Faculty Publications
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Item Development of Guided Autonomous Navigation for Indoor Material Handling Applications(Springer, 2018) Geetha Jayaprakash, A.; Bairampalli, S.; Desai, V.; Bhat, R.In recent past emphasis on material handling requirements in industry has gone up considerably and in particular several researchers have attempted to improve the indoor material handling. In this paper an autonomous navigation system is implemented on a trolley for applications intending to move the trolley along a predefined path without human operator assistance. The trolley operates in two modes: Learning mode and Autonomous mode. In the learning mode the operator has to manually move the trolley along a path, it has to follow autonomously when the autonomous mode is activated. © Springer International Publishing AG 2018.Item Microstructure and wear behavior of austempered high carbon high silicon steel(EDP Sciences edps@edpsciences.com, 2018) Acharya, P.; Kumar, A.; Bhat, R.In the present investigation, the influence of austempering temperature and time on the microstructure and dry sliding wear behavior of high silicon steel was studied. The test specimens were initially austenitised at 900°C for 30 minutes, thereafter austempered at various temperatures 280°C, 360°C and 400°C, for varying duration from 30 to 120 minutes. These samples after austempering heat treatment were subsequently air cooled to room temperature, to generate typical ausferritic microstructures and then correlated with the wear property. The test outcomes demonstrate the slight increase in specific wear rate with increase in both austempering temperature and time. Specific wear rate was found to be minimum at an austempering temperature of 280°C, that exhibits lower bainite microstructure with high hardness, on the other hand specific wear rate was found to be slightly high at increased austempering temperatures at 360°C and 400°C, due to the upper bainite structure that offered lower hardness to the matrix. The sample austempered at 280°C for 30 minutes offered superior wear resistance when compared to other austempering conditions, mainly due to the presence of fine acicular bainitic ferrite along with stabilized retained austenite and also some martensite in the microstructure. © The Authors, published by EDP Sciences, 2018.Item Multiple response optimisation of process parameters during drilling of GFRP composite with a solid carbide twist drill(Elsevier Ltd, 2020) Bhat, R.; Mohan, N.; Sharma, S.; Dayananda Pai, D.; Kulkarni, S.M.The article focuses on investigating the effect of operational parameters like feed and speed along with the composite material thickness on the damages caused in the glass fibre reinforced polymer (GFRP) composites during the drilling process. The GFRP composite studied in the presented work comprises E-glass fibre as the reinforcing material and the marine-grade isophthalic polyester as the binding matrix. Multiple responses considered in work comprises Peel-up delamination, push-down delamination and surface roughness. The technique for order of preference by similarity to ideal solution (TOPSIS) is used to develop the performance index and optimise the multiple response problem. Stepwise analysis of variance (S-ANOVA) is used to investigate the significance of each input parameter. The interaction effects of the variables are investigated using the response surface plots. The results indicate that the composite thickness contributes maximum towards the variance in the overall performance index (21.30%) and the optimum combination obtained using TOPSIS approach within the experimental limits for the selected GFRP is N3f1t1 with the maximum value of Pi (0.888). The regression model developed proves to have high goodness of fit with just 6.01% average error between predicted and experimental values. © 2019 Elsevier Ltd.Item Semantic Segmentation for Autonomous Driving(Springer Science and Business Media Deutschland GmbH, 2023) Divakarla, U.; Bhat, R.; Madagaonkar, S.B.; Pranav, D.V.; Shyam, C.; Chandrashekar, K.Recently, autonomous vehicles (namely self-driving cars) are becoming increasingly common in developed urban areas. It is of utmost importance for real-time systems such as robots and automatic vehicles (AVs) to understand visual data, make inferences and predict events in the near future. The ability to perceive RGB values (and other visual data such as thermal, LiDAR), and segment each pixel into objects is called semantic segmentation. It is the first step toward any sort of automated machinery. Some existing models use deep learning methods for 3D object detection in RGB images but are not completely efficient when they are fused with thermal imagery as well. In this paper, we summarize many of these architectures starting from those that are applicable to general segmentation and then those that are specifically designed for autonomous vehicles. We also cover open challenges and questions for further research. