Faculty Publications
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Item AN ECONOMICAL APPROACH TOWARDS BATHYMETRIC MAPPING OF SHALLOW WATER BASINS USING UNMANNED SURFACE VESSEL(American Society of Mechanical Engineers (ASME), 2022) Shetty, D.; Kotian, R.; Sequeira, S.L.; Pavithra, N.R.; Umesh, P.; Gangadharan, K.V.In recent years, the use of unmanned vehicles has advanced because of a growing number of civil applications such as firefighting or non-military security work, such as surveillance of pipelines etc. The application of these technologies with decreased cost and size has received attention in both civil and military applications. Recent advances in sensors, modeling and simulation and availability of open-source software and hardware for data integration has created an environment of remotely monitoring that was not possible a few years ago. This paper examines a niche cost-effective, portable Unmanned Surface Vessel that has been designed to capture the bathymetric profile of shallow water basins using single beam echosounder. Bathymetry is the measurement of the depth of water in oceans, rivers, or lakes. Bathymetric maps look a lot like topographic maps, which use lines to show the shape and elevation of land features. Today, echo sounders are used to make bathymetric measurements. Global shallow water bathymetry maps offer critical information to inform activities such as scientific research, environment protection, and marine transportation. Accurate mapping of shallow bathymetry is critical for understanding and characterizing coastal environments providing a foundation for measuring underwater light density, mapping and monitoring and planning marine operations and transportation. Methods for estimating shallow water bathymetry have suffered from a variety of trade-offs and limitations. Conventional methods such as shipborne sounding or airborne LiDAR have limited spatial coverage. The unit described in this paper has been designed and has been trained to acquire data in a predefined set path, minimizing the human intervention and the associated errors. A successful trial run was done for mapping the bed profile of the river basin in India. The vessel has been upskilled for capturing sonar data sets, with water quality parameters and soil samples using an automated auger. The vessel functions using the combined various open-source software and hardware tools for data assimilation, while the captured data sets are real- time transferred using IOT to Ground Controlled Station. The tropical river basin chosen is a part of Netravati River located in Dakshina Kannada District, Karnataka, India. This area is a part of the monsoon belt, and the Netravati riverbed is subjected to heavy sand deposition during a part of the year. The data on the excessive sand deposition is of immense value to the district and state administration. This study has been carried out at a frequency of 30 days and is provided as an input during non- monsoon period for district administration for outlining removal of excessive sand deposition monitoring of water quality in the estuarine ecosystem. The work done is a one-of-a-kind pilot study developed in-house using the recent advances seen in the world of open-source platforms. This paper demonstrates a unique application that is of value to the state administration in decision making and in addition contributes to environmental monitoring of the riverbed. © © 2022 by ASME.Item Real-Time Implementation Of PID Control For Unmanned Surface Vessel: A Practical Approach(Institute of Electrical and Electronics Engineers Inc., 2023) Kotian, R.; Umesh, P.; Gangadharan, K.V.This research presents the development and implementation of a Proportional-Integral-Derivative (PID) controller on an unmanned surface vessel (USV). Testing control system involves the verification and validation of the Cyber Physical System as a whole, ensuring that it meets the desired performance and safety requirement. Paper Describes the identification of control variables through empirical calculations later, which is evaluated through simulation and field trials were carried out. The implementation of the PID controller on the unmanned surface vessel showed promising results in controlling the vessel's motion and maintaining stability. However, the research also highlighted some challenges and limitations in the implementation, such as the need for further testing in realistic and dynamic environments. In the upcoming phases of this project, the team intends to enhance their work by devising a path-following algorithm that can handle intricate environments. Overall, the research contributes to the advancement of the field of unmanned surface vessels by providing a reliable and efficient control method for these systems. © 2023 IEEE.Item DEVELOPMENT OF PORTABLE GROUND CONTROL STATION FOR REAL-TIME DATA MONITORING OF AN UNMANNED SURFACE VESSEL(American Society of Mechanical Engineers (ASME), 2023) Kotian, R.; Umesh, P.; Gangadharan, K.V.; Shetty, D.This paper presents a portable ground control station for unmanned surface vessels (USVs) that can operate autonomously or remotely without crew onboard. USVs equipped with various sensors, propulsion systems, and communication equipment perform a wide range of tasks, including scientific research, environmental monitoring, and maritime security. The Ground Control Station (GCS) is essential to the operation of a USV, enabling remote control and monitoring of the vehicle, allowing it to operate autonomously or semi-autonomously. A portable GCS allows the operator to bring the system to remote or difficult-to-access locations, enabling the USV to operate in a wider range of environments and conditions. The paper describes the hardware architecture of the system, with an emphasis on navigational sensors for guidance and control. The hardware components include controllers, communication equipment, and sensors such as GPS, and sonar. These sensors provide the USV with real-time information about its position, velocity, and environment, enabling informed navigation and control decisions. The software includes control