Department of Mechanical Engineering

Indian Institute of Technology Palakkad&nbsp;(IIT Palakkad or IIT PKD) is a public autonomous&nbsp;engineering&nbsp;and&nbsp;research&nbsp;institute located in&nbsp;Palakkad,&nbsp;Kerala. It was&nbsp;one of the five new&nbsp;IITs&nbsp;proposed in the&nbsp;2014 Union budget of India. The campus was inaugurated on 3 August 2015. The institute has 94 faculty, 978 students, and 63 non-teaching staffs.

IT Palakkad currently offers four-year Bachelor of Technology (B.Tech) and two years MS programmes in 8 different engineering disciplines including&nbsp;Computer Science, Electrical, Mechanical, Civil among others.

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IIT Palakkad

In this work AA6063-Silicon carbide composites were fabricated using conventional stir casting. Agglomeration of reinforcement particles which is a serious drawback in conventional stir casting was attempted to be reduced by applying ultrasonic waves to the composite melt after mechanical stirring. The composites were fabricated with different weight percentages (2,4,6 and 8\%) of SiC particles having 10 mu m average particle size. The mechanical properties of the composites were evaluated for both the cases and were compared to study the influence of ultrasonic waves. It was found that the mechanical properties of the composite increased with increase in the weight percentage of the reinforcement up to 4 wt\% SiC and reduced beyond that. The 4 wt\% SiC stir cast composite subjected to ultrasonic waves showed 51.17\%, 67.52\% and 38.31\% increase in ultimate tensile strength, yield strength and hardness respectively when compared to the base alloy.

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MATERIALS CHEMISTRY AND PHYSICS

Effect of ultrasonic treatment during stir casting on mechanical properties of AA6063-SiC composites

We present a comprehensive investigation of Partially-Saturated-Cells method (PSC) for the simulations of incompressible thermal flows. The methodology comprises an additional collision operator introduced into the conventional simplified thermal lattice-Boltzmann (STLBM) method that offers a unified evolution equation for solid and fluid media present in the computational domain. It is a type of diffuse-interface immersed-boundary method that is dictated by the volume fraction of the solid medium and facilitates a smooth transition of boundary conditions at the solid-fluid interface. In this work, we devise a mechanism to evaluate local heat flux at the solid-fluid interface and present its congruity with several heat transfer problems. We also derive the recovery of the macroscopic energy equation from PSC's evolution equation through Chapman-Enskog multiscale expansion. Our investigation also reveals that the method is first-order accurate for moving body simulations irrespective of the straight or curved boundary. It is also Galilean invariant and demonstrates identical heat transfer characteristics in stationary and moving reference frames. A comprehensive analysis of the PSC algorithm is presented to enlighten its suitability for predicting thermo-hydrodynamic characteristics in free, forced, and mixed convection phenomena involving both stationary and moving boundary scenarios. To the best of our knowledge, these aspects pertaining to PSC methodology have not been discussed in the literature so far. © 2023 Elsevier Ltd

International Journal of Heat and Mass Transfer

Comprehensive assessment of the partially-saturated-cells framework for convective problems

Progressive application of multidisciplinary research and development pushes the evolution of automation in many subsectors of agriculture to increase productivity, economic growth and environmental preservation with the help of robotics and artificial intelligence. Fruit harvesting robots have been developed mainly to provide support in the field for limited labour resources, to enable selective harvesting, to improve the efficiency and to preserve the quality of fruits. Even a small delay in harvesting can cause a maximum impact to the quality of the fruit. Selective fruit harvesting is an integration of different subcomponents. This paper provides a brief analysis of the techniques in selective fruit harvesting for the past 6 years starting from 2017 to 2022, associated principles, limitations and directions for future challenges. The first subcomponent is the vision system, it captures the information about the fruit in a tree canopy to perform efficient 2D and 3D localization. Hence getting accurate information from the vision system is more essential even in a complex agricultural environment. The detection of fruit from the vision system is normally done with two major methods such as traditional image processing and deep learning approaches. The result shows that the traditional methods provide high efficiency but the colour similarity, complex backgrounds and lightning conditions often makes failure in detection. Shortage of standard dataset and high-powered processing devices hinders the development of deep learning algorithms. Also, the usage of large data sets reduces the training speed even in pre-trained networks. For fruit grasping and detachment, the detection of plucking point is more essential to preserve the quality and for further storage. The elaborate description about the framework, limitations in current sensing, fruit and picking point detection algorithms provides guidelines to the researchers in building a fully automated robotic system to increase the processing speed and production rate. © IMechE 2022.

