example graphic Project topic areas for interested students (Potential Post Doctoral (PDF/N-PDF) / Ph.D Candidates, M.Tech Students and seriously interested senior UG/DD students)

1.   Surgical Robotics: For manipulation with haptics in confined spaces and tissue interaction. 3D vision, path planning. Also applications of Machine Learning.

2.   Biomedical robotics: Upper limb prosthesis design and control – includes 3D printing and also materials design for light weighting; Exoskeleton design and control (rehabilitation).

3.  Micro-Nano Robotics: 3D printing with lithography and new material at nano scales for multiple novel applications with first of its kind equipment in India (www.nanoscribe.de )

4.  Micro-Nano Fabrication: Nano scale machining and characterization including material testing with Focussed Ion Beam (TESCAN Lyra 3 – www.tescan.cz) in 3D and Nano Manipulators from Kliendiek (www.nanotechnik.com) – first of kind equipment in India.

5.  Buidling Navigation system under ISRO’s IRNSS (GAGAN) program – project supported by ISRO.

6.  Humanoid Robotics – talk to seniors in Lab

7.  Underwater Robotics – talk to seniors in Lab

8.  Robotics for Humanitarian Applications – talk to me inperson.

9.  Construction Robotics for 3d Printed Buildings – talk to me inperson.

Interested students may write to cs.kumar@gmail.com; seek appointment at +91-3222-282934 and discuss possible ways of doing research. For the May 2022 batch of PhD aspirants I am focussing on exceptionally bright students ready to work in Robotics Areas: Micro-Nano, Surgical, Biomedical, Underwater and Construction. However, I am also open to very bright students to work in Laser based Additive Manufacturing:(Poweder bed fusion approach or hybrid approaches) - I may accept very few candidates in this earea due to my existing committments. On the other hand I am open to Post Doc Applicants in any of the areas.

He received his Bachelors of Technology Degree in Manufacturing Science and Engineering in 1987 and his Doctoral degree in Mechanical Engineering in 1995 from the Indian Institute of Technology Kharagpur.

He worked briefly in a manufacturing industry (M/s Godrej and Boyce Mfg. Pvt. Ltd) in 1987. He served a Post-Doctoral Fellow of the Science and Technology Agency (now JSPS) at AIST (formerly Electro Technical Laboratory) Tsukuba, Japan in 1999.

His research areas span control of Autonomous Underwater Vehicles, flexure based micro-grippers, micro and nano robotics, humanoid robots; Direct Digital Manufacturing of Metals using additive processes and in computer networks.

He is a member of professional international organizations namely IEEE, ASME and AUVSI. In India he is serving in national bodies as an expert member in the Marine Systems panel of the Naval Research Board, as an advisor for the Additive Manufacturing Society of India, member of telecom engineering centre working group on QoS networks.

He is also currently serving as Head, Rajendra Mishra School of Engineering Entrepreneurship of IIT Kharagpur (since October 2020)

He also holds the position of President Institute Innocation Council since August 2020

  • Robotics and Intelligent Systems
  • CAD-CAM and Additive Manufacturing
  • Control Systems
  • Computer and Communication Networks.
  • B.Tech (Hons.), Mechanical Engineering (Manufacturing Science and Engineering) IIT Kharagpur, 1987
  • Ph.D. (Mechanical Engineering), IIT Kharagpur, 1995
  • Post Doc fellow (STA/Now JSPS), AIST, Tsukuba, Japan, 1999
  • Member IEEE (Robotics and Automation; Communication Systems and Oceanic Engineering Societies)
  • Member American Society of Mechanical Engineers
  • Member Robotics Society of India
  • Member Association of Unmanned Vehicle Systems International (AUVSI), USA

