Page No:
| 2.1 All-Terranean Robot (ATR) | ||
 |
 |
 |
| All Terrain Robot (ATR X50) has been designed & manufactured in Surface Robotics Laboratory of CMERI to fight against terrorism and natural calamity. It is primarily a tracked mobile robot designed & developed to cater the need for strategic requirements of India. This project attempts to analyze a few scientific and technological challenges often encountered by the navigation and robotics research community. The weight of the robot is 82 kg and its speed is more than 3km/hr. The robot has especially designed infrared sensor owing to which it can detect objects from far off distances. |
||
Salient Features & Applications
|
| 2.2 Sub-Terranean Robot | ||||
 |
 |
 |
||
| Sub Terranean robot has been invented in Surface Robotics Laboratory of CMERI which can move both on land and under water. |
||||
| Its application is to run inside coal mines.It is usually hazardous inside coal mines where deaths often occur owing to accidents inside mines. Hence instead of human beings, this robot may be used inside mines so that there is no chance of life risk even if an accident occurs under the mines.SR is remotely operated. The remote consists of a laptop in which an application program is used to run it. A wireless modem is attached on the top of the SR for communication between the SR and the laptop. Salient Features & Applications
|
| 2.3 Autonomous Robot on Intelligent Behavior(ARBIB) | ||||
 |
 |
 |
||
| This Autonomous robot on intelligent behaviour is entirely designed and built in Surface Robotics Laboratory of CMERI.The purpose of this robot is to gather intelligence and the information namely for searching,scanning,detecting,recording & surveveillance. The project is mainly based on microcontroller and sensors.Two dc motors are attached with the microcontroller through its driver circuit. Robot
has an in-built obstacle detection routine and takes its own decision
to move autonomously without any interference from human beings
or anything. |
||||
| 2.4 Modified All-Terranean Robot (ATR II) | ||||
 |
 |
 |
||
| The Modified All Terranean Robot also known as ATR II has been designed & developed in Surface Robotics Laboratory of CMERI. From the need of introducing mobile robot technology in India, the project All Terrain Robot (ATR) was taken up. In the past CMERI has developed a remotely operated mobile robot for the nuclear sector for inspection and intervention purpose. Recent development of ATR has added a new thrust to this robotic research area of CMERI. This is the modified version of the successfully developed All Terranean Robot. ATR II is a light weight robot vehicle with greater endurance (than ATR X-50). |
||||
The purpose of this robot is to autonomously navigate within an unknown environment and to identify objects of interest, marking it both physically and in the terrain map. It is also capable of detecting metallic object, IED (Improvised Explosive Devices) etc. using indigenous metal detector and can be used for handling explosives & mines securely from remote places. |
| 2.5 Autonomous Intelligent Robotic Wheel Chair | ||
 |
 |
 |
| The main objective of this project is to design and develop the technology to provide comfort, independence of mobility & utilize the advantage of robotics technology for physically challenged persons. Participating departments for autonomous robotic wheel chair are: [a]Design
and Development of Mechanical System. The main objective of this project is design and development of wheel chair prototypes: [a]Low
end low cost simpler version-I |
||
| Low end low cost simpler version-I | |
|
 |
| These have smaller turning radius, capable enough to take a spin in a narrow corridor, go up slant pavements, but remain stable over all these terrains offering enough maneuverability to navigate smoothly on small ups and downs. The structure made of light weight components (main body and seating) decreases the overall weight, without compromising on safety. Power is being supplied from lead acid battery bank (24V, 25AH) using two 12V series connoted battery that can be easily charged. |
|
| Advanced or high end version -II | |
|
 |
| Local area navigation featuring autonomous path planning & obstacle detection capability is incorporated to maneuver the wheelchair in a known environment with the aid of wheel encoders, infrared based obstacle detection & laser range finder. In this high end version a Voice Command System has been developed which facilitates the control of wheel chair by the voice command(“MOVE FORWORD”, “MOVE BACKWORD, “MOVE FAST”, “MOVE SLOW”,“TURN LEFT”,”TURN RIGHT”, “SYSTEM START”, SYSTEM STOP” etc ) from a person with physical disabilities. |
|
| 3.1
Outdoor Mobile Robot with Manipulator & Metal Detector.
