NaCoMM-2003 Sponsors

National Advisory Committee

Organizing Committee

Preface

Keynote Lectures1. Somatosensory Computation For Man-Machine Interface From Motion

Capture Data And Musculoskeletal Human ModelY. Nakamura, K. Yamane, Y. Fujita And I. Suzuki

2. New Exciting Ideas in Old AreasBernard Roth

Memorial Lectures3. Recent Developments In Structural Design Aspects Of Aircraft Engines

J.S.Rao4. Deformation And Heat Transfer Effects In A Spring-Suported Tilting-Pad

Thrust BearingK.K. Chaturvedi

Running With StabilityK. Kurien Issac

Session 181A

s.

Minerals RoboticsDesign And Fabrication Of Computer Controlled Four-Wheeled Mobile

PlatformGagan Saket, S. K. Dwivedy And D. Chakraborty

Robot Safety Analysis Methods. B.S. Dhillon

,Vibration Isolation.Using A Multi-Axis Robotic Platform

6.

7.

8.

G. Satheesh Kumar, Y. G. Srinivasa And T. Nagarajan

Kinematics And Dynamics Of Tethered Space Manipulators

Ming- fin Priscilla Woo And Arun K. Misra

9.

Contents

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xiv Contents

Gravity-Balancing Of Spatial Robotic Manipulators 109Sunil K . Agrawal, Ph.D. And Abbas Fattah, Ph.D.

Whole Arm Enveloping Manipulation Of Polygonal Objects 121S.C. Pilli And T.S. Mruthyunjaya

Attribute Based Specification, Comparison And Selection Of A Robot 131P. P. Bhangale, V. P. Agrawal And S. K. Saha

Object Oriented Bond Graph Modelling Of Space Robots 139. .

Pushparaj Mani Pathak, Amalendu Mukherjee And Anirvan Dasgupta

Pushparaj Mani Pathak, Amalendu Mukherjee And Anirvan Dasgupta 146Optimum Grasp Has Equal Friction Angles

A. Subramanian, S. Mukherjee

Robo-Sloth: A Rope-Climbing Robot 152

Sandeep Urankar, Pranjal Jain, Anurag Singh, Anupam Saxena And BhaskarDasgupta

Session 18IB

Mechanisms and ManipulatorsOptimal Design Of Mechanism For Stirrup Making Machine - A Computer

ApproachV. Vanalkar And P. M. Padole

10.

12.

14.

16.

T A Dwarakanath, 0 Venkatesh And Manjit Singh

Modeling And Simulation Of Very Small In-Parallel Wrench Sensor CumManipulator (SCM)

T. A. Dwarakanath, G. Bhutani and D. Venkatesh

Analytical Determination Of Principal Twists In Serial, Parallel And HybridManipulators Using

Sandijmn Bandyopadhyay And Ashitava Gbosal

Simulation Of Software For Four-Bar Function Generator MechanismSuwama B. Torgal, Tripthi K. And N. K. Nagar

The Study Of Five-Bar Mechanism With Variable TopologyMulgundmath M. PrashantAnd Shrinivas S. Bani

Inverse Dynamics Of 1-DOF Planar Parallel Manipulators With PrismaticActuators

A. B. Koteswara Rao, S. K. Saha And P. V. M. Rao

J

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22.

171

178

185

193

206

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Contents xv

23. Design And Fabrication Of A Gripper For Grasping Irregular Objects 226

Ashish Singh, Deep Singh And S.K. Dwivedy

~4. Issues In Geometric Synthesis Of Mechanisms 234

Dibakar Sen And Vyankatesh Joshi

25. Synthesis Of Circuit Breaker Mechanisms Based On Mechanical Logic Gates 243

Hrishikesh V. Deol And C. Amarnath

Session 19IA

Mechatronics

A Quasi-Static Modelling Approach Of Airborne Power SystemsM. Torabzadeh- Tari G. Engdahl L. Austrin And J. Krah

Condition Monitoring Of Nylon And Glass Filled Nylon GearsS Senthilvelan And R Gnanamoorthy

An Example Of An Open Robot Controller For Easily Building Up RobotSystems

Toshihiko Wada, Toshinori Oguri, Takahiro Ishiguro, Yohei Hattori, Kazuma Iwasa,Shinya *a, And Kyoichi Tatsuno

Status Review On Neural/Fuzzy Logic Techniques For Induction MotorCondition Monitoring

Arfat Siddique, G.S.Yadava And Bhim Singh

Active Mouse For Physical Man-Machine InteractionKoichi SUZUMORI and Takefumi KANDA,

Control Of Joint Of A Low Cost RobotNirmal Baran Hui And Sumit Mukhopadhyay

Design Of A Robust Self Excited Biped Walking MechanismV. Sangwan, A. Taneja And S. Mukherjee

Frequency Response Of Critical Components Of A Hydraulic ServovalveM. Singaperumal, Somashekhar. S. Hiremath And R. Krishnakumar

Implementation Of A Heuristic Walk Plan For A Four Legged WalkingMachine

26. Microcontroller Based Walking RobotArun Kumar

Design Of A Modular Mechatronic WheelchairSK Kakoty, M. Murarka, P. Kodati And U.S. Dixit

Stepper Motors ControllerB.S. Joshi And K.G. Dave

28.

