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Article
Publication date: 10 October 2016

Deepak B.B.V.L., Soubhagya Nayak and Sandip Kumar Patra

In the capricious span of this current millennium, there is a deafening roar in the demand for modernization in the sector of robotics and technology to perform tasks in…

Abstract

Purpose

In the capricious span of this current millennium, there is a deafening roar in the demand for modernization in the sector of robotics and technology to perform tasks in an intelligent manner. Thus to replenish such necessities, the innovations and inventions of researchers came forward as blessings on human civilization due to their sheer ingenuity and relentless and arduous efforts with each nanosecond passed from now onwards. With the same sublime goal, same resilient endeavor, same aggressive demeanor, the paper on obstacle avoiding robots comes forward. The paper aims to discuss these issues.

Design/methodology/approach

It exhibits how to control a differential drive robot wirelessly by analog thumb joystick module with added obstacle avoidance protection. The variations made by the user in the control of analog thumb joystick module are fed as input to the Atmega 16 microcontroller board which further transfers it wirelessly to the robot through the radio frequency (RF) transmitting module. The Arduino mega microcontroller equipped to the robot cross-checks the instructions gained through the RF receiving module and provides power accordingly to the geared motors through the motor driver board for movement along with scanning the environment to avoid obstacles present thereby.

Findings

The improvisation of RF technology in controlling the obstacle avoiding robot has enhanced its application and reliability by leaps and bounds reducing the anxiety and tension of the human controller.

Originality/value

With more advanced algorithm and genuine deployment sensors, the idea behind this research work can be used in humanoid robots which can help immensely in going to the extremely dangerous terrains, war zones and also in human rescue operations.

Details

International Journal of Intelligent Unmanned Systems, vol. 4 no. 4
Type: Research Article
ISSN: 2049-6427

Keywords

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Article
Publication date: 6 February 2017

B.B.V.L. Deepak, Raju M.V.A. Bahubalendruni, Ch A. Rao and Jalumuru Nalini

This paper aims to automate the welding operation that motion control, sensor integration and coordination with the welding power source. Therefore, there is a need for…

Abstract

Purpose

This paper aims to automate the welding operation that motion control, sensor integration and coordination with the welding power source. Therefore, there is a need for sophisticated technologies to control precisely the process in terms of positioning the welding torch, and controlling the welding parameters through the use of correct devices which are aided by appropriate control tools and techniques.

Design/methodology/approach

A new seam tracking methodology, named sewing technique, has been introduced for the welded joints available in computer-aided design (CAD) environment. This methodology gives the seam path by drawing a line through the adjacent centroids of curve fitted in the weld joint volume. Obtained geometric path and kinematic constraints are given as input to the modeled robot for performing welding operation followed by desired trajectory.

Findings

In this investigation, a novel and efficient weld seam technique has been developed to produce uniform welded joints. The key feature of this approach is that the initial and end positions of the weld seams can be obtained easily. Because of this, the robot can be controlled flexibly during welding operation.

Originality/value

This investigation deals with the development of an automated seam tracking methodology for the welded joints available in CAD environment. Validation of the developed methodology has been done through simulation results while performing welding operations for different weld profiles.

Details

Journal of Engineering, Design and Technology, vol. 15 no. 1
Type: Research Article
ISSN: 1726-0531

Keywords

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Article
Publication date: 12 June 2017

B.B.V.L. Deepak and M.V.A. Raju Bahubalendruni

The purpose of this research work is helpful for recognizing the crushing characteristics of a single toggle jaw crusher during its operation. It is useful for designing a…

Abstract

Purpose

The purpose of this research work is helpful for recognizing the crushing characteristics of a single toggle jaw crusher during its operation. It is useful for designing a new prototype of this kind of machine with optimal dimensions of the jaw crusher frame and the crushing chamber.

Design/methodology/approach

The efficiency of the jaw crusher primarily depends on the kinematic characteristics of the swing jaw plate during the crushing process. The present research work deals with the kinematic analysis of the swing jaw plate of a single toggle jaw crusher.

Findings

During the analysis, the system is considered as a four-bar crank rocker mechanism. The force distribution is analyzed based on the results obtained from the motion analysis of the swing jaw plate.

Originality/value

The movement of the swing jaw plate is explained in detail while the machine is in operation. Kinematic analysis of the liner has been performed by considering some points along the swing jaw plate. The results obtained from the movement analysis of the swing jaw plate force distribution along the liner are analyzed. From this analysis, the chamber geometry can be optimized according to the requirement for the crushing motion of different zones in the crushing chamber.

Details

World Journal of Engineering, vol. 14 no. 3
Type: Research Article
ISSN: 1708-5284

Keywords

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Article
Publication date: 7 August 2017

B.B.V.L. Deepak and M.V.A. Raju Bahubalendruni

The purpose of this paper is to study the path-planning problem of an unmanned ground vehicle (UGV) in a predefined, structured environment.

