Syllabus:

Introduction to I-D FEM Problems in structural mechanics using two dimensional elements. Plane stress, plane strain, axisymmetric analysis. Three dimensional stress analysis; Shell analysis. Solution of heat conduction, fluid flow, vibration, stability, and non-linear, large scale systems

Credits:

4

Syllabus:

Structures and method of preparation of fibres and fibre reinforced composites. Micromechanics and prediction of elastic constants. Strength of composites. Properties of laminated composites and their constitutive
equations. Laminates. Interfacial mechanics and properties. Applications.

Credits:

4

Syllabus:

ODE, matrix methods, root finding. Classification of PDE, finite differences, Steady and unsteady conduction, explicit and implicit method, advection- diffusion problems, upwinding, boundary-layers. Navier-Stokes equations, MAC and SIMPLE, finite element method for heat conduction

Credits:

4

Syllabus:

Classical optimization methods, unconstrained minimization. Univariate, conjugate direction, gradient and variable metric methods, constrained minimization, Feasible direction and projections. Integer and Geometric programming, genetic algorithms, simulated annealing techniques, design applications.

Credits:

4

Syllabus:

Fundamentals of solar radiation Review of fluid mechanics and heat transfer. Flat plate collectors, Focussing collectors, Solar water and air heating systems, solar cooling and dehumidification, solar energy storage, solar electric power, solar distillation of saline water and solar stills, solar cookers, solar pond and its thermal performance.

Credits:

4

Syllabus:

Interaction devices and techniques, geometrical transformations, viewing in three dimensions, modelling and object hierarchy, raster algorithms, display, representation of 3-D shapes, rendering of surfaces and solids, hidden lines, edge and surface removal, shading models, shadows.

Credits:

5

Syllabus:

Methodology of interactive, graphical, engineering design: Discretization,
optimization, simulation in CAED. Design of curves and surfaces. Applications in conveyor systems, sheet metal working, tool design, pumps etc. Design of volumes. Intersection of surface and interference of volumes

Credits:

4

Syllabus:

Project work involving the analysis, synthesis, material/component selection and detailed design of a mechanical system including the preparation of working drawings. The system may be integrated with electronics, electrical, hydraulic and other systems. Projects may be selected by students from any of the four streams, Fluid mechanics and Thermal sciences, Solid Mecahincs and Design, Manufacturing Science and Robotics.

Credits:

4

Syllabus:

Fabrication of a prototype based on the work done in project-I. Qualitative
performance evaluation and appropriate modification of a prototype

Credits:

2

Syllabus:

Modeling, Analysis, and Simulation of Dynamic System; Mechanical, electronic, electrohydraulic and electomechanical systems; Stepper and Servo-motors; use of MATLAB; State-Space, laplace and frequency domain system behaviour; Bode, Nyquist, and root-locus plots; open and closed loop control systems; stability and sensitivity; PID, Phase lag and Phase lead compensation; Sampled data systems and Digtal controllers; DA/AD converters; Microprocessors; Sensors and actuators; interfacing with computers.

Credits:

4

Syllabus:

Ergonomics-Estimation of performance and power requirements of Vehicles, Power Hydraulics, the form and function of Industrial Structures, product costing and pricing, the choice of suitable technologies, new engineering materials and their usage and costs. Case studies in engineering design, Industrial model making. Industrially sponsored project studies.

Credits:

4

Syllabus:

Concepts and Practice: 2-D and 3-D form analysis in product design and in architecture; Aesthetics and Design; Evolution of design from craft to modern products; Technology and Society; Problem definition; Functional requirements, independence and hierarchy, constraints, non-uniqueness etc; Generation of ideas, courage, communication, decision making, synthesis and analysis. Robust design; Forms of traditional and modern societies - misfits between form and context, elimination of misfits, feedback. Studio Work : Design and fabrication of a product.

Credits:

4

Syllabus:

Introduction to manufacturing system's concepts, manufacturing automation, flow lines and assembly systems. CAD/CAM; NC, CNC and DNC, adaptive control Manual and computer assisted part programming. Automated storage/retrieval systems; materials handling system including AGV; robot applications in manufacturing. Process planning, CAPP, scheduling and sequencing. GT and its benefits. Cost analysis, break even analysis and depreciation. Material management; inventory; MRP and MRP II; Just in time(JIT). Quality assurance and control; SQC, control charts; sampling; T.Q.M, Manufacturing system Simulation. FMS, CIMS, network and database for Mfg. system.

