ss ohol

College Of Engineering Pune, Mechanical, Faculty Member

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Papers by ss ohol

In-pipe Inspection Robot for Varying Pipe Sizes

International Journal of Engineering Sciences

This paper presents a screw driven in-pipe inspection robot (IPIR) that runs on the principle of ... more This paper presents a screw driven in-pipe inspection robot (IPIR) that runs on the principle of screw. The IPIR composed of a fore leg system, rear leg system, connectors and a DC motor. In this research work, a prototype of in-pipe inspection robot has been designed and developed. To verify the potency of the driving mechanism of IPIR, numbers of experiments are conducted through straight pipes, couplings, and 90-degree bends of 8 to 10 inches diameter range at 0-degree, 45 degree, and 90 degree inclination. This robot can be utilized for special tasks such as inspection, maintenance, and cleaning of water pipelines, gas pipelines, oil pipelines, and sewage systems.

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Modelling and Development of Compressed Air Powered Human Exoskeleton Suit Human Exoskeleton

2018 7th International Conference on Reliability, Infocom Technologies and Optimization (Trends and Future Directions) (ICRITO)

Exoskeletons are used for force and mobility assistance which increases the various types of abil... more Exoskeletons are used for force and mobility assistance which increases the various types of abilities of the person wearing it. Fundamentally, exoskeletons are used in carrying heavy weapons, material handling and disaster management. The problems faced by todays active exoskeletons are power consumption due to actuators used to make it active. Also, it has restricted number motions and degrees of freedoms due to rigid actuators. In Robot Study Circle, COEP, we have built a Compressed Air Powered Human Exoskeleton Suit (CAPHES) using which we can lift a weapon or a object weighing upto 35kgs without even feeling it. For that we have developed active upper body exoskeleton (AUBE) and passive lower body exoskeleton(PLBE). AUBE consists of Pneumatic Air Muscle (PAM) Actuators which we have developed in our lab. Due to these soft actuators, the exoskeleton has more number of degrees of freedom than exoskeletons with rigid actuators. PLBE helps in transferring the weight to be carried and the weight of the exoskeleton directly to the ground. Using PLBE exoskeleton can be also used as a chair-less chair.

Human Assistive Lower Limb Exoskeleton

Asian Journal For Convergence In Technology (AJCT) ISSN -2350-1146, Nov 1, 2019

Design, development and analysis of human exoskeleton for enhancing human capabilities

IOP Conference Series: Materials Science and Engineering, 2021

The study of the exoskeleton is widely recognized as the current challenge for robotic research. ... more The study of the exoskeleton is widely recognized as the current challenge for robotic research. The exoskeleton helps us understand the complex gait cycles of the human locomotion. This paper aims to design a lightweight and easy to use powered dynamic exoskeleton with a higher weight carrying capabilities and produce gait cycles which imitate human locomotion. In this paper, we have proposed some novel mechanisms to overcome the limitations of heavy load-carrying capacities of the soldiers and also help with gait rehabilitation of patients with spinal cord injury, stroke, or neurological disorder. The exoskeleton is divided into the upper body and the lower body. The upper arm and the forearm are actuated by DC Geared motors and thus the upper limb can trace any path in the parasagittal plane. The thigh and calf segments are actuated by DC Geared motors to mimic the human gait cycle. The torques required to achieve this motion are discussed here.

Lower Body Passive Exoskeleton Using Control Enabled Two Way Ratchet

EasyChair Preprints, 2018

Development in biomechatronic technology has brought man-machine into close proximity. As the hum... more Development in biomechatronic technology has brought man-machine into close proximity. As the human-robot interaction has enhanced in past few decades, exoskeletons have started to emerge as a promising possibility for improving the human capabilities, assisting the ailing and supporting the heavy physical labour by reducing the fatigue. These systems are anthropomorphically designed so that they can be used in concomitance with human bodies natural structure, without hindering the movements. Our team has designed and created a proof of concept, ‘Passive Lower Body Exoskeleton’, In order to make this sophisticated technology, sustainable, durable and at the same time user-friendly. This Exoskeleton is using two way ratchets at various joints to facilitate the force transfer due to the payload. The weight carried by the wearer is transmitted to the ground without stressing the hips, knees and ankle joint. This passive lower body exoskeleton is not a power-enhancing or the augmentatio...

