Sreekumar Muthuswamy

Bio: Sreekumar Muthuswamy is an academic researcher from Indian Institute of Information Technology Design & Manufacturing Kancheepuram. The author has contributed to research in topics: Motion planning & Mobile robot. The author has an hindex of 11, co-authored 54 publications receiving 504 citations. Previous affiliations of Sreekumar Muthuswamy include Indian Institute of Technology Madras & Indian Institutes of Information Technology.

Critical review of current trends in shape memory alloy actuators for intelligent robots

Abstract: Purpose – The purpose of this paper is to review the current application areas of shape memory alloy (SMA) actuators in intelligent robotic systems and devices.Design/methodology/approach – This paper analyses how actuation and sensing functions of the SMA actuator have been exploited and incorporated in micro and macro robotic devices, developed for medical and non‐medical applications. The speed of response of SMA actuator mostly depends upon its shape and size, addition and removal of heat and the bias force applied. All these factors have impact on the overall size of the robotic device and the degree of freedom (dof) obtained and hence, a comprehensive survey is made highlighting these aspects. Also described are the mechatronic aspects like the software and hardware used in an industrial environment for the control of such nonlinear actuator and the type of sensory feedback devices incorporated for obtaining better control, positioning accuracy and fast response.Findings – SMA actuators find wide ap...

Identification and classification of materials using machine vision and machine learning in the context of industry 4.0

Abstract: Manufacturing has experienced tremendous changes from industry 1.0 to industry 4.0 with the advancement of technology in fast-developing areas such as computing, image processing, automation, machine vision, machine learning along with big data and Internet of things. Machine tools in industry 4.0 shall have the ability to identify materials which they handle so that they can make and implement certain decisions on their own as needed. This paper aims to present a generalized methodology for automated material identification using machine vision and machine learning technologies to contribute to the cognitive abilities of machine tools as wells as material handling devices such as robots deployed in industry 4.0. A dataset of the surfaces of four materials (Aluminium, Copper, Medium density fibre board, and Mild steel) that need to be identified and classified is prepared and processed to extract red, green and blue color components of RGB color model. These color components are used as features while training the machine learning algorithm. Support vector machine is used as a classifier and other classification algorithms such as Decision trees, Random forests, Logistic regression, and k-Nearest Neighbor are also applied to the prepared data set. The capability of the proposed methodology to identify the different group of materials is verified with the images available in an open source database. The methodology presented has been validated by conducting four experiments for checking the classification accuracies of the classifier. Its robustness has also been checked for various camera orientations, illumination levels, and focal length of the lens. The results presented show that the proposed scheme can be implemented in an existing manufacturing setup without major modifications.

Recent advances in nonlinear control technologies for shape memory alloy actuators

Abstract: This paper reviews recent developments in nonlinear control technologies for shape memory alloy (SMA) actuators in robotics and their related applications. SMA possesses large hysteresis, low bandwidth, slow response, and non-linear behavior, which make them difficult to control. The fast response of the SMA actuator mostly depends upon, (1) type of controller, (2) rate of addition and removal of heat, and (3) shape or form of the actuator. Though linear controllers are more desirable than nonlinear ones, the review of literature shows that the results obtained using nonlinear controllers were far better than the former one. Therefore, more emphasis is made on the nonlinear control technologies taking into account the intelligent controllers. Various forms of SMA actuator along with different heating and cooling methods are presented in this review, followed by the nonlinear control methods and the control problems encountered by the researchers.

Experimental Investigation of the Effect of the Driving Voltage of an Electroadhesion Actuator.

Abstract: This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been developed with a simple layered structure that is capable of developing adhesive force consistently. The developed actuator is subjected to the experiment for the evaluation of various test surfaces; aluminum, brick, ceramic, concrete and glass. The driving high voltage is varied in steps to determine the characteristics of the output holding force. Results show a quadratic relation between F (adhesion force) and V (driving voltage) within the 2 kV range. After this range, the F-V responses consistently show a saturation trend at high electric fields. Next, the concept of the leakage current that can occur in the dielectric material and the corona discharge through air has been introduced. Results show that the voltage level, which corresponds to the beginning of the supply current, matches well with the beginning of the force saturation. With the confirmation of this hypothesis, a working model for electroadhesion actuation is proposed. Based on the experimental results, it is proposed that such a kind of actuator can be driven within a range of optimum high voltage to remain electrically efficient. This practice is recommended for the future design, development and characterization of electroadhesion actuators for robotic applications.

Ministry of Education and Science of the Russian Federation

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Introduction To Electrodynamics

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A review on shape memory alloys with applications to morphing aircraft

Abstract: Shape memory alloys (SMAs) are a unique class of metallic materials with the ability to recover their original shape at certain characteristic temperatures (shape memory effect), even under high applied loads and large inelastic deformations, or to undergo large strains without plastic deformation or failure (super-elasticity). In this review, we describe the main features of SMAs, their constitutive models and their properties. We also review the fatigue behavior of SMAs and some methods adopted to remove or reduce its undesirable effects. SMAs have been used in a wide variety of applications in different fields. In this review, we focus on the use of shape memory alloys in the context of morphing aircraft, with particular emphasis on variable twist and camber, and also on actuation bandwidth and reduction of power consumption. These applications prove particularly challenging because novel configurations are adopted to maximize integration and effectiveness of SMAs, which play the role of an actuator (using the shape memory effect), often combined with structural, load-carrying capabilities. Iterative and multi-disciplinary modeling is therefore necessary due to the fluid–structure interaction combined with the nonlinear behavior of SMAs.

Critical review of current trends in shape memory alloy actuators for intelligent robots

Abstract: Purpose – The purpose of this paper is to review the current application areas of shape memory alloy (SMA) actuators in intelligent robotic systems and devices.Design/methodology/approach – This paper analyses how actuation and sensing functions of the SMA actuator have been exploited and incorporated in micro and macro robotic devices, developed for medical and non‐medical applications. The speed of response of SMA actuator mostly depends upon its shape and size, addition and removal of heat and the bias force applied. All these factors have impact on the overall size of the robotic device and the degree of freedom (dof) obtained and hence, a comprehensive survey is made highlighting these aspects. Also described are the mechatronic aspects like the software and hardware used in an industrial environment for the control of such nonlinear actuator and the type of sensory feedback devices incorporated for obtaining better control, positioning accuracy and fast response.Findings – SMA actuators find wide ap...