Credits:

4

Prerequisites:

ME 361N

Syllabus:

General considerations in tool design. Work holding devices, design of jigs and fixtures. Design of press working tools. Blanking and piercing dies. Design of tooling for deep drawing. Design of limit guages

Credits:

4

Prerequisites:

ME 253 & ME 362

Syllabus:

Introductive to unconventional machining processes. Abrasive jet machining, ultrasonic machining, abrasive water jet machining, abrasive flow machining, water jet machining, electro chemical machining, electro discharge machining. Electron beam machining, laser beam machining and plasma arc machining. Design of tooling.

Credits:

4

Syllabus:

Bond formation, properties of various moulding materials, principles of
solidification and structure of castings, risering and gating, centrifugal casting, continuous casting, investment casting, pressure die casting. Introduction to powder metallurgy.

Credits:

4

Prerequisites:

ME 362

{slider= ME 471N — MECHANICAL ENGINEERING LAB}

Syllabus:

Experimentation in automation and control, Solid Mechanics, Heat transfer, Energy conversion.

Credits:

4

Prerequisites:

ME 301N, ME 321, ME 341, ME 453N

Syllabus:

Thermodynamic analysis of vapour-compression, air and non-conventional refrigeration systems, application and optimization of multistage and cascade refrigeration systems, refrigerants, fan pump, evaporator and condenser selection, Solar powered refrigeration, heat pump

Credits:

4

Syllabus:

Moist air and psychrometric processes. Physiological principles of thermal comfort, calculation of cooling and heating loads; ADP determination, solar radiation and shading devices, duct design; Heat and mass transfer in air washers, cooling towers, finned heat exchangers; Air dehumidifi-cation.

Credits:

4

Syllabus:

Turbomachine theory, potential flow to two dimensional cascades and experimental correlation, Conformal mapping and similarity methods. Methods for solving direct and inverse cascade problems for compressible flow, Axi-symmetric through flow, Advanced cycles, Stress analysis of components.

Credits:

4

Syllabus:

The equations of motion in rotating coordinate system, effects of Coriolis and Centrifugal forces, energy equation, classification of turbomachines; two-dimensional cascade theory and experimental results; two dimensional flow analysis of axial impellers; three dimensional flow in axial turbomachines, radial equilibrium, secondary flows and loss estimation; off-design performance; radial and mixed flow machines; multistage axial compressors and turbines; prediction of stage performance and stacking; rotating stall and surge; turbine blade heat
load and blade cooling;

Credits:

4

Syllabus:

Analysis of stress and strain; Constitutive relationships; Failure theories; Torsion of non-circular sections. Plane stress and plane strain problems; Viscoelasticity, Structure and behaviour of polymers, behaviour of unidirectional composite and orthotropic lamina; Failure theories for fibre composites.

Credits:

4

Syllabus:

Theory of constitutive equations with special emphasis on elasticity, plasticity and viscoelasticity. Solution of problems to illustrate effects of elasticity, thermo-elasticity, plasticity and viscoelasticity

Credits:

4

Syllabus:

Analysis of stress and strain; Equilibrium, Compatibility and constitutive
equations; Plane problems; Stress functions; Applications; Complex potentials in two dimensional and axisymmetric problems; Variational methods; Anisotropic elasticity; Finite deformation elasticity

Credits:

4

Syllabus:

Introduction to I-D FEM. Problems in structural mechanics using two dimensional elements; Plane stress, plane strain, axisymmetric analysis; Three dimensional stress analysis; Shell analysis; Solution of heat conduction, fluid flow, vibration, stability, and non-linear, large scale systems.

Credits:

4

Syllabus:

Review of single degree of freedom systems; Generalised coordinates, constraints, virtual work; Lagrange’s equation; Continuous systems; strings, beams; Raleigh-Ritz and Galerkin’s methods; Dynamics of rigid bodies in three dimensions; Euler angles; Euler’s equations of motion, Gyrodynamics.

Credits:

4

Syllabus:

Vibration of discrete systems with single and multi degree of freedom. Hamilton’s principle, Langrange’s equations. Longitudinal vibration of bars, lateral vibration of straight and curved beams, vibration of membranes and plates, free and forced vibrations. Effect of damping. Wave motion in continuous systems.