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Performance Analysis of SCORBOT ER 4u Robot Arm

International Journal of Materials Science and Engineering, 2014

Adaptive programming and flexible planning are the key features of the Robotisation which is gain... more Adaptive programming and flexible planning are the key features of the Robotisation which is gaining a popularity in the Industrial sector. Most important parameter in the case of optimization of error in robotized processes are testing and trials. It influences the working of robot and demands to perform effectively at variable kinetic conditions inside the work volume. The total focus of presented work is to calibrate the operating parameters of manipulator arm at various conditions. SCORBOT-ER 4u is robust, easy to use and effective, which is used widely in manufacturing engineering fields. In this paper, performance analysis of robot arm mainly focuses on the performance improvisation of a robot by using methods of reconditioning, and programming. A robot performance can be measured by the parameters such as, accuracy, repeatability, resolution, workvolume, operational speed, positional error, etc. SCORBOT ER 4u is operated for three different parameters viz speed, load and distance. Robot arm is operated with RoboCell software by giving different program and the repeatability is checked by taking points on polar plot by varying speed and load. And this difference in point is checked by digital microscope.

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A Search for the Future of Public Service Broadcasting Coevolution with Public Sphere

Korean Regional Communication Research Association, 2015

Design and Fabrication of a Low-cost Human Body Lower Limb Exoskeleton

2020 6th International Conference on Mechatronics and Robotics Engineering (ICMRE), 2020

Recent developments in exoskeleton technology have assisted humans in performing strenuous and fa... more Recent developments in exoskeleton technology have assisted humans in performing strenuous and fatiguing tasks. However, these exoskeletons are unable to reach masses due to their high cost. In this paper, design, fabrication and validation of a low-cost human body lower limb hybrid exoskeleton is presented. The exoskeleton provides assistive torque at the hip and knee joints which prevents strain on the limbs of the user. The exoskeleton is designed to work with joint actuators made of electric dc motors coupled with back-drivable custom gearboxes. A prototype of the same is fabricated and tested. The joint angle data required to mimic a walking gait cycle was collected by filming subjects walking on a treadmill with the help of a camera whereas joint torque data was obtained by performing inverse dynamics on a musculoskeletal model. The exoskeleton model was simulated in MATLAB Simulink. The torque profiles produced by the joint actuators are plotted and compared with required torque profiles. Percentage torque assists at the hip and knee joints are calculated and discussed.

Design and Simulation of a Service Robot for Covid-19 Isolation Wards with Autonomous Navigation

International Journal of Engineering Sciences, 2021

The robots that are used to carry out the daily repetitive tasks in any type of environments are ... more The robots that are used to carry out the daily repetitive tasks in any type of environments are service robots. These robots have a great potential to eliminate human intervention and reduce contact in order to decrease the spread of virus. Service robots are of great importance when the human society is hit with a situation of pandemic as they can help in serving the patients in and infectious environment and isolating them from the surroundings. Such kind of a service robot that would serve infected patients in isolation wards is designed & simulated by taking in the consideration the requirements. The dimensions of robot such as to optimize workspace requirements and the simulation of position and task of supplying the deliverables to patients from buffer area to isolation area are presented. The designed robot can successfully deliver medicines, food etc.to the patients without any contact between doctors, nurses or patients by using an on boarded Radio Frequency Identification...

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Production Design Analysis for Airfoil Shape Optimization

Social Science Research Network, 2021

Autonomous Snake Robot with Serpentine type Navigation

IOP Conference Series: Materials Science and Engineering, 2021

Biological snakes can easily maneuver through complex and undulating terrains which gives the mot... more Biological snakes can easily maneuver through complex and undulating terrains which gives the motivation to create a bio mimic robotic snake which can easily slither through narrow spaces and uneven surfaces unlike the wheeled or legged mechanisms that have terrain limitations for its maneuverability. Such robots can be used in rescue operations in earthquake areas where it can easily crawl, surveillance and maintenance of complex or dangerous structures like pipelines in nuclear power plants. In this paper we discuss the development of autonomous snake robot with serpentine type navigation. The paper discusses in detail about the design of the robot, mathematical modelling, and motion study in virtual environment using MATLAB. The paper also discusses the controlling of the robot using Arduino Nano. The aim of the project is to develop a bio mimic snake which can maneuver over any terrains.

