Center for Robotics and Intelligent Systems (CRIS)

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29 Οκτ 2013 (πριν από 3 χρόνια και 11 μήνες)

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Center for Robotics and
Intelligent Systems (CRIS)


By

PROFESSOR RAVI PRAKASH

CO
-
ORDINATOR




2006

Objectives at CRIS


Carry out fundamental research & develop
prototypes.


Making Indian industries competitive by
developing indigenous technology.


History of CRIS


CRIS

came

in

existence

in

the

year

1992
.

Earlier

it

was

known

as

Centre

for

robotics

(CFR)
.

Prior

to

that

there

was

an

informal

research

group

working

in

this

then

emerging

area
.

This

research

group

at

CRIS

has

acquired

in

depth

technical

skills

in

design

and

fabrication

of

the

robot

manipulators,

AGVs,

devising

intelligent

control

strategies

for

both

manipulator

and

navigation

and

their

real

time

implementations
.



Working Methodology


Conceptualization



Algorithmic development and verification
in a simulated environment



Real
-
time testing


Integration of parts for final automated
system


Broad Fields of Activities


Manipulator Arms


Autonomous Guided Vehicle (AGV/Mobile
Robots)


Vision Based Systems


Intelligent System Design


Micro Electro
-
Mechanical Systems
(MEMS)


Advance Dynamic
-
control of Arms

Manipulator Arms



Mechanical Design & Fabrication

1.
SCARA:
Selective Compliance





Assembly Robot Arm
.

2.
Articulated Arm

3.
Cylindrical Arm

SCARA


Indigenously
Developed, 4 DOF
Arm.


Servo Motor
controlled

Articulated Arm_1



Indigenously
Developed, 5 DOF
Arm.


Servo Motor
controlled


In Collaboration With


CAIR, Banglore.

Articulated Arm_2


5
-
DOF


CRS Made.


Used for Manipulator
Task Programming.

Cylindrical Manipulator


3 DOF ( R,
F,Z)


Stepper Motor
Controlled.


Vision Based Task
Planning

Ongoing Projects…


Design and
Fabrication of
Humanoid Robot for
Visitors’ Welcome &
Interaction

in
Museum.


AGV’s & Walking Robots


Design and Navigation
of Autonomous
Vehicle : A Car
Model.


Vision based obstacle
Avoidance {off
-
line
path planning }

AGV’s & Walking Robots…


Walking Robot


8
-
Legged Machine


Stepper Motor
Controlled

Hydra


Walking on Uneven
Terrain

Labmate


Commercially
Available Mobile Base


Added Ultrasonic
Sensor.



Being Used for
Online collision
Avoidance & Path
Planning

Image Bench


Image Processing
Bench


Real
-
time image
capturing and
processing for robot
vision.

Optimization Algorithms


Simulated Electrical
Network Approach to
Hard Optimization
problems.


Real
-
Time Path
Planning in Unknown
& Unstructured
Environments.


Achievements


R&D work at CRIS has resulted in a number of
publications such as: Book on Robotics & Control
by R.K. Mittal & I.J. Nagarath.


Number of Papers Published : 12.


In addition, it may be mentioned that some of the
nucleus members are editors or reviewers for
journals:


Editor to Journals : Prof. Ravi Prakash


Review Editors

:
Prof. Ravi Prakash &
H.D.Sharma.

New Dimensions…


Mechatronic projects & experiments


Design of virtual Mechatronics
Profilometer.



Modeling of Micro
-
electro
-
mechanical
systems {MEMS}
.


More towards Real
-
time control of systems


Patents Awareness & related
Developmental Work.

Facilities



Pentiums
-

9 nos



IBM PC AT 486
-

2 nos


IBM PC AT 386 2 nos


Facilities…


MATLAB with Simulink , Control System,
Robust Control, DSP, Neural Network toolboxes
etc.


Cadstar (Schematic, PCB , Circuit simulation ).


ORCAD (Schematic, PCB, Circuit simulation).


Linux based KHOROS image processing
package.



Linux RTOS.

Financial input



The CRIS has received support from UGC,
MHRD, DST and AICTE. So far a total
grant of Rs. 30 lakhs is received for three
different projects. At present we are
approaching DST, UGC and other funding
agencies for obtaining financial support to
carry out robotics related research work at
CRIS.


Research Group



CRIS has its members from a number of Groups
viz. Electrical & Electronics, Instrumentation,
Mechanical and Computer Science.


Besides seven faculty members, around 30
students from above mentioned groups, work on
projects every semester at CRIS .


Three faculty members are carrying out their
doctoral research work at CRIS:



Research Group…



Micro robotic Manipulator as Micro Electro
Mechanical System (MEMS): Kinematics,
Dynamics and Design Analysis.



Modeling of Multi
-
Robot Parallel Motion
Planning Using Non Uniform Rational B
-
Splines.



Research Group…


Robust Design of Robots.



Fuzzy
-
Adaptive Control of Mechanical
Manipulators.



Many first degree and higher degree students are
pursuing their theses and dissertations at CRIS.



Collaboration





CAIR, Banglore.


BARC, Bombay.


University of Michigan Ann Arbor, U.S.A.


STINT Foundation through University
College at Boras, Sweden.