Autumn/Spring Semester courses
Year & Session Subject Name (with access to LMS page)Subject Code
AutumnComputer Integrated Design and ManufacturingME41005, ME40603
AutumnIntelligent Machines and Systems (will be in Autum semester from 2022-2023 session)ME60033
AutumnComputer Integrated Design & Manufacturing + CIM Lab.ME49001, MF49601
AutumnEngineering Software Laboratory(shifted to Spring semester from session of 2022)ME69003
AutumnAutomotive Engineering Laboratory (will end with 2024)ME69057
SpringMechanism and Robot KinematicsME60416
SpringGeometric Modelling for Design and ManufactureME21010
SpringMechatronics Laboratory/MicroProcessor Applications LabME69036/ME69016/ME69002
SpringAdvanced Manufacturing Laboratory-IIME69102
AutumnComputer Integrated Design & Manufacturing + CIM Lab.ME49001, MF49601
AutumnIntelligent Machines and SystemsME60033
AutumnComputer Integrated Design and ManufacturingME41005, ME40603
AutumnEngineering Software LaboratoryME69003
AutumnDo-It-Yourself (DIY) Project (for all 1st year students from 2020)DY171003
AutumnIntroduction to Innovation and Entrepreneurship (from RMSoEE for 2nd year students)(EP)
AutumnArtificial Intelligence in Manufacturing (through School of AI in Autumn Semester)
2014 SpringMechanism and Robot KinematicsME60416
2013 SpringMechanism and Robot KinematicsME60416
2013 SpringTHESIS PART - IIAT67002
2012 SpringMechanism and Robot KinematicsME60416
2011 SpringMechanism and Robot KinematicsME60416
2010 SpringMechanism and Robot KinematicsME60416
1. Sankar Roy, A R Mohanty and C S Kumar, “Fault detection in a multistage gearbox by Time Synchronous Averaging of the instantaneous angular speed”, , Journal of Vibration and Control. (Accepted).
2. K. Vasu, S.Mahapatra and C.S.Kumar, “A Comprehensive Framework for Evaluating IPv6 based Mobility Management Protocols”. Wired Personal Communications. (Accepted).
3. P.P. Bandyopadhyay, D. Chicot, C.S. Kumar, X. Decoopman, J. Lesage, ”Influence of sinking-in and piling-up on the mechanical properties determination by indentation: A case study on rolled and DMLS stainless steel”, Materials Science & Engineering A 576 (2013) 126–133.
4. Vasu K, Sumit Maheshwari, Sudipta Mahapatra, C.S.Kumar, "An Energy and QoS Aware FUZZY-TOP Vertical Handover Decision Mechanism for Heterogeneous Wireless Networks", IET Networks February 2013
5. Vasu K, Sumit Maheswari, Sudipta Mahapatra, C.S.Kumar, "QoS Aware Fuzzy Rule Based Vertical Handoff Decision Algorithm Incorporating a New Evaluation Model for Wireless Heterogeneous Networks" EURASIP Journal for Wireless Communications and Networking, Vol 2012:322 (2012)
6. Sumit Maheshwari, Sudipta Mahapatra, C.S Kumar, Vasu K, "A Joint Parametric Prediction Model for Wireless Internet Traffic using Hidden Markov Model", Springer WINET, Vol 1, Pages 1-15 (2012)
7. G.B. Madhab, C.S. Kumar, and P.K. Mishra "Modelling and Control of Bio-inspired microgripper", International Journal of Manufacturing Technology and Management, 21, 160-175 (2010)
8. R.Prasanth Kumar, C.S.Kumar, A. Dasgupta and D.Sen, "Time-Delay Control of an Autonomous Underwater Vehicle: Theory and Experimental Results" Ocean Engineering - Special Issue of Ocean Engineering on Autonomous Underwater Vehicles, 36, 74-81 (2009)
9. Prassanth Kumar R., Dasgupta Anirvan, Kumar C.S.", A New Tracking Controller Design for Underwater Vehicles Using Quadratic Stabilization" Journal of Dynamic Systems Measurement and Control, Vol 130, (2008)
10. R. Prasanth Kumar, A. Dasgupta and C.S. Kumar, "Robust Trajectory Control of Underwater Vehicles using Time Delay Control Law", Ocean Engineering, 34, 842-849 (2007)
11. J.Krishnaiah, C.S.Kumar, M.A.Faruqi, "Modelling and Control of Chaotic Processes though their bifurcation diagrams generated with the help of recurrent neural network models Part II: An industrial study", Journal of Process Control (2006)
