MOHD SUHAIB

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Sebastián Ventura

Universidad de Córdoba

PROF. OM PRAKASH SINHA

Amity University

N P Singh

Indian Institute of Science

Rafael Abargues

Universitat de València

Alexandru Nicolae

"Iorgu Iordan - Al. Rosetti" Institute of Linguistics, Bucharest

Probal Dasgupta

Indian Statistical Institute, Calcutta

Prof.Dr. İbrahim USLU

Gazi University

Kenneth Vecchio

University of California, San Diego

Sylvester Olubolu Orimaye

Monash University

Mykhailo Moskalets

IFISC (UIB-CSIC)

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Papers by MOHD SUHAIB

Development of an industry 4.0 transformability index for manufacturing systems

Industrial Robot: the international journal of robotics research and application, 2022

Purpose Evaluation of the extent of transformability of an existing system into an industry 4.0 (... more Purpose Evaluation of the extent of transformability of an existing system into an industry 4.0 (I4.0) compatible system is indispensable for both the technical and economic planning for implementing I4.0. This paper aims to propose a procedure to evaluate the transformability of an existing manufacturing system into an I4.0 system. Design/methodology/approach Six significant components of a manufacturing system and their five levels of modifications essential for the decision of transformation are identified. Based on expert opinion on facilitation and the impact of the transformation of one component on the transformation of others, a graph theory-based procedure for estimation of transformability index (TI) along with its relative and threshold values is proposed. Findings The paper introduced the concept of transformability into manufacturing systems. It proposed a simple procedure for calculating the ideal, relative and threshold value for TI to assess the suitability of the up...

Mobility and connectivity analysis of a multi finger tendon driven robotic gripper

2017 International Conference on Innovative Mechanisms for Industry Applications (ICIMIA), 2017

Mobility is a fundamental parameter of mechanisms expressing their kinematic and dynamic properti... more Mobility is a fundamental parameter of mechanisms expressing their kinematic and dynamic properties in a qualitative manner. For a mechanical hand-object system the mobility number serves as a criterion for dexterous manipulation. Connectivity of a link in a mechanism determines its ability to perform task relative to frame. In present work a newly developed multi finger gripper is analyzed in terms of its mobility and connectivity by considering various shape objects for grasping and manipulation. Modified version of Grubler's formula is used for the purpose. The objects taken under consideration are a circular disc, a triangular polygon and a quadrilateral polygon. The contact point between gripper and object is assumed to be a point contact with or without friction. The gripper-object configuration is characterized and manipulation capability of the gripper is examined as redundant or defective.

A labelling system and automation comparison index for industry 4.0 system

Industrial Robot: the international journal of robotics research and application, 2021

Purpose This paper aims to put forward a labelling system capable of reflecting the level of diff... more Purpose This paper aims to put forward a labelling system capable of reflecting the level of different Industry 4.0 (I4.0)features present in a manufacturing system and further propose a comparative index to collectively estimate and compare the system automation level. Design/methodology/approach Data for the empirical study were collected from interactions with the practising managers and experts. A relationship among the six I4.0 features is developed with fuzzy cognitive maps. Findings The paper proposed a simple and easy-to-understand labelling system for I4.0 systems, which indicates the automation level in each of six dimensions of any manufacturing system. The system is further strengthened by a proposed automation comparative index (ACI), which collectively reflects the automation level on a scale of “0” to “1”. Thus, the labelling system and parameter could help in comparing the level of automation in the manufacturing system and further decision-making. Research limitatio...

Analysis and prediction of the tensile strength of aluminum alloy composite using statistical and artificial neural network technique