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

Selective fruit harvesting: Research, trends and developments towards fruit detection and localization – A review

The conventional machining of the widely used nickel-based superalloy Inconel 625 is challenging since it exhibits high strength at elevated temperatures. Cryogenic machining is an effective cooling technique to extract the heat developed during machining and enhance the machining performance of superalloys by eliminating the high-temperature related machining obstacles. The maximum machining performance of cryogenic machining can be achieved by optimising the input parameters considered for the study. This work attempts to improve the cryogenic machining performance of Inconel 625 using grey relational analysis. Multiple responses that are having the most significance on the performance of the machining such as main cutting force, tool wear and surface roughness were considered to optimise the process. The experiments were designed on the basis of the orthogonal array. Taguchi’s L9 design with three levels of cutting speed, feed and depth of cut was considered for conducting the experiments. A cutting speed of 60 m/min, feed of 0.05 mm/rev and depth of cut of 0.2 mm were obtained as the optimal parameters. The analysis of modes of wear and morphology of chips was also conducted using SEM imaging to understand the wear mechanisms and machining performance at the optimal level under cryogenic cooling. © 2023 Informa UK Limited, trading as Taylor & Francis Group.

Advances in Materials and Processing Technologies

Multi-response optimisation and performance evaluation of Inconel 625 superalloy machining under cryogenic cooling environment

Automation has given solutions to many industrial problems. They have helped to improve productivity in many manufacturing plants. The aim of this project is to automate the warehouse of a supermarket which will eliminate the time spent by the customer searching for products arranged in an extensive layout of racks. The customer will choose the products they require through a mobile application and this information will be relayed to an automated guided vehicle (AGV). The AGV will pick the products placed in an array of racks which will be delivered to the customers at the delivery section of the supermarket. This idea can be extended to any warehouse. An AGV equipped with a robotic arm was modeled to serve this purpose. A detailed design of the robotic arm was done. Inverse kinematic analysis and multi-body dynamic analysis of the robotic arm were performed. A miniature model of the AGV and an Android application were developed to simulate the proposed model. The working of the model was successfully demonstrated. © 2024 selection and editorial matter, L Ashok Kumar, R. Manivel and Eyal Ben Dor.

Sustainable Digital Technologies for Smart Cities: Healthcare, Communication, and Transportation

Design and Development of an Automated Product Retrieval System for a Warehouse

This paper studies the improvement in machining performance by implementing a hybrid coolant approach for the machining of difficult-to-machine Inconel 625 superalloy. This study differs from the pre-existing hybrid cooling methods by using a novel modified tool holder for the supply of cryogenic coolant. An external nozzle is also involved as part of the coolant system to provide MQL spray to the cutting zone in hybrid cooling. Turning experiments using MQL, cryogenic cooling with an external nozzle, cryogenic cooling with a modified tool holder and hybrid cryo-MQL cooling were performed at different parameter levels to analyze the machining performance of the proposed new cooling technique. The results show that a maximum reduction of 30.52%, 63.67%, and 43.27% was observed for surface roughness, tool wear, and cutting forces using the hybrid cooling technique. The tool wear types and mechanisms underlying the wear formation when using various techniques for cooling are studied using SEM imaging of tooltips. Also, the chip morphology study was carried out to compare the effects on machinability. © 2023, The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature.

