ResumePortfolio 2015 Final
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Transcript of ResumePortfolio 2015 Final
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Madusudanan Sathia Narayanan PhD
Research Engineer The CORE Institute
Engineering Portfolio
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Masters Thesis
Design of Masticatory Simulator using Parallel
Manipulator Architectures
Goal: Design and build a jaw
simulator to mimic the jaw
trajectories based on parallel
robotic architectures.
The thesis discusses the design of the simulator
based on engineering paradigm of Test-Evaluate-
Build. Hence, it first discusses about the
biomechanical analysis of the jaw using the model
of the joint kinematics and the motion capture
data. This is used to compute the jaw motion
envelope which the simulator should be capable of
tracking. The design of the masticatory simulator is
then decided based on the parallel robotic
architectures to give 6-DOF motion. A detailed
workspace singularity analysis of the simulator was
performed within the envelope of jaw motion and
then system was modeled kinematically and
dynamically using MATLAB/ SimMechanics and
DynaFlexPro.
CT and 3D Scanning- Dentition
Human and Canine Masticatory
Model
6-DOF Spatial Manipulators analysis
and dynamic modeling
Engineering Paradigm-
Build > Test > Evaluate
Prototyping and Testing
Parallel Mechanisms Kinematic
Simulation
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Product Life Cycle Treatment by CAE Tools
Computer Aided Engineering
Computer-aided engineering (often referred to as CAE) is the use of information technology for supporting engineers in
tasks such as analysis, simulation, design, manufacture and planning CAE tools are being used. For instance, robustness
and performance analysis of components and assemblies. Among several of my projects, design and fabrication of a
tricycle for upper limb amputees is a notable one that fetched me a gold medal for the best design project. In this work
we look at application of CAE tools in each stages of product life cycle engineering in the context of fabricating a tricycle
for upper limb amputees
Concept Design/ Mechanism Synthesis Simulation
Material Optimization and
Stress Distribution (FEA) 3D CAD Model Fabricated Model
Analytical Models
Prototyping
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Robotics and Mechatronics
Robotic and mechatronics systems are complicated control systems that combine
mechanical, electronic, and computer components such as motors, cameras, sensors,
actuators, software, and data acquisition hardware. Some of the projects I involved in the
Automation, Robotics and Mechatronics Laboratory (ARMLAB), are kinematic modeling
and control of wheeled mobile manipulator, creating seamless serial interface
communication with iRobot using remote control, developing a prototype and kinematic
level control of 6 DOF Stewart platform and simulation and building of masticatory
simulator.
To obtain the dynamic equations of a robotic system, automated symbolic computational
softwares are used like DynaFlexPro and SimMechanics. The results can then be compared
for the benchmark problems by manual derivations and extended to more complicated
robotic systems.
Cooperative Manipulation
and HIL Testing
Non-holonomic Control of Wheeled Mobile
Manipulators
Hardware Integration and Real Time Control
Implementation of Reconfigurable Systems
HIL Testing of Mechatronic Systems with Guidance Control
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Robotic Testing of Surgical
Joint Implants
Surgical Joint Implants
Assessing human joint functions and its inter-relation with degenerative changes requires an
understanding of the normal state of structural loading in the joint. Very few studies have attempted to
reproduce joint specific in vivo motions in vitro. Even fewer have attempted to reproduce the realistic
muscle loading and lines of action. In this work, we designed and fabricated novel servo-controlled
robotic testbeds that addresses these aspects and enables us to precisely control muscle loading
patterns for various joint motions. Such a framework further makes it possible to test various surgical joint
implants and medical devices under realistic and cyclical conditions, and take quantitatively driven
design decisions for overall performance improvement.
Modular Design Improvement
Modular Design Improvement Shoulder Joint
Testing
In-vivo Joint Testing
Robotic Lower Extremity Testing
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Automotive Design
Road Wideners
Despite the rapid penetration of CAE tools, many
companies still rely on decades old engineering sketches
which as in most cases turn out to be economically
favorable in the short run. However, the integration of CAE
framework is not simply computerizing all the design
processes but by doing that it provides a viable platform to
quickly realize the path of quantitative design and of
continuous improvement thereby providing a competitive
edge over the competitors in the long run. Midland
Machinery is one such company who realized the potential
of CAE tools and immediately sought for professional
engineering services to revamp their product development
process and generate part and assembly drawings through
CAD software for their new upgraded product line (SP-12
road widener vehicle). In addition to well-known benefits
such as optimization of material-cost, product layout and
generating part drawings, notable accomplishments
include performing computational (finite elements) stress
analysis of their critical components (vehicle chassis,
steering module, blade assembly and blade extender units).
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Dynamics and Controls
Formulating the dynamic model of a mechanical system involves tedious
differential mathematics. The complexity is increased manifold by presence
of nonlinearities in virtually every model of a real mechanical system. In order
to devise control algorithms for such systems, a separate branch of controls-
Nonlinear control techniques must be implemented. This is used behavior of
a nonlinear system cannot be described as a linear function of the state of
that system or the input variables to that system. For linear systems, there are
many well-established control techniques, for example root-locus, Bode plot,
Nyquist criterion, state-feedback, pole-placement etc. My projects covered
either of these aspects in the context of dual finger manipulation and driving
simulator respectively. The feedback linearization technique is used to deal
with the nonlinearities in the Lagrangian equations of motion for the system
and suitable decoupling laws are derived to simultaneously control trajectory
and force profiles.
For linear transient systems, the stability characteristics are analyzed to design
a lead compensator controller to achieve better transient characterisitics of
the system. The linear compensated system Is then simulated using virtual
haptic environment with Sensable Phantom Omni Device.
Nonlinear Control of Dual Finger Manipulators Haptics Based Human-in-the-Loop Driving Simulator and
Controller Design
Model-based Control
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Robotic Surgical Interventions
Evaluating performance of surgeons and developing high fidelity assistive systems and methods to aid in performing these procedures efficiently are
challenging tasks. Such robotic assistants are feasible today and primarily rely on model-based controllers derived from real-time measurements using
sensorized tools and preoperative clinical datasets (such as CT scans). Specifically, in-parallel robotic systems will be validated for surgical training applications
to seek skill improvement and demonstrated as suitable candidate for future automated robotic-surgical applications for precise procedures.
Biomedical and Healthcare
Systems Dissertation
Surgical Simulators and Skill Assessment
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Expert, intermediate,Novice
Bar 3D plot for mean of all features
feature number
mean va
lue
Needle Insertion Simulator Framework Minimally Invasive Surgical Simulator Framework
Virtual and Physical Simulator
Robotic and Manual Insertions
Virtual and Physical
Simulator
Robotic Teleoperation
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Forward Inflow Outflow
Forward Inflow Outflow
Computational Modeling and Software Development
Virtual Musculoskeletal
Anatomical Case Studies
Finite Element Analysis code using COMSOL and
MATLAB
CAD Graphics Software
Nano manufacturing using Optical Tweezers
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Contact Details:
Madusudanan Sathia Narayanan
Local Address 2250 NW Thorncroft Dr Apt 324
Hillsboro OR 97124
Email: [email protected] Cell: 716 435 6680
Web: www.madu-sathia.com