12. J.Krishnaiah, C.S.Kumar, M.A.Faruqi, "Modelling and Control of Chaotic Processes though their bifurcation diagrams generated with the help of recurrent neural network models Part I: simulation studies",Journal of Process Control, (2006)
13. R. Prasanth Kumar, A. Dasgupta and C.S. Kumar, "Real-time optimal motion planning for autonomous underwater vehicles", Ocean Engineering, 32, Issues 11-12 (2005)
14. Kumar, C.S., A. Dasgupta and A. Mukherjee., "A study on Interaction Control through Passive Degrees of Freedom: Stability and Adaptation of Impedance Variation". Special Issue on Control Systems for students, Part II, Journal of the IETE, July-Dec 1992.
15. Contributed a chapter “Control Strategies in Physical Domains” in the book entitled “Bond graph in modeling simulation and fault identification” by Amalendu Mukherjee, Ranjit Karmakar and Arun Kumar Samantaray, I.K.International, New Delhi, ISBN 81-88237-96-5 June 2006.
1. A Method for Inactivity Timer Configuration Based On Network Signalling Reduction. Filed on 605/KOL/2013 on 27.05.2013
2. Active Steer Assistance Differential(ASAD) for Rear Wheel Independent Drive Electric Vehicle(RID EV) Using In-Wheel Motors. Filed on 602/KOL/2013 on 24.5.2013
3. An Energy and QoS Aware Method for Vertical Handover Among Heterogeneous Wireless Networks. Filed on 402/KOL/2012 on 5.4.2012
4. A 6DOF Platform for Micromanipulation with Piezoelectric actuators and Compliant Mechanism. Filed on 1425/KOL/2011 on 4.11.2011
1. Sudhir Raj and Cheruvu Siva Kumar, “Q learning based Reinforcement learning approach to bipedal walking control”, Proceedings of the iNaCoMM2013 held at IIT Roorkee 19-20, Dec 2013.
2. Sankar Kumar Roy, A.R.Mohanty and C.S.Kumar, “Time Synchronous Averaging of Instantaneous Angular Speed for Fault Detection in multi-stage gear box” in Acoustics 2013, New Delhi, Nov 2013.
3. Sankar Kumar Roy, A.R.Mohanty and C.S.Kumar, “Use of Rotary Encoder for Fault Detection in an Automobile gearbox” in National Conference on Condition Monitoring, Bangalore, Oct 2013.
4. Debashree Sengupta, Neha Jain and C.S.Kumar; “An Educational website on Kinematics of Robots". In the Proceedings of IEEE Technology for Education (T4E) conference held in Dec 2013.
5. Vasu K, Sudipta Mahapatra, C.S Kumar, “An Analytical Framework for Evaluating MIPv6 Protocols Applying Transport Engineering Concepts”, ACM MSWiM 2012, Vol. 1, Pages 53-60, Paphos, Cyprus.
6. Gupta, P.K.; Parul Saraswat; Kumar, C.S; Saswat Chakrabarti; Rajakumar, R.V.; ”Measurement of Power Consumption in MultiMedia Mobiles for Various Network Activities in 2G/3G Networks” IEEE ANTS, 2012.
7. Gupta, P.K.; Rajakumar, R.V.; Kumar, C.S.; , ”Energy Impact of Signalling Protocols in 3GPP-LTE and Guidelines For Savings,” IEEE Indicon, 2012.
8. Gupta, P.K.; Rajakumar, R.V.; Kumar, C.S.; , ”Analysis of Impact of Network Activity on Energy Efficiency of 3GPP-LTE, ” IEEE Indicon, 2012.
9. Gupta, P.K.; Rajakumar, R.V.; Kumar, C.S.;, ”Energy cost analysis of data plane and control plane protocols for 3GPP-LTE, ” National Conference on Communications (NCC), 2012, vol., no., pp.1-5, 3-5 Feb. 2012.
10. Gan Chaudhuri, S.; Kumar, C.S.; RajaKumar, R.V.; , "Validation of a DiffServ based QoS model implementation for real-time traffic in a test bed," IEEE National Conference on Communications (NCC), 2012, vol., no., pp.1-5, 3-5 Feb. 2012.
11. Jallu Krishnaiah, C.S. Kumar, and M.A. Faruqi; "Intelligent Chaos Controller: A Computational Intelligence Based Approach for Data-Driven Real-World Systems"; Proceedings of the International Conference on Information Systems Design and Intelligent Applications, Advances in Intelligent and Soft Computing 2012 (INDIA 2012), AISC 132, pp. 273–280.