Credits:

4

Syllabus:

Phase space, singular points, limit cycle; Analytical methods, perturbation
techniques, equivalent linearization; Duffing’s equation, jump phenomenon, Van der Pol equation. Stability criterion; Floquet’s theory, Hill’s and Mathieu’s equations, Bifurcation and chaos

Credits:

4

Syllabus:

Introduction to probability theory, random processes, response of single, multi and infinite degrees of freedom systems to stationary random excitations. Failure due to random excitation. Brief discussion on measurement and processing of random data.

Credits:

4

Syllabus:

ODE, matrix methods, root finding. Classification of PDE, finite differences, Steady and unsteady conduction, explicit and implicit method, advection- diffusion problems, upwinding, boundary-layers, Navier-Stokes equations, MAC and SIMPLE finite element method for heat conduction

Credits:

4

Syllabus:

Stress-deformation relations, Navier-Stokes equation, exact solutions, two dimensional and axisymmetric boundary layers, Separation, Compressible boundary layers, Elements of stability theory, Turbulent flow: logarithmic law of the wall, effect of wall roughness, two and three equation models, fluid-solid interaction.

Credits:

4

Syllabus:

Classification, characteristics, Euler’s equation, efficiencies, prerotation,vortex theory, methods to find the flow characteristics of a given runner geometry. Methods for finding plate profiles. Cavitation, prediction of cavitation inception, cavitation factor, similarity laws, NPSH, cavitation machines.

Credits:

4

Syllabus:

Discretisation procedure in Finite-difference and Finite-volume. Navier-Stokes, Energy equations. Staggered rectilinear grids. Explicit methods : MAC, SMAC. Implicit Methods, SIMPLE and SIMPLER. Matrix methods, conjugate gradient method, strongly Implicit Procedure. Grid-Generation:Algebraic, Transfinite, Poisson equation methods. Finite-difference Navier-Stokes solution on non-orthogonal grids, transformation. Collocated grids. Finite-volume methods on non-orthogonal grids. Turbulence modelling, k-e modelling.

Credits:

4

Syllabus:

Continuum, fluid deformation; Equations of continuity, momentum and energy, Navier-Stokes equations; Potential Theory: Blasius’ theorem, method of images. Linearized N-S equations, lubrication theory, creeping flows. Boundary layers, Momentum Integral and similarity techniques; Turbulence, Reynold’s equations, flow through pipes and over flat surfaces.

Credits:

4

Syllabus:

One dimensional steady isentropic flow, normal and oblique shock; Fanno and Rayleigh lines. Prandtl-Mayer expansion. Isentropic flow in ducts, design of nozzles. Shock tube, small disturbance theory, flow past thin bodies, similarity rules. Hodograph plane, method of characteristics

Credits:

4

Syllabus:

Velocity distribution function, B. element's equation, dynamics of collisions, standard molecular models, macroscopic equations, stress tensor and heat flux vector, slightly non-isentropic flow, dissipation coefficients, free molecular, near free molecular and near continuum flows, Couette flow, flow through tubes, S. Caption of B. element's equation.

Credits:

4

Syllabus:

Modelling of wind turbine rotor blade, Uncoupled equations of motion for
flapping, lead-lag and feathering motions. Study of blade motion and deflection. Estimation of the Rotor, Hub and Tower loads. Blade instabilities in coupled motion.: Flap-lag, Pitch-lag, Pitch-flap flutter and divergence, stall flutter.

Credits:

4

Syllabus:

Governing equations. Extended surfaces, transient conditions. Convection in laminar and turbulent boundary layer and flow through tubes. Free and forced convection, correlations, Boiling and condensation. Heat exchangers. Radiation exchange between surfaces.

Credits:

4

Syllabus:

Conduction: Steady and unsteady problems and their solutions in cartesian, cylindrical and spherical coordinates. Separation of variables. Duhamel’s theorem. Laplace transform. Problems involving change of phase. Inverse heat conduction, Microscale heat transfer, Radiation: Radiative exchange among black and grey and spectral surfaces, Shape factors. Applications to cavities and enclosures. Integral equations approach. Radiation from gases, vapours and flames.

