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Centre for Robotics and Intelligent Systems

Centre for Robotics and Intelligent Systems

At The Centre for Robotics & Intelligent Systems (CRIS), we develop prototypes of robots that provide greater intelligence and higher versatility for robotic tasks under ever-changing constraints of the environment. We have acquired in-depth technical skills in design and fabrication of robot manipulators, AGVs, devising intelligent control strategies for both manipulator and navigation and their real time implementations. Our long term objective is to make Indian industry competitive in this field by developing indigenous technical skills, manpower and innovative spirit.

Overview

The Centre for Robotics & Intelligent Systems (CRIS) came into existence in the year 1992. Earlier it was known as Centre for Robotics (CFR). Prior to that there was an informal research group working in this then emerging area. This research group at CRIS has acquired in-depth technical skills in design and fabrication of robot manipulators, AGVs, devising intelligent control strategies for both manipulator and navigation and their real time implementations.

Research

BITS Pilani has done some Award winning research in the Dept. of Robotics and Intelligent Systems.
Acyut-4- Fully vision based Humanoid
Shaurya- Vision based AGV subject to uneven terrain and dynamic obstacles & unstructured environment.

ONGOING PROJECTS: 
  • “Acyut-4”- Fully vision based Humanoid
  • “Shaurya”- Vision based AGV subject to uneven terrain and dynamic obstacles & unstructured environment.
  • Development of universal foot system for humanoid.
  • Development of Quad-Rotor.
  • Mechatronic Ball - A spherical rolling robot.
COMPLETED PROJECTS: 
  • Acyut-I
  • Acyout-II
  • Acyout-III
  • Shaurya-AGV
  • Sketching Robot
    COMPLETED UNDERGRADUATE THESIS:
  • Application of optimization techniques to improve performance of robotic manipulator
  • Implementation of optimization techniques in design of manipulator
    ONGOING MASTER'S DISSERTATION:
  • Investigation on mechanical properties deterioration and their Influence on reliability.  
   COMPLETED MASTER'S DISSERTATION:
  • Application of metamodeling techniques to reduce the performance variation of two degrees of freedom RR planar manipulator
  • Stochastic analysis of free particle in nano size regimes
  • Modeling and optimizing the performance of 2 degrees of freedom RR planar robot manipulator, in terms of its positional accuracy using artificial neural networks
  • Design of compliant mechanisms: Life and reliability aspect
 COMPLETED MASTER'S PROJECTS :
  • Investigation on mechanical properties deterioration and their Influence on reliability.  
  • Tape Tracking AGV Using IR Sensor  
  • Servo Control With Feed Back Card  
  • 2-DOF Close Kinematic Chain using Stepper Motor  
  • Simulation of Manipulator Motion using Pro-E  
  • Simulation of Control Strategy using Fuzzy Logic  
  • Simulation of Control Strategy using Neural Network  
  • Implementation of Servo Control  
  • Path Planning of AGV using Vision Sensor  
  • Step Climbing Robot: Hydra  
  • Obstacle Avoidance by AGV using Ultrasonic Sensor  
  • Temperature Sensing Gripper  
  • Alphabet Recognition Control Using Neuro-Fuzzy Scheme  
  • Implimentation of Nural-nework based robotic control  
  • Fabrication and control of planner manipulator  
  • Modeling and simulation of arm configuration in PROe  
  • Control and simulation of SCARA  
  • Design and analysis of flapping mechanism  
  • Design and analysis of fuzzy-controlled AGV  
  • Design and Simulation of biomimic Hexapode  
  • Design and simulation of dynamic vision guided AGV  
  • Repair & Control of SCARA Robot  
  • Robot Position Analysis using Danavit Hartenberg Parameters Implemented In MATLAB Modeling & Simulation of RCC Device  
  • Modeling &Simulation of Pick-n-Place Robot for All Four Configurations  
  • Simulation & Analysis of Robotic Arm Having 3 DOF  
  • Light Weight Direct Derive Robot Arm  
  • Design & Manufacturing of Mechanical Robotic Gripper  
  • Grass Cutter Robot  
  • Build A Light Chasing Robot  
  • Fabrication of Forced Oscillation Slip Sensor  
  • Design of Spray Painting Robot  
  • Design And Construction of Rotary Positioning Table And Control Through USB Port  
  • Modeling And Simulation of Four Type of Arm Configuration In Pro/E  
  • Controlling of Stepper Motor through USB Port  
  • To Build A Manipulator Equipped With Optical Interface to Detect Object Moving Along Conveyor and Imprinting of Manufacturing Date On Goods  
  • Automatic Blackboard Eraser Apparatus  
  • Control of Spherical Drive Wheeled AGV For Free Motion on A Plane  
  • Design And Fabrication of Five Fingered Robotic End-Effector  
  • A Review on Humanoid Research  
  • Position Control of Light Weight 2 DOF Parallel Mechanism Based Direct Drive Robotic Arm  
  • Design And Fabrication of Step Climbing AGV  
  • Design And Fabrication Sweeping Robot Design of Flexible Beam For Manipulator And Its Vibration Analysis  
  • Synchronization of Rotating Table With Stamping Mechanism  
  • Repairing of Cylindrical Manipulator  
  • Design And Development of Seed Sowing Machine  
  • Development of a balancing robot using IR range sensors to replace MEMS sensors  
  • Design and development of vision based pick n place robotic arm  
  • Design and development of vision based pick n place Gantry robot  
  • Design of ball n socket based RCC device  
  • Design and fabrication of rope climbing robot  
  • Robot navigation using 2 D image processing  
  • Design and simulation of Hexapod  
  • Design and development of brachiation robot  
  • Control of DC geared motor  
  • Design of book retrieving robot for library  
  • Repair and control of cylindrical manipulator  
  • Renovation of step climbing robot: Hydra  
  • Design of pick n place robot for gravity die casting process  
  • Tire Pressure Monitoring System  
  • Mechatronic Lock  
  • Automatic Window Blind  
  • Automatic Light Controller With Smart Logic  
  • Mechatronic Door  
  • Automatic Drip Irrigation  
  • The Pumping System On Wells  
  • Design and Developmentof Sweeping Robot  
  • Design and fabrication wireless Manipulator  
  • Floor Wiping Robot  
  • Development of Stepper and DC motor setup  
  • Development of LDR, Strain gage steup  
  • Development of IR, US & Photo Transistor steup  
  • Development of OpAmp setup  