Engineering Research Express, 2021

In this research work, aluminum alloy (Al-20Fe-5Cr) matrix-based aluminum oxide (Al2O3) reinforce... more In this research work, aluminum alloy (Al-20Fe-5Cr) matrix-based aluminum oxide (Al2O3) reinforced composites were developed through the powder metallurgy (P/M) process. Effect of compaction pressure (200, 250 & 300 MPa) and wt.% of Al2O3 (0, 10, 20 & 30 wt.) on tensile strength and percentage elongation has been analyzed through statistical and artificial neural network techniques (ANN). The mixture of Al-alloy powder particles and Al2O3 particles were synthesized in a centrifugal ball mill for 20 min. Compaction of synthesized powder was carried in the standard tensile die using a uniaxial hydraulic pressing machine. Sintering was performed at temperature 580 ± 20 °C for one hour in an argon gas environment using an electric tubular furnace. It was found that tensile strength enhanced significantly with the addition of Al2O3up to 20 wt.% and then declined sharply for the 30 wt.% of Al2O3at all compaction pressures. The highest tensile strengths were found for each wt.% of Al2O3 at compaction pressure 300 MPa compare to other compaction pressures. Tensile strength increased from 105 to 158 MPa with the addition of 20 wt.% Al2O3 and decreased to 142 MPa for 30 wt.% at 300 MPa compaction pressure. The improvement resulted from better compaction, leading to more plastic deformation, better packing, and high effective contact area. However, the percentage of elongation decreased from 23.2% to 2.2% with an increment of wt.% of Al2O3 for compaction pressure 200 MPa, while for 300 MPa, its value drops from 25.8% to 6.5%. This depreciation can be reasoned for the reduction in ductile matrix content and dilute flowability of the Al matrix, which occurred due to brittle Al2O3. The statistical analysis using ANOVA revealed that the compaction pressure is the primary control factor influencing tensile strength by 90.3%. The feed-forward network with a back-propagating gradient-descent error minimization training approach and mean squared error (MSE) as performance function was employed to model and predict tensile strength. The developed 3-layered multilayer perceptron (MLP) with 2–10–2 network architecture established a correlation between the inputs and outputs with minimum error (MSE) below 1% and maximum correlation coefficient (R) close to 1.

Isomorphism identification and Structural Similarity & Dissimilarity Among The Kinematic Chains Based On [WSSP] Matrix

The generation of new well defined kinematic chains is impossible without checking isomorphism am... more The generation of new well defined kinematic chains is impossible without checking isomorphism among kinematic chains. A new approach based on the weighted squared path [WSSP] technique is introduced in this paper and also determine the structural similarity and dissimilarity in the kinematic chains using the same approach. Two kinematic chains of a family with given number of links and degree of freedom are not completely similar from the structural connectivity point of view. However, some amount of structural similarity may still exist. First kinematic chains are represented by the squared shortest path [SSP] matrix and drive weighted Squared shortest path [WSSP] matrix. By comparing the sum of all the elements of [WSSP] matrix, the isomorphism among the kinematic chains can be recognized easily. Moreover, Weighted Squared shortest path [WSSP] matrix has the more information about the connectivity of the links as well as the type links in the form of mutual interactive effect of the relative weight of the connecting links. The row sum of [WSSP] is determined from [WSSP] matrix hence may be considered more comprehensive to measure structural similarity and dissimilarity among the kinematic chains. In this paper an attempt is made to correlate row sum of [WSSP] matrix which is represented by Rs-i(WSSP) with structural similarity and dissimilarity among kinematic chain At last, Some examples are carried out to justified the reliability of the method

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Application of Renewable Solar Energy with Autonomous Vehicles: A Review

In the last two decades, automation and artificial intelligence improve accuracy as well as the q... more In the last two decades, automation and artificial intelligence improve accuracy as well as the quality of product and reduced processing time due to enormous advancement in the technology of robotics. At the present time, the most crucial factors in the modern world are scarcity of energy resources for global demand. Due to environmental issues and legislative straining, electrification is a glaring inclination to renovate performance and sustainability of the transportation system. Solar photovoltaic technology is an important research area to convert solar energy into useful electrical power. So far, robot extracts electrical energy stored in the batteries to run its mechanical, electrical and electronic devices to perform several tasks for industrial as well as commercial work. The robot can operate in a hazardous environment for a long duration of time without human assistant with high accuracy.