12. Vasu K, Sumit Maheshwari, Sudipta Mahapatra, C. S. Kumar, “QoS Aware Fuzzy Rule Based Vertical Handoff Decision Algorithm for Wireless Heterogeneous Networks”, IEEE NCC, Page(s): 371-375, Jan, 2011, IISc, Bangalore, India.
13. Sumit Maheshwari, Vasu K, Sudipta Mahapatra, C. S. Kumar, “A Joint-Parametric Realistic Traffic Model for Wireless Internet using Hidden Markov Model”, IEEE CSQRWT, July, 2011, HIT, Harbin, China.
14. Vasu K, Sudipta Mahapatra, C.S Kumar, “MIPv6 Protocols: A Survey and Comparative Analysis”, CoNeCo 2012, Vol. 4, pp. 73–93, 2012. © CS&IT-CSCP AIRCC, Coimbatore, India.
15. Vasu K, Sudipta Mahapatra, C.S Kumar, “Bulk Binding Update Procedure for PMIPv6 Based Intelligent Transportation Systems”, WiMo 2012, Vol. 4, pp. 207-223, 2012. © CS&IT-CSCP AIRCC, Coimbatore, India.
16. Sumit Maheshwari, Vasu K, C. S. Kumar, Sudipta Mahapatra, “Measurement and Comparative Analysis of UDP Traffic over Wireless Networks”, ICWN, July, 2011, Las Vegas, USA.
17. Sumit Maheshwari, Vasu K, C. S. Kumar, Sudipta Mahapatra, “Measurement and Analysis of UDP Traffic over Wi-Fi and GPRS”, ICCCD, Dec, 2010, IIT Kharagpur, India.
18. Ayan Sinha; Madhusudan Chakraborty; Sudipto Ghosh; C.S. Kumar; Jitesh H. Panchal; Janet K. Allen; David L. McDowell; Farrokh Mistree Microstructure-mediated integration of material and product design - Undersea submersible, Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009 2010;5(PART A):467-478.
19. Krishnaiah.J, C.S.Kumar, M.A.Faruqi, Analysing Behaviour of Submerged Arc Furnace using Recurrent Neural Networks, General Abstracts: TMS-2007 Material Processing and Manufacturing Division, Modelling and Simulation of Materials and Processes, Feb 25- March 1, 2007, ORLANDO, FLORIDA USA.
20. Pretty Khare, G.B.Madhab, C.S.Kumar and P.K.Mishra, Optimizing Design of Piezoelectric Actuated Compliant Microgripper Mechanism, Proceedings of the 13th National Conference on Mechanisms and Machines (NaCoMM07), Bangalore, December 2007. Nacomm-2007-112.
21. T.S. Simil and C.S.Kumar, “Planning micromanipulations using haptic interaction environment”, Proceedings of the 13th National Conference on Mechanisms and Machines, Bangalore, December 2007.
22. Pretty Khare, Madhab, G.B., C.S.Kumar and P.K.Mishra “Optimizing Design of Piezoelectric Actuated Compliant Microgripper Mechanism”, Proceedings of the 13th National Conference on Mechanisms and Machines, Bangalore, December 2007.
23. R.P. Kumar, C.S. Kumar, D. Sen and A. Dasgupta, "Some results on motion and attiude control of a thruster based AUV," Proc. of the National Systems Conference 2006, Goa, India, Nov 2-4, 2006.
24. S.Sarath Babu, C.S.Kumar, M.A.Faruqi , "A neural network based online controller for Autonomous underwater vehicles", ICIT-06,Mumbai.
25. A. Ghatak, D.K.Pratihar and C.S.Kumar. “Online measurement of Obstacles’ Distances using Forward Looking Sonar Sensor mounted on and experimental AUV” ICIT 2006, December 2006.
26. Madhab G.B., Manav Kshitiz, Kumar C.S. and Mishra P.K., " Optimization of Compliant Microgripper Mechanisms using GA", First International & 22nd All India Manufacturing Technology Design & Research Conference (22nd AIMTDR)21st -23rd December 2006, IIT Roorkee.
27. Madhab G.B.,Kumar C.S. and Mishra P.K., "Modeling and Control of Flexure-based Miniature Robotic End-Effector", First International & 22nd All India Manufacturing Technology Design & Research Conference (22nd AIMTDR)21st -23rd December 2006, IIT Roorkee.
28. S. Umesh Babu, C.S. Kumar, R.V. Raja Kumar," Tracking Using Binary Information in Sensor Networks",IEEE Proc. of Fourth International Conference on Intelligent Sensors and Information Processing (ICISIP’06), Bangalore. December 2006.
