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Pre-Conference Workshops and Tutorials ( December 17)

The workshop and 5 tutorials will be held on Saturday, December 17, 2016. Registration is required for the regular workshops and tutorials; this is done via the RAHA-2016 registration page. The RAHA conference registration gives you access to all workshops and tutorials on the pre-conference workshop and tutorial day, so you need not worry if you haven’t made a workshop or tutorial selection during registration.

 

TUTORIAL OFFERING

Tutorial/Workshop Speakers Time
Workshop 1: Robotics Entrepreneurship – Concept to Commercialization Mr. Rejin Narayan, Roboticist, Entrepreneur – ‎Ingen Robotics and Mr. Abheek Bose, ‎Technology Entrepreneur, Development & Management at ‎Systemantics India Pvt. Ltd. 14:00 – 18:30
Tutorial 1: Design & Deploy Control Algorithms for Robotics Application using Matlab Dhirendra Singh, Application Engineer, MathWorks India 11:00 – 13:00
Tutorial 2: Learning Robot Kinematics using RoboAnalyzer and ABB Robot Rajeevlochana Chittawadigi, Amrita University, Bengaluru,

Vishnu Rajendran, Amrita University, Amritapuri,

Prof. Subir Kumar Saha, IIT Delhi, New Delhi

16:30 – 18:30
Tutorial 3: Cable-Driven Parallel Robots Dr. Vineet Vashista, IIT Gandhinagar 14:00 – 16:00
Tutorial 4: Introduction to Robot Navigation using Robot Operating System (ROS) M. Vasanthakumar, PSG Tech, Coimbatore,

Gayathri Manikutty, Ammachi Labs, Amrita University

08:30 – 10:30
Tutorial 5: Introduction to Digital manufacturing Viswesh Srinivasan, SVP Laser 08:30 – 10:30
Tutorial 6: Robotics for Children M.Tech. Robotics and Automation Grad Students and FOSS Club, Amrita University, Amritapuri 11:00 – 18:30

 

Workshop 1: Robotics Entrepreneurship – Concept to Commercialization

By Rejin Narayanan, Ingen Robotics, Abheek Bose, Systemantics Ltd. and Snehal Shetty, Amrita TBI

Get ready for your own Robotics Startup! Take a walk through the challenges of building a robotics startup, and taking your product from concept to production.

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Tutorial 1: Design & Deploy Control Algorithms for Robotics Application

By Dhirendra Singh, Application Engineer, MathWorks India

Abstract: Three of the most critical questions that robotics engineers and scientists need to answer are:

  • How do I design and simulate a robot?
  • How do I prototype and test algorithms for my robot?
  • How do I connect to my robot platforms and peripherals?

Your current robotics design project may require you to prototype a robot that has wheels, arms, and sensors. It may need to navigate in a building, pick and place objects, or perform other maneuvers. You may know the basics of kinematics, dynamics, servo, stepper motors, or CAD tools. Simulink can help convert your ideas and concepts into a functional robot design.

Algorithms enable robots to perform a wide variety of operations and serve in a variety of applications and environments. Designing and prototyping a complex robotics algorithm can be a challenging and time-consuming task. MATLAB and Simulink enable you to quickly prototype robotics algorithms using behavioral simulations or low-cost hardware accessories. For example, you can design collision avoidance algorithms with supervisory control in a 3D environment, test vision-based object detection and tracking algorithms with low-cost USB cameras, or prototype motor control algorithms with Arduino.

Connection, communication, and control are three critical aspects of robotics. Direct connection with your robot platform and the ability to communicate with its peripherals enable engineers to quickly test and validate algorithms or make design changes. MATLAB provides several different options for you to connect to, communicate with, and control your robot and peripherals. You can directly communicate from MATLAB with robots running ROS, robots equipped with low-cost hardware such as Raspberry Pi and Arduino, or other popular research robot platforms.

Agenda

  • Physical modeling of Mechanical and Electrical systems
    • Simscape to model multi-domain systems
    • SimPowersystems to model power electronics
    • Importing CAD Models
    • Multi-body dynamics simulation
  • Build Robotic system using Arduino, Lego and Turtlebot (ROS)
    • Kinematics / Inverse kinematics and dynamics analysis
    • Controller design & PID tuning
    • Working with embedded systems for auto code generation (Arduino, Lego and Turtlebot)
  • Neural network for Image processing application
    • Acquire live webcam image using image acquisition toolbox
    • Train a neural network

About the Speaker:

Dhirendra Singh, Application Engineer, MathWorks India

Dhirendra Singh is an application engineer at MathWorks India specializing in physical modeling, robotics and control systems. He has over 10 years of experience in Product Development, mathematical modeling and software development. He has worked in the field of thermodynamics, aerospace, power systems, home appliance and robotics.

Prior to joining MathWorks, Dhirendra worked for the advanced development group at the Whirlpool Global Technical Center developing models of compressors, heat exchangers, and various refrigerants using MATLAB and Simulink. He previously worked with Crompton Greaves on power transformers and SIPAL Italy on aerospace projects from Boeing 787 Dreamliner.