Highway Gradient Effects on Hybrid Electric Vehicle Performance

In the current era, the public is receiving much devotion to hybrid electric vehicles as the subs... more In the current era, the public is receiving much devotion to hybrid electric vehicles as the subsequent technology pattern in the road transport sector. Three-wheeler ‘battery’ vehicles are extensively used for intracity transport facility in Indian cities. These vehicles are known as smart e-vehicle and have the potential to mitigate the carbon emissions of conventional vehicles. The driving range of three-wheeler e-vehicle is greatly affected by the gradient of terrain/highway. The projected research emphasis the highway gradient effects on a three-wheeler e-vehicle performance. Next, to examine the effects of road gradient on the three-wheeler e-vehicle, the dynamics motion equations are modelled and derived. Appropriate three-wheeler e-vehicle design parameters and constants are taken from the literature survey. Finally, simulations of the dynamic vehicle model are performed in the MATLAB® simulation tool to compute road gradient effect of zero degrees, three degrees, six degree...

Inertial relief technique based analysis of the three-wheeler E-vehicle chassis

Materials Today: Proceedings, 2021

In the current era, peoples are looking alternative solution in place of the conventional fuel po... more In the current era, peoples are looking alternative solution in place of the conventional fuel powered vehicles. Electrical powered assisted vehicles are the appropriate solution to decarbonize the transportation sector. Three-wheeled “electric” vehicles that introduced in Indian cities for transport facility at the congested areas are getting exclusive attention. The frame of the three-wheeled “electric” vehicle is a primary element as it supports internal as well as external load. Static analysis of chassis can’t be performed directly since the stiffness matrix becomes singular due to inflexible body movement of the three-wheeled frame due to unconstrained characteristics. In the present work, Inertia relief methodology is adopted to analyse the unconstrained chassis of the three-wheeled “electric” vehicle using FEM in the ANSYS® 15.0 workbench tool. SolidWorks® modelling environment is used to construct 3D chassis of the three-wheeled “electric” vehicle. Inertia relief analysis i...

Grasp analysis of a four-fingered robotic hand based on Matlab simmechanics

The structure of the human hand is a complex design comprising of various bones, joints, tendons,... more The structure of the human hand is a complex design comprising of various bones, joints, tendons, and muscles functioning together in order to produce the desired motion. It becomes a challenging task to develop a robotic hand replicating the capabilities of the human hand. In this paper, the analysis of the four-fingered robotic hand is carried out where the tendon wires and a spring return mechanism is used for the flexion and extension motion of the fingers, respectively. Stable grasping and fine manipulation of different objects are desired from any multi-finger robotic hand. In this regard, it becomes necessary to check the performance of the four-fingered robotic hand. Simulations are performed for the hand to grasp objects of different size and shapes, and the hand model is controlled in a MATLAB environment using the SimMechanics toolbox. Here the Kinematics and Dynamics study of the hand system is carried out by importing the Solidworks model into the SimMechanics. Simulati...

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Fabrication and analysis of two-wheeler connecting rod for aluminium hybrid composites using finite element method

Engineering Research Express, 2021

In this study, the powder metallurgy process is applied for the development of composite material... more In this study, the powder metallurgy process is applied for the development of composite material Al/3 wt% Si3N4/4.5 wt% ZrO2 and a 3D model of the connecting rod, as per the engine specifications of TVS Apache 150 motor, is designed using Solidworks software. The model is then imported into ANSYS Workbench for the finite element method to analyse the von-mises stress, elastic strain and deformation on the connecting rod for the particular loading conditions. Moreover, a comparative study is done between the developed connecting rod and the existing Al7068/5 wt% Si3N4 composite results taken from the literature. From the results, it is revealed that the maximum von-mises stress for Al/3 wt% Si3N4/ 4.5 wt% ZrO2 composite reduced by 53.54% for big end loading conditions and 71.24% for small end loading conditions. The weight of the connecting rod was found to be 0.2412 kg.

Industry 4.0: complex, disruptive, but inevitable

Received: 25 January 2019 Abstract Accepted: 14 August 2019 Low cost manufacturing of quality pro... more Received: 25 January 2019 Abstract Accepted: 14 August 2019 Low cost manufacturing of quality products remains an essential part of present economy and technological advances made it possible. Advances and amalgamation of information technology bring the production systems at newer level. Industry 4.0, factory for future, smart factory, digital manufacturing, and industrial automation are the new buzz words of industry stalwarts and academicians. These new technological revolutions bound to change not only the complete manufacturing scenarios but many other sectors of the society. In this paper an attempt has been made to capture the essence of Industry 4.0 by redefining it in simple words, further its complex, disruptive nature and inevitability along with technologies backing it has been discussed. Its enabling role in manufacturing philosophies like Lean Manufacturing, and Flexible Manufacturing are also reported. At last the challenges its adoption and future research areas are ...