Courses

BITS Pilani has done some Award winning research in the Dept. of Robotics and Intelligent Systems.
Acyut-4- Fully vision based Humanoid
Shaurya- Vision based AGV subject to uneven terrain and dynamic obstacles & unstructured environment.

Related Courses Offered

 

Computer Code
Course Number
Course Name
530
BITS F415

INTRODUCTION TO MEMS

456
BITS F441
ROBOTICS
741
ME G511
MECHANISMS & ROBOTICS
369
MSE G512
MECHATRONICS
369
MF F319
MECHATRONICS & AUTOMATION
907
BITS F313
LAB ORIENTED PROJECT
550
BITS F314
LAB ORIENTED PROJECT
908
BITS F323
STUDY ORIENTED PROJECT
911
BITS F324
STUDY ORIENTED PROJECT
763
BITS F421T
THESIS
638
BITS F422T
THESIS
756
BITS G629T
DISSERTATION
553
BITS G799T
PHD THESIS

CRIS

Overview

The Centre for Robotics & Intelligent Systems is well equipped with the state-of-the-art facilities both indigenously designed and constructed and also bought from various robot manufacturers.

Facilities

The Centre for Robotics & Intelligent Systems Lab is well equipped with the state-of-the-art facilities both indigenously designed and constructed and also bought from various robot manufacturers.