29. R.P. Kumar, S.S. Babu, Y. Srilekha, C.S. Kumar, D. Sen and A. Dasgupta, "Test-bed for navigation and control of a thruster based AUV," Proc. IEEE OCEANS'06 ASIA PACIFIC, Singapore, May 16-19, 2006.
30. R.P. Kumar, A. Dasgupta and C.S. Kumar, "Robust tracking control of underwater vehicles using time-delay control in discrete-time domain," Proc. IEEE OCEANS'06 ASIA PACIFIC, Singapore, May 16-19, 2006.
31. S. Umesh Babu, C. S. Kumar and R. V. Raja Kumar, “Modelling and simulation of sensor network for tracking a moving object”, IEEE Proc. Of Third International Conference on Intelligent Sensors and Information Processing (ICISIP’05), Bangalore. December 2005.
32. G.B.Madhab, C.S.Kumar, P.K.Mishra “Design of a Bio-inspired Piezoelectric Compliant Miniature Gripper”. Proceedings of ISSS 2005 , International Conference on Smart Materials Structures and Systems July 28-30, 2005.
33. Krishnaiah J., Sarbadhikari, S.N., Kumar, C.S. and Faruqi. M.A., Characterising the Condition of Heart from ECG signals using Recurrent Neural Networks, The European Conference on Mathematical and Theoretical Biology (ECMTB05), July 18-22, 2005, Germany.
34. Krishnaiah, J., Kumar, C.S. and Faruqi. M.A. Study of the ECG signals behaviour using Multi-Poincaré sections and Peak-to-Peak dynamics, The European Conference on Mathematical and Theoretical Biology (ECMTB05), July 18-22, 2005, Germany.
35. Deosharan Roy and C.S.Kumar, “Simulation of simultaneous localization and mapping using Extended Kalman Filter for autonomous underwater vehicle”,National Conference on Advanced Manufacturing and Robotics 2004, Held at CMERI, Durgapur, Jan 2004.
36. R.P.Kumar, A.Dasgupta and C.S.Kumar, “Motion Control of Autonomous Underwater Vehicle using Bondgraphs”, Coastal and Ocean Technology 2003, Dec. 2003, National Institute. Of Ocean technology, Chennai, pp 571-578, 2003.
37. R.P.Kumar, A.Dasgupta and C.S.Kumar, “Modelling Dynamics and Control of an Autonomous Underwater Vehicle using Bond Graphs”, Underwater Systems and Engineering 2003, Naval Science and Technological Lab. Vishakapatnam, June 2003 pp 289-298 of Proceedings, 2003.
38. J.Krishnaiah, Kumar Cheruvu and M.A.Faruqi “Constructing Bifurcation Diagram for a Chaotic Time-Series Data Though a Recurrent Neural Network Model” Proceedings of the 9th International Conference on Neural Information Processing (ICONIP Nov 2002). IEEE Publications. IEEE Catalog Number: 02EX575, ISBN 981-04-7524-1
39. Kumar, C.S., Manjunath and Faruqui, M.N. “Design of a Multilayer switched IP QoS Capable campus network backbone” IEEE ATM Interact Symposium 2001, New Delhi August 2001.
40. Kumar, C.S., and Maskara, S.L., Design and implementation of a multimedia network using ATM. In proceedings of the NCC ’99 conference held at IIT Kharagpur.
41. Rajaram, K.V., Kumar, C.S. et. al., Neuro-Modelling of an Industrial Blast Furnace. In Proceedings of the 4th International Conference on Control, Automation, Robotics and Vision held in Singapore Dec. 1996.
42. Mallick, S.C., Kumar, C.S., Maskara, S.L., et. al. ERNET Services at IIT Kharagpur: Design, Implementation and Traffic Measurement. In Proc. of the Networks 1996 Conference held at Mumbai.
43. Kumar, C.S. and A. Mukherjee. Robust Control of a Robot Manipulator on a Flexible Foundation. In Proc. of the 4th Intl. Conf. on CAD/CAM Robotics and Factories of Future 1990. Vol. III. Tata McGraw Hill, India.
44. Kumar, C.S. and A. Mukherjee. Impedance and Force Control of Robots through Introduction of Passive Degrees of Freedom. In Proc. of the Intl. Symposium on Intelligent Robotics, 1991. Tata McGraw Hill.
45. Kumar, C.S., A. Mukherjee and M.A. Faruqi. Some finer aspects of impedance modulation on hybrid tracking and force controlled manipulators. Proceedings of the SCS World Multi-conference proceedings of the International Conference in Bond Graph modeling and simulation. January 1993.