algorithms, user interfaces, and data processing tools that allow the operator to control and monitor the USV's operations. The user-friendly software interfaces and clear feedback make it easy for the operator to manage the USV's movements and data collection. Overall, the paper provides insights into the design and implementation of a system for controlling USVs, focusing on hardware, User interface and, and Mission planning. © © 2023 by ASME.Item Cytocompatibility by MTT assay and platelet adhesion of Ti and Ti-6Al-4V coated with hydroxyapatite in different plasma gas atmospheres(Jaypee Brothers Medical Publishers (P) Ltd 4838/24 Ansari Road, Daryaganj New Delhi 110 002, 2017) Kotian, R.; Rao, P.P.; Madhyastha, P.; Shobha, K.L.; Satish Rao, B.S.S.; Ginjupalli, K.Aim: This study was performed to evaluate the biocompatibility of pure titanium and Ti-6Al-4V metals coated with hydroxyapatite (HA) by plasma spray using different plasma gas atmospheres. Materials and methods: The cell viabilities for each HA-coated sample in an atmosphere of argon, argon–hydrogen, nitrogen, and nitrogen–hydrogen were studied using MTT assay and platelet adhesion test. Results: The mean cell viabilities by MTT [3-(4,5-dimethylthiazol- 2-yl)-2,5-diphenyltetrazolium bromide] assay of samples coated with HA in argon–hydrogen plasma atmosphere showed maximum cell viability at different time intervals compared with other coating atmospheres of argon–hydrogen, nitrogen, and nitrogen–hydrogen. A statistically significant value of cell viability (p < 0.001) was observed between and within the groups of argon, argon–hydrogen, nitrogen, and nitrogen–hydrogen plasma gas atmosphere. The platelet adhesion study showed agglomerates of platelet cells in some isolated regions of HA for all atmospheres. Significance: The results obtained in this study can serve as a guide for the development of new Ti-based HA-coated implants in different plasma gas atmospheres. © 2017, Jaypee Brothers Medical Publishers (P) Ltd. All rights reserved.Item X-ray diffraction analysis of hydroxyapatite-coated in different plasma gas atmosphere on Ti and Ti-6Al-4V(Medknow Publications subscription@eurjdent.com B9, Kanara Business Centre, off Link Road, Ghatkopar (E) Mumbai 400 075, 2017) Kotian, R.; Rao, P.P.; Madhyastha, P.Objective: The aim is to study the effect of plasma working gas on composition, crystallinity, and microstructure of hydroxyapatite (HA) coated on Ti and Ti-6Al-4V metal substrates. Materials and Methods: Ti and Ti-6Al-4V metal substrates were coated with HA by plasma spray using four plasma gas atmospheres of argon, argon/hydrogen, nitrogen, and nitrogen/hydrogen. The degree of crystallinity, the phases present, and microstructure of HA coating were characterized using X-ray diffraction and scanning electron microscopy. Results: Variation in crystallinity and the microstructure of HA coating on plasma gas atmosphere was observed. Micro-cracks due to thermal stresses and shift in the 2? angle of HA compared to feedstock was seen. Conclusion: Plasma gas atmosphere has a significant influence on composition, crystallinity, and micro-cracks of HA-coated dental implants. © 2017 European Journal of Dentistry.Item Interfacial bonding of plasma-coated hydroxyapatite on titanium and Ti-6AI-4V(Jaypee Brothers Medical Publishers (P) Ltd 4838/24 Ansari Road, Daryaganj New Delhi 110 002, 2018) Kotian, R.; Rao, P.; Madhyastha, P.Aim: The study aimed to understand the interfacial bonding and diffusion of elements between substrate metal and HA-coated titanium implants in different plasma gas atmosphere. Materials and methods: Commercially pure titanium and Ti-6Al-4V substrate metals were coated with hydroxyapatite by plasma spray in plasma gas atmospheres of argon, argon/ hydrogen, nitrogen, and nitrogen/hydrogen. The microstructure and interfacial bonding between the metal substrate and HA coating were studied by scanning electron microscopy, energy dispensive X-ray analysis (EDAX), and X-ray diffraction. Results: The analyses of the coatings obtained showed a different microstructural pattern of HA and diffusion of elements across the interface of metal and HA coating and chemical bonding for all plasma gas atmospheres. Conclusion: The plasma-coating atmosphere influences the microstructure and crystallization of HA. Diffusion of elements from metal substrate to HA coating and coating to metal surface indicate chemical bonding between the metal and coating in addition to usual mechanical bonding. Clinical significance: Bonding between the metal substrate and HA coating play a significant role in the stability of the dental implant. In addition to mechanical bonding, the plasma coated implants show some amount of chemical bonding at the interface. © 2018, Jaypee Brothers Medical Publishers (P) Ltd. All rights reserved.Item Effect of simulated heating of plasma coating and ceramic firing on Ti and Ti-6Al-4V(Elsevier Editora Ltda, 2019) Kotian, R.; Rao, P.P.; Bangera, M.K.; Madhyastha, P.; Srikant, S.The study was performed to understand the impact of heat in plasma coating and ceramic firing of titanium (Ti) and titanium alloy (Ti-6Al-4V) on their mechanical properties, and microstructure. Standard specimens were prepared to measure tensile strength before and after simulated heating cycles using Instron machine of model 4206 at a crosshead speed of 1â»mm/min. Yield strength, ultimate strength, and elongation were recorded. The microstructure was studied using an optical microscope. The mechanical properties, microstructure, and grain size remained the same as that of as-received samples at temperatures of 600 and 700â»°C for both Ti and Ti-6Al-4V. At temperature 800 and 900â»°C decrease in yield strength, and ultimate tensile strength with a change in microstructure was observed. The temperature of plasma coating and ceramic firing that Ti and Ti-6Al-4V metal substrates encounter during the fabrication of coated implants and metal-ceramic restorations do not affect the mechanical properties and microstructure. Above 800â»°C, a significant change in mechanical properties and microstructure is observed. © 2019 The Authors.