Credits:

4

Syllabus:

Conservation equations, boundary layers, free convection, forced convection. Heat transfer in laminar and turbulent, internal as well as external flows, mixed convection. Combined convection and radiation. Boiling and Condensation. Molecular diffusion in fluids, mass transfer coefficient. Simultaneous heat and mass transfer; Applications.

Credits:

4

Syllabus:

Flame phenomena in pre-mixed combustible gases. Diffusion flames-analysis of single fuel droplet, chemical reactions. Burning in convective atmosphere, spray combustion, fire modelling, radiation in flames, formation and control of pollution, Combustion chambers.

Credits:

4

Syllabus:

External flows, similarity, heat transfer from inclined surfaces, free convection flows, plumes, wakes, buoyant flows. Flow in stratified media. Stability of natural convection flows, transition, turbulent heat transfer correlations.

Credits:

4

Syllabus:

Perturbation methods, transform methods, complex variables, eigen functions and series solution methods. Measurements of flow and temperature fields, optical methods, interpretation of data, design of experimental methods. Numerical method.

Credits:

4

Syllabus:

Types of heat exchangers, definitions and quantitative relationships, analytical and numerical solution procedures. Thermal and hydraulic design of heat exchangers; Review of mechanical design, codes, materials for construction, corrosion damage, testing and inspection, costing

Credits:

4

Syllabus:

Measure of turbulence, diffusivity, length scales. Reynolds equation. Mixing length models. Homogeneous, isotropic turbulence, correlation and energy spectrum functions, integral micro scales. Grid turbulence, jets, wakes and mixing layers, boundary layers, logarithmic-law near walls.

Credits:

4

Syllabus:

Simulation of thermal processes, application to casting, extrusion, heat treatment, thermal design of heat exchangers, electronic circuitry. Optimization search method and geometric programming, control strategy, data storage and retrieval. Expert systems.

Credits:

4

Syllabus:

Probes and transducers; Calibration; Turbulence measurement via statistical measures; Single and multi-point correlations; Signal conditioning; Optical methods, Interferometry, Schlieren, shadowgraph, LCT, Laser Doppler velocimeter; Transient and frequency response. Computer aided data acquisition, tomography.

Credits:

4

Syllabus:

Introduction to the Solar System, The 2- and restricted 3- body problem;
Application : Trajectory planning, Orbital transfers, Interplanetary missions; Hamiltonian Mechanics Perturbation methods and effects : The disturbing function, secular perturbations, resonance stability and chaos; Planetary rings.

Credits:

4

Syllabus:

Kinematic elements and pairs, mechanisms with lower and higher pairs, geometry of motion, type number and dimensional synthesis of mechanisms, analytical and graphical methods of analysis and synthesis of linkages, Coupler curve synthesis, spatial mechanisms, cams and gears

Credits:

4

Syllabus:

Review of kinematics and kinetics of a particle and a rigid body in plane motion. Euler’s equations; Methods of analytical dynamics, Lagranges equations; Hamilton’s principle; Dynamics in phase space and introduction to stability theory; Applications to engineering problems.

Credits:

4

    

Syllabus:

Kinematics and dynamics of rigid bodies and system of rigid bodies. Dynamic force and motion analysis of mechanisms and machines with rigid links. Elastodynamics and kineto-elastodynamic analysis of mechanisms with flexible members. Balancing of linkages.

Credits:

4

Syllabus:

Simple dynamical models of ground vehicles, mechanics of pneumatic tires, mechanics of vehicles-terrain interaction, performance characteristics of road vehicles, Handling characteristics. Directional stability, wheel shimmy, vehicle ride characteristics.

Credits:

4

Syllabus:

Interaction devices and techniques, geo-metrical transformations, viewing in three dimensions, modelling and object hierarchy, raster algorithms, display, representation of 3-D shapes, rendering of surfaces and solids, hidden lines, edge and surface removal, shading models, shadows.

Credits:

4

Syllabus:

Vector functions, reference frames, derivatives of vector functions. Kinematics. Mass/Inertia distribution. Generalized forces and energy functions. Formulation of equations of motion. Linearization and integrals of equations of motion. Extraction of information from equations of motion. Computational issues. Dynamics of a combination of rigid and flexible bodies.

Credits:

4

   

Syllabus:

Linear and Rotary actuators, valves and their characteristics. Flow forces on valve spools, valve design, control actuators. Hydraulic power packs, torque motor, electrohydraulic valves, FES, DPF, SLEW servovalves, Electrohydraulic servo systems; Pneumatic control elements; Pneumatic servo systems.