Sponsored Projects

Project TitleSponsorStatus
Virtual Labs - Pilot PhaseMoE - NMEICTOnGoing since 2009
Virtual Labs - Main Phase (Simulation)MHRD - NMEICTOnGoing since 2010
Participation in AUVSI - student coordinationNIOT Chennai2010 to 2011
Wireless InternetVodafone Centre of Excellence in Telecommunications / Telecom Centre of Excellence2009 to 2013
Development of Autonomous Underwater VehicleMinistry of Earth Sciences2003 to 2011
Development of Biomemetic Autonomous Underwater Vehicle (jointly with IIT Madras and IISc Bengaluru)Naval Research Board2019 to 2023
Underwater Acoustic Sensors for AUVsMinistry of Earth SciencesOnGoing since 2011
Materials for Underwater VehiclesMinistry of Earth SciencesOnGoing since 2011
Establishment of Nationwide QoS TestBedMinistry of Communications and Information Technology2004 to 2008
Real Time Virtual LabsMHRD - NMEICT2012-2017

Research Projects

Micro and Nano Science Characterization and Robotics facility

As Professor Richard Feynman once said “There is plenty of room at the bottom.” science and engineering are going hand in hand to explore the room and to make and build systems at a nano metric scale in materials. Developments in Photonics (lasers), Lithography, 3D printing, Scanning Electron Microscopy combined with Focussed Ion Beam and associated machining and fabrication processes with precision micro motion control has opened up new directions for nano scale fabrication and robotics. Novel structures, assemblies and material combinations are being engineered with use of micro- and nano- manipulation and building systems for applications in various domains like photonics, biomedical structures, drug-molecule design, micro-mechanisms and the like. While new materials are using sophisticated high performance nano-level elements that are being created like carbon nano tubes (CNTs) etc. their use in systems is soon being governed by developing systems which can assemble, manipulate and work with molecular and atomic level items. This requires not only micro scale factories with micro electromechanical devices but also micro-systems which can be operated remotely or autonomously under microscopes like SEMs etc. using state-of-the-art robotic technologies. The cross disciplinary materials and motion control research is a new frontier of robotic systems is now being targeted at making new devices like protein motors, bio-potential activated NEMS devices etc can be created by using micro-scale manufacturing processes.
This facility will house state of the art equipment like

  • SEM with nano fabrication, manipulation and characterization tools
  • Micro and nano 3D photolithography
  • Micro and nano manipulation with haptic devices

There are several projects in three theme areas: i) Opto-fluidics and robotics ii) Micro- and Nano- devices fabrication-cum-characterization and iii) Life Sciences that are being considered in this facility. Specific projects concerning the use of robotics and integrating micro robotic technology in development and establishment of the research platforms have been initially defined:
1. Development of micro-manipulation platforms for use under SEMs. These will be mechanical and electromechanical systems operated by micro-motors, piezo system, ultrasonic motors etc.
2. Control systems augmented with touch and haptic interfaces to facilitate robotic operations under micro-scale force fields of surface tension and van-der-Waals forces which are of considerable dominance.
3. Implementation and testing these systems on new materials/devices in specialized high end imaging devices (e.g. scanning electron microscope), thereby permitting some level of synthesis of materials/fabrication of devices, imaging, manipulation and characterization.

Micro/Nano Manufacturing & Robotics Facility

Project Titles and Proposers

Development and facility establishment projects involving Robotics

1 Integration of a multi axis micro-motion stage for growing 3D structures by 3D direct laser writing (a two photon polymerization system) using dip-in laser lithography; Prof. C. S. Kumar, ME and Prof. Chacko Jacob , Mat. Sc. Ctr.
2 Development of a haptics based nano manipulation system for manipulating motion of particles in a high magnification environment of a SEM; Prof. C. S. Kumar, ME and Prof. C. Jacob, Mat. Sc. Ctr.

Application Projects in Theme area of Optofluidics

3 Fabrication of optical channels for communication and “light controlled” objects. Prof. Shivakiran Bhaktha B.N., Dept. of Physics; and Prof. S. K. Varshney, Dept. of E & ECE and Dept. of Physics
4 Development of Multifunctional Photo-addressed surfaces using orthogonality approach: Prof. N. D. Pradeep Singh, Dept. of Chemistry

Application Projects in Theme area of Micro-/Nano- device fabrication & characterization

5 Design and fabrication of 3-D microelectrode arrays for electrochemical application. Prof. C. R. Raj, Dept. of Chemistry
6 Fabrication of novel devices using 3D lithography and manipulation Prof. Debabrata Pradhan, Materials Science Centre
7 In-situ carbon based nano-material growth for nano- MOSFET fabrication and its gas sensor applications Prof. Prasanta K. Guha, Dept. of E & ECE
8 Fabrication and testing of MEMS-based resonator structures and devices. : Prof S. B. Sant, Metallurgical & Materials Engineering

Applications in the theme area of Life Sciences

9 Magnetic Core-Shell nano-structures for targeted drug delivery: Prof S. B. Sant, Metallurgical & Materials Engineering
10 Structural Attributes as Physical Cues for Cellular Differentiation of Progenitor Cells in Tissue Regenerative Prof. Santanu Dhara, School of Medical Science and Technology