|
||||
|
|
|
||
| Research & Development of Mobile Robot for outdoor, strategic and industrial application is gaining momentum in India. Generally the application of indoor mobile robots is limited to factory automation and materials handling. However, the outdoor mobile robots are more flexible and demand of the day due to its application potential for multiple and multirole civilian applications. Outdoor mobile robot (OMR) was proposed for explosive detection capability with autonomous navigation on rough terrain. It is a four-wheel drive system with tracked configuration. The four separate drive units |
||||
are constructed by means of a motor, bevel gears, sprocket-chain and wheels. The drive unit drives the ground wheel by means of a roller chain. The whole load of the system is distributed on three ground wheels. It is capable of moving over all terrains, & can be used as a robotic vehicle for mine/metal Detection. In this phase of the project, design & development of a small manipulator is underway.
This manipulator will be useful for handling explosive/mines. |
| 3.2 Development of a Serpentine Robot for Disaster Rescue Mission | ||
 |
 |
 |
Every year India suffers from various natural calamities. Earthquakes, bomb-explosions, fire hazards, & various other natural disasters. After the disaster the rescue team arrives, but often it is difficult to locate survivors from the debris. Present method of using video probes has severe limitation due to its short finite length. Besides reaching corners using such probes are extremely difficult. The proposed project aims at the development of a serpentine robot technology for India. The serpentine robot that is being built is a biologically inspired robot and has got its inspiration from the snake and its method of locomotion. |
||
The robot snake measures 807 mm in length, from head to tail, and is 2-1/2 inches wide. The robot consists of six body segments with one head and one tail module with each segment being powered by an R/C servo. The segments alternate in orientation so that the first segment moves in horizontal motion and the next segment moves in vertical motion. The sequence repeats itself for all six segments and a head. This gives the snake enough flexibility to move its body in a number of different ways in order to achieve locomotion, in much the same way as a biological snake. The robot is controlled by a Microchip PIC 16F84A microcontroller. The microcontroller is used to sequence the movement of each of the snake’s body sections via servos. The microcontroller also monitors an infrared sensor so that the snake will avoid obstacles as it explores. |
| 3.3 Development of a Robotic Frog | ||
 |
 |
|
The robotic frog is a biologically inspired robot based on the structure of a frog and its capability to achieve locomotion by jumping. The robotic frog possesses two spring loaded hind legs that are used to achieve locomotion by jumping. The functions of the leg mechanisms, sensors and leg position limit switches are controlled by a microchip PIC 16F84 microcontroller. The
spring of each leg is independently loaded with a mechanism that
uses a standard servo, modified for continuous rotation. |
||
At this point, the microcontroller stops the servo and holds this position until both legs are in jumping position. When both the servos have been positioned so that the springs are loaded and the legs are in jumping position, the microcontroller gives both the servos the command to move forward. This moves the lever past the position where the spring is loaded, at which time the spring quickly pulls the upper leg mechanism downward, giving the legs enough energy to leap the frog forward. |