  • Manipulator Arms
  • AGVs/Mobile Robots
  • Vision Based Systems
  • Pick n Place Robot
  • l Micro Electro-Mechanical Systems (MEMS)
  • Intelligent System Design
  • Advanced Dynamic-control of Arms
Resources

HARDWARE AND SOFTWARE RESOURCES:

Pentium computers available - 14 numbers
MATLAB with Simulink , Control System, Robust Control, DSP, Neural Network toolboxes etc.
Cadstar (Schematic, PCB , Circuit simulation )
ORCAD (Schematic, PCB, Circuit simulation)
Liux based KHOROS image processing package
Linux RTOS
Other Bench equipments, Actuators(DC servo,geared,digital motors etc.), Sensors (IR, US, Gyroscop, encoder etc.)

LIBRARY RESOURCES:

A. Journals related to robotics subscribed by Central Library, BITS, Pilani.

1. International Journal of Robotics Research.
2. Journal of Robotic Systems.
3. Robotica.
4. Robotics & Automation Magazine.
5. Robotics & Computer Integrated Manufacturing.
6. Sensors Journal..
7. Journal of Microelectromechanical Systems.
8. Nanotechnology.
9. Radar, Sonar and Navigation.

B. Journals related to robotics subscribed by CEERI, Pilani.

  • IEEE Robotics Automation Magazine.
  • IEEE Trans on Robotics Automation.
  • IEEE Journal of Sensors.
  • IEEE Trans on Nanotechnology.
  • IEEE Trans on Systems, Man Cybernetics Part A: Systems Humans.
  • IEEE Trans on Systems, Man Cybernetics Part B: Cybernetics.
  • IEEE Trans on Systems, Man Cybernetics Part C: Applications and Reviews.
  • Sensors and Actuators Part A: Physical
  • Sensors and Actuators Part B: Chemical

STUDENTS & FACULTY :

  • CRIS has its members from a number of Groups viz. Electrical & Electronics, Instrumentation, Mechanical and Computer Science.
  • Besides seven faculty members, around 30 students from above mentioned groups, work on projects every semester at CRIS.
Grants

The CRIS has received support from UGC, MHRD, DST and AICTE. So far a total grant of Rs. 30 lakhs is received for three different projects.

At present plans of obtaining financial support from DST, UGC and other funding agencies to carry out robotics related research work at CRIS is planned.

Achievements

ACHIEVEMENTS :

Won Gold medal in Robo-games 2010, San Francisco.

Won 1 Silver and 2 Bronze medals in Robo-games 2009, San Francisco.

World record holder for the fastest getup of humanoid.

“Shaurya”, selected in AGV challenge conducted by DRDO, in 2010.

Simulated Electrical Network Approach to Hard Optimization problems

Real-Time Path Planning in Unknown & Unstructured Environments


OTHER ACHIEVEMENTS:

lR&D work at CRIS has resulted in a number of publications such as:
Book on Robotics & Control by R K Mittal & I J Nagrath.
Conducted International conference on “Emerging Mechanical Technology – Macro to Nano”, in Feb. 2007.
In addition, it may be mentioned that some of the nucleus members are reviewers for journals as shown below,

Collaborations
  • CAIR, Banglore
  • BARC, Mumbai
  • University of Michigan, Ann Arbor, USA
  • Stint Foundation through University College of Boras, Sweden.
  • University of Salford , Greater Manchester, UK.
  • Rehabilitation Institute of Chicago affiliated to Northwestern University 

Team

Our faculty have extensive experience in industry, research as well as teaching. Our strength is a reflection of their skills, innovation and drive.

List of Faculty Members

Faculty Name
Designation
Phone
(Prefix : +91-1596-51-) 
Email Address Personal Website 
Prof. B. K. Rout

Coordinator

5430
rout@pilani.bits-pilani.ac.in
 Website
Prof. Sudeep Mohan

Nucleus Member

5321
sudeeptm@pilani.bits-pilani.ac.in
 Website
Dr. Arshad Javed

Nucleus Member

-
arshad@hyderabad.bits-pilani.ac.in
 Website
Mr. Tulsi Ram Sharma
Demonstrator
 
tulsi@pilani.bits-pilani.ac.in