Credits:

4

Syllabus:

Basic principle of numerical control, Classification of NC systems,. NC part programming-manual and computer aided. Drives, feedback devices, Counting devices used in NC system. Interpolators for Manufacturing system. Control loops for NC system, Adaptive control, Industrial robots

Credits:

4

Syllabus:

Geometric modelling, intrinsic and parametric representations, differential
geometry of curves and surfaces. Bezier’s curves, rational parametric curves and surfaces. Non-uniform rational B-splines (NURBS), Coon’s and Bezier surface patches. Ruled, lofted, revolved and swept surfaces, solid modelling.

Credits:

4

Syllabus:

Mechanics of chip formation, chip curl. Bluntness and cutting forces. Thermal aspects of machining. Tool wear, tool life and economics of machining. Mechanics of grinding, forces and specific energy, temperature. wheel wear and surface finish.

Credits:

4

Syllabus:

General classification of unconventional machining, chemical machining, electric discharge machining, Abrasive Jet and Ultrasonic Machining, electron beam machining, laser beam machining, ion beam machining, plasma arc machining; Comparative evaluation of different processes; Conventional machining with modifications.

Credits:

4

Syllabus:

Fundmentals of plasticity, yield and flow, anisotropy, instability, limit analysis, slipline field theory. Applications to forging, wire and tube drawing, deep drawing, extrusion and rolling. High velocity forming.

Credits:

4

Syllabus:

Considerations in designing spindle bearing. Functions of guides and slide ways. Static and dynamic analysis of m/c tool structures. Control and automation of m/c tools. Special topics.

Credits:

4

Syllabus:

Forced vibrations; Machine tool chatter, dynamics of metal cutting; Chatter in some typical machine tools; Effect of flexible mounting on chatter; Chatter in coupled machine tool systems; Theory of chatter with several degrees of freedom; Theory of impact dampers; Dynamics of machine tool structures

Credits:

4

Syllabus:

Strain Gauge, strain rosettes and transducer applications. Photoelasticity,
materials and their selection. Introduction to 3-D photoelasticity. Brittle coating methods, Moire method of strain analysis and non-destructive testing using x-rays and ultrasonic devices.

Credits:

4

Syllabus:

Photoelasticity. Stress-optic law. Photoelastic coatings Strain-optic law, photoelastic materials. Role of Digital Image processing techniques for automation. Strain gauges, Rosette analysis, Transducers, Case studies. Introduction to Brittle coatings, Moire, Holography, Speckle and Caustics.

Credits:

4

Syllabus:

Properties of Vector Algebra, Vector space, subspace, basis, null and range space, invertibility and matrix representation; Cartesian Tensor notation and vector analysis; Matrices and Matrix algebra, Echelon form, orthogonalization; Eigen values and eigenvectors of a linear operator; First and second order ODEs, Linear Differential equations with constant coefficients and equidimensional equations; Second order linear homogenous differential equations and their solutions; Methods of Taylor and Frobenius, Laplace and Fourier transforms, Fourier series; Legendre and Bessel functions; Sturm Louville Problem; classification of PDEs;
Analytical solution of linear PDEs.

Credits:

4

 

Mechanics of Solids

Oscillations of a boat in a tank

The research activities in this track involve theoretical, experimental and numerical techniques applied over a wide range of materials, composites, metals, polymers, etc. Our research spans from structural dynamics, nonlinear solid mechanics, mechanics of defects and heterogeneities, structural health monitoring to estimation of mechanical behavior of nanomaterials using molecular dynamics simulations, processing and characterizations of advanced materials such as polymers, carbon-carbon/silicon composites, nanocomposites, multifunctional and functionally graded composites.

Research Areas


Applied Mechanics
Low-dimensional modeling of frictional hysteresis, modal damping from dispersed frictional micro cracks, mechanics of thin films, contact mechanics, patterned adhesives, AFM modeling, continuum thermodynamics, fluid-structure interaction.

 



Computational Mechanics
The researchers in computational mechanics solve mechanical problems using numerical algorithms. The applicable length scale ranges from the atomic to large structures, and methodologies include molecular dynamics, PDE solvers, finite elements and discrete dislocation dynamics.