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.Item Application of Modeling and Control Approaches of Piezoelectric Actuators: A Review(Multidisciplinary Digital Publishing Institute (MDPI), 2023) Kanchan, M.; Mohith, M.; Bhat, R.; Naik, N.Piezoelectric actuators find extensive application in delivering precision motion in the micrometer to nanometer range. The advantages of a broader range of motion, rapid response, higher stiffness, and large actuation force from piezoelectric actuators make them suitable for precision positioning applications. However, the inherent nonlinearity in the piezoelectric actuators under dynamic working conditions severely affects the accuracy of the generated motion. The nonlinearity in the piezoelectric actuators arises from hysteresis, creep, and vibration, which affect the performance of the piezoelectric actuator. Thus, there is a need for appropriate modeling and control approaches for piezoelectric actuators, which can model the nonlinearity phenomenon and provide adequate compensation to achieve higher motion accuracy. The present review covers different methods adopted for overcoming the nonlinearity issues in piezoelectric actuators. This review highlights the charge-based and voltage-based control methods that drive the piezoelectric actuators. The survey also includes different modeling approaches for the creep and hysteresis phenomenon of the piezoelectric actuators. In addition, the present review also highlights different control strategies and their applications in various types of piezoelectric actuators. An attempt is also made to compare the piezoelectric actuator’s different modeling and control approaches and highlight prospects. © 2023 by the authors. Licensee MDPI, Basel, Switzerland.Item A study and implementation of mapping and speech recognition techniques for an autonomous mobile robot based on ROS(Inderscience Enterprises Ltd., 2017) Srinivasa Rao, H.; Desai, V.; Bhat, R.; Jayaprakash, S.; Sampangi, Y.Autonomous mobile robots work in close interaction with humans in environments such as homes, hospitals, public places and disaster areas. In autonomous mobile robots, the main constraints are safety, autonomy and efficiency in helping the humans. Given these constraints, developing the autonomous mobile robot technologies is a major challenge for both the industry and the research society. This paper work is about how an indoor autonomous mobile robot can work based on robot operating system and using Lidar and other sensors to create a map of an environment, and perform autonomous navigation with using capabilities like dynamic obstacle avoidance, speech recognition and video streaming. To achieve the above features, different algorithms like SLAM, AMCL, dynamic window approach algorithms, and CMU PocketSphinx speech recogniser are used. For video steaming, ROS web video server is used and the recorded video can be sent to a remote desktop system using ROS network. © 2017 Inderscience Enterprises Ltd.Item Microstructure and mechanical properties of austempered AISI 9255 high-silicon steel(Taylor and Francis Ltd. michael.wagreich@univie.ac.at, 2018) Acharya, P.P.; Udupa, R.; Bhat, R.The present investigation is focused on evaluating the microstructure and mechanical properties of American Iron and Steel Institute 9255 high-silicon steel austempered at different temperatures and durations. Material characterisation was done using a scanning electron microscope and an X-ray diffractometer. Results show the bainite microstructure over a temperature range of 280–400°C. Bainite structure gains coarseness at higher temperatures at 360 and 400°C. A significant improvement in the tensile properties was observed for all austempered specimens; with a maximum tensile strength of 1852 MPa and elongation up to 35%. An excellent strain hardening response was observed from the samples austempered at temperatures of 360 and 400°C. Tensile properties were found to be superior at 15 min of austempering duration for all austempering temperatures. © 2017 Institute of Materials, Minerals and Mining.Item Fabrication of Zn-Ni alloy coatings from acid chloride bath and its corrosion performance(Center of Excellence in Electrochemistry, Univ. of Tehran ganjali@abechem.com, 