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Object Size Determination Grasped by a Four-Finger Gripper Using Workspace Analysis

The performance of a multi-finger robotic gripper is measured in terms of its capability to grasp... more The performance of a multi-finger robotic gripper is measured in terms of its capability to grasp and manipulate objects successfully. Manipulation of an object is possible only if it is stable within its grasp. Moreover, most of the manipulation task is done only when the object is grasped by precision grasping rather than power grasping. Also, the manipulability of the object by a gripper depends upon size and shape of the object. It is, therefore, important to evaluate the shape and size range that a robotic gripper can grasp to understand its area of application. The work presented here proposes a method to identify the maximum size of an object which a gripper can grasp by precision grasping. The workspace of the hand is utilized for this purpose. The methodology is demonstrated on a new four-finger tendon-driven robotic gripper developed in the laboratory.

A New 3D Benchmarking Artifact to Evaluate Dimensional Accuracy and Geometric Tolerancing of Additive Manufacturing Technique

A variety of additive manufacturing (AM) techniques is available commercially based on a differen... more A variety of additive manufacturing (AM) techniques is available commercially based on a different principle. Benchmarking is a technique to investigate the overall performance of manufacturing technique with the aid of benchmark artifact. This paper aims to propose a new 3D artifact to check dimensional accuracy and geometric tolerancing in all three dimensions. The artifact can predict the effect of machine movement on variation in dimensional accuracy of artifact in a respective direction. Thus, the design of artifact covers maximum geometrical allowance. The artifact can be used to examine the dimensional accuracy and geometric tolerancing of single AM technique or for comparing two different AM techniques along the three dimensions.

A Retrospective Investigation of Mechanical and Physical Properties of ABS Specimen Developed by Manual Injection Moulding and Fused Deposition Modelling

Kinematic analysis of four-fingered tendon actuated robotic hand

This paper presents a four-fingered robotic hand, designed to carry out grasping operations along... more

Influence of compaction pressure and Si3N4/ZrO2 reinforcement on the properties of aluminium hybrid composites

An effort for determining the actuating forces in a multi-finger tendon-driven robotic hand for grasping different objects

Multi-finger robotic hands are designed to perform secure and stable grasping of different object... more Multi-finger robotic hands are designed to perform secure and stable grasping of different objects similar to human hands. It is always desirable to evaluate the grasp capabilities of any robotic hand to check its performance. This paper discusses the grasp capability analysis of the four-finger tendon-actuated robotic hand. For this purpose, the mathematical model for cylindrical shaped objects is developed. These mathematical equations help in calculating the contact forces of every phalange of the finger on the surface of the grasped object. In this process tendon tensions and contact forces are determined theoretically for the finger and thumb separately while grasping objects of different sizes, weights, and materials from the derived equations. Lastly, the obtained results are experimentally validated by carrying out the grasp analysis of cylindrical objects of varying diameters and materials by the four-finger tendon-actuated robotic hand. Tendon tensions obtained experimenta...

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Simulation and kinematic analysis of KUKA KR5 Arc robot

IOP Conference Series: Materials Science and Engineering

Nowadays robots have become an indispensable part of manufacturing systems, for gripping needs ma... more Nowadays robots have become an indispensable part of manufacturing systems, for gripping needs manipulators are needed. Trade sector is touching industry 4.0 and asks for a much-advanced automation process. In which commercial robots play an essential role in automating the methods such as material handling, palletizing, painting, assembly lines, and numerous applications. With the increase in demand and need to have more research on engineering robots, artificial intelligence, and machine learning. A systematic design and analysis study is needed to get the best output for a specific robot. In India, there is scarcity of Indian based robot manufacturers to satisfy the rising need. Hence, there is more influence of foreign robot manufacturer in Indian markets. Due to the deficient information in robotics, robot part and resources are unavailable. More and more open source and easily access information regarding industrial robot is needed. So, this work emphasis on the developing and designing six degrees of freedom robotic arm and its kinematic analysis particularly forward and inverse kinematics. This paper gives an idea of the Denavit Hartenberg method for forward and inverse kinematics of a 6 axis KUKA KR5 Arc robot and uses RoboAnalyzer simulation software. The Robo Analyzer is simulation software that is used for design, kinematics, and dynamic analysis.

