style and of governmental relations with industry. In Out of the Crisis, originally published in 1982, Deming offers a theory of management based on his famous 14 Points for Management. Management's failure to plan for the future, he claims, brings about loss of market, which brings about loss of jobs. Management must be judged not only by the quarterly dividend, but by innovative plans to stay in business, protect investment, ensure future dividends, and provide more jobs through improved product and service. In simple, direct language, he explains the principles of management transformation and how to apply them.

Guidance And Control Of Ocean Vehicles

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Surgical Instrument with Shiftable Transmission

Abstract: A surgical tool having an elongated shaft having a proximal end and distal end. A surgical end effector is located about the distal end. The surgical end effector has a plurality of effector mechanisms comprising a plurality of degree of freedoms. An effector body is located at the proximal end. The effector body includes a plurality of motor interfaces for driving the plurality of effector mechanisms. A transmission is coupled to the effector body

The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly

Abstract: The recent advances in state estimation, perception, and navigation algorithms have significantly contributed to the ubiquitous use of quadrotors for inspection, mapping, and aerial imaging. To further increase the versatility of quadrotors, recent works investigated the use of an adaptive morphology, which consists of modifying the shape of the vehicle during flight to suit a specific task or environment. However, these works either increase the complexity of the platform or decrease its controllability. In this letter, we propose a novel, simpler, yet effective morphing design for quadrotors consisting of a frame with four independently rotating arms that fold around the main frame. To guarantee stable flight at all times, we exploit an optimal control strategy that adapts on the fly to the drone morphology. We demonstrate the versatility of the proposed adaptive morphology in different tasks, such as negotiation of narrow gaps, close inspection of vertical surfaces, and object grasping and transportation. The experiments are performed on an actual, fully autonomous quadrotor relying solely on onboard visual-inertial sensors and compute. No external motion tracking systems and computers are used. This is the first work showing stable flight without requiring any symmetry of the morphology.

Fish-inspired robots: design, sensing, actuation, and autonomy--a review of research.

Abstract: Underwater robot designs inspired by the behavior, physiology, and anatomy of fishes can provide enhanced maneuverability, stealth, and energy efficiency. Over the last two decades, robotics researchers have developed and reported a large variety of fish-inspired robot designs. The purpose of this review is to report different types of fish-inspired robot designs based upon their intended locomotion patterns. We present a detailed comparison of various design features like sensing, actuation, autonomy, waterproofing, and morphological structure of fish-inspired robots reported in the past decade. We believe that by studying the existing robots, future designers will be able to create new designs by adopting features from the successful robots. The review also summarizes the open research issues that need to be taken up for the further advancement of the field and also for the deployment of fish-inspired robots in practice.