Biomedical Robotics for neuro-controlled prosthesis

Robotic systems for assistance and rehabilitation focus on providing missing movements and sensing, providing safer environments, and providing environments that make regaining movement-related function easier and faster. Robotic prosthetics and exoskeletons will provide dexterity, natural mobility, and sense of touch to missing or paralyzed limbs. These techniques are aimed at improving the patient’s motor performance, provide rigorous rehabilitation regimen, and shorten the duration of rehabilitation procedure, and provide objective data for evaluation of patient’s progress during and after the rehabilitation. We are currently interested in conducting experiments on Electromyogram signal (EMG) based control architecture developments for prosthetic limb and rehabilitation aid such as exoskeleton and Study of Electroencephalogram (EEG) and sEMG based control interface for bionics limbs and rehabilitation aids.

Undergraduate Research Support for Underwater Robotics

The objective of this project is to facilitate a continuing learning and development autonomous systems in underwater robotics. Currently an autonomous underwater vehicle (AUV) is being considered in this project. A robotic system working underwater in an autonomous mode is a big challenge to design and implementation of complex intelligent systems. Students at IIT Kharagpur are being encouraged to take up this at various levels and develop innovative solutions. The Research on AUV will focus on various aspects of engineering and science through multi-functional cross disciplinary groups including innovative mechanical design, control Systems, Machine Vision, Precise Navigation, Advanced Artificial Intelligence techniques and development of related indigenous technology. Several interesting outcomes are expected from this project, namely, a Vision guided and controlled AUV; Navigation system based on Acoustic array; Swarm Robotic for Autonomous underwater vehicle using acoustic communication; Development of accurate underwater simulator for robotics application; 3D-SLAM (Simultaneous localization and mapping) of autonomous underwater vehicles using Sonar and Vision.

Undergraduate research in Humanoid Robotics

Humanoid robotics with bipedal walking has attracted several researchers and bright students worldwide as these robots challenge the young minds with interesting problems. These range from bipedal walking, postural stability control, light weight mechanical design for efficient energy usage, intelligence in vision, gait, actions etc. There are also exciting research challenges in multi-robot interactions as in robo-soccer etc. In this project the student teams are working on models of developed adult-size humanoid robots with capabilities of Environmental Perception – that senses the environment so as to follow a collision free path; Adaptive Gait control that develops the motion trajectories of the robot so that it can perform in an unknown environment with a stable foot placement algorithm; Mechatronic system which involves a development of a robust mechanical system that can handle a wide range of environments and perform jobs like picking, throwing, swinging.

Bio-inspired Robotics: Micro Gripper design, Fabrication and control

Microgripper is one of the key elements in microrobotics and microassembly technologies for handling and manipulating micro objects such as micro mechanical parts, electrical components, biological cells, micro materials etc. As the trend towards miniaturization continues, microgrippers will become indispensable tools for handling, manipulating as well as assembly of micro components in various application fields (optics, electronics, mechanics, fluidics, chemistry and life sciences). Interestingly, biological creatures like arthropods (e.g. crabs, lobsters, ants, etc) have simple yet effective gripping mechanism and can regulate their stiffness in their joints quite easily without much sensory information. Therefore, study of arthropods grasping mechanism and the related bio-inspired design is a very promising approach for developing miniature grippers. Implementing them in real devices can enhance the compliance and applicability of microgrippers for several applications (e.g. biological sample handling, precision assembly etc.). In the present work a new concept in the design of a microgripper based on a biologically-inspired approach is developed. A study has been done on the grasping mechanisms with variable stiffness in the joints inspired by arthropods specifically crustaceans like crabs, lobsters etc. A systematic design procedure for planar two-fingered microgripper based on the bio-inspired actuation is developed and the geometry of the microgripper is optimized to get maximum displacement subjected to constraints in operation and manufacturing. A dynamic model of single piezo and dual piezo actuated microgripper is developed and the dynamic performance of the design is studied. The model is simulated using SIMULINK for predicting the dynamics of microgripper mechanism and control schemes are developed for microgripper tip displacement and gripping force control. Two prototypes of microgrippers (one with a single piezo actuator and the other with four piezo actuators) are manufactured with Wire-Electro-Discharge Machining process from the design models of the microgrippers. These are fabricated to test and validate concepts presented earlier. Finally a suitable vision based measurement system for microgripper is implemented and experimental setup has been developed for characterization, testing, demonstration and control of the microgrippers.