2018) Bhat, R.; Bekal, S.; Hegde, A.Optimization of acidic chloride bath containing triethanolamine and citric acid for deposition of a smooth and uniform Zn-Ni alloy coating over mild steel is discussed in the present work. Bath constituents and operating parameters were optimized by standard Hull cell method. Triethanolamine and citric acid were used as additives altered the phase content in the coatings, most likely as a result of their adsorption at the surface of the cathode. The effect of citric acid was more pronounced than that of triethanolamine. The composition of coatings was determined by using colorimetric method. The bath followed anomalous codeposition with preferential deposition of Zn over nobler metal Ni. The experimental results reveal that a bright Zn-Ni alloy coating having ~4.92 wt.%Ni was showing peak performance of the coating against corrosion. Deposition was carried out under different condition of current densities and molar ratio of [Ni +2 ]/[Zn +2 ]. No transition current densities at which codeposition behaviour changed from anomalous to normal type was observed. The cathode current efficiency was higher than 80%. As the current density was increased or the bath temperature was decreased, the concentration of the nobler metal in the coating was increased. The thickness and hardness of all coatings increased as the applied current density was increased. The throwing power and reflectance of the coating was increased with current density to a peak value, and then decreased. Potentiodynamic polarization and electrochemical impedance spectroscopy (EIS) methods were used to assess the corrosion resistance of Zn-Ni alloy coatings at different current densities. Surface morphology of the coatings was examined using Scanning Electron Microscopy (SEM). A new and cheap Chloride bath, for bright Zn–Ni alloy coating on mild steel has been proposed, and results are discussed. © 2018 by CEE (Center of Excellence in Electrochemistry).Item Predictive analysis of peel up delamination in glass fibre reinforced polyester composite drilling(Transstellar Journal Publications and Research Consultancy Private Limited (TJPRC) editor@tjprc.org, 2019) Bhat, R.; Mohan, N.; Kulkarni, S.M.; Sharma, S.Composites are the engineering materials, comprising two constituents: reinforcing and the matrix or binder material. the composite machining, particularly, drilling is a complex process in comparison to the machining of traditionally employed engineering structural materials. Delamination is the most prevalent integrity issue in composite drilling. In the present work, the independent variables are categorized as continuous and categorical variables. Speed and feed are chosen as the continuous variables, whereas, the drill tool diameter and material thickness are considered as categorical variables. The peel up delamination is chosen as the response. The central composite design form of RSM is employed to develop the experimental design and develop the response regression model. The developed model is then validated using an additional set of small number of experiments and the degree of affirmation is determined. The standard error obtained analytically is 5.91%. The experimental mean standard error for the randomly conducted validating experiment obtained is 4.23%. The validation shows a high degree of agreement (99.75%) between the theoretical and analytical values. © TJPRC Pvt. Ltd.Item Studies on electrodeposited Zn-Fe alloy coating on mild steel and its characterization(International Association of Physical Chemists zmandic@fkit.hr, 2019) Bhat, R.; Hegde, A.C.Chloride bath containing ZnCl2.7H2O, FeCl2.H2O and a combination of sulphamic acid and citric acid (SA+CA) were optimized for electrodeposition of bright Zn-Fe alloy coating on the mild steel. Bath constituents and operating parameters were optimized by the Hull cell method for highest performance of the coating against corrosion. The effect of current density and temperature on deposit characteristics such as corrosion resistance, hardness, thickness, cathode current efficiency and glossiness, were studied. Potentiodynamic polarization and electrochemical impedance spectroscopic (EIS) methods were used to assess corrosion behaviour. Surface morphology of coatings was examined using scanning electron microscopy (SEM). The Zn-Fe alloy with intense peaks corresponding to Zn (100) and Zn (101) phases, evidenced by X-ray diffraction (XRD) study, showed the highest corrosion resistance. A new and economical chloride bath for electrodeposition of bright Zn-Fe alloy coating on mild steel was proposed and discussed. © 2019 by the authors.