29.

30.

32.

Appu George Thomas And Sandeep Sirpatil

-ft

253

259

266

272

278

283

290

297

304

319

327

xvi Contents

Session 19IB

Noise and Vibration38. Effect Of Vehicle Vibration On Human Body - RIT Experience

Katu U.S., Desavale R.O. And Kanai RA.

39. Wavelet Analysis And Envelope Detection For Rolling Element BearingFault Diagnosis - A Comparative Study

Sunil Tyagi

Noise Attenuation Of Diesel Engine With Different Types MufflersVijay S. Jadhav And Dhanaji M. Ghatage

Analysis Of Independent Suspension LinkagesMadhusudan Raghavan

Stability And Unbalance Response Of Rotor Bearing SystemT.V.V.LN. Rao And K. Athre

40.

41.

42.

43. Active Suspensions For Tracked VehiclesY.G.Srinivasa, P. V. Manivannan, Rajesh KAnd Sanjay Goyal

Estimation Of Linearised Fluid Film Coefficients In A Rotor BearingSystem Subjected To Random ExcitationArshad H. Khan And Ahmad A. Khan

Monitoring The Machine Elements In Lathe Using Vibration SignalsJagadish. M. S.AndH. V. RavindraVehicle Chassis Analysis: Load Cases And Boundary Conditions For Stress

AnalysisAshutosh Dubey And Vivek Dwivedi .A

Effect Of Plating And Temperature On Torque Load Bearing Capacity Of

44.

45.

46.

47.

Shrink Fitted AssembliesD. Ramesh Rajakumar And B. Ramamoorthy

48. Dynamic Design Of Drilling Machine Using Direct Method Based UpdatedFe Model

Rajiv Singh Bais, B. C. Nakra And T. K. Kundra

A Tool For Developing FE Meshes For Folded Airbags49.

50.

Chawla A, Mukherjee SAnd Aneesh Sharma

On-Line Balancing Of RotorsA. S. Sekhar And Debraj Sarangi

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335

344

353

357

365

372

380

387

395

406

415

425

437

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Session 19IIB

Dynamics51. Structural Dynamic Modification Studies Using Updated Finite Element

Model

Gupta A. K., Nakra B. C. And Kundra T. K.

52 Modified SSTD Method To Account For Harmonic Excitations DuringOperational Modal Analysis

Prasenjit Mohantyy And Daniel J. Rixenz

53 Experimental Investigation Of Stresses, Noise And Flow In CentrifugalFan Impeller

D.V. Bhope And P.M. Padole

A Qualitative Study Of The Effect Of Fatigue Damage Growth On

Helicopter Rotor Blade Modal Parameters

Niranjan Roy And Ranjan Ganguli

Life Prediction Under Multiaxial Fatigue

D. Ramesh, M.M. Mayuram

V~bration Analysis Of Cantilever Shaft With Transverse CracksR.K Behera, D.RK. Parhi, S.K. Pradhan, Seelam Naveen par

Effect Of Rubbing Forces Due To Centrifugal Lo7ding On Rotor Blades

Ajit Prasad, K. Ramachandra, M. Pradeep And K. Kumar

Experimental Study Of Friction Under Different Variables On APiston-Cylinder Assembly A-Case Study

D.V. Bhatt And K. N. Mistry

54

55.

56

57.

58.

59. Vibration Analysis Of Coupled Structures Using Impedance Coupling

ApproachS.V. Modak

Study Of On-Center Handling Behaviour Of A Vehicle

Rohit Vaidya, P Seshu And G Arora

60.