Designing and Modelling of Power Converter for Renewable Powered Hybrid Vehicle

2019 International Conference on Power Electronics, Control and Automation (ICPECA)

In India, the scope of renewable solar energy is admirable due to geographical nature as most of ... more In India, the scope of renewable solar energy is admirable due to geographical nature as most of the parts received an average of 4-7 kWh solar energy per square meter. Due to the continuous rotational motion of the earth, the intensity of solar Irradiation is irregular and varies from time to time. Controlling the output voltage of Photovoltaic modules is the key task to increase the efficiency and maximise output electrical energy. In the present work, modelling of Photovoltaic module and power obtained from the module is discussed. Next, designing of DC-boost converter using pulse width modulation control technic for the solar electric vehicle is presented. After that, modelling of DC-DC power/boost converter for a hybrid electric vehicle using MATLAB® Simscape library tool is presented. Thereafter, simulations to boost up or enhance the photovoltaic output voltage have been carried out in MATLAB Simscape library tool.

Motion Planning For A Four-Fingered Robotic Hand

Proceedings of the Advances in Robotics on - AIR '17

In this paper, the concept of trajectory planning is discussed for a four-fingered tendon actuate... more In this paper, the concept of trajectory planning is discussed for a four-fingered tendon actuated robotic hand. The finger of the robotic hand is desired to follow a given trajectory using the best solutions out of the number of inverse kinematics solutions. The priority of the finger is to track the given trajectory. The pseudo-inverse of the jacobian matrix is utilized for the accomplishment of this task where the general solution of joint velocity was interpreted by means of the generalized inverse of the jacobian matrix. Numerical simulation is performed for straight line, circular and elliptical trajectory to show the efficacy of the control scheme.

Development of an industry 4.0 transformability index for manufacturing systems

Industrial Robot: the international journal of robotics research and application, 2022

Mobility and connectivity analysis of a multi finger tendon driven robotic gripper

2017 International Conference on Innovative Mechanisms for Industry Applications (ICIMIA), 2017

A labelling system and automation comparison index for industry 4.0 system

Industrial Robot: the international journal of robotics research and application, 2021

Analysis and prediction of the tensile strength of aluminum alloy composite using statistical and artificial neural network technique

Engineering Research Express, 2021

Isomorphism identification and Structural Similarity & Dissimilarity Among The Kinematic Chains Based On [WSSP] Matrix

Download

Application of Renewable Solar Energy with Autonomous Vehicles: A Review

Highway Gradient Effects on Hybrid Electric Vehicle Performance

Inertial relief technique based analysis of the three-wheeler E-vehicle chassis

Materials Today: Proceedings, 2021

Grasp analysis of a four-fingered robotic hand based on Matlab simmechanics

Download

Fabrication and analysis of two-wheeler connecting rod for aluminium hybrid composites using finite element method

Engineering Research Express, 2021

Industry 4.0: complex, disruptive, but inevitable

Download

Object Size Determination Grasped by a Four-Finger Gripper Using Workspace Analysis

A New 3D Benchmarking Artifact to Evaluate Dimensional Accuracy and Geometric Tolerancing of Additive Manufacturing Technique

A Retrospective Investigation of Mechanical and Physical Properties of ABS Specimen Developed by Manual Injection Moulding and Fused Deposition Modelling

Kinematic analysis of four-fingered tendon actuated robotic hand

This paper presents a four-fingered robotic hand, designed to carry out grasping operations along... more

Influence of compaction pressure and Si3N4/ZrO2 reinforcement on the properties of aluminium hybrid composites

An effort for determining the actuating forces in a multi-finger tendon-driven robotic hand for grasping different objects

Download

Simulation and kinematic analysis of KUKA KR5 Arc robot

IOP Conference Series: Materials Science and Engineering

Designing and Modelling of Power Converter for Renewable Powered Hybrid Vehicle

2019 International Conference on Power Electronics, Control and Automation (ICPECA)

Motion Planning For A Four-Fingered Robotic Hand

Proceedings of the Advances in Robotics on - AIR '17

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