International Journal of Advanced Manufacturing Technology

Experimental investigation of hybrid cooling approach using a modified tool holder for turning of Inconel 625 superalloy

Gripping devices for picking fruits have such types of work as cutting, tearing and unscrewing. For apples, it is preferable to use slicing or unscrewing, while the fruit leg should not remain, damaging the apple during storage. In this article, we are developing a grab for picking apples. The gripper is used both for holding the fruit and for jamming, followed by unscrewing. One of the advantages is that the proposed method of collecting apples allows you not to waste time moving the manipulator from the tree to the basket, but only to grab and tear them off. The fruit enters the gripper device, after which it enters the fruit collection container through a rigid or flexible pipe. The gripper device is built on the basis of a ball-screw transmission, which is supplemented by a gear drive along the helical surface. This allows for rotation and rectilinear movement of the held fruit. The gripping device has a ratchet mechanism that allows you to fix the fruit. A mathematical model of the gripper device has been developed, which allows determining the torque of the engine depending on the position of the fingers. The parameters of the mechanism were optimized using a genetic algorithm and the results are presented in the form of a Pareto set. A 3D model of the gripper device has been built and a layout has been developed using 3D printing. Experimental laboratory and field tests of the gripping device were carried out. © 2023 ACM.

ACM International Conference Proceeding Series

The design of a gripper device with screw and gear gears in a robotic fruit picking system

Proteins and peptides with hydrophobic and amphiphilic segments are responsible for many biological functions. The sensing and generation of membrane curvature are the functions of several protein domains or motifs. While some specific membrane proteins play an essential role in controlling the curvature of distinct intracellular membranes, others participate in various cellular processes such as clathrin-mediated endocytosis, where several proteins sort themselves at the neck of the membrane bud. A few membrane-inserting proteins form nanopores that permeate selective ions and water to cross the membrane. In addition, many natural and synthetic small peptides and protein toxins disrupt the membrane by inducing nonspecific pores in the membrane. The pore formation causes cell death through the uncontrolled exchange between interior and exterior cellular contents. In this article, we discuss the insertion depth and orientation of protein/peptide helices and their role as a sensor and inducer of membrane curvature as well as a pore former in the membrane. We anticipate that this extensive review will assist biophysicists to gain insight into curvature sensing, generation and pore formation by membrane insertion. Graphical Abstract: [Figure not available: see fulltext.]. © 2023, The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature.

Journal of Membrane Biology

The Functionality of Membrane-Inserting Proteins and Peptides: Curvature Sensing, Generation and Pore Formation

We study steady, fully developed, axisymmetric flows of soft, inelastic grains within a vertical circular pipe under the influence of gravity. We use extended kinetic theory to describe the collisional flow and include a region above the critical solid volume fraction near the center line that is the analog of an erodible bed. We calculate the profiles of velocity, shear stress, granular temperature and particle concentration across the pipe for a variety of volume flow rates and pipe radii. We compare these with those measured in discrete element simulations by Barker et al. [J. Fluid Mech. 930, A21 (2022)0022-112010.1017/jfm.2021.909] and see good agreement. © 2023 American Physical Society.

Physical Review Fluids

Granular flow through a vertical axisymmetric pipe

This paper describes the preliminary results of developing an autonomous ground robot that can navigate dynamic indoor/outdoor and GPS-restricted environments. This study outlines the demerit of applying conventional LIDAR sensors alone for mapping, as they cannot detect obstacles beyond their range and compromise reliability in real-time applications. This paper showcases the application of a Real-Time Appearance Based (RTAB) algorithm by combining LIDAR sensors with 3D cameras for three-dimensional mapping. This algorithm generates a realistic view of the spatial environment enabling superior clarity of the robot's surroundings. The simulations have been conducted on the open-source Robotic Operating System (ROS) NOETIC platform. Additionally, the real-time mapping of outdoor environments using an in-house miniature-sized prototype designed for proof of concept is also described in this paper. The developed robot can find suitable applications as delivery bots, surveillance robots, rescue operations and teleoperation. © 2023 ACM.

Development of an Autonomous Ground Robot Using a Real-Time Appearance Based (RTAB) Algorithm for Enhanced Spatial Mapping: Development of a Ground Robot with Autonomous Navigation Capability