61. Electrostatic Effects On The Dynamics Of Torsional Micromirrors For

Optical ApplicationsAvinash, K. B., Muthukumaran, P. And Bhat, RB.

f

tI ~ ~,'~h~'_'~_' ~ ,,- ~~ 1

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486

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xviii Contents

MachinesDesigning Machine Tool Structures With Epoxy Concrete

K.P, Roysarkar And M.K. Banerjee

Dynamics of 2-D OF Regenerative Chatter During TurningNaresh K., Chandiramani And T Pothala

Design And Development Of A Composite Roll For Hot Rolling ApplicationN, P. Mukherjee, S. S. Roy And H. N. Sarkar

Machine Tool Failure Data Analysis For Condition Monitoring ApplicationS. Saravanan, G.S.Yadava And P.V. Rao

Iterative Learning Control Scheme For ManipulatorsS, Gopinath And I. N. Kar

Remote Monitoring And Distributed Real-Time Control Via EthernetSanath Alahakoon, Lilantha Samaranayake, Thilakasiri Vijayananda, Mats Leksell

Development Of A Power Re-Circulating Gear Test Rig

V. Manoj, K. Gopinath And G. Muthuveerappan

Text Coded Marker For Video-Graphic Motion Analysis Of Mechanisms

Seth, B And'Raj, R

Failure Analysis Of Journal Bearings Of Tyre Moulding Press

Yuvaraj, N., K.Manohar Shenoy And K. Gopinath

Developmental Study On Rolling Contact Fatigue Test RigK. Manohar Shenoy And K. Gopinath

Micro-Machines For 3D Micro-PartsKaushal Chandak And Suhas S. Joshi

Session 19I1IA

AnalysisKinematics Of Wheeled Mobile Robots On Uneven Terrain

Nilanjan Chakraborty And Ashitava Ghosal

Exact Solutions For Static Analysis Of Piezoelectric Fiber ReinforcedComposites (Pfrc) Integrated Sandwich Plates

Nilanjan Mallik And M. C. Ray

Comparative Study Of Tool Wear Estimation In DrillingShriharsha B.R. And H.V. Ravindra

62.

63.

64.

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68.

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70.

71

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75.

Session 19IIB

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538

547

552

559

573

581

587

594

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608

617

626

637

76. Bending Geometry Factor For Profile Corrected Involute Gear Tooth WithTrochoidal Fillet

SP.Ganesan, G. Muthuveerappan IIn- Vivo Estimation Of Unknown Upper-Limb Kinematic ParametersChetan Jadhav And Venkat Krovi

Fretting Wear Failures In Bearing Steel EN31 Mated Against Structural.;Steel EN24 "

R Ramesh And R Gnanamoorthy

IOptimization Of Journal Bearing Groove Geometry Using GeneticAlgorithm

H. Hirani And T.V.V.LN. Rao

Exact 2D Benchmark Solution And Assessment Of ID Theories Of HybridBeams Under Arbitra ry Harmonic Loads \\1ri1' !

AP;t::' s~;;;;~ ;:;;;g In Virtual Manufacturing Of Spur Ge:'R. K. Pattanayak, G. Pohit And K. N. Saha

Identification Of Crack Location In A Rotor Bearing System Using WaveletTransforms '

S. Prabhakar ~~.Meshing Analysis Of Teeth Of Harmonic Drives: A Computer Based' --- ..

ApproachAJ. Bamnote, Prasad Mahale & Rahul Gulhane

Session 19IIIB

Rural and TextileDesign Of Fly Wheel And Modified Cam For Manually Energized BlackSmith Forge Hammer For Rural Artisans,

A. R. Sahu And U. D. Gulhane

Development Of Jute Machines By Reverse Engineering Technique UsingCAD - A Case Of Breaker Card

P. K. Das

Some Considerations In Designing Autolevelling System for Conventional

Drawframes (Textile Machinery)Sanjay R. Patel - Reader,

Exact Solutions For Static Analysis Of Piezoelectric Fiber Reinforced

77.

78.

79.

80.

81

82.

83

lith Forge Hammer For Rural Artisans,A. R. Sahu And U. D. Gulhane

ID - A Case Of Breaker Card

P. K. Das

awframes (Textile Machinery)

mposites (Pfrc) Integrated Sandwich PlatesNilanjan Mallik And M. C. Ray

647

654

660

667

670

683

689

694

703

708

716

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722

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Contentsxx

Use Of Hoeken's And Pantograph Mechanisms For Carpet ScrappingOperations

S.K. Saha, Rajendra Prasad And Ananta K. Mandai

Design And Development Of Carpet LoomsS.K. Saha, Rajendra Prasad, Shreepad Sarange And Namish Shukla

Double Roller Cotton Ginning Machine:Its Drawbacks And Possible Modifications

P.G. PatH And P.M. PadDle

Design Of Medium Duty Mechanical Press For GinneryJ. F. Agrawal, R. D. Askhedkar And P. M. PadDle

Optimal Design of Front End Loader Attachment for TractorsAshish Jain, K. Kunes Issac

NMC Charkha: A Design Analysis From Technological ConsiderationsR.Chattopadhyay, R.B.Chavan And R.K.Nayak

Grassroots Innovations And The Educational Sector: Bridging TheKnowledge And Value Divide

Rajshree Shukla And Dhiraj Barma

Author Index

88.

89.

90.

9l.

92.

93.

94.

739

745

750

757

765

772

779