Design and Development of Modular Humanoid Arm Based on RC Servo Motor

This paper presents a modular humanoid arm based on RC servo motor, it consist of mechanical desi... more This paper presents a modular humanoid arm based on RC servo motor, it consist of mechanical design part and control part. The modular humanoid arm has 6 Degree of Freedom (DoF) from shoulder to wrist and uses RC servo motor at each joint to perform motions that mimic human arm motions. The efficient movement of humanoid robot arm depends on the servo controller that control servo motors at wrist, elbow, shoulder and multi finger gripper. Use of RC servo motor makes design compact and includes low power dissipation, high power density, and high control precision. Modularity comes in design, if the multi finger gripper replaced by pneumatic suction gripper. PIC18F4520 microcontroller is used with MICROC for PIC compiler.

Inverse kinematic analysis of a fixture for fine alignment of central axis of top and bottom frame using simulation

IOP Conference Series: Materials Science and Engineering, 2021

In the field of robotics, the design and development of Stewart Platform is currently the widely ... more In the field of robotics, the design and development of Stewart Platform is currently the widely discussed topic because of its complexity as well as the usefulness in many fields like military operations, biomedical, Stealth operations, etc. This research work focuses on designing of fixture using rotary actuators and Simulation of Stewart Platform in MATLAB. Fixture consists of controlling of different degrees of freedom of the module, precise linear as well as rotary motion and motor position controller for every degree of freedom and enhanced real time control of each module. Inverse kinematic analysis of a fixture using Sim-mechanics of MATLAB is carried out. This fixture has a unique design considering space constraints and weight constraints. Above research work for automatic alignment of parallel robot with a payload of @5kg can be useful for many applications.

Development of Actively Steerable In-pipe Inspection Robot for Various Sizes

Proceedings of the Advances in Robotics on - AIR '17, 2017

In-pipe inspection robots are designed to remove the manpower and to work in inaccessible situati... more In-pipe inspection robots are designed to remove the manpower and to work in inaccessible situation. This paper describes an in-pipe inspection robot (IPIR) which consist of a fore leg system, rear leg system and a body. The fore and rear leg systems are symmetric and are constructed by using three legs. Three legs of each leg system are arranged at an angle of 120 degree with respect to each other to operate inside a pipe. The springs are put into lower section of legs to operate inside pipes of 230mm to 300mm diameter range. In this paper, mechanical design of all major components of robot is done. Solid modeling of all robot components and its assembly is done in Solidworks 14. Several experiments are conducted in pipes of different diameters and effectiveness of steering mechanism is confirmed. This robot can be used for offline visual inspection of varies pipe elements such as straight pipe, elbows and reducers. Also it can be used to find the defects and place of defects in the pipe. This robot also has wide applications in gas pipelines, water pipelines and drain pipes etc. Also it has wide scope in chemical industries as well as in gulf countries for inspection of oil and gas pipelines.

Proposed methodology to allow bottom pour in a less than 400 kg ladle with steel thermal masses in Investment Shell Casting Process

Bottom pour of certain metal alloys is used regularly in casting industries. Good quality casting... more Bottom pour of certain metal alloys is used regularly in casting industries. Good quality castings are produces as optimization of parameters like pour height, metal flow and temperature range of pouring etc. can easily be achieved. Metal slag related issues are also avoided resulting in less inclusion defects. But this process is used only for large mass of metal (> 1100 kgs) due to various reasons. Solutions to come up with a smaller mass of metal (< 500 kgs) are discussed here to achieve same advantages as by bottom pour for large mass of specific metal alloys. Specific example for bottom pour using stopper rod for ASTM 351A/CFM 8 is discussed for experimentation in investment casting process based on these solutions.

