Faculty Publications
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Item Academic Insights and Future Prospects of Soft Robotics: Architecture, Material, Control and Application(Springer, 2024) Thomas, M.J.; Santhakumar, S.Soft Robotics is an emerging field with the potential to address real-world problems with newer possibilities and safer human–robot interactions. Generally, soft robots comprise materials with moduli ranging from 104 to 109 Pa. The significant characteristics of soft robots include their high flexibility, compatibility, and superior environmental adaptability. Despite the several advantages of soft robots, many physical limitations exist due to their structural compliance and the viscoelastic behaviour of the material which leads to non-linear deformations in the material. This very reason necessitates sophisticated and novel sensing, actuation and non-linear control methods for soft robots. This review paper provides a comprehensive understanding of the advancements in soft robots and finally outlines the gaps in this field, currently limiting their usage in several applications. The pros and cons of the various technologies are discussed, and possible strategies for the superior performance of soft robots and their prospects are outlined in this paper. © Indian Institute of Science 2025.Item Comparative Study on the Effect of Leading Edge Protuberance of Different Shapes on the Aerodynamic Performance of Two Distinct Airfoils(Isfahan University of Technology, 2023) Reddy, C.J.; Sathyabhama, A.This study investigated the effect of leading-edge protuberances on the aerodynamic performance of two distinct airfoils with low Reynold’s number (Re): E216 and SG6043. Three protuberance shapes, namely sinusoidal, slot, and triangular, were considered. The amplitudes (A) of protuberances considered were 0.03c, 0.06c, and 0.11c, and the wavelengths (W) were 0.11c, 0.21c, and 0.43c, where c is the chord of the airfoil. The numerical and experimental analyses were performed in the angle of attack (AoA) range of 0° to +20° at and Re of 105. The numerical investigation was performed using the commercial computational fluid dynamics package ANSYS FLUENT. The SST k-ɷ model was used to simulate turbulent flow. The experimental force measurements were conducted using a highly sensitive three-component force balance in a subsonic wind tunnel facility. The flow physics was analyzed using vorticity contours in streamwise and spanwise slices and static pressure distribution contours. The smoke flow visualization technique was used to observe flow streamlines, boundary layer separation, and reattachment over the airfoil surface. The result indicated that the triangular and slot protuberances were the most beneficial for improving poststall lift and reducing skin friction drag. The operating mechanism involved a shift in pressure distribution due to leading-edge alterations and flow energization by secondary flow emanating from the protuberances. © 2023, Journal of Applied Fluid Mechanics. All Rights Reserved.