| 3.4 Development of a Bipadal Robot |
| The ability to walk upright on two legs is one of the requirements of humanoid robot. Here SR LAB is building a 9 inches tall, autonomous, bipedal walking robot with a PIC 16F819 microcontroller for a brain. The bipedal robot controller circuit is designed |
 |
 |
 |
around the PIC 16F19, which contains 16 input/output (I/O), pins, including five 12-bit analog to digital converters. Another feature of this device is a software selectable internal oscillator that can be configured to run between 2 and 8 MHz’s. The body and the top cover are constructed using 1/16-inch thick flat aluminum. The construction of bipedal robot has started with the assembly of Tamiya twin-motor gearbox. To program the microcontroller, we have used EPIC Plus Programmer as the hardware programmer and the PIC BASIC PRO COMPILER as the program compiler. |
||
| 3.5 Tele-Operated Flying Robot | ||
 |
 |
|
| A new variety of mobile robots often called as flying robots have shown a lot a promise in overcoming the limitations of conventional mobile robots. Flying operation has opened up new opportunities to robotically perform field services and tasks like search and rescue, observation and mapping. Among on-going research activities in this domain, rotorcraft-based aerial vehicles deserve special interest, due to their flight capabilities. As they have slow operational speed, they are ideal for such operations as minute inspection tasks and for tasks like search and rescue, observation and mapping. The unique lift generation mechanism of a rotorcraft enables hover, vertical take-off/landing, pirouette, and sideslip. |
||
These versatile flight modes are often desired for high-fidelity detection, location and tracking of targets. At CMERI, the objective of our project on rotary based tele-operated flying robot is to autonomously carry out functions such as inspection of bridges, aerial survey etc. in all weather conditions with focus on generating a trajectory to ensure optimal coverage in minimum time and on hovering for close inspection.
|
| [1] Dip N. Ray, A. Maity and S. Majumder, “Comparison of performance of different traction systems for Terrainean Robots”, National Conference Machine & Mechanisms (NaCoMM-09), NIT, Durgapur, December 17 -18, 2009, Page: 151 - 158. [2] Dip N. Ray, S. Mukhopadhyay, S. Majumder, “A brief comparison between the Subsumption Architecture and Motor Schema Theory in light of Autonomous Exploration by Behavior Based Robots”, National Conference Machine & Mechanisms (NaCoMM-09), NIT, Durgapur, December 17 -18, 2009, Page: 173- 180. [3]A. Mondal, B. Das, Dip N. Ray, S. Majumder, “ARBIB: Development of an Autonomous Robot based on Intelligent Behavior”, National Conference Machine & Mechanisms (NaCoMM-09), NIT, Durgapur, December 17 -18, 2009, Page: 195 - 200. [4] Dip N. Ray, S. Majumder, S. Mukhopadhyay, “Autonomous Exploration and Behavior based Robotics”, International Conference Systemics, Cybernetics and Informatics (ICSCI 2010), Andhra Pradesh, January 27 – 30, 2009, Page 130 -136
|