 

Mechanics of Defects and Heterogeneities
Non destructive testing, modeling impact for ductile and brittle materials, mechanics of grain boundaries in polycrystals, dislocation dynamics, fracture in layered and graded materials.

 

Mechanics of Materials
Research work in Mechanics of Materials is highly interdisciplinary and centres on the development of novel structural and functional materials for a wide range of technological applications. We establish complex structure-property relationships using state-of-the-art materials characterization techniques, atomic force microscopy, electron microscopy, and estimate mechanical behavior of nanomaterials using MM/MD simulations. Our research spans from buckling of nanotubes, large deformation in single-layered graphene sheets, vibration mode localization in single- and multi-layered graphene sheets to processing and characterizations of advanced materials such as polymers, carbon-carbon/silicon composites, nanocomposites, multifunctional and functionally graded composites.

 

 

Smart Materials, Structures and Systems
Active and semi-active vibration control, Adaptive Shape Control, Smart Compliant Mechanisms, Dynamic response based Structural Health Monitoring.

 



Research Laboratories:


Computational Mechanics Laboratory
High speed expt. mechanics Laboratory
NDT Laboratory
Compliant and Robotics Systems (CARS) Laboratory
Advanced Nanoengineering Materials Laboratory
Smart Materials, Structures and Systems Laboratory


Associated Faculty


Sumit Basu, PhD (IISc Bangalore): Multi scale modeling of solids, Finite deformations, Non-linear Finite Element techniques, Surfaces and interfaces, Mechanics of Fracture, Mechanical behavior of polymers.

Bishakh Bhattacharya, PhD (IISc Bangalore): Smart Structures, Active & Passive Vibration Control, Flexible Manipulators and Smart complaint joints, Active Shape Control and Adaptive Structures.

Anindya Chatterjee, PhD (Cornell University): Dynamics and Vibrations.

Sovan L. Das, PhD (Cornell University): Mechanics of Biological Membranes, Continuum Mechanics and Granular Mechanics.

P. M. Dixit, PhD (Minnesota): Metal Forming, Ductile Fracture, Elasto-plastic Impact / Contact Problems and Finite Element Method.

Anurag Gupta, PhD (UC Berkeley): Interfaces in solids; Geometry of defects in solids; Plastic instability; Irreversible thermodynamics of continuous media; Mechanics of Indian musical instruments.

Shakti S. Gupta, PhD (Virginia Tech): Linear/Nonlinear Structural Mechanics, Mechanics of Nanomaterials and their Characterization using Molecular Simulations.

S. Mahesh, PhD (Cornell University): Solid Mechanics, Composite Materials and Manufacturing Processes.

Kamal K. Kar, PhD (IIT Kharagpur): Polymer, Polymer Blends, Alloys and Composites, Polymer Processing and Rheology

N. N. Kishore, PhD (IIT, Kanpur): Composite Materials, FEM and Non-Destructive Testing.

Basant Lal Sharma, PhD (Cornell University): Continuum Mechanics and Thermodynamics, Lattice Dynamics, Dislocations and Solid-Solid Phase transformation.

Ishan Sharma, PhD (Cornell University): Modeling granular systems for geophysical and industrial applications. Specific problems include dynamics of granular minor planets, and segregation in granular mixtures.Various problems of mechanics including contact mechanics and adhesion, dynamics, and stability and vibrations of structural and fluid-structural systems.

P. Venkitanarayanan, PhD (University of Rhode Island): Experimental Solid Mechanics, Dynamic Fracture Mechanics, Functionally Graded Composites.

Nalinaksh S. Vyas, Ph D. (IIT Delhi): Vibrations, Rotor Dynamics, Virtual Instrumentation, Condition Monitoring.

Pankaj Wahi, PhD (IISc Bangalore): Reduced order modeling, Vibration of continuous systems, Control of self-excited oscillations, Mechanics of machining, Time-delayed systems.

 

CAD and Optimization

Unified synthesis of linkages with flexible and rigid links

Our focus is to analyze and comprehend diverse designs in nature that are time-tested and robust, and to implement assimilated concepts for optimal form design in engineering problems. Product design, precision instrumentation, sensing and actuation, MEMS/NEMS, humanoid robotics, automated highway systems, formation flight control, exploration, surveillance, search and rescue, transportation, and in prosthetic, orthotic and exoskeletal devices are some of the relevant areas of applications. We develop novel engineering solutions by utilizing mechanical compliance in design, undertake research to create knowledge, understanding, methods and tools to improve the design process.