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Pneumatic Artificial Muscle Powered Exoskeleton

Proceedings of the Advances in Robotics 2019, 2019

Recent Developments in engineering and robotics has brought technology into the close proximity o... more Recent Developments in engineering and robotics has brought technology into the close proximity of the human body. The exoskeleton is a wearable technology that can assist the wearer with the strenuous and cumbersome operations and relieve stress and fatigue in the wearer. In this paper, we discuss the full body hybrid exoskeleton that is a combination of active upper body exoskeleton and passive lower body exoskeleton. The focus of this research work is to develop an exoskeleton which can be made available at a lower price as compared to present day exoskeleton which is still out of reach of masses. This paper discusses the innovative approach in developing the exoskeleton; Pneumatic artificial muscles are used in the upper body exoskeleton which provides flexibility to the wearer; and a lower body exoskeleton which uses passive mechanism for its operation. Passive lower body exoskeleton uses two ratchets per leg for transferring the forces to the ground by locking and unlocking which is controlled by a servo. As the lower body exoskeleton is passive it requires a minimal amount of energy resulting in reduced battery consumption and larger operational period.

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An Optimization Framework to Study the Balance Between Expected Fatalities due to COVID-19 and the Reopening of U.S. Communities

As communities reopen following shelter-in-place orders, they are facing two conflicting objectiv... more As communities reopen following shelter-in-place orders, they are facing two conflicting objectives. The first is to keep the COVID-19 fatality rate down. The second is to revive the U.S. economy and the livelihood of millions of Americans. In this paper, a team of researchers from the Center on Stochastic Modeling, Optimization, & Statistics (COSMOS) at the University of Texas at Arlington, in collaboration with researchers from University of Texas Southwestern Medical Center and Harvard Medical School, has formulated a computationally-efficient optimization framework, referred to as COSMOS COVID-19 Linear Programming (CC19LP), to study the delicate balance between the expected fatality rate and the level of normalcy in the community. Given the disproportionate fatality characteristics of COVID-19 among those in different age groups or with an underlying medical condition or those living with crowding, the key to the CC19LP framework is a focus on "key contacts" that sepa...

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Kinematic Analysis to Generate Trajectory for Six Degree of Freedom Humanoid Robot Arm

Ijitr, Jan 29, 2014

This paper presents a six DOF humanoid robot arm, way to solve inverse kinematic equations. The h... more This paper presents a six DOF humanoid robot arm, way to solve inverse kinematic equations. The humanoid arm consists of six RC servo motors, main controller board and mechanical structure. The trajectory is generated using geometrical analysis, considering total length of robot arm and angle of rotation at each joint. To get the required position provided by user, each joint moves in such way that optimal motion path is generated. Using MATLAB the results of inverse kinematics compare with simulation results. PIC 18F4520 microcontroller is used as main controller with USB interface.

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Design and manufacture of Bio-mimic robotic fish

2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI), 2016

Design and manufacture an underwater robot by using bio-mimic design approach for the application... more Design and manufacture an underwater robot by using bio-mimic design approach for the application of surveillance. The design, development, graphical modelling and control of a bio-mimic underwater robot named the Robotic Fish has been presented in this report. The simple and efficient design is inspired from Mother Nature. This robot not only navigates in an underwater environment on its own but also operates efficiently with simple mechanism consisting of two servo motors and a pump assembly. Servo motors enable to obtain swift forward and rotational motion and pump assembly assists deep diving in water. Various sensors help the robot to make intelligent decisions such as obstacle detection, change in direction and also provide valuable information as live streaming, pressure and temperature. The innovative design of robot helps to reduce the complex structure without compromising the agility and performance of the robot which helps to achieve the real motion of the fish, making robot competent for aquatic-based applications such as underwater exploration, oceanic supervision, detection of pollution level and military detection.

Design and development of dynamically stable bipedal walking system

2014 International Conference on Advances in Engineering & Technology Research (ICAETR - 2014), 2014

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