Electronic Stability control on Electric Vehicles

ESC systems of today are reactive in nature , they use yaw rate sensor to determine loss of slip and give corrective output accordingly. These systems are limited as the vehicle has to loose control before the system gets into action. To further develop these systems predictive control systems have to be implemented. For predictive systems, continuous monitoring of critical vehicle states is required. Tire state( tire forces and orientation) are critical for handling and safety, but sensors available for their measurement are expensive for passenger car implementation. (about 400,000 Euros)

FSAE Car : Motion and ride control

Coming Soon......

Micro and Nano manipulation using Haptics

Coming Soon......

Muscle Models for Robotics

Coming Soon......

Neural Network Modelling of Blast furnace

Coming Soon......

Wireless Sensor Networks in Underwater Robotics

Wireless sensor networks (WSN) are an emerging technology with an exponential growth with wide range of potential application in various fields. Applications include environmental monitoring, precision agriculture, structure and earth quake monitoring, security systems, industrial process monitoring, smart spaces, medical systems, underwater tracking and robotic exploration etc. Moving object tracking in sensor networks is an interesting application where the sensor nodes enable us to acquire the knowledge of moving object’s location. A distributed network of sensor nodes acquiring or measuring some signals from a moving object can be configured or programmed to determine the trajectories of the moving object in the field of observation of the sensor nodes. This information can then be made available at base station with its networking capabilities. Such methods are increasingly finding their place in the field of motion tracking amongst various traditional fixed sensor based methods which are usually infrastructure based and not reprogrammable. Main aim of this work is to study and evaluate estimating techniques for path tracking using wireless sensor networks and to minimize the error due to variation in DOP values due to sensors positions. In order to accomplish this, theoretical models need to be developed using statistical estimation techniques. A simulator is needed to simulate the performance of developed models. A testbed has to be established for laboratory level experimental validation of developed models. In this work a tracking system for wireless sensor networks is proposed and validated. This system includes a network of sensor nodes, base station and a computer for estimating the moving object’s track. Hardware programs for sensor nodes and moving object have been developed. IEKF estimation methods have been considered and these methods have been simulated and evaluated using the developed simulator.

C.S. Kumar

Robotics and Intelligent Systems Laboratory,
CAD,CAM and Direct Digital Manufacturing Laboratory,
Department of Mechanical Engineering,
IIT Kharagpur,
West Bengal - 721302.
Office Phone No. : (+91)(0)3222281560, (+91)(0)3222282934

email id : kumar@mech.iitkgp.ernet.in

Potential New Thesis Project topics for students under guidance of Prof. C.S.Kumar

  1.  Additive laser Manufacturing using DMLS – Surface finishing and laser polishing
  2.  Additive and Subtractive Manufacturing using 2-photon polymerisation.
  3.  Nano fabrication, manipulation and testing using FIB and Gas Injection System
    2-3 Projects available with external agencies in Laser based Additive Manufacturing –   a)   M/s Renishaw Ltd. Pune
  b)   M/s Bharat Forge Limited (Kalyani Centre for Technology Innovation).

  1.  Kinematic modelling and control of a robotic anthropomorphic prosthetic hand (bionics)

  2.  6-DOF Micro manipulator modelling and control

  3.  Nano manipulation using haptics

  4.  Multi body kinematics and control for humanoid robots using musculo-skeletal models

  5.  Kinematics and control of surgical robot

  1.  Auxetic structures using Additive Manufacturing (it is a combination of Design and Manufacturing)

  2.  Bond graph based modelling of Muscles - Smooth, Skeletal muscles and musculoskeltal modeling along with neurological controls(used in bionics, prosthesis, exoskeletons, rehabiliation robotics etc)

  3.  Haptics in biomedical systems (possible tieup with bio design group at Stanford)

  4.  Electric Vehicle motion control

  5.  Robotics based Additive Manufacturing and Lasers

  6.  3D printing Nano scale structures (using FIB and deposition)

  7.  Humanoid Robotics Motion planning

  8.  Materials and operations (including sensor development) for deep sea AUVs

  Projects are in collaborative mode and serious commitment required. Faculty of Physics, Chemistry, Mat.Sc, Metallurgy, ECE, EE and others are involved and would be joint guides as well. Only students with serious commitment will be considered. Faint hearted and low CGPA students who are not sure of how much time they can allocate for this work need not approach me (we realize that your commitment to other institute and hall activities is significant and would interfere with the project goals).

New facilities of Micro fabrication, Laser based manufacture, FE-SEM etc will be made available to you through robotics lab itself.

You can always contact me if needed.