Research Areas

 

  • Domain Mapping for surface modelling, motion planning and protein docking.

  • Protein docking through shape complementarity of molecular surfaces.

  • Multimodal optimization: Recursive Perturbation Approach (RePAMO).

  • Multi-objective optimization: Fourier series parameterization of Pareto-sets.


Research Laboratories:


Compliant and Robotics Systems (CARS) Lab


Associated Faculty

 

Bhaskar Dasgupta, PhD (IISc Bangalore): Robotics, CAD, Mechanisms, Machine Dynamics, Engineering Computation.

Anupam Saxena (PhD, University of Pennsylvania, USA): Compliant Mechanisms, Topology Design, CAD, Robotics, MEMs, Optimization, Large Deformation Systems

Nachiketa Tiwari, PhD (Viriginia Tech): Acoustics and Noise Control, Solid Mechanics, Composite Structures, Vibrations, Product Design, Automotive Systems, MEMS.

Topology synthesis with hexagonal Cells and negative masks

Three finger exoskeleton for Cooperative translation/rotation

 

Real-time multi-agent motion planning with projective path planning

 
 

Robotics and Automation

Compliant-link biped trajectory

The Robotics and Mechanisms area seeks to promote research and develop technologies that enable systems to exhibit intelligent, goal-oriented behavior, and developing innovative instruments to monitor, manipulate, and control systems. Overall, our research spans the following areas: humanoid robots, intelligent control systems, flexible manipulators, mechanism theory, microsensors and actuators, and compliant mechanism. We focus on enabling technologies that necessitate novel design solutions in terms of development of new methods of synthesis, analysis & optimization of novel robots and mechanisms.

Research Areas

 

  • Analysis, synthesis and motion planning of robots and mechanisms

  • Biped Locomotion: Design and experimentation of optimal energy efficient biped robots with compliance at foot, knee joints, etc.

  • Exoskeleton: Human motion based design and development of a three finger 10 DOF exoskeleton robot hand for rehabilitation of stroke patients.

  • Intelligent control systems: Design, development and path planning of 14 DOF Lunar rover on 3D terrain. Kinematics and redundancy resolution for performing tasks with arm on rover.

  • Micro Sensors and Actuators: Ionic Polymer Metal Composite (IPMC) based grippers and mechanisms for robotic micro assembly.

  • Smart compliant mechanisms


Research Laboratories:


Robotiscs Laboratory
Smart Materials, Structures and Systems Laboratory
Compliant and Robotics Systems (CARS) Lab


Associated Faculty

 


Bhaskar Dasgupta, PhD (IISc Bangalore): Parallel manipulators, redundant manipulators, robot motion planning, multi modal optimization, domain mapping.

Ashish Dutta, PhD (Akita University, Japan): Humanoid robotics: design, control and motion planning of compliant and rigid link bipeds; Hand exoskeleton: design and control of hand exoskeletons for rehabilitation of stroke patients; Motion planning: path planning and redundancy resolution of mobile manipulator systems like lunar rover etc.; smart materials: design of grippers/mechanisms for micro robotic assembly using ionic polymer metal composites.

Two-link mechanism

Foot sole model using FEM

Effect of soft joints on biped gait


Research facilities:


Compliant and Robotics Systems (CARS) Lab

Compliant Mechanisms and Robotic Systems

 

Robotics Lab

  • 8DOF rigid link Biped robot capable of dynamic walking.

  • 8DOF biped robot with compliant links to study effect of Compliance on energy consumption during walk.

  • 10 DOF Lunar rover for terrain mapping, path planning and experimentation on lunar like terrain.

  • Three finger exoskeleton for rehabilitation of stroke patients.

  • A quad rotor based UAV for visual motor control of mobile robots.

  • A 4DOF SCARA robot for experiments on manufacturing assembly using compliant IPMC grippers.

  • EMG and EEG signal processing equipment for control of robots using bio-signals.

     

Smart Materials, Structures & Systems Laboratory

3D Laser Doppler Vibrometer, dSpace ACE 1103, 1104, Multi channel SMA amplifiers, d33 meter, Magnetic Levitation Control