| [5] Dip Narayan Ray, Atanu Maity, Somajyoti Majumder, “A Report on Development of an Experimental Subterranean Robot (SR) For Feasibility Study of Robotic Application in Underground Coal Mines”, Journal of Field Robotics (Communicated) [6] Dip N. Ray, S. Mukhopadhyay, S. Majumder, “A comparison of Autonomous Explorations by Behavior based Robots”, International Journal of Recent Trends in Engineering, Vol. 3, No. 5, Page 23-27, Academy Press, Finland, June, 2010 [7] Dip N.Ray, Amit K. Mondal, S. Majumder, S. Mukhopadhyay, “Light Exploration by a Robot using Single Agent Q-Learning”, 2010, IEEE International Conference on Systems, Man & Cybernatics, October, 2010, Instanbul, Turkey (communicated) [8] Dip N. Ray, Subhasis Mukherjee, S. Majumder, Sumit Mukhopadhyay, “Exploration in Mazes by a Q-Learning based Robot”, 3rd International Workshop on Evolutionary And Reinforcement Learning For Autonomous Robot Systems (ERLARS2010) (communicated) [9] Dip N. Ray, S. Majumder, S. Mukhopadhyay, “Effect of learning rates on a Q-Learning based light exploring Robot”, IEEE Transactions on Systems, Man and Cybernetics: Part B (communicated) [10] Sarbari datta, Umesh S Patkar, Somajoyti Majumder., “Digital controller for attitude control of a rotary-winged flying robot in hover”, IEEE International Symposium of Industrial Electronics(ISIE 2009), July 5-8, 2009, Seoul, Korea, pp. 390-395 [11] S.Majumder, U.S.Patkar, S.Datta, Anurag Misra, "Computational design of a rotating blade of Tele-operated Aerial Robot (TOAR)","22nd National Convention of Aerospace Engineers and National seminar on Present status and technological challenges of Indian Aerospece Programme", Nov 27-29, 2008, BIT Mesra (Jharkhand, India) [12] Bhattacharya J and Majumder S; Visual Odometric Navigation-the Generalized Feature Vector Way,18th WSCG International Conference on Computer Graphics, Visualization and Computer Vision 2010;University of West Bohemia Campus Bory; February 1 – 4, 2010. [13] J.Bhattacharya and S. Majumder ,The Generalized Feature Vector (GFV): A New Approach for Vision Based Navigation of Outdoor Mobile Robot, 14th National conference on Machines and Mechanisms(NaCoMM-2009), NIT Durgapur ,India, December 17-18, 2009 [14] Anubhuti Saha, R. P. Chatterjee, Dr. S. Majumder, “Optimization of Snake-like Motion Controller Design Technique using Graphical Domain Approach”, 2009 International Conference on Mechanical and Electronics Engineering (ICMEE’09) Chennai, India ISBN:13-978-981-4289-78-810-981-4289-78-7, pp.-115-120, 2009 [15] Anubhuti Saha, R. P. Chatterjee, S. Datta , “Active Cord Mechanism (ACM) Controller for Biologically Inspired Robots Designed with Frequency Response Approach”, WSEAS TRANSACTIONS on SYSTEM and CONTROL ISSN: 1991-8763 Issue 7, Volume 4, July 2009, pp.-316-328 [16] Saswata Chakraborty, R.P.Chatterjee S. Majumder, Anup Kr. Bhattacharjee, “RADAR Imaging to Develop an Enhanced Fog Vision System for Collision Avoidance”, World Academy of Science, Engineering and Technology, 2010, (Accepted) [17] A. Maity, S. K. Mandal, Dr. S. Mazumder and Dr. Sukomal Ghosh, "Serpentine Robot: An overview of Current Status & Prospect"; Proceedings of National Conference on Machines and Mechanisms (NaCoMM-09), Durgapur, December 17-18, 2009, pp.272-278. [18] A. Maity, S. Mazumder, Sukomal Ghosh, "An Experimental Hyper Redundant Serpentine Robot"; 2010 IEEE International Conference on Systems, Man and Cybernetics (SMC-2010), Turky. (Accepted) [19] A. Maity, S. Mazumder, Sukomal Ghosh, "Serpentine Gaits from Coupled Orthogonal Joint Orientation Function"; Journal of Intelligent and Robotic Systems, Springer Publications, JINT919. (Communicated) [20] Anubhuti Saha, R. P. Chatterjee, Siddheswar Sen, “Differential Drive Pulse Generation for Wheel-based Snake Robot Executing Lateral Undulation”, IEEE Transaction on ROBOTICS and AUTOMATION(Comm) [21] Meenakshi Didharia, Avani Parashar, R. P. Chatterjee , “Design of Hybrid Repeater for Wireless Control of Underwater Sensor Network”, IEEE Transactions on Oceanic Engineering. [22] Maity. A, Design of Outdoor Mobile Robot with Passive Compliance, M.Tech Thesis, M. Engg- 2005, National Institute of Technology, Durgapur. [23] Chakraborty. S, Image Compression , M.Tech Thesis, E.C.E- 2008, National Institute of Technology, Durgapur. [24] Nandy. S, Low Cost Sensor Development: An IR Based Obstacle Detector Using 8051 Microcontroller for Robotic Application, M.Tech, E. Engg.