Abstract

Purpose

The purpose of this paper is to study the path-planning problem of an unmanned ground vehicle (UGV) in a predefined, structured environment.

Design/methodology/approach

In this investigation, the environment chosen was the roadmap of the National Institute of Technology, Rourkela, obtained from Google maps as reference. An UGV is developed and programmed so as to move autonomously from an indicated source location to the defined destination in the given map following the most optimal path.

Findings

An algorithm based on linear search is implemented to the autonomous robot to generate shortest paths in the environment. The developed algorithm is verified with the simulations as well as in experimental environments.

Originality/value

Unlike the past methodologies, the current investigation deals with the global path-planning strategy as the line following mechanism. Moreover, the proposed technique has been implemented in a real-time environment.

Details

World Journal of Engineering, vol. 14 no. 4
Type: Research Article
ISSN: 1708-5284

Keywords

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Article
Publication date: 4 April 2016

M.V.A. Raju Bahubalendruni, B.B.V.L. Deepak and Bibhuti Bhusan Biswal

The purpose of this study is to develop an intelligent methodology to find out an optimal feasible assembly sequence while considering the assembly predicates.

Abstract

Purpose

The purpose of this study is to develop an intelligent methodology to find out an optimal feasible assembly sequence while considering the assembly predicates.

Design/methodology/approach

This proposed study is carried out by using two artificial immune system-based models, namely, Bone Marrow Model and Negative Selection Algorithms, to achieve the following objectives: to obtain the possible number of assembly sequences; to obtain the feasible assembly sequences while considering different assembly predicates; and to obtain an optimal feasible assembly sequence.

Findings

Proposed bone-marrow model determines the possible assembly sequences to ease the intricacy of the problem formulation. Further evaluation has been carried out through negative-selection censoring and monitoring models. These developed models reduce the overall computational time to determine the optimal feasible assembly sequence.

Originality/value

In this paper, the novel and efficient strategies based on artificial immune system have been developed and proposed to obtain all valid assembly sequences and optimized assembly sequence for a given assembled product using assembly attributes. The introduced methodology has proven its effectiveness in achieving optimal assembly sequence with less computational time.

Details

Assembly Automation, vol. 36 no. 2
Type: Research Article
ISSN: 0144-5154

Keywords

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Article
Publication date: 4 July 2016

B.B.V.L. Deepak, M.V.A. Raju Bahubalendruni and B.B. Biswal

The purpose of this paper is to describe the reviews of past research work on various in-pipe robotic systems and their operations. This investigation has been focussed on…

Abstract

Purpose

The purpose of this paper is to describe the reviews of past research work on various in-pipe robotic systems and their operations. This investigation has been focussed on the implemented methodologies for performing in-pipe cleaning and inspection tasks.

Design/methodology/approach

This work has been concentrated on review of various sensors used in robots to perform in-pipes inspection operation for determining flaws/cracks, corrosion-affected areas, blocks and coated paint thickness. Various actuators like DC motors, servo motors, pneumatic operated and hydraulic operated are discussed in this review analysis to control the motion of various mechanical components of the robot.

Findings

In the current analysis, categorisation of various pipe cleaning robots according to their mechanical structure has been addressed. A lot of information has been gathered regarding the control of in-pipe robots for performing inspection and cleaning tasks.

Originality/value

In this paper, various in-pipe cleaning and inspection techniques have been studied. Necessary information provided regarding different types of in-pipe robots like PIG, wall-pressed, walking, wheel and inchworm. This investigation provides a through literature on various types of sensors like ultrasonic, magnetic, touch, light amplification by stimulated emission of radiation, X-ray, etc., that have been used for inspection and detection of flaws in the pipe.

Details

International Journal of Intelligent Unmanned Systems, vol. 4 no. 3
Type: Research Article
ISSN: 2049-6427

Keywords

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Article
Publication date: 7 January 2019

Balamurali Gunji, Deepak B.B.V.L., Saraswathi M.B.L. and Umamaheswara Rao Mogili

The purpose of this paper is to obtain an optimal mobile robot path planning by the hybrid algorithm, which is developed by two nature inspired meta-heuristic algorithms…

Abstract

Purpose

The purpose of this paper is to obtain an optimal mobile robot path planning by the hybrid algorithm, which is developed by two nature inspired meta-heuristic algorithms, namely, cuckoo-search and bat algorithm (BA) in an unknown or partially known environment. The cuckoo-search algorithm is based on the parasitic behavior of the cuckoo, and the BA is based on the echolocation behavior of the bats.

Design/methodology/approach

The developed algorithm starts by sensing the obstacles in the environment using ultrasonic sensor. If there are any obstacles in the path, the authors apply the developed algorithm to find the optimal path otherwise reach the target point directly through diagonal distance.

Findings

The developed algorithm is implemented in MATLAB for the simulation to test the efficiency of the algorithm for different environments. The same path is considered to implement the experiment in the real-world environment. The ARDUINO microcontroller along with the ultrasonic sensor is considered to obtain the path length and time of travel of the robot to reach the goal point.