He has a Bachelor’s Degree and a Master’s Degree in mechanical engineering with specialization in CAD and automation from IIT Bombay.

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Tutorial 2: Learning Robot Kinematics using RoboAnalyzer and ABB Robot

By Rajeevlochana Chittawadigi, Amrita University, Bengaluru

Vishnu Rajendran, Amrita University, Amritapuri

Prof. Subir Kumar Saha, IIT Delhi, New Delhi

Abstract: Robotics is a subject that deals with design, analysis, fabrication and usage of robots for various automated and semi-automated tasks. The concepts taught in a typical robotics course are generally difficult to perceive just by looking at text book figures. Hence, a need for a simulation software for teaching and learning robotics is of prime importance.

RoboAnalyzer is a 3D model based robotics simulation software that can be used for effective and efficient teaching and learning of robotics related concepts such as:

  1. Visualization of Denavit-Hartenberg (DH) parameters, which are generally used to represent the architecture of a robot.
  2. Understanding of Homogeneous Transformation Matrices (HTMs), which are used to represent the position and orientation of robot links.
  3. Forward kinematic analysis which determines the position and orientation of the end-effector (EE) for given joint values.
  4. Inverse kinematic analysis which determines the joint values for given end-effector configuration.
  5. Forward and inverse dynamic analysis which deal with the forces/torques that cause robot motion and the forces/torques required to perform prescribed motion, respectively.
  6. Jogging of robot in joint and Cartesian spaces.
  7. Motion of robot in Cartesian space.

In the tutorial during RAHA2016, the above topics will be taught and demonstrated using RoboAnalyzer software. Hands-on session on usage of RoboAnalyzer will also be given so that the attendees get benefited from it.

As a follow up of the tutorial, demonstration of ABB industrial robot in AMMACHI labs at Amrita School of Engineering, Amritapuri campus will also be given and the attendees can get to see a real robot in action.

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Tutorial 3: Cable-Driven Parallel Robots

By Dr. Vineet Vashista, IIT Gandhinagar

Abstract: The tutorial aims at providing an overview of cable-driven parallel robots (CDPRs). CDPRs are a special class of parallel robots that use cables instead of rigid-links to actuate and control the end-effector. Rigid-link parallel robots, due to the closed-loop design, are well suited for applications involving large payloads. A CDPR combines the benefits of a parallel robot with the advantages of a cable, such as lightweight, low moving inertia, flexibility, and the ability to be wound on spools. These properties make CDPRs most appropriate for high speed, high acceleration, and large workspace applications. However, a cable unlike a rigid-link can only apply a pulling force on the end-effector. Thus, special modeling and analysis approaches are needed to control such systems. In this tutorial, we will review the kinematic, static and dynamic analysis approaches for CDPRs. Condition on number of cables and wrench feasible workspace will be studied for some popular CDPRs taken from the literature. The tutorial will also focus on the control techniques used for CDPRs from the industrial and rehabilitation robotics domain.

About the Speaker:

Vineet Vashista is an Assistant Professor at Indian Institute of Technology (IIT) Gandhinagar. He received a Ph.D. degree in Mechanical Engineering from Columbia University, New York in 2015 and Master of Technology in Mechanical Design from IIT Delhi, New Delhi in 2008. He has also worked as a Project Scientist at IIT Delhi from 2008 to 2009. Dr. Vashista currently heads the Robotics Laboratory at IIT Gandhinagar. He was awarded DST INSPIRE faculty award in 2016. Dr. Vashista research interests are in the areas of cable-driven robots, rehabilitation robotics, and human motor adaptation. The main focus of his research has been on the mechanical system design and control of robotic technologies that can be used for human performance augmentation and restoration.

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Tutorial 4: Introduction to Robot Navigation using Robot Operating System (ROS)

By M. Vasanthakumar, PSG Tech, Coimbatore

Gayathri Manikutty, Ammachi Labs, Amrita University, Amritapuri

Abstract: Robot Operating System (ROS) is a middleware that has found its way into mainstream robotic applications because of the flexibility and scalability it lends to the wide spectrum of robotic systems used in industry and for research. This tutorial will offer a hands-on introduction to ROS applied to embedded platforms where you can use ROS to control your custom made mobile robots and extend its application to localization, navigation and control.

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Tutorial 5: Introduction to Digital manufacturing

By Vishwesh Srinivasan, SVP Laser Pvt. Ltd, Akshay Nagarajan, Ammachi labs, Amrita University

This tutorial provides a hands-on training in the use of subtractive prototyping tools that form the foundation for robot design for any engineering student or researcher.

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Tutorial 6: Robotics for Children

By M.Tech. Robotics and Automation Grad Students and FOSS Club, Amrita University, Amritapuri

This tutorial offers a primer to robotics touching upon its various components such as sensors, actuators and controllers. We further will teach you to control a cartesian robot to draw shapes, following a path using a laser light source, pick and place objects, and create your own designs on thermocol and vinyl stickers.

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