- 2006, National Institute of Technical Teachers’ Training and Research, Kolkata. [25] Ghosh. S, Devolepment of a work for the Management system for Industrial and Technical Services ,M.C.A Thesis, Management Institute of Durgapur. [26] Yadav. K. A, Saha. S ,Character Based/MM Communication Using TCP/SIP Protocol,M.C.A Thesis, MCA-2007, National Institute of Techonology, Durgapur. [27] Mitra. S, Das. A, Halder. T, Chatterjee. A, Mukherjee. S. A, Voice Over IP using SIP Protocol, ,M.C.A Thesis, Asansol Engineering college, Asansol. [28]Adhak. B, Chandra. M, Ghosh. K. S, Pal. S, Ghosh. C, Patra. R, Majumdar.A, Management Information System ,B. Tech Thesis ,CSE – 2005, B C Roy Engineering college, Durgapur. [29] Mukherjee.A, Ray. A, Bandyopadhya. A, Gangopadhya. S, Chakraborty. T, Temparature Sensor and Remote Computer Shut Down, MCA Thesis, MCA-2005, Asansol Engineering College, Asansol. [30] Roy. T. K, Sarkar. R, DataBase for Project Management, MCA Thesis, MCA- 2007,Management Institute of Durgapur, Durgapur. [31] Dutta. S, Payroll Processing and Income Tax Calculation, MCA Thesis, MCA-2006, Management Institute of Durgapur, Durgapur. [32] Dasgupta. S, Bannerjee. A, A Simple Approach for Learning of Behavior Based Robotic Systems using Neural Network Techniques, MCA Thesis, MCA-2006, Management Institute of Durgapur, Durgapur. [33] Dalui. R, Chakrabarty. S, Decentralized DetaBase Oriented Management System, MCA Thesis, MCA-2005, Tom Patrick Institute of Computer and Information Technology, Aurangabad. [34] Chakraborty.S, Exploraty of Ionic Polymer Metal Composites As Artificial Muscles, B.Tech Thesis ,Electonics and Communication Engineering-2006-07, Dr. B.C. Roy Engineering College, Durgapur. [35] Adak.B , Chandra.M, Gsosh.K.S,Pal.S, Mail Management System, B.Tech Thesis, Electonics and Communication Engineering- 2005-06, Dr. B.C. Roy Engineering College, Durgapur. [36] Gupta .M, Chakraborty.A, Underwater Acoustic Communication System, B.Tech Thesis , Electonics and Communication Engineering- 2002-2003, Bengal College of Engineering And Technology, Durgapur. [37] Das.B, Mondal.A, Behavior Based Autonomous Robot, B.Tech Thesis , Electonics and Communication Engineering- 2007-2008, Durgapur Institute of Advanced Technology and Management. [38] Ghosh.A,Banerjee.N, Stereo Vision, B.Tech Thesis , Computer Science And Engineering - 2003-04, Dr. B.C. Roy Engineering College, Durgapur. [39] Ghosh. A, Chattaopadhya. T, Kumar. A, Nalui. S, Voice Recording, B.Tech Thesis, Information Technology- 2006-07, National Institute Of Technology, Durgapur. [40] Mahato. S, Sen. S, Online Shopping Chart, B.Tech Thesis , Computer Science And Engineering-2006-07, Bengal College of Engineering And Technology, Durgapur. [41] Basu. S, Moulik.S, Majumder.S, Roy.S, Banerjee.W, Application of Visual C++, Vocational Training, C.S.E.- 2004, Bengal College of Engineering and Technology / Dr. B.C.Roy Engineering College / U.I.T Engineering College / H.I.T Engineering College / Serampore Textile Engineering college. |
|
 |
 |
 |
 |
 |
 |
 |
 |
 |
 |
 |
 |
| CMERI |
Central
Mechanical Engineering Research Institute, Mahatma Gandhi Avenue, |
| SR LAB |
Surface
Robotics Laboratory, |