Originality/value

In this paper, a new hybrid algorithm has been developed to find the optimal path of the mobile robot using cuckoo search and BAs. The developed algorithm is tested with the real-world environment using the mobile robot.

Details

International Journal of Intelligent Unmanned Systems, vol. 7 no. 1
Type: Research Article
ISSN: 2049-6427

Keywords

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Article
Publication date: 7 July 2020

Golak Bihari Mahanta, Deepak BBVL, Bibhuti B. Biswal and Amruta Rout

From the past few decades, parallel grippers are used successfully in the automation industries for performing various pick and place jobs due to their simple design…

Abstract

Purpose

From the past few decades, parallel grippers are used successfully in the automation industries for performing various pick and place jobs due to their simple design, reliable nature and its economic feasibility. So, the purpose of this paperis to design a suitable gripper with appropriate design parameters for better performance in the robotic production systems.

Design/methodology/approach

In this paper, an enhanced multi-objective ant lion algorithm is introduced to find the optimal geometric and design variables of a parallel gripper. The considered robotic gripper systems are evaluated by considering three objective functions while satisfying eight constraint equations. The beta distribution function is introduced for generating the initial random number at the initialization phase of the proposed algorithm as a replacement of uniform distribution function. A local search algorithm, namely, achievement scalarizing function with multi-criteria decision-making technique and beta distribution are used to enhance the existing optimizer to evaluate the optimal gripper design problem. In this study, the newly proposed enhanced optimizer to obtain the optimum design condition of the design variables is called enhanced multi-objective ant lion optimizer.

Findings

This study aims to obtain optimal design parameters of the parallel gripper with the help of the developed algorithms. The acquired results are investigated with the past research paper conducted in that field for comparison. It is observed that the suggested method to get the best gripper arrangement and variables of the parallel gripper mechanism outperform its counterparts. The effects of the design variables are needed to be studied for a better design approach concerning the objective functions, which is achieved by sensitivity analysis.

Practical implications

The developed gripper is feasible to use in the assembly operation, as well as in other pick and place operations in different industries.

Originality/value

In this study, the problem to find the optimum design parameter (i.e. geometric parameters such as length of the link and parallel gripper joint angles) is addressed as a multi-objective optimization. The obtained results from the execution of the algorithm are evaluated using the performance indicator algorithm and a sensitivity analysis is introduced to validate the effects of the design variables. The obtained optimal parameters are used to develop a gripper prototype, which will be used for the assembly process.

Details

Assembly Automation, vol. 40 no. 5
Type: Research Article
ISSN: 0144-5154

Keywords

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Article
Publication date: 14 December 2017

Deepak Chandrashekar and Bala Subrahmanya Mungila Hillemane

The purpose of this paper is to outline the key determinants of innovation performance of a firm in a cluster. This paper probes the role of absorptive capacity in…

Abstract

Purpose

The purpose of this paper is to outline the key determinants of innovation performance of a firm in a cluster. This paper probes the role of absorptive capacity in furthering the cluster linkages and thereby enhancing the innovation performance of a firm.

Design/methodology/approach

This study adopts stratified random sampling technique to choose sample firms from the identified population of firms in a cluster. Further, it employs primary data collection method to collect data from sample firms through a semi-structured questionnaire based in-depth interviews with the top level management of sample firms. It uses multiple linear regression (MLR) techniques to ascertain the influence of absorptive capacity on degree of cluster linkages (both intra-cluster and extra-cluster linkages), and degree of cluster linkages (both intra-cluster and extra-cluster linkages) on innovation performance of a firm.

Findings

On the one hand, internal factors of absorptive capacity of a firm have a significant positive influence on the degrees of both intra-cluster linkages and extra-cluster linkages. On the other hand, external factors of absorptive capacity of a firm significantly impact the degree of intra-cluster linkages (DICL). But, they have no significant influence on the degree of extra-cluster linkages (DECL). Further, both the DICL and the DECL drive innovation performance of a firm in a cluster. Notably, subsidiaries of externally based firms exhibit superior innovation performance compared to those firms based in a cluster.

Originality/value

This paper contributes to the extant literature in two ways. First, it empirically validates the effect of absorptive capacity of a firm on its degree of cluster linkages (both intra-cluster and extra-cluster linkages) taking into account both internal and external factors of absorptive capacity. Second, it ascertains the influence of degree of cluster linkages (both intra-cluster and extra-cluster linkages) on the innovation performance of a firm in a cluster.

Details

Journal of Manufacturing Technology Management, vol. 29 no. 1
Type: Research Article
ISSN: 1741-038X

Keywords

Content available
Book part
Publication date: 20 June 2017

David Shinar

Abstract

Details

Traffic Safety and Human Behavior
Type: Book
